CN105334178A - Harmful gas monitoring system based on detection rectifying circuit - Google Patents

Harmful gas monitoring system based on detection rectifying circuit Download PDF

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Publication number
CN105334178A
CN105334178A CN201510843128.9A CN201510843128A CN105334178A CN 105334178 A CN105334178 A CN 105334178A CN 201510843128 A CN201510843128 A CN 201510843128A CN 105334178 A CN105334178 A CN 105334178A
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module
resistance
connects
semiconductor
oxide
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罗龙
史才坤
李刚
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TUONENG AUTOMATION TECHNOLOGY (WUXI) Co Ltd
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TUONENG AUTOMATION TECHNOLOGY (WUXI) Co Ltd
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Priority to CN201510843128.9A priority Critical patent/CN105334178A/en
Publication of CN105334178A publication Critical patent/CN105334178A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3504Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584Control arrangements for automatic analysers

Abstract

The invention discloses a harmful gas monitoring system based on a detection rectifying circuit; the harmful gas monitoring system is simple in structure and easy to implement. The harmful gas monitoring system adopts a novel pyroelectric infrared detector, thus being capable of detecting the concentrations of multiple harmful gases at the same time; due to the optimal design of a light source modulation and signal conditioning circuit, the external disturbance is effectively reduced, and the system error is reduced. A digital signal processor (DSP) has powerful operation processing ability, so that the measurement accuracy and speed of the system are improved; CAN bus communication is convenient for remote monitoring. After the system is used, the concentrations of multiple harmful gases can be monitored in real time.

