CN102227119A - Water quality monitoring system based on robot dolphin - Google Patents
Water quality monitoring system based on robot dolphin Download PDFInfo
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- CN102227119A CN102227119A CN201110158852XA CN201110158852A CN102227119A CN 102227119 A CN102227119 A CN 102227119A CN 201110158852X A CN201110158852X A CN 201110158852XA CN 201110158852 A CN201110158852 A CN 201110158852A CN 102227119 A CN102227119 A CN 102227119A
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- 241001481833 Coryphaena hippurus Species 0.000 title claims abstract description 91
- 238000012544 monitoring process Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 99
- 230000005540 biological transmission Effects 0.000 claims description 44
- 239000003643 water by type Substances 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 3
- 241001125840 Coryphaenidae Species 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 229910001385 heavy metal Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 210000000006 pectoral fin Anatomy 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
Provided is a water quality monitoring system based on a robot dolphin. The monitoring system comprises a robot dolphin dynamic detection node, an original position type detection node net and a host computer system, wherein the robot dolphin dynamic detection node and the original position type detection node net carry out an information exchange through a wireless mode. The robot dolphin dynamic detection node wirelessly transmits water data and positional information detected to the host computer system and simultaneously receives the control command data of the host computer system. The original position type detection node net is formed by wirelessly and sequentially connected position type nodes. The water quality data detected is transmitted in order in a sequential connection direction to the host computer system. The host computer system is used to receive and integrate the information sent from the robot dolphin dynamic detection node and the original position type detection node net. Meanwhile, the host computer system provides control command data for the robot dolphin dynamic detection node. According to the invention, the limitation of the original position type detection node net on space can be made up and a comprehensive and on-line monitoring towards a water area can be realized.
Description
Technical field
The present invention relates to the application of robot in water quality monitoring, especially relate to a kind of water quality monitoring system based on robotic dolphin.
Background technology
At present, water quality monitoring can be divided into personal monitoring's mode and automatic monitoring mode.Personal monitoring's mode relies on the staff to extract water sample, off-line or online chemical examination, and this makes efficient lower, Monitoring Data discontinuous, even toxic gas, heavy metal and the radiation material health that will endanger the staff sometimes.Obviously manual type more and more can't satisfy to water quality environment fast, the requirement of safety, on-line monitoring.Automatically the monitoring mode utilization checkout equipment (being original position formula node) that is fixedly mounted on tested waters carries out online detection and automatically testing result is sent to the host computer monitoring system according to certain cycle water quality, solves the problem that water quality data transfers to master system with regard to needs for this reason.Mode commonly used comprises wireless transmission, GSM (Global System for Mobile Communication), GPRS (General Packet Radio Service) mode, and WSN (Wireless Sensor Networks) mode.When tested water surface area is very big, for guaranteeing the comprehensive of monitoring, need on tested waters, lay more original position formula node, this will increase the cost of system.
Bio-robot technology constantly ripe perfect today under water, carrying transducer by underwater bionic robot surveys and just becomes very meaningful, utilize the machine fish that water quality detection is carried out in Taihu Lake as BJ University of Aeronautics ﹠ Astronautics, the water quality monitoring that the machine fish is used for the Times canal is just being studied by Britain Essex university.For better finish obtaining of water quality parameter information comprehensively, and then realization is comprehensive, safe to water quality, dynamically online monitoring, had than the more remarkable performance of fish and the excitation of drag reduction mechanism by biological dolphin, biomimetic robotic dolphin is moved detection combine, become an important developing direction with the detection of original position formula.
Summary of the invention
The objective of the invention is to provide a kind of robotic dolphin to detect and detect the water quality monitoring system that combines, demand comprehensive to satisfy, on-line monitoring tested waters with the original position formula.
