[go: up one dir, main page]

CN105759647B - It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method - Google Patents

It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method Download PDF

Info

Publication number
CN105759647B
CN105759647B CN201610095387.2A CN201610095387A CN105759647B CN 105759647 B CN105759647 B CN 105759647B CN 201610095387 A CN201610095387 A CN 201610095387A CN 105759647 B CN105759647 B CN 105759647B
Authority
CN
China
Prior art keywords
node
address
routing
network
borrowing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201610095387.2A
Other languages
Chinese (zh)
Other versions
CN105759647A (en
Inventor
朱伟兴
张建飞
李新城
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu University
Original Assignee
Jiangsu University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu University filed Critical Jiangsu University
Priority to CN201610095387.2A priority Critical patent/CN105759647B/en
Publication of CN105759647A publication Critical patent/CN105759647A/en
Application granted granted Critical
Publication of CN105759647B publication Critical patent/CN105759647B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

本发明公开了一种基于巡检小车与借地址路由算法的养猪场环境监控方法，首先构建基于巡检小车与借地址路由算法的养猪场环境监控系统，包括：ZigBee无线通信技术组建的具有移动协调器节点的养猪场无线传感网络、养猪场嵌入式现场控制中心和用户远程控制中心；其次，针对ZigBee协议传输范围有限造成的网络孤点问题，采用一种新的基于两跳邻居的网络借地址路由算法，通过优化设计现有的借地址路由算法，将父节点的借址范围设为两跳邻居节点，同时优先考虑向同枝子孙节点借址，一方面使得网络孤点问题得以缓解，提高了网络节点的入网率，降低了组网耗时和能量损耗，另一方面实现了协调器作为移动节点的养猪场环境监控系统下网络孤立节点的高效入网。

The invention discloses a pig farm environment monitoring method based on a patrol car and an address-borrowing routing algorithm. First, a pig farm environment monitoring system based on the patrol car and the address-borrowing routing algorithm is constructed, including: a system formed by ZigBee wireless communication technology. Pig farm wireless sensor network with mobile coordinator node, pig farm embedded on-site control center and user remote control center; secondly, in view of the network isolated point problem caused by the limited transmission range of the ZigBee protocol, a new method based on two The network borrowing address routing algorithm of hop neighbors, by optimizing the design of the existing borrowing address routing algorithm, set the borrowing range of the parent node to two-hop neighbor nodes, and give priority to borrowing addresses from the descendants of the same branch. On the one hand, the network is isolated. The problem can be alleviated, the network access rate of network nodes is improved, and the time-consuming and energy consumption of networking is reduced.