Description

A kind of monitoring harmful gases system based on detection rectification circuit
Technical field
The present invention relates to a kind of monitoring harmful gases system, particularly relate to a kind of monitoring harmful gases system based on detection rectification circuit, belong to monitoring harmful gases control field.
Background technology
Along with the quickening of urbanization and process of industrialization, the discharge of the various harmful gas impact on industrial and agricultural production, physical environment and daily life is more and more serious, has caused the extensive concern of the whole society.Local environment and industry spot harmful gas concentration too high, healthy by serious harm people.Therefore, the monitoring tool of harmful gas concentration in some specific region is of great significance.Compared with traditional gas concentration measuring method, infrared absorption spectroscopy has that measuring accuracy is high, fast response time, stability are good, antijamming capability is strong, can multicomponent gas concentration be realized while the plurality of advantages such as measurement.At present, domesticly in infrared absorption spectrum Gas Thickness Detecting Technology, be also in starting developing stage, most of surveying instrument still selects nickel filament as infrared light supply, adopts mechanical system modulated infrared light, existence and stability is poor, serviceable life is short, to defects such as vibrations sensitivities.
Formaldehyde is a kind of toxic gas, and it is extensively present in home decoration material, endangers the healthy of people, and the monitoring therefore for formaldehyde seems particularly important.Along with the development of technology, the monitoring of formaldehyde is mainly towards real-time response, operation simplification, low-power consumption, low cost future development.At present, domestic also have some to make instrument about Formaldehyde, and they adopt external electrochemical sensor, but cost is higher.
Formaldehyde (HCHO) is a kind of colourless at normal temperatures, the gas of irritant smell, soluble in water, alcohol and ether.The eyes, respiratory system, nervous system etc. of formaldehyde to people all have strong harm, and Long contact time can cause tissue aberrations and cause canceration, and therefore it is a kind of potential dangerous carcinogenic substance and important environmental contaminants, to human body serious harm.
Such as application number is a kind of Portable formaldehyde concentration pick-up unit of " 201310055716.7 ", comprises drawing fan, for absorbing air to be detected; Transparent vessel, for holding phenol reagent solution, the formaldehyde in air and phenol reagent solution reaction generate piperazine; Optical sensor, described optical sensor is two pieces; LED, for described light sensors solution colour provides illumination; Microprocessor, processes the voltage signal that described optical sensor transmits; Display, for showing the numerical value of concentration of formaldehyde.Still further provides a kind of concentration of formaldehyde detection method using said apparatus.This beneficial effect of the invention is: accurately can extrapolate the concentration of formaldehyde in certain volume air fast, and more portable.
And for example application number is a kind of online concentration of formaldehyde pick-up unit being applicable to air purifier of " 201410443047.5 ", comprising: for detecting the sensor of air formaldehyde concentration; For the transition components of current/voltage conversion, described transition components is connected with described sensor; By the ADC sampling component that two close cycles amplifying circuit is connected with described transition components, described ADC sampling component is follow-up is provided with A/D analog to digital converter; MCU disposal system, described MCU disposal system is connected with described A/D analog to digital converter signal, and described MCU disposal system includes processor, and described processor is connected with display by RS485 communication protocol.This beneficial effect of the invention is: online concentration of formaldehyde pick-up unit, optional position required in air purifier body can be loaded on, the levels of formaldehyde in on-line real-time measuremen air purifier process pure air, accuracy of detection is high, stability is strong, and the data detected are transferred to display device show in real time, the real-time content of formaldehyde can be checked intuitively.
Summary of the invention
Technical matters to be solved by this invention provides a kind of monitoring harmful gases system based on detection rectification circuit for the deficiency of background technology.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of monitoring harmful gases system based on detection rectification circuit, it is characterized in that: comprise infrared absorption detection module, filtering and amplifying circuit, detection rectification circuit, micro controller module, clock module, input through keyboard module, alarm module, display module, memory module and power module, described infrared absorption detection module passes through filtering and amplifying circuit successively, detection rectification circuit is connected with micro controller module, described clock module, input through keyboard module, alarm module, display module, memory module and power module are all connected on the corresponding port of micro controller module, described infrared absorption detection module comprises the spectral modulation driving circuit connected successively, infrared light supply, air chamber and pyroelectric infrared detector,
Described detection rectification circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the first amplifier, the second amplifier, electric capacity, the first metal-oxide-semiconductor and the second metal-oxide-semiconductor, wherein, one end of first resistance connects the positive pole of filtering and amplifying circuit, the other end of the first resistance connects the second resistance, the inverting input of the 3rd resistance and the first amplifier, the other end of the second resistance connects the source electrode of the second metal-oxide-semiconductor, the other end of the 3rd resistance connects the drain electrode of the first metal-oxide-semiconductor, one end of 4th resistance also connects the positive pole of filtering and amplifying circuit, the other end connects electric capacity, 5th resistance, the inverting input of the 6th resistance and the second amplifier, the other end of the 5th resistance connects the source electrode of the second metal-oxide-semiconductor, the other end of the 6th resistance and the other end of electric capacity connect the output terminal of the second amplifier, one end of 7th resistance connects the grid of the first metal-oxide-semiconductor, the other end connects the first reference signal, one end of 8th resistance connects the grid of the second metal-oxide-semiconductor, the other end of the 8th resistance connects the second reference signal, the output terminal of the first amplifier N1 connects the drain electrode of the second metal-oxide-semiconductor, the non-inverting input of the second amplifier connects the negative pole in tested source, the source electrode of the first metal-oxide-semiconductor connects the drain electrode of the second metal-oxide-semiconductor,