For achieving the above object, the technical scheme of the water quality monitoring system based on robotic dolphin provided by the invention comprises robotic dolphin detection of dynamic node, original position formula detection node net and master system, and wherein: described robotic dolphin detection of dynamic node, original position formula detection node net and master system carry out information interaction by wireless mode; Described robotic dolphin detection of dynamic node receives the control command data of master system simultaneously with detected water quality data and the wireless master system that sends to of positional information; Described original position formula detection node net is linked in sequence by wireless mode by original position formula node and forms, and the detected water quality data direction that is linked in sequence transmits successively, until master system; Described master system, the information that is used to receive and comprehensively sends from robotic dolphin detection of dynamic node and original position formula detection node net provides control command data for robotic dolphin detection of dynamic node simultaneously.
Preferably, described robotic dolphin detection of dynamic node is made up of robotic dolphin platform and robotic dolphin water quality detection sensor, and wherein: the robotic dolphin platform comprises first wireless module, GPS/INS locating module, robotic dolphin controller and battery pack; The robotic dolphin water quality detection sensor links to each other by serial ports with the robotic dolphin controller of robotic dolphin platform, is used for water quality data is sent to the robotic dolphin controller; The GPS/INS locating module links to each other by serial ports with the robotic dolphin controller in the robotic dolphin platform, be used for positional information is sent to the robotic dolphin controller, the robotic dolphin controller links to each other by serial ports with first wireless module, the second wireless module wireless connections in first wireless module and the master system, be used for detected water quality data of robotic dolphin and positional information are sent into second wireless module, also be used for simultaneously receiving from the control command data of second wireless module and send into the robotic dolphin controller.
Preferably, described original position formula detection node net comprises the first original position formula node that is fixedly mounted on tested waters to N original position formula node N node altogether, and wherein: the first original position formula node comprises first node controller, first node wireless module, first node water quality detection sensor, battery pack and first node buoyancy aid; N original position formula node comprises N Node Controller, N node wireless module, N node water quality detection sensor, battery pack and N node buoyancy aid; First node controller in the first original position formula node, first node wireless module and battery pack place the first node buoyancy aid, the first node water quality detection sensor is installed on first node buoyancy aid below, the first node water quality detection sensor links to each other by serial ports with the first node controller, be used for detected water quality data is delivered to the first node controller, the first node controller links to each other by serial ports with the first node wireless module, the upper layer node of the first node wireless module and the first original position formula node i.e. the wireless module wireless connections of the second original position formula node, are used for the water quality data that the first node controller obtains is sent into the wireless module of the second original position formula node; N Node Controller in the N original position formula node, N node wireless module and battery pack place N node buoyancy aid, N node water quality detection sensor is installed on N node buoyancy aid below, N node water quality detection sensor links to each other by serial ports with the N Node Controller, be used for detected water quality data is sent to the N Node Controller, the N Node Controller links to each other by serial ports with N node wireless module, the lower level node of N node wireless module and N original position formula node i.e. the wireless module wireless connections of N-1 original position formula node, simultaneously the 3rd wireless module in N node wireless module and the master system is by wireless connections, is used for sending the detected water quality data of N node water quality detection sensor with from the water quality data of first original position formula node to the N-1 original position formula node of N-1 node wireless module transmission into the 3rd wireless module.
Preferably, described first original position formula node to the N original position formula node N node altogether is linked in sequence by wireless mode, and N is the integer greater than 1, and the annexation between them is maintained fixed.