Description

It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method
Technical field
The present invention relates to embedded technologys, technology of wireless sensing network, and in particular to has routing inspection trolley and borrows address road By the pig farm environment method of algorithm.
Background technique
Domestic pig raising industry is in Rapid development stage, and to scale, modernization development, is answered with efficient production To the market conditions of growing production cost and fluctuation.However, for intelligence cultivation, there are still feeding facility automations Horizontal low, large labor intensity, environmental unit be simple and crude, lack of wisdom, can not meet information-based cultivation demand and production efficiency is low The problems such as lower.
Pig farm environmental monitoring system is based on wireless sensor network come all kinds of environmental index of real-time monitoring, and intelligence is controlled Various kinds of equipment processed.Wireless sensor network is applied in live pig environmental monitoring and substantially increases production efficiency, passes through external environment Condition live pig health and increases productivity to improve, control and MT-AR machine using wireless network node to pig raising field device The real-time prison of sound-detection gear, all kinds of environmental parameter sensors and camera on device people's routing inspection trolley to pig farm internal environment Control, carrys out intelligent control pig farm environment, to reach the pig farm internal environment of a suitable live pig health fast-growth.The present invention Coordinator node and field controller are mounted on trolley, is on the one hand easily installed on trolley and the camera at scene will be adopted The audio and video information collected is transmitted in field controller in real time, simultaneously as the coordinator node being mounted on trolley is can Mobile node improves the flexibility of tree network networking on the spot.Also, coordinator node can be direct by the battery on trolley Power supply, it has the sufficient energy, can extend the service life of the node.Due to Zigbee protocol transmission range is typically in the range of 10~ Between 100m, so the routing node being directly connected with coordinator node when exceeding transmission range will carry out node gap Reason.When routing node and network disconnect, the node that all subtrees of the routing node include all becomes isolated node.To guarantee The real-time acquisition of pig farm site environment parameter, isolated node need to rejoin tree network.However, wireless sensor network is adopted ZigBee communication agreement default distributes address using distributed address assignment mechanism mechanism.Traditional distributed address assignment mechanism is calculated The success rate that method makes isolated node that network be added reduces.
Currently, there has been correlative study both at home and abroad for network acnode problem.YANG et al. is by converting terminal device At the method for routing node, increase the network depth of tree routing, which extends network coverage domain, but increases former terminal section The complexity and cost of point, expansible is limited in scope, and is appropriate only for the not deep terminal node of a small number of network depths.Giri et al. It is proposed that one kind borrows address arithmetic, i.e., the father node of free address can not borrow location to network coordinator, and then father node will borrow Address distribute to child node, reduce network acnode, but the address space that network coordinator can borrow is limited, which only fits Together in the less occasion of node.Yao Yukun et al. proposes a kind of efficient address assignment algorithm based on by means of address, the lonely section of routing Point borrows location range first choice to improve the problem of detouring with minor matters point, but location range can be borrowed smaller, and the success of network is added in node Rate reduces.The existing location range of borrowing for borrowing address routing algorithm default route node based on distributed address assignment mechanism mechanism is one Hop neighbor node does not consider topology optimization problem when location node is borrowed in selection, to cause the waste of network depth, Er Qielu It is difficult to find by node and suitably borrows location node, and the location range of borrowing of routing node is set as two-hop neighbor node by the present invention, father The address information of neighbor node in the available double bounce communication range of node, and Xiang Tongzhi descendant nodes can be paid the utmost attention to and borrowed Location.Therefore, the efficiency proposed by the present invention for improving address distribution between node by means of location range by expanding by means of address arithmetic, effectively Optimization network topology, avoid the waste of network depth, the pig farm wireless sense network suitable for coordinator as mobile node Network.
Summary of the invention
For the above-mentioned prior art problem, coordinator node and field controller are mounted on trolley by the present invention On, it is on the one hand easily installed on trolley and collected audio and video information is transmitted to field control by the camera at scene in real time In device, simultaneously as the coordinator node being mounted on trolley is removable node, the spirit of tree network networking on the spot is improved Activity.Also, coordinator node can be by the direct battery power on trolley, it has the sufficient energy, can extend the section The service life of point.During the networking of wireless sensor network, in order to overcome existing wireless sensor network to will appear isolated node Network difficult deficiency, and the present invention also proposes a kind of new to borrow address routing algorithm.Addition one is attempted when an isolated node not having When the father node of available free address space, which will inquire the neighbor node within its double bounce to borrow address sky Between, realize the networking of isolated node.By borrowing location range to be set as two-hop neighbor node routing node, and it is set as with minor matters point By means of the preferred node of address, the isolated node in pig farm is enabled rapidly to realize networking, while reducing routing node Energy consumption.This system can efficiently reduce network isolated node, improve node networking rate, extend pig farm wireless sensor network Service life.
The technical scheme adopted by the invention to solve the technical problem is that: one kind is calculated based on routing inspection trolley with address routing is borrowed The pig farm environment control method of method, comprising the following steps:
Step 1, it constructs based on routing inspection trolley and the pig farm environmental monitoring system for borrowing address routing algorithm, comprising: The pig farm wireless sensor network with moving hormany device node of ZigBee wireless communication technique establishment, pig farm are embedded existing Field control centre and user's remote control center；Pig farm wireless sensor network with moving hormany device node includes removable Coordinator node, routing node and terminal node；Removable coordinator node and the setting of pig farm embedded field control centre On routing inspection trolley；By Zigbee protocol stack, collected data are converged into removable coordinator node, moves and coordinates Device node is realized by the direct battery power on routing inspection trolley, and by serial communication interface and embedded field control centre Data exchange；Embedded field control centre includes field controller, embedded field control centre by network access point and Wireless network card is connect with user's remote control center；User's remote control center includes computer, network access point and wireless network card, User's remote control center is connected into internet access field controller by Internet network agreement；
Step 2, for Zigbee protocol transmission range it is limited caused by network acnode problem, using a kind of new based on two The network of hop neighbor borrows address routing algorithm, which includes two parts:
New to borrow address routing algorithm, estimate network isolated node first borrows location space size, then by routing node Borrow location range to be set as two-hop neighbor node, the address information of the neighbor node in the available double bounce communication range of father node, Xiang Tongzhi descendant nodes can be paid the utmost attention to simultaneously by means of location；