Wherein, infrared absorption detection module, converts the infrared light supply through air chamber to electric signal for utilizing pyroelectric infrared detector;
Filtering and amplifying circuit, carries out amplification filtering process for the electric signal converted to by infrared absorption detection module;
Detection rectification circuit, for carrying out detection rectification process by the electric signal after filtering process;
Input through keyboard module, for presetting the normal concentration threshold value of harmful gas;
Micro controller module, for calculating the concentration of harmful gas according to the light intensity electric signal received, and then contrasts with the normal concentration threshold value preset, if exceed normal concentration threshold value, controls alarm module and give the alarm;
Display module, for showing the concentration of the harmful gas that micro controller module calculates in real time;
Clock module, detects the time of harmful gas concentration for real time record;
Memory module, for storing the concentration of harmful gas according to clock module real time record.
As the further preferred version of a kind of monitoring harmful gases system based on detection rectification circuit of the present invention, the chip model of described pyroelectric infrared detector is TPS4339.
As the further preferred version of a kind of monitoring harmful gases system based on detection rectification circuit of the present invention, described alarm module adopts acousto-optic warning unit.
As the further preferred version of a kind of monitoring harmful gases system based on detection rectification circuit of the present invention, described micro controller module selects 32 fixed-point dsp TMS320F2812 of TI company.
As the further preferred version of a kind of monitoring harmful gases system based on detection rectification circuit of the present invention, described display module adopts LCD display.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1, the present invention adopts Novel pulse to modulate IR thermal emitter, high precision interference filter integration pyroelectric infrared detector, DSP Based Intelligent Control disposal system etc., can the concentration of CO, CO2, CH4 in on-line monitoring atmospheric environment and industry spot, there is the functions such as automatic display, off-limit alarm and remote monitoring;
2, structure of the present invention is simple, is easy to realize.Adopt Novel pyroelectric infrared detector, detect while realizing multiple harmful gas concentration, the optimization of modulation of source and signal conditioning circuit, effectively reduces external disturbance, reduces systematic error;
3, the calculation processing power that DSP is powerful, improve measuring accuracy and the speed of system, CAN communication facilitates remote monitoring, and this system can realize the Real-Time Monitoring to multiple harmful gas concentration.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present invention;
Fig. 2 is detection rectification circuit circuit diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, a kind of monitoring harmful gases system based on detection rectification circuit, comprise infrared absorption detection module, filtering and amplifying circuit, detection rectification circuit, micro controller module, clock module, input through keyboard module, alarm module, display module, memory module and power module, described infrared absorption detection module passes through filtering and amplifying circuit successively, detection rectification circuit is connected with micro controller module, described clock module, input through keyboard module, alarm module, display module, memory module and power module are all connected on the corresponding port of micro controller module, described infrared absorption detection module comprises the spectral modulation driving circuit connected successively, infrared light supply, air chamber and pyroelectric infrared detector,
As shown in Figure 2, described detection rectification circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the first amplifier, the second amplifier, electric capacity, the first metal-oxide-semiconductor and the second metal-oxide-semiconductor, wherein, one end of first resistance connects the positive pole of filtering and amplifying circuit, the other end of the first resistance connects the second resistance, the inverting input of the 3rd resistance and the first amplifier, the other end of the second resistance connects the source electrode of the second metal-oxide-semiconductor, the other end of the 3rd resistance connects the drain electrode of the first metal-oxide-semiconductor, one end of 4th resistance also connects the positive pole of filtering and amplifying circuit, the other end connects electric capacity, 5th resistance, the inverting input of the 6th resistance and the second amplifier, the other end of the 5th resistance connects the source electrode of the second metal-oxide-semiconductor, the other end of the 6th resistance and the other end of electric capacity connect the output terminal of the second amplifier, one end of 7th resistance connects the grid of the first metal-oxide-semiconductor, the other end connects the first reference signal, one end of 8th resistance connects the grid of the second metal-oxide-semiconductor, the other end of the 8th resistance connects the second reference signal, the output terminal of the first amplifier N1 connects the drain electrode of the second metal-oxide-semiconductor, the non-inverting input of the second amplifier connects the negative pole in tested source, the source electrode of the first metal-oxide-semiconductor connects the drain electrode of the second metal-oxide-semiconductor,
Wherein, infrared absorption detection module, converts the infrared light supply through air chamber to electric signal for utilizing pyroelectric infrared detector;
Filtering and amplifying circuit, carries out amplification filtering process for the electric signal converted to by infrared absorption detection module;
Detection rectification circuit, for carrying out detection rectification process by the electric signal after filtering process;
Input through keyboard module, for presetting the normal concentration threshold value of harmful gas;
Micro controller module, for calculating the concentration of harmful gas according to the light intensity electric signal received, and then contrasts with the normal concentration threshold value preset, if exceed normal concentration threshold value, controls alarm module and give the alarm;
Display module, for showing the concentration of the harmful gas that micro controller module calculates in real time;
Clock module, detects the time of harmful gas concentration for real time record;
Memory module, for storing the concentration of harmful gas according to clock module real time record.