Preferably, described master system comprises transmission base station, remote monitoring platform and mobile workstation, and wherein: the transmission base station comprises base station controller, second wireless module, the 3rd wireless module, battery pack and a GPRS data transmission unit; The remote monitoring platform comprises the 2nd GPRS data transmission unit and remote monitoring computer; Second wireless module in the transmission base station and the first wireless module wireless connections in the robotic dolphin detection of dynamic node, second wireless module links to each other by serial ports with base station controller, be used for and send into base station controller from the water quality data and the positional information of robotic dolphin detection of dynamic node, also be used for and send into first wireless module from the control command data of base station controller simultaneously; The 3rd wireless module in the transmission base station and the N node wireless module wireless connections in the original position formula detection node net, the 3rd wireless module links to each other by serial ports with base station controller, is used for the detected water quality data of original position formula detection node net is sent into base station controller; Base station controller in the transmission base station is connected by serial ports with a GPRS data transmission unit, the one GPRS data transmission unit is connected by GPRS network with the 2nd GPRS data transmission unit in the remote monitoring platform, the 2nd GPRS data transmission unit links to each other by serial ports with the remote monitoring computer, water quality data and the positional information that are used for to receive from robotic dolphin detection of dynamic node, and be sent in the remote monitoring computer from the water quality data of original position formula detection node net, also be used for and will send into base station controller simultaneously from the control command data of remote monitoring computer; Base station controller in the transmission base station is connected by serial ports with mobile workstation, water quality data and the positional information that are used for to receive from robotic dolphin detection of dynamic node, and be sent to mobile workstation from the water quality data of original position formula detection node net, also be used for the control command data from mobile workstation is sent into base station controller simultaneously.
Beneficial effect of the present invention: detect the mode that combines by the robotic dolphin detection of dynamic with the original position formula, remedied original position formula detection node net limitation spatially.
Description of drawings
Fig. 1 is a kind of structure chart of the water quality monitoring system based on robotic dolphin.
Fig. 2 is the structure chart of robotic dolphin detection of dynamic node.
Fig. 3 is the structure chart of original position formula monitoring node net.
Fig. 4 is the structure chart of master system.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Describe each related details in the technical solution of the present invention in detail below in conjunction with accompanying drawing.
Be based on the water quality monitoring system of robotic dolphin as shown in Figure 1, comprise robotic dolphin detection of dynamic node 1, original position formula detection node net 2 and master system 3.
As shown in Figure 2, robotic dolphin detection of dynamic node 1 is made up of robotic dolphin platform 11 and robotic dolphin water quality detection sensor 12, and wherein: robotic dolphin platform 11 comprises first wireless module 111, GPS/INS locating module 112, robotic dolphin controller 113 and battery pack 114.
Robotic dolphin water quality detection sensor 12 and robotic dolphin controller 113 link to each other by serial ports, robotic dolphin controller 113 links to each other by serial ports with first wireless module 111 and GPS/INS locating module 112 again, second wireless module, 312 wireless connections in first wireless module 111 and the master system 3.
By said structure, the robotic dolphin water quality detection sensor is sent into detected water quality data in the robotic dolphin controller, the GPS/INS locating module is sent into detected positional information in the robotic dolphin controller, the robotic dolphin controller is sent into water quality data and positional information in second wireless module by wireless mode by first wireless module, simultaneously by the control command data of first wireless module reception from second wireless module.
As shown in Figure 3, original position formula detection node net 2 comprises the first original position formula node 21 that is fixedly mounted on tested waters to N original position formula node 22 N node altogether, N is the integer greater than 1, wherein the first original position formula node 21 comprises first node controller 211, first node wireless module 214, first node water quality detection sensor 212, battery pack 213 and first node buoyancy aid 215, first node controller 211 in the first original position formula node 21, first node wireless module 214 and battery pack 213 place first node buoyancy aid 215, and first node water quality detection sensor 212 is installed on first node buoyancy aid 215 belows; N original position formula node 22 comprises N Node Controller 221, N node wireless module 224, N node water quality detection sensor 222, battery pack 223 and N node buoyancy aid 225, N Node Controller 221, N node wireless module 224 and battery pack 223 in the N original position formula node 22 places N node buoyancy aid 225, the N node water quality detection sensors 222 to be installed on N node buoyancy aid 225 belows.