By means of the Route Selection of address arithmetic, i.e. tree routing first judges the type of destination node, then carries out data The forwarding of packet.
Further, in the step 1, pig farm wireless sensor network is mainly the ZigBee by being distributed in each swinery Node composition, ZigBee node connect temperature and humidity and harmful gas concentration sensor, infrared monitoring camera and standard ventilation One's intention as revealed in what one says machine, evaporative cooling pad pump, negative-pressure air fan, hot-blast stove, electric hot plate etc. control equipment；Pass through the temperature and humidity and nocuousness gas on node Audio sensor and camera in concentration sensors and routing inspection trolley, user can environment to pig house, sow just before giving birth And the animation of piglet is monitored in real time, wherein audio sensor, all kinds of environment parameter sensings on routing inspection trolley Device and camera can arbitrarily move on the routing inspection trolley magnetic stripe track preset in pig farm, by mobile routing inspection trolley All kinds of environmental parameter sensors, monitoring system obtain pig farm internal environment parameter；After each information collection, node is to coordination Device sends data information, and coordinator node is connected by serial ports with field controller, and collected data are transmitted to live control In device processed；User's remote control center is connected into internet by Internet network agreement, and remote user is logged in by browser Field controller observes pig house in real time and can regulate and control pig house environment at any time.
Further, in the step 2, the new detailed process by means of address routing algorithm are as follows:
Step 2.1, nodes X sends a free address request to routing node Y, and routing node Y judges whether oneself has Free address, if available free address, assigns address to nodes X；Otherwise, routing node Y, which enters, borrows address function；
Step 2.2, routing node Y gives nodes X to send the information containing network depth dy, it is desirable that nodes X is by network Depth dx is set as dy+1, and network is added as the child node of Y；
Step 2.3, routing node Y sends one and responds to nodes X, it is desirable that X calculates the address space size of its application, then Nodes X needs to calculate its child node address space size；If nodes X is full-function device FFD, child node address sky is calculated Between be o (x), and by o (x)+x be used as borrow location packet be sent to routing node Y；If nodes X is half function device RFD, child node Address space o (x)=0, and o (x)+x is used as, location packet is borrowed to be sent to routing node Y；
Step 2.4, routing node Y receive nodes X borrow location packet after, location is borrowed in the forwarding of node into its two-hop neighbors Packet, the neighbor node received by means of location packet make reply according to the address space left space of oneself；Meet if do not find herein by means of location It is required that neighbor node, then return step 2.1, nodes X is sent to new routing node again borrows location to request；
Step 2.5, routing node Y receive neighbor node borrow location to reply packet after, judgement is met node by means of location condition by Y In whether have the same minor matters point of oneself, if so, then selecting the more node conduct of address space left in the descendant nodes under same branch By means of location node；Location section is borrowed if no, selecting the more node of address space left in meeting the neighbor node by means of location condition and being used as Point；Then by the address space allocation of borrow to nodes X, then by nodes X free address is distributed to following child node；On if The process of stating cannot complete that location is borrowed to operate, then when removable coordinator node being waited to reach in transmission range, then by a distributed manner Location allocation algorithm completes the networking request of isolated node.
Further, in the step 2, by means of the detailed process of the Route Selection of address arithmetic are as follows:
Tree, which is routed through, judges the type of destination node, if destination node is routing node itself, directly connects By data packet；If destination node is the sub-route node of routing node, it is sent directly to meet item after calculating next hop address The sub-route node of part；If destination node is the sub- terminal device of routing node, sub- terminal device is transferred a packet to；If Above-mentioned condition does not comply with, then this data packet is sent to its father node by routing node, by its father node according to above-mentioned path Selection course continues to forward the data packet.
Further, in the step 1, user's remote control center can use PC machine as monitor supervision platform, by controlling at the scene SQLite database is transplanted on device S3C6410 development board processed, BOA server and writes cgi script, and parameter is sent to Internet, the environmental parameter on monitoring pig farm is shown by Internet in time in PC machine, and administrator can pass through browsing Device remote access data, while the data acquired will be stored in SQLite database, be convenient for administrator's enquiry of historical data.
The beneficial effects of the present invention are:
ZigBee radio network technique borrows address arithmetic using a kind of new network based on two-hop neighbors, which passes through Father node borrows the method for free address to the neighbor node within double bounce to alleviate acnode problem.For network acnode problem, Existing routing algorithm is suitable for the less tree network of node more, and the problem of increase networking time-consuming and energy loss. For the deficiency of existing route algorithm, the present invention borrows address arithmetic and tree routing algorithm to be improved to original.New borrows Address arithmetic formulated it is detailed borrow address step, i.e., when network isolated node attempts to be added a not free address When father node, which estimates the size by means of location space first, and father node is sent to two-hop neighbor node at this time borrows location to request, And the address information of the neighbor node in double bounce communication range is obtained, while paying the utmost attention to Xiang Tongzhi descendant nodes by means of location, then will The address space allocation borrowed is to isolated node.
By the way that coordinator node and field controller to be installed on robot car, make to be mounted on trolley and scene The collected audio and video information of camera can be transmitted in field controller in real time, while coordinator node is direct by battery Power supply, extends node lifetime.Network acnode problem, passes through optimization design caused by limited for Zigbee protocol transmission range It is existing to borrow address routing algorithm, borrow location range to be set as two-hop neighbor node father node, while paying the utmost attention to same branch Sun Jiedian borrows location, alleviates network acnode problem, improves the networking rate of network node, reduces networking consumption When and energy loss, on the other hand realize coordinator as mobile node pig farm environmental monitoring system lower network isolate section The efficient networking of point.
Detailed description of the invention
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the master-plan block diagram of system
Fig. 2 is the mobile node design frame chart on robot car
Fig. 3 is that the network based on two-hop neighbors borrows address routing algorithm block diagram
Fig. 4 is pig farm radio sensing network node distribution map
Fig. 5 is Route Selection block diagram
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description.
Technical solution of the present invention is further illustrated below in conjunction with attached drawing 1,2,3,4,5.