Wherein, the chip model of described pyroelectric infrared detector is TPS4339, described alarm module adopts acousto-optic warning unit, and described micro controller module selects 32 fixed-point dsp TMS320F2812 of TI company, and described display module adopts LCD display.
Infrared absorption spectroscopy is that the characteristic utilizing material infrared electromagnetic radiation to be had to selective absorbing carries out method that is qualitative or quantitative test to material.According to infrared theory, chemical compound lot molecule has certain absorption peak at infrared band, and the power of absorption peak and place wavelength are by the structures shape of molecule itself, and the absorption peak of gas molecule is mainly distributed in the infrared region of 1 μm ~ 25 mum wavelengths.As CO, CO2, CH4 have an absorption peak at 4.66 μm, 4.26 μm, 3.46 μm respectively.When infrared light is by gas, gas molecules sorb luminous energy, will produce the decay of light intensity, and attenuation degree is relevant with the height of gas concentration at corresponding wavelength place, and its relation obeys Lamber-Beer law, such as formula shown:
I=I0e-KCL
Wherein: I0 is incident intensity; I is exiting light beam intensity; K is absorption coefficient; C is gas concentration; L is the length of infrared light gas.
Absorption coefficient K depends on gas characteristic, and the absorption coefficient of gas with various is different, and to same gas, K is the function of absorption peak wavelength, and when gaseous species one timing to be measured, K is certain value.When L mono-timing, only need measure exiting light beam intensity I, gas concentration to be measured can be determined.Be subject to the impact of external environment due to light intensity and be inconvenient to measure, therefore, needing to utilize pyroelectric infrared detector that the change of light intensity is converted to the change of voltage, realize the indirect inspection to gas concentration.
System adopts the detection method of single light source 4 wavelength, the infrared light that infrared light supply sends incides on pyroelectric infrared detector by the reflective optical system measured in air chamber, detector arranges 4 independently detecting units, wherein: 3 measuring units, and 1 reference unit.Each unit installs spike interference filter, and the centre of homology wavelength of measuring unit optical filter is corresponding with the absorption peak wavelength of gas to be measured respectively, and the centre of homology wavelength of reference unit optical filter is then away from the absorption peak wavelength of gas to be measured.
DSP is the control treatment core of whole system, the direct design affecting hardware and software, select 32 fixed-point dsp TMS320F2812 of TI company, there is following characteristics: maximum operation frequency 150MHz, 32 bit processors, can realize completing complicated algorithm task within a short period of time.Have resource in abundant sheet, Flash, ROM, RAM, timer, enhancing LAN eCAN on sheet, A/D converter in 12 16 dust pieces, simplifies hardware circuit design.Support the real-time development technique of ex-pressDSPTM of TI, TMS320DSP algorithm standard rules, CCS Integrated Development Environment, for software development is provided convenience condition.
Infrared absorption detection module comprises: infrared light supply, air chamber, pyroelectric infrared detector.Infrared light supply and pyroelectric infrared detector are arranged in the bright and clean plated film air chamber of inwall, and air chamber has the pore of band dust cover, to make gas free diffusing.Optical system in air chamber, the infrared light that light source is launched incides on pyroelectric infrared detector after reflection, to increase light path, improves detection resolution.
Infrared light supply adopts Novel pulse modulation IR thermal emitter MIRL17-900, using amorphous carbon material as Multi-layer thermal resistance film, produce infrared radiation by heating after electric current, its spectral output ranges is 1.0 μm ~ 20 μm, covers the absorption peak wavelength of gas to be measured completely.There is the advantages such as long service life, emission efficiency is high, thermal capacity is little.Replace by traditional infrared light source with MIRL17-900, cut the light-source system that mating plate and drive motor form, make there is no movable member in light-source system, enhance stability and reliability.
Pyroelectric infrared detector is the core devices of system, adopt high precision interference filter integration pyroelectric infrared detector TPS4339, this detector is the Novel pyroelectric infrared sensor designed for detection of gas with multiple constituents specially, comprises 3 measuring units, 1 reference unit and the temperature measuring unit for temperature compensation.The filter transmission centre wavelength of 3 measuring units is respectively: 4.66 μm, 4.26 μm, 3.46 μm corresponding with the absorption peak of gas CO, CO2, CH4 to be measured, the filter transmission centre wavelength of reference unit is 3.93 μm, away from the absorption peak of tested gas, the spectrum of reference unit can not be absorbed by tested gas, the only intensity signal of reflection light source, light intensity change is converted to change in voltage by each unit optical filter by TPS4339.The integral structure of optical filter and detector, makes it have that volume is little, good stability and the advantage such as debugging is convenient.
The light intensity of a pyroelectric infrared detector response change, and for stable light intensity, its output signal is steady state value.Therefore, when using pyroelectric infrared detector to detect light intensity, the modulation of certain frequency need be carried out to infrared light supply.According in MIRL17-900 and TPS4339 service manual, light source intensity and infrared eye respond the relation declined with the increase of modulating frequency, and arranging modulation of source frequency is 2Hz.2Hz square-wave modulation signal is produced by TMS320F2812 Interruption, controls power field effect pipe IRF9410 break-make, realize the modulation to light source by rp-drive 74F04 and photoelectrical coupler MCT273.
System adopts 220V mains-supplied, is transformed to ± 12V and+5V by Switching Power Supply.Digital 3.3V and 1.8V power supply needed for TMS320F2812, is transformed to 3.3V and 1.8V by+5V voltage through low voltage difference doubleway output linear power supply TPS767D301.
The present invention relates to the monitoring harmful gases system based on infrared absorption, structure is simple, is easy to realize.Adopt Novel pyroelectric infrared detector, detect while realizing multiple harmful gas concentration, the optimal design of modulation of source and signal conditioning circuit, effectively reduces external disturbance, reduces systematic error.The calculation processing power that DSP is powerful, improve measuring accuracy and the speed of system, CAN communication facilitates remote monitoring.This system can realize the Real-Time Monitoring to multiple harmful gas concentration.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, makes a variety of changes under can also or else departing from the prerequisite of present inventive concept.