The first original position formula node 21 to N original position formula node 22 altogether N node be linked in sequence by wireless mode, and the annexation between them is maintained fixed.First node water quality detection sensor 212 and first node controller 211 link to each other by serial ports, first node controller 211 and first node wireless module 214 link to each other by serial ports, and the upper layer node of the first node wireless module 214 and the first original position formula node 21 i.e. the wireless module wireless connections of the second original position formula node; N node water quality detection sensor 222 links to each other by serial ports with N Node Controller 221, N Node Controller 221 links to each other by serial ports with N node wireless module 224, the lower level node of N node wireless module 224 and N original position formula node 22 i.e. the wireless module wireless connections of N-1 original position formula node, N node wireless module 224 again with master system 3 in the 3rd wireless module 313 by wireless connections.
By said structure, the first node water quality sensor is gathered water quality data and is sent to the first node controller, then the first node controller upper layer node promptly in the wireless module of the second original position formula node of water quality data being sent into the first original position formula node by the first node wireless module.The second original position formula node receives water quality data from the first original position formula node by its wireless module, and is sent to i.e. the 3rd original position formula node of the upper layer node that is adjacent together with the water quality data that self detects by its wireless module.In the same way, until being sent to N original position formula node, the water quality data of first original position formula node to the N-1 original position formula node that sends with the detected water quality data of N node water quality detection sensor with from N-1 node wireless module of N original position formula node is sent into the 3rd wireless module then.
As shown in Figure 4, master system 3 comprises transmission base station 31, remote monitoring platform 32 and mobile workstation 33, wherein transmits base station 31 and comprises base station controller 311, second wireless module 312, the 3rd wireless module 313, battery pack 315 and a GPRS data transmission unit 314; Remote monitoring platform 32 comprises the 2nd GPRS data transmission unit 321 and remote monitoring computer 322.
Second wireless module 312 in the transmission base station 31 and first wireless module, 111 wireless connections in the robotic dolphin detection of dynamic node 1, second wireless module 312 and base station controller 311 link to each other by serial ports, the 3rd wireless module 313 in the transmission base station 31 and N node wireless module 224 wireless connections in the original position formula detection node net 2, the 3rd wireless module 313 and base station controller 311 link to each other by serial ports, base station controller 311 is connected by serial ports with a GPRS data transmission unit 314, the 2nd GPRS data transmission unit 321 in the one GPRS data transmission unit 314 and the remote monitoring platform 32 is connected by GPRS network, the 2nd GPRS data transmission unit 321 and remote monitoring computer 322 link to each other by serial ports, and base station controller 311 and mobile workstation 33 are connected by serial ports.
By said structure, base station controller will by second wireless module receive from the positional information of robotic dolphin detection of dynamic node and water quality data and the water quality data that receives by the 3rd wireless module from original position formula detection node net, be sent to the 2nd GPRS data transmission unit, also directly be sent to mobile workstation by Serial Port Line simultaneously by a GPRS data transmission unit, the 2nd GPRS data transmission unit is sent to the remote monitoring computer with the data that receive by serial ports.The remote monitoring computer is sent to a GPRS data transmission unit with control command data by the 2nd GPRS data transmission unit, and then sends into base station controller, is sent in first wireless module by second wireless module then.Mobile workstation directly is sent to base station controller with control command data by Serial Port Line, and then is sent in first wireless module by second wireless module.
The present invention adopts battery pack 114 to power for each parts in the robotic dolphin detection of dynamic node 1, battery pack 213 is given each the parts power supply in the first original position formula node 21, battery pack 223 is given each the parts charging in the N original position formula node 22, and battery pack 315 is given each the parts power supply in the transmission base station 31.