Borrow the overall framework of the pig farm environmental monitoring system of address assignment algorithm by three parts group based on ZigBee-network At: the pig farm wireless sensor network with moving hormany device node of ZigBee wireless communication technique establishment, pig farm insertion Formula field control center (routing inspection trolley) and user's remote control center.The master-plan block diagram of system is as shown in Figure 1.Wherein support Pig farm wireless sensor network is mainly made of the ZigBee terminal node being distributed in each swinery.In farm's different zones Interior place has various kinds of sensors terminal node, and the temperature of real-time monitoring farm ambient enviroment, humidity and pernicious gas are dense Degree.Collected data will be sent to coordinator node by ZigBee wireless network, then transmit data to via 232 serial ports In field controller S3C6410 (ARM+Linux).Pass through the database and server transplanted on S3C6410 platform, Yong Huke Real time data is remotely accessed and be inquired by internet.Once the data of system acquisition are beyond setting in computer Healthy early warning boundary, control system just can automatic identification come out, manager can have found in time.Culture control system then leads at this time The operation of the equipment such as negative-pressure air fan, evaporative cooling pad pump, negative-pressure air fan, hot-blast stove, the electric hot plate crossed in control farm comes automatic Adjust out the environment of optimum piglet growth.MT-AR robot routing inspection trolley is used in the regulator control system simultaneously, inspection is small It is integrated with sound-detection gear, all kinds of environmental parameter sensors and all kinds of cameras on vehicle, while being mounted with coordinator node and showing Field controller, and the magnetic stripe track of trolley traveling is laid in pig farm in advance, such manager can observe children in real time Whether the animation of pig is abnormal with the behavior for judging pig, mobile node design frame chart such as Fig. 2 on robot routing inspection trolley It is shown.This terminal node, routing node, the coordinator that will be placed in conservation pigsty in each swinery using ZigBee technology Node group builds up a Radio Network System, realizes dispersion observing and controlling and centralized management, allows manager to each swinery Environment carries out long-range precision and intelligently adjusts.
1, the pig farm wireless sensor network with moving hormany device node that ZigBee wireless communication technique is set up
In the environmental monitoring system of pig farm, removable coordinator node and field controller are mounted on routing inspection trolley On, it is on the one hand easily installed on routing inspection trolley and collected audio and video information is transmitted to now by the camera at scene in real time In the controller of field, simultaneously as the coordinator node being mounted on routing inspection trolley is removable node, tree network is improved just The flexibility of ground networking.Also, removable coordinator node can be by the direct battery power on routing inspection trolley, it has abundance The energy, the service life of the node can be extended.During the networking of wireless sensor network, using ZigBee radio network technique By the terminal node and routing node one wireless network of composition in swinery.By Zigbee protocol stack, by collected data It is sent to coordinator node, and by serial communication interface, is transferred data in field controller, field controller analyzes number ZigBee-network node is fed back information to after, node controls the fortune of pig farm relevant device by the closure of relay Make, above procedure realizes the data interaction of field controller and wireless sensor network.The suitable wireless communication module of selection, energy The development cycle for enough reducing node, overhead is saved, system energy consumption is reduced, to improve system entirety life span.It is based on Requirements above selects wireless communication module of the integrated CC2430 chip as this monitoring system.
Pass through the temperature and humidity on ZigBee node and the audio sensor on harmful gas concentration sensor and routing inspection trolley And all kinds of cameras, user can environment to pig house, sow just before giving birth and the animation of piglet is monitored in real time, Some of them node, since Zigbee protocol transmission range is typically in the range of between 10~100m, so when exceeding transmission range The routing node being directly connected with coordinator node will carry out node disconnection process.When routing node and network disconnect, the road Isolated node is all become by the node that all subtrees of node include.For guarantee pig farm site environment parameter real-time acquisition, Isolated node needs to rejoin tree network.If these isolated nodes cannot be networked by new father node, will lead to The generation of network acnode.
According to DAAM algorithm principle, AmThe maximum address for indicating distribution, as shown in formula (1):
Am=Cskip(0)×Rm+Cm-Rm (1)
Wherein Cskip(0) be network depth be 0 routing node address offset amount, as shown in formula (2):
Work as RmWhen=1, Am=(1+Cm×(Lm-1))×Rm+Cm-Rm=Cm×Lm, thus formula is it is found that address space AmWith net Network depth LmIt is linear.Due to Rm=1 and communication radius it is identical, so every node layer number it is equal be Nc, so address uses Rate ArConstant is Nc/Cm。
Work as RmWhen ≠ 1,This season Lm2-Lm1=1, Am2- Am1For Lm2The address space of layer, arranges:
The area coverage of the every node layer of tree network can approximation regard as radius be Lm, central angle is the annulus of α, then anchor ring ProductEnabling node density is μ, then number of nodes NcIt is as follows:
Nc=α (2Lm+1)×μ
So address utilization rate is because of Lm2-Lm1=1, Rm> 1, LmIt >=1 and is positive whole Number, i.e.,It can thus be appreciated that network depth is bigger, address Utilization rate is lower, i.e., address space left is more.So the descendant nodes of same minor matters point are set as can be improved by means of the preferred node of address By means of location success rate.
The present invention proposes that a kind of new network based on two-hop neighbors borrows address arithmetic on the basis of analyzing reason, real The efficient networking of network acnode in pig farm is showed.Specific algorithm is as follows.
New to borrow address routing algorithm, estimate network isolated node first borrows location space size, then by routing node Borrow location range to be set as two-hop neighbor node, the address information of the neighbor node in the available double bounce communication range of father node, Xiang Tongzhi descendant nodes can be paid the utmost attention to simultaneously by means of location；
By means of the Route Selection of address arithmetic, i.e. tree routing first judges the type of destination node, then carries out data The forwarding of packet.
(1) new to borrow address arithmetic
The location range of borrowing for borrowing address routing algorithm default route node based on distributed address assignment mechanism mechanism is that a jump is adjacent Node is occupied, and routing node is borrowed location range to be set as the neighbor node within double bounce, the available double bounce of father node by the present invention The address information of neighbor node in communication range.By the improvement to address mode is borrowed, set forth herein new based on double bounce neighbour The network in residence borrows address arithmetic, and the detailed step of the algorithm is as follows.
1) nodes X sends a free address request to routing node Y.Routing node Y judges whether oneself is free public land Location, if available free address, assigns address to nodes X；Otherwise, routing node Y, which enters, borrows address function.
2) routing node Y gives nodes X to send the information containing network depth dy, it is desirable that nodes X is by network depth dx It is set as dy+1, and network is added as the child node of Y.
3) routing node Y sends one and responds to nodes X, it is desirable that X calculates the address space size of its application, then nodes X Need to calculate its child node address space size.If nodes X is full-function device FFD, calculating child node address space is o (x), and o (x)+x is used as borrows location packet to be sent to routing node Y；If nodes X is half function device RFD, child node address is empty Between o (x)=0, and by o (x)+x be used as borrow location packet be sent to routing node Y.
4) routing node Y receive nodes X borrow location packet after, the forwarding of node into its two-hop neighbors borrows location to wrap.It receives Reply is made according to the address space left space of oneself to the neighbor node for borrowing location to wrap.Meet if do not find herein by means of location requirement Neighbor node, then return step 1), nodes X is sent to new routing node again borrows location to request.
5) routing node Y receive neighbor node borrow location to reply packet after, Y will judgement meet in the node by means of location condition whether There is the same minor matters point of oneself, borrows location to save if so, then selecting the more node of address space left in the descendant nodes under same branch and being used as Point；If the more node of address space left no, is selected in meeting the neighbor node by means of location condition to be used as by means of location node.Then By the address space allocation of borrow to nodes X, then by nodes X free address is distributed to following child node.Based on double bounce neighbour The network in residence borrows routing algorithm block diagram in address as shown in Figure 3.If the above process cannot complete that location is borrowed to operate, removable association is waited When device node being adjusted to reach in transmission range, then pass through the networking request of distributed address assignment mechanism algorithm completion isolated node.