Claims (5)

1. the monitoring harmful gases system based on detection rectification circuit, it is characterized in that: comprise infrared absorption detection module, filtering and amplifying circuit, detection rectification circuit, micro controller module, clock module, input through keyboard module, alarm module, display module, memory module and power module, described infrared absorption detection module passes through filtering and amplifying circuit successively, detection rectification circuit is connected with micro controller module, described clock module, input through keyboard module, alarm module, display module, memory module and power module are all connected on the corresponding port of micro controller module, described infrared absorption detection module comprises the spectral modulation driving circuit connected successively, infrared light supply, air chamber and pyroelectric infrared detector,
Described detection rectification circuit comprises the first resistance, the second resistance, the 3rd resistance, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the first amplifier, the second amplifier, electric capacity, the first metal-oxide-semiconductor and the second metal-oxide-semiconductor, wherein, one end of first resistance connects the positive pole of filtering and amplifying circuit, the other end of the first resistance connects the second resistance, the inverting input of the 3rd resistance and the first amplifier, the other end of the second resistance connects the source electrode of the second metal-oxide-semiconductor, the other end of the 3rd resistance connects the drain electrode of the first metal-oxide-semiconductor, one end of 4th resistance also connects the positive pole of filtering and amplifying circuit, the other end connects electric capacity, 5th resistance, the inverting input of the 6th resistance and the second amplifier, the other end of the 5th resistance connects the source electrode of the second metal-oxide-semiconductor, the other end of the 6th resistance and the other end of electric capacity connect the output terminal of the second amplifier, one end of 7th resistance connects the grid of the first metal-oxide-semiconductor, the other end connects the first reference signal, one end of 8th resistance connects the grid of the second metal-oxide-semiconductor, the other end of the 8th resistance connects the second reference signal, the output terminal of the first amplifier N1 connects the drain electrode of the second metal-oxide-semiconductor, the non-inverting input of the second amplifier connects the negative pole in tested source, the source electrode of the first metal-oxide-semiconductor connects the drain electrode of the second metal-oxide-semiconductor,
Wherein, infrared absorption detection module, converts the infrared light supply through air chamber to electric signal for utilizing pyroelectric infrared detector;
Filtering and amplifying circuit, carries out amplification filtering process for the electric signal converted to by infrared absorption detection module;
Detection rectification circuit, for carrying out detection rectification process by the electric signal after filtering process;
Input through keyboard module, for presetting the normal concentration threshold value of harmful gas;
Micro controller module, for calculating the concentration of harmful gas according to the light intensity electric signal received, and then contrasts with the normal concentration threshold value preset, if exceed normal concentration threshold value, controls alarm module and give the alarm;
Display module, for showing the concentration of the harmful gas that micro controller module calculates in real time;
Clock module, detects the time of harmful gas concentration for real time record;
Memory module, for storing the concentration of harmful gas according to clock module real time record.
2. a kind of monitoring harmful gases system based on detection rectification circuit according to claim 1, is characterized in that: the chip model of described pyroelectric infrared detector is TPS4339.
3. a kind of monitoring harmful gases system based on detection rectification circuit according to claim 1, is characterized in that: described alarm module adopts acousto-optic warning unit.
4. a kind of monitoring harmful gases system based on detection rectification circuit according to claim 1, is characterized in that: described micro controller module selects 32 fixed-point dsp TMS320F2812 of TI company.
5. a kind of monitoring harmful gases system based on detection rectification circuit according to claim 1, is characterized in that: described display module adopts LCD display.
CN201510843128.9A 2015-11-26 2015-11-26 Harmful gas monitoring system based on detection rectifying circuit Pending CN105334178A (en)

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Publication number Priority date Publication date Assignee Title
CN105843195A (en) * 2016-05-24 2016-08-10 中国科学院长春光学精密机械与物理研究所 Power-on control system for multiple controllers
CN111289702A (en) * 2020-04-13 2020-06-16 四川智动木牛智能科技有限公司 Gas detection system based on mobile robot
CN116818699A (en) * 2023-06-07 2023-09-29 南京信息工程大学 Non-spectroscopic infrared gas sensor and calibration measurement method thereof

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JP2011128015A (en) * 2009-12-17 2011-06-30 Panasonic Electric Works Co Ltd Infrared gas detector
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN111289702A (en) * 2020-04-13 2020-06-16 四川智动木牛智能科技有限公司 Gas detection system based on mobile robot
CN116818699A (en) * 2023-06-07 2023-09-29 南京信息工程大学 Non-spectroscopic infrared gas sensor and calibration measurement method thereof
CN116818699B (en) * 2023-06-07 2024-03-12 南京信息工程大学 Non-spectroscopic infrared gas sensor and calibration measurement method thereof

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