According to the present invention illustrated system configuration and annexation, made up a water quality monitoring system based on robotic dolphin.First node wireless module 214 to N node wireless module 224 in first wireless module 111, second wireless module 312, the 3rd wireless module 313 and the original position formula detection node net all adopts the WAP300C of Beijing China Rong Hui information Co., Ltd, the each several part battery pack all adopts the lighium polymer rechargeable battery, and it is the embedded Control plate of core that first node controller 211 to the N Node Controller 221 in robotic dolphin controller 113, base station controller 311 and the original position formula detection node net all adopts with ARM9.GPS/INS locating module 112 in the robotic dolphin detection of dynamic node 1 adopts OEMV-1 and DRM4000, and robotic dolphin water quality detection sensor 12 adopts the DS5 of HYDROLAB, can detect water quality parameters such as pH value, conductivity, dissolved oxygen, turbidity, the degree of depth.First node water quality detection sensor 212 to N node water quality detection sensor 222 in the original position formula detection node net 2 all adopts YSI-600R, can detect water quality parameters such as pH value, conductivity, temperature.The one GPRS data transmission unit 314 and the 2nd GPRS data transmission unit 321 adopt the GF-2008AW1 of the good multiple glad Science and Technology Ltd. in Beijing.Profile and the motion of robotic dolphin platform 11 mimic biology dolphins have the curved afterbody that fairshaped head, a pair of Three Degree Of Freedom pectoral fin and abdomen back of the body formula fluctuate, and the length and width height is 120*60*20cm, and swing part length is 45cm, and the operating time was greater than 2 hours.Described according to invention, to obtaining system after the corresponding layout of various piece.
The above; only be the specific embodiments among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; conversion or the replacement expected can be understood, all of the present invention comprising within the scope should be encompassed in.
Claims (5)
1. the water quality monitoring system based on robotic dolphin is characterized in that, this system comprises robotic dolphin detection of dynamic node, original position formula detection node net and master system, wherein:
Described robotic dolphin detection of dynamic node, original position formula detection node net and master system carry out information interaction by wireless mode;
Described robotic dolphin detection of dynamic node receives the control command data of master system simultaneously with detected water quality data and the wireless master system that sends to of positional information;
Described original position formula detection node net is linked in sequence by wireless mode by original position formula node and forms, and the detected water quality data direction that is linked in sequence transmits successively, until master system;
Described master system, the information that is used to receive and comprehensively sends from robotic dolphin detection of dynamic node and original position formula detection node net provides control command data for robotic dolphin detection of dynamic node simultaneously.
2. the water quality monitoring system based on robotic dolphin as claimed in claim 1 is characterized in that, described robotic dolphin detection of dynamic node is made up of robotic dolphin platform and robotic dolphin water quality detection sensor, wherein:
The robotic dolphin platform comprises first wireless module, GPS/INS locating module, robotic dolphin controller and battery pack;
The robotic dolphin water quality detection sensor links to each other by serial ports with the robotic dolphin controller of robotic dolphin platform, is used for water quality data is sent to the robotic dolphin controller;
The GPS/INS locating module links to each other by serial ports with the robotic dolphin controller in the robotic dolphin platform, be used for positional information is sent to the robotic dolphin controller, the robotic dolphin controller links to each other by serial ports with first wireless module, the second wireless module wireless connections in first wireless module and the master system, be used for detected water quality data of robotic dolphin and positional information are sent into second wireless module, also be used for simultaneously receiving from the control command data of second wireless module and send into the robotic dolphin controller.
3. the water quality monitoring system based on robotic dolphin as claimed in claim 1 is characterized in that, described original position formula detection node net comprises the first original position formula node that is fixedly mounted on tested waters to N original position formula node N node altogether, wherein:
The first original position formula node comprises first node controller, first node wireless module, first node water quality detection sensor, battery pack and first node buoyancy aid;
N original position formula node comprises N Node Controller, N node wireless module, N node water quality detection sensor, battery pack and N node buoyancy aid;
First node controller in the first original position formula node, first node wireless module and battery pack place the first node buoyancy aid, the first node water quality detection sensor is installed on first node buoyancy aid below, the first node water quality detection sensor links to each other by serial ports with the first node controller, be used for detected water quality data is delivered to the first node controller, the first node controller links to each other by serial ports with the first node wireless module, the upper layer node of the first node wireless module and the first original position formula node i.e. the wireless module wireless connections of the second original position formula node, are used for the water quality data that the first node controller obtains is sent into the wireless module of the second original position formula node;
N Node Controller in the N original position formula node, N node wireless module and battery pack place N node buoyancy aid, N node water quality detection sensor is installed on N node buoyancy aid below, N node water quality detection sensor links to each other by serial ports with the N Node Controller, be used for detected water quality data is sent to the N Node Controller, the N Node Controller links to each other by serial ports with N node wireless module, the lower level node of N node wireless module and N original position formula node i.e. the wireless module wireless connections of N-1 original position formula node, simultaneously the 3rd wireless module in N node wireless module and the master system is by wireless connections, is used for sending the detected water quality data of N node water quality detection sensor with from the water quality data of first original position formula node to the N-1 original position formula node of N-1 node wireless module transmission into the 3rd wireless module.