As shown in figure 4, robot car is travelled from swinery 1 to swinery n, the air-heater node at swinery 1 and coordination ZigBee transmission range is had exceeded between device node, air-heater node will carry out network disconnection with coordinator node at this time, and The node that all subtrees of air-heater node include all becomes isolated node.Routing node and terminal node in swinery 1 need Application networks nearby, such as father node of the electric heating plate node as not free address outside swinery 1, borrows location to walk according to above Suddenly, from two-hop neighbors range, i.e., borrow address at the Temperature Humidity Sensor node in swinery 2 and distribute to air-heater node with And its child node.Isolated node networks successfully, and network acnode problem is addressed.
(2) Route Selection of address arithmetic is borrowed
By means of the detailed process of the Route Selection of address arithmetic are as follows: tree, which is routed through, judges the type of destination node, If destination node is routing node itself, directly receive data packet；If destination node is the sub-route node of routing node, Qualified sub-route node is sent directly to after calculating next hop address；If the sub- terminal that destination node is routing node is set It is standby, then transfer a packet to sub- terminal device；If above-mentioned condition does not comply with, routing node sends this data packet to it Father node, continued to forward the data packet according to above-mentioned path selection process by its father node.
It raises pigs in farm monitoring system wireless sensor network, the address of routing node Y is A, network depth d, when node Y connects When being had the data packet of destination address D by one, tree routing algorithm path selection process is as shown in Figure 5.
1) if destination node is routing node Y itself, i.e. A=D, then node Y directly receives the data packet, stops forwarding.
2) if destination node is the sub-route node of routing node Y, i.e. A < D≤A+Rmax·Cskip(d-1), then node Y A+1+ { [D- (A+1)]/C will be calculatedskip(d)}·Cskip(d) it is used as next hop address, and under the data packet sent to meeting One jumps the sub-route node of address.
3) if destination node is the sub- terminal device of routing node Y, i.e. A+Rmax·Cskip(d) < A < A+Cskip(d-1), Then send the data packet to sub- terminal device.
If 4) above-mentioned condition does not comply with, this data packet is sent to its father node by routing node Y, by its father node Continued to forward the data packet according to above-mentioned path selection process.
Address arithmetic is borrowed based on new, as shown in figure 4, the air-heater node in swinery 1 is isolated node, electric heating plate node Location is borrowed to the descendant nodes Temperature Humidity Sensor node under same branch as its father node, and air-heater is distributed into the address borrowed Node.According to tree routing algorithm, certain source node in wireless sensor network on any position will send data packet in swinery 1 Air-heater node, data packet transmitting path, which must be first passed through, is resent to destination node by means of location node, thus preferentially select to Location is borrowed to avoid path detour problem with the double bounce descendant nodes under branch.New algorithm not only realizes tree routed path and selected Journey, and by carrying out topology optimization during borrowing location, reduce the energy consumption of routing node, so new borrows address to calculate Method is mutually compatible with tree routing algorithm.
The experimental results showed that the coordinator node being mounted on trolley in monitoring system of the invention is removable node, Coordinator node extends the service life of the node by the direct battery power on trolley simultaneously, then borrows address road by new By algorithm, the flexibility of tree network networking on the spot is improved, reduces that networking is time-consuming and energy loss.The system can be accurate Obtain the environmental parameter on pig farm in time, and can the animation to live pig observed in real time, with real-time, stabilization The features such as property and high efficiency, the monitoring and control of pig farm environment is effectively realized, pig farm environmental monitoring system is played Preferable effect.
2, pig farm embedded field control centre
Microcontroller is the core of whole system, acquires and handles data, communicated and judged with wireless communication module When send and receive these data.S3C6410 processor is 32 8-digit microcontrollers, support ARM, executable java bytecode and Some DSP instruction set, using 32/64 internal bus architecture.S3C6410 can be expanded by built-in 2 external memory ports A variety of external memories are opened up, many equipment interfaces are internally integrated, whole design cost is greatly reduced in this way, eliminates configuration volume Outer expense improves whole system function.S3C6410 processor is cheap, and oneself power consumption is low.In summary advantage, this Monitoring system data processing module selects S3C6410.
Pig farm scene embedded controller S3C6410 obtains the environment of ZigBee wireless sensor network acquisition by serial ports Information after preservation and automatically analyzes data.The running of each equipment in pig farm is automatically controlled by analysis result.In order to realize pig raising The remote real-time monitoring of field environment, system have data acquisition, Image Acquisition, storage management, analysis processing, automatically control, net The functions such as network publication.Using lightweight built-in Linux operating system, and transplant embedded database, WEB server etc..Its Middle embedded database, which uses, is directed to Embedded lightweight SQLite database, and WEB server is serviced using embedded BOA Device.Make webpage that there is interactive function, input information of the interpretation process from list using CGI (CGI(Common gateway interface)), and is taking Being engaged in, device generation is corresponding to be handled, or corresponding information is fed back to browser.Control centre can preset the environment such as temperature and humidity The range of parameter, the automatic sending control command that overruns are adjusted to relevant device through row.
3, user's remote control center
User's remote control center can use PC machine as monitor supervision platform.By transplanting SQLite on S3C6410 development board Database, BOA server and writes cgi script, and parameter is sent to Internet, by Internet in PC machine in time The environmental parameter on display monitoring pig farm, administrator can be by browser remote access data, while the data acquired will be by It is stored in SQLite database, is convenient for administrator's enquiry of historical data.If the real time environmental data of system acquisition is more than to set Definite value, control system timely automated can identify that administrator can also have found in time, and control system then passes through control pig raising at this time The equipment such as negative-pressure air fan runs to automatically adjust out the environment of optimum pig growth in.
Using BOA framework WEB server, B/S remote management mode is designed, B/S structure is a kind of browser/server knot Structure, i.e. one server of installation maintenance, and client uses browser execution software.In B/S structure, user passes through browsing Device is filed a request in the form of hypertext to the server being distributed on network, after server receives request, is carried out using cgi script Processing.CGI(Common gateway interface) CGI makes the page have interactive function, the order letter that design cgi script processing user browser is submitted Breath, and pass through the feedback of html format progress result.Using WIFI wireless communication technique, pig farm field controller is realized Internet connection, so that the equipment such as computer, smart phone can be used to obtain pig farm real time data whenever and wherever possible for remote user Information simultaneously manages pig farm.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ", The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this The range of invention is defined by the claims and their equivalents.

Claims (4)

1.一种基于巡检小车与借地址路由算法的养猪场环境监控方法，其特征在于，包括以下步骤：1. a pig farm environment monitoring method based on patrolling trolley and borrowing address routing algorithm, is characterized in that, comprises the following steps: 步骤1，构建基于巡检小车与借地址路由算法的养猪场环境监控系统，包括：ZigBee无线通信技术组建的具有移动协调器节点的养猪场无线传感网络、养猪场嵌入式现场控制中心和用户远程控制中心；具有移动协调器节点的养猪场无线传感网络包括可移动协调器节点、路由节点和终端节点；可移动协调器节点和养猪场嵌入式现场控制中心设置在巡检小车上；通过ZigBee协议栈，将采集到的数据汇聚到可移动协调器节点，可移动协调器节点由巡检小车上的蓄电池直接供电，并通过串行通信接口与嵌入式现场控制中心实现数据交换；嵌入式现场控制中心包括现场控制器，嵌入式现场控制中心通过网络接入点和无线网卡与用户远程控制中心连接；用户远程控制中心包括电脑、网络接入点和无线网卡，用户远程控制中心通过Internet网络协议连入互联网访问现场控制器；Step 1, build a pig farm environment monitoring system based on the patrol car and the address-borrowing routing algorithm, including: a pig farm wireless sensor network with a mobile coordinator node formed by ZigBee wireless communication technology, and pig farm embedded on-site control Center and user remote control center; wireless sensor network of pig farm with mobile coordinator node includes movable coordinator node, routing node and terminal node; mobile coordinator node and pig farm embedded on-site control center are set on patrol. On the inspection trolley; through the ZigBee protocol stack, the collected data is gathered to the mobile coordinator node, and the movable coordinator node is directly powered by the battery on the inspection trolley, and is realized through the serial communication interface and the embedded field control center. Data exchange; the embedded field control center includes a field controller, and the embedded field control center is connected to the user remote control center through a network access point and a wireless network card; the user remote control center includes a computer, a network access point and a wireless network card, and the user remote control center The control center is connected to the Internet through the Internet network protocol to access the field controller; 步骤2，针对ZigBee协议传输范围有限造成的网络孤点问题，采用一种新的基于两跳邻居的网络借地址路由算法，该算法包括两个部分：Step 2: Aiming at the network orphan problem caused by the limited transmission range of the ZigBee protocol, a new network borrowing address routing algorithm based on two-hop neighbors is adopted. The algorithm includes two parts: 新的借地址路由算法，首先估算出网络孤立节点的借址空间大小，再将路由节点的借址范围设为两跳邻居节点，父节点获取两跳通信范围内的邻居节点的地址信息，同时会优先考虑向同枝子孙节点借址；The new borrowed address routing algorithm first estimates the size of the borrowed address space of the isolated node in the network, and then sets the borrowed address range of the routing node as a two-hop neighbor node. Priority will be given to borrowing addresses from descendant nodes of the same branch; 借地址算法的路由选择，即树路由首先对目的节点的类型进行判断，再进行数据包的转发；Routing by address algorithm, that is, tree routing first judges the type of the destination node, and then forwards the data packet; 新的借地址路由算法的具体过程为：The specific process of the new borrowed address routing algorithm is as follows: 步骤2.1，节点X向路由节点Y发送一个空闲地址请求，路由节点Y判断自己是否有空闲地址，若有空闲地址，则将地址分配给节点X；否则，路由节点Y进入借地址操作；Step 2.1, node X sends an idle address request to routing node Y, routing node Y determines whether it has an idle address, and if there is an idle address, assigns the address to node X; otherwise, routing node Y enters the borrow address operation; 步骤2.2，路由节点Y给节点X发送一个含有网络深度dy的信息，要求节点X将网络深度dx设置为dy+1，并作为Y的子节点加入网络；Step 2.2, the routing node Y sends a message containing the network depth dy to the node X, requesting the node X to set the network depth dx to dy+1, and join the network as a child node of Y; 步骤2.3，路由节点Y发送一个响应给节点X，要求节点X计算其申请的地址空间大小，则节点X需要计算其子节点地址空间大小；若节点X为全功能设备FFD，则计算出子节点地址空间为o(x)，并将o(x)+x作为借址包发送给路由节点Y；若节点X为半功能设备RFD，则子节点地址空间o(x)＝0，并将o(x)+x作为借址包发送给路由节点Y；Step 2.3, routing node Y sends a response to node X, asking node X to calculate the size of the address space it applies for, then node X needs to calculate the size of its child node address space; if node X is a full-featured device FFD, calculate the child node. The address space is o(x), and o(x)+x is sent to routing node Y as an address borrowing packet; if node X is a semi-functional device RFD, the sub-node address space o(x)=0, and o (x)+x is sent to routing node Y as an address borrowing packet; 步骤2.4，路由节点Y收到节点X的借址包后，向其两跳邻居范围内的节点转发借址包，收到借址包的邻居节点根据自己的剩余地址空间做出回复；若此处没有找到符合借址要求的邻居节点，则返回步骤2.1，节点X重新向新的路由节点发送借址请求；Step 2.4, after receiving the address borrowing packet from node X, routing node Y forwards the borrowing address packet to the nodes within its two-hop neighbor range, and the neighbor node receiving the borrowing address packet makes a reply according to its remaining address space; if this If no neighbor node that meets the address borrowing requirements is found, go back to step 2.1, and node X re-sends the address borrowing request to the new routing node; 步骤2.5，路由节点Y收到邻居节点的借址回复包后，路由节点Y将判断符合借址条件的节点中是否有自己的同枝节点，若有，则在同枝下的子孙节点中选出剩余地址较多的节点作为借址节点；若没有，则在符合借址条件的邻居节点中选出剩余地址较多的节点作为借址节点；然后将借用的地址空间分配给节点X，再由节点X将空闲地址分配给下面的子节点；若上述过程不能完成借址操作，则等待可移动协调器节点到达传输范围内时，再通过分布式地址分配算法完成孤立节点的入网请求。