4. the water quality monitoring system based on robotic dolphin as claimed in claim 3, it is characterized in that, described first original position formula node to the N original position formula node N node altogether is linked in sequence by wireless mode, and N is the integer greater than 1, and the annexation between them is maintained fixed.
5. the water quality monitoring system based on robotic dolphin as claimed in claim 1 is characterized in that, described master system comprises transmission base station, remote monitoring platform and mobile workstation, wherein:
The transmission base station comprises base station controller, second wireless module, the 3rd wireless module, battery pack and a GPRS data transmission unit;
The remote monitoring platform comprises the 2nd GPRS data transmission unit and remote monitoring computer;
Second wireless module in the transmission base station and the first wireless module wireless connections in the robotic dolphin detection of dynamic node, second wireless module links to each other by serial ports with base station controller, be used for and send into base station controller from the water quality data and the positional information of robotic dolphin detection of dynamic node, also be used for and send into first wireless module from the control command data of base station controller simultaneously;
The 3rd wireless module in the transmission base station and the N node wireless module wireless connections in the original position formula detection node net, the 3rd wireless module links to each other by serial ports with base station controller, is used for the detected water quality data of original position formula detection node net is sent into base station controller;
Base station controller in the transmission base station is connected by serial ports with a GPRS data transmission unit, the one GPRS data transmission unit is connected by GPRS network with the 2nd GPRS data transmission unit in the remote monitoring platform, the 2nd GPRS data transmission unit links to each other by serial ports with the remote monitoring computer, water quality data and the positional information that are used for to receive from robotic dolphin detection of dynamic node, and be sent in the remote monitoring computer from the water quality data of original position formula detection node net, also be used for and will send into base station controller simultaneously from the control command data of remote monitoring computer;
Base station controller in the transmission base station is connected by serial ports with mobile workstation, water quality data and the positional information that are used for to receive from robotic dolphin detection of dynamic node, and be sent to mobile workstation from the water quality data of original position formula detection node net, also be used for the control command data from mobile workstation is sent into base station controller simultaneously.
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| CN102654496A (en) * | 2012-04-27 | 2012-09-05 | 中国水产科学研究院东海水产研究所 | Real-time monitoring device and method of dissolved oxygen in culturing pond water body |
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| CN107356718A (en) * | 2016-05-09 | 2017-11-17 | 浙江源态环保科技服务有限公司 | A kind of river water quality monitoring system |
| CN106908571A (en) * | 2017-03-06 | 2017-06-30 | 安徽科创中光科技有限公司 | A kind of intelligent city's atmospheric environment remote sensing system |
| US10725010B2 (en) | 2017-09-05 | 2020-07-28 | Meghna Behari | Integrated and modular robotic platform for testing and monitoring surface water quality |
| CN108120815A (en) * | 2018-03-02 | 2018-06-05 | 李泓 | A kind of enterprise's sewage discharge management system for internet of things |
| CN110389610A (en) * | 2019-07-30 | 2019-10-29 | 陕西学前师范学院 | Space light and temperature monitoring system based on Internet of Things |
| CN115201275A (en) * | 2022-09-09 | 2022-10-18 | 深圳市勘察研究院有限公司 | Hand-held type water quality testing equipment |
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