Step 2.5, after routing node Y receives the address borrowing reply packet from the neighbor node, routing node Y will determine whether the nodes that meet the borrowing conditions have its own node on the same branch, and if so, select it from the descendant nodes under the same branch. The node with more remaining addresses is selected as the borrowing node; if not, the node with more remaining addresses is selected as the borrowing node among the neighbor nodes that meet the borrowing conditions; then the borrowed address space is allocated to node X, and then Node X allocates the idle address to the following child nodes; if the above process cannot complete the borrowing operation, wait for the movable coordinator node to reach the transmission range, and then complete the network access request of the isolated node through the distributed address allocation algorithm. 2.根据权利要求1所述的基于巡检小车与借地址路由算法的养猪场环境监控方法，其特征在于，所述步骤1中，养猪场无线传感网络主要是由分布在各个猪栏中的ZigBee节点组成，ZigBee节点连接温湿度及有害气体浓度传感器、红外监控摄像头以及标准通风口风机、降温湿帘泵、负压风机、热风炉、电热板；通过ZigBee节点上的温湿度及有害气体浓度传感器和巡检小车上的音频传感器及摄像头，用户对猪舍的环境、母猪的临产以及幼猪的生活状态进行实时的监测，其中，巡检小车上的音频传感器、各类环境参数传感器和摄像头在养猪场内预设好的巡检小车磁条轨道上任意移动，通过移动巡检小车上的各类环境参数传感器，监控系统获得养猪场内部环境参数；每次信息采集后，ZigBee节点向可移动协调器节点发送数据信息，可移动协调器节点通过串口与现场控制器相连，将采集到的数据传输至现场控制器中；用户远程控制中心通过Internet网络协议连入互联网，远程用户通过浏览器登陆现场控制器，实时观测猪舍并随时调控猪舍环境。2. The pig farm environment monitoring method based on the inspection trolley and the routing algorithm based on the address according to claim 1, is characterized in that, in the described step 1, the pig farm wireless sensor network is mainly composed of distributed in each pig farm. The ZigBee nodes in the column are composed of ZigBee nodes, which are connected to temperature, humidity and harmful gas concentration sensors, infrared monitoring cameras, standard ventilators, cooling pad pumps, negative pressure fans, hot blast stoves, and electric heating panels; Harmful gas concentration sensors and audio sensors and cameras on the inspection trolley allow users to monitor the environment of the pig house, the labor of sows and the living conditions of young pigs in real time. Among them, the audio sensors on the inspection trolley, various environments The parameter sensor and camera move arbitrarily on the magnetic strip track of the inspection trolley preset in the pig farm. By moving various environmental parameter sensors on the inspection trolley, the monitoring system obtains the internal environmental parameters of the pig farm; each time the information is collected After that, the ZigBee node sends data information to the movable coordinator node, and the movable coordinator node is connected to the field controller through the serial port, and transmits the collected data to the field controller; the user remote control center is connected to the Internet through the Internet network protocol. , remote users log in to the on-site controller through the browser, observe the pig house in real time and control the pig house environment at any time. 3.根据权利要求1所述的基于巡检小车与借地址路由算法的养猪场环境监控方法，其特征在于，所述步骤2中，借地址算法的路由选择的具体过程为：3. The pig farm environment monitoring method based on the inspection trolley and the routing algorithm based on the address according to claim 1, is characterized in that, in the described step 2, the specific process of routing by the routing algorithm is: 树路由通过对目的节点的类型进行判断，若目的节点是路由节点本身，则直接接受数据包；若目的节点是路由节点的子路由节点，则计算下一跳地址后直接发送到符合条件的子路由节点；若目的节点是路由节点的子终端设备，则将数据包传送给子终端设备；若上述条件都不符合，则路由节点将此数据包传送给它的父节点，由其父节点根据上述路由选择过程继续转发该数据包。Tree routing judges the type of the destination node. If the destination node is the routing node itself, it directly accepts the data packet; if the destination node is a child routing node of the routing node, it calculates the next hop address and sends it directly to the eligible child. Routing node; if the destination node is the child terminal device of the routing node, it will transmit the data packet to the child terminal device; if the above conditions are not met, the routing node will transmit the data packet to its parent node, which will be based on the parent node. The above routing process continues to forward the data packet. 4.根据权利要求1所述的基于巡检小车与借地址路由算法的养猪场环境监控方法，其特征在于，所述步骤1中，用户远程控制中心用PC机作为监控平台，通过在现场控制器S3C6410开发板上移植SQLite数据库，BOA服务器以及编写CGI程序，将参数发送至Internet，通过Internet在PC机上及时显示监测养猪场的环境参数，管理员通过浏览器远程访问数据，同时采集的数据将被存储在SQLite数据库中，便于管理员查询历史数据。4. The pig farm environment monitoring method based on the inspection trolley and the address-borrowing routing algorithm according to claim 1, is characterized in that, in the described step 1, the user remote control center uses a PC as a monitoring platform, and by using the PC as a monitoring platform on-site The controller S3C6410 development board transplants the SQLite database, the BOA server and writes the CGI program, sends the parameters to the Internet, and displays the environmental parameters of the monitoring pig farm on the PC in a timely manner through the Internet. The data will be stored in an SQLite database, allowing administrators to query historical data.
CN201610095387.2A 2016-02-22 2016-02-22 It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method Expired - Fee Related CN105759647B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610095387.2A CN105759647B (en) 2016-02-22 2016-02-22 It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610095387.2A CN105759647B (en) 2016-02-22 2016-02-22 It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method

Publications (2)

Publication Number Publication Date
CN105759647A CN105759647A (en) 2016-07-13
CN105759647B true CN105759647B (en) 2019-03-05

Family

ID=56330907

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610095387.2A Expired - Fee Related CN105759647B (en) 2016-02-22 2016-02-22 It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method

Country Status (1)

Country Link
CN (1) CN105759647B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106550223A (en) * 2017-01-13 2017-03-29 湖南理工学院 A kind of dead fish supervising device and monitoring method for aquaculture
CN108040886A (en) * 2017-11-03 2018-05-18 江苏大学 A kind of intensive live pig healthy aquaculture intelligence system and method based on Internet of Things
CN109977813B (en) * 2019-03-13 2022-09-13 山东沐点智能科技有限公司 Inspection robot target positioning method based on deep learning framework
CN111105518B (en) * 2020-01-17 2024-10-29 贝榕物联(常州)有限公司 Cultivation inspection system
CN113009944A (en) * 2021-03-08 2021-06-22 西北农林科技大学 Intelligent temperature regulating system for animal house

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6963582B1 (en) * 1997-07-03 2005-11-08 Utstarcom, Incorporated Applying modified mobile internet protocol (IP) in a wireless mobile data network interface
CN102497390A (en) * 2011-11-18 2012-06-13 江苏大学 Visualized regulation and control system for pigsty nursing environment based on internet of things
CN103995509A (en) * 2014-05-13 2014-08-20 北京华科数能科技发展有限公司 Robot for poultry house environment monitoring and monitoring method and system thereof
CN104049602A (en) * 2014-05-12 2014-09-17 江苏大学 Nursing hog house monitoring system of multi-path routing algorithm

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6963582B1 (en) * 1997-07-03 2005-11-08 Utstarcom, Incorporated Applying modified mobile internet protocol (IP) in a wireless mobile data network interface
CN102497390A (en) * 2011-11-18 2012-06-13 江苏大学 Visualized regulation and control system for pigsty nursing environment based on internet of things
CN104049602A (en) * 2014-05-12 2014-09-17 江苏大学 Nursing hog house monitoring system of multi-path routing algorithm
CN103995509A (en) * 2014-05-13 2014-08-20 北京华科数能科技发展有限公司 Robot for poultry house environment monitoring and monitoring method and system thereof

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
基于两跳邻居的ZigBee网络借地址分配算法;吴许俊 等;《科学技术与工程》;20131031;第13卷(第28期);第8333-8338页
基于物联网的保育猪舍环境监控系统;朱伟兴 等;《农业工程学报》;20120630;第28卷(第1期);第177-181页
畜禽养殖环境远程监控系统研究;刘阳春 等;《机器人技术与应用》;20151231(第2期);第30-32页

Also Published As

Publication number Publication date
CN105759647A (en) 2016-07-13

Similar Documents

Publication Publication Date Title
CN105759647B (en) It is a kind of based on routing inspection trolley with borrow address routing algorithm pig farm environment control method
CN202602714U (en) Intelligent greenhouse monitoring system based on internet of things and cloud computing technology
CN106961772B (en) Instant lighting control system and instant lighting control method
CN102307222B (en) Intelligent greenhouse demonstration measurement and control system based on Internet of things technology
CN206573960U (en) A kind of agriculture intelligent Greenhouse monitoring system based on Internet of Things
CN101969613A (en) Wireless sensor network-based greenhouse group control system and control method thereof
KR20170084834A (en) Cattle Shed Management System in mobile cloud environment by using IoT data
CN101968649A (en) Network type control system for live pig culturing environment and intelligent environment factor control method
CN107168083A (en) Home equipment management control system based on cloud computing
CN105610900A (en) Embedded Internet of things gateway-based agricultural greenhouse indoor environment monitoring system
CN205664528U (en) House ground pipe laying ventilation remote monitering system is bred to animal
CN102789222A (en) Intelligent measurement and control system of greenhouse based on internet of things
CN106016603A (en) Intelligent fresh air system and intelligent control system
CN103076784A (en) Greenhouse environmental monitoring system based on wireless sensor network and GPRS (general packet radio service)
CN101155090A (en) Agricultural water-saving irrigation system and method based on wireless sensor network
CN107846469A (en) A kind of intelligent greenhouse monitoring system based on Internet of Things and cloud computing technology
CN203275990U (en) Livestock and poultry breeding house environment monitoring system based on Internet of things
CN105262786A (en) Aquaculture management system and method based on the Internet of things
CN205507512U (en) Thing networked control&#39;s vegetation monitored control system
CN102054344A (en) Wireless sensor network-based lawn environment monitoring system and monitoring method
CN104049602A (en) Nursing hog house monitoring system of multi-path routing algorithm
CN202815544U (en) Intelligent measurement and control system for greenhouse based on the Internet of things
CN102053587A (en) Wireless internet-based multi-node environmental parameter integrated monitoring system
CN205563330U (en) Mushroom greenhouse environmental factor governing system
CN104375450B (en) A kind of automatic control device and its application method for being used to control remote equipment

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190305

Termination date: 20200222