CN109947007A - A kind of physical state monitoring method and system based on Multi-sensor Fusion - Google Patents
A kind of physical state monitoring method and system based on Multi-sensor Fusion Download PDFInfo
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Abstract
本发明公开了一种基于多传感器融合的物流状态监控方法及系统，该系统包括若干智能标签，每个智能标签由标签外壳、微控制器、传感器模块、无线通信模块和电源模块组成；标签外壳安装于运输货物的表面；微控制器负责整个系统的工作任务调度；传感器模块通过多类型传感器互联，实现货物运输环境的传感器数据采集和事件建模计算，包括震动、撞击、倾倒、跌落、拆封、温湿度失调等事件；无线通信模块将传感器数据、时间标签以及事件记录发送至监控移动终端或者远程云端服务器；本发明能够有效地监控生产物资传递、物流运输过程中货物的实时状态和事件记录信息，货物受损时可及时报警，实现精确、有效地监控敏感产品的安全运输。
The invention discloses a logistics state monitoring method and system based on multi-sensor fusion. The system includes a plurality of smart labels, each smart label is composed of a label shell, a microcontroller, a sensor module, a wireless communication module and a power supply module; the label shell Installed on the surface of the transported goods; the microcontroller is responsible for the task scheduling of the entire system; the sensor module is interconnected through multiple types of sensors to realize the sensor data acquisition and event modeling calculation of the cargo transportation environment, including vibration, impact, dumping, falling, dismantling, etc. The wireless communication module sends sensor data, time tags and event records to the monitoring mobile terminal or remote cloud server; the present invention can effectively monitor the real-time status and events of goods in the process of production material delivery and logistics transportation Record information, alarm in time when the goods are damaged, and realize accurate and effective monitoring of the safe transportation of sensitive products.
Description
技术领域technical field
本发明属于物流技术领域，尤其涉及一种基于多传感器融合的物流状态监控方法及系统。The invention belongs to the technical field of logistics, and in particular relates to a method and system for monitoring the state of logistics based on multi-sensor fusion.
背景技术Background technique
在物流过程中，大型贵重货物可能会因为装卸过程的倾倒、碰撞，运输过程中的颠簸震动等因素产生损坏。目前大部分已有的防撞防震标签产品都是基于物理检测的非智能方式实现，运输人员无法实时获取货物的异常运输状态，当货物受损时也不能及时确定责任人。同时，半导体技术的成熟和发展也降低了电子传感器的成本，使得传感器得到越来越广泛的运用。In the logistics process, large and valuable goods may be damaged due to factors such as dumping, collision during loading and unloading, and bumps and vibrations during transportation. At present, most of the existing anti-collision and anti-vibration label products are implemented in a non-intelligent way based on physical detection. The transportation personnel cannot obtain the abnormal transportation status of the goods in real time, and the responsible person cannot be determined in time when the goods are damaged. At the same time, the maturity and development of semiconductor technology has also reduced the cost of electronic sensors, making sensors more and more widely used.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于针对现有技术的不足，提供了一种基于多传感器融合的物流状态监控方法及系统。该系统采用低功耗微控制器(Microcontroller Unit,MCU)作为核心处理单元，通过加速度传感器、陀螺仪、温湿度传感器和光敏传感器实现异常运输状态的检测，并通过无线通信模块传输监控信息，以达到对运输过程中的快件进行有效监控的目的，帮助物流公司分析被损坏货物的问题，提高运输效率。The purpose of the present invention is to provide a logistics state monitoring method and system based on multi-sensor fusion in view of the deficiencies of the prior art. The system uses a low-power microcontroller (Microcontroller Unit, MCU) as the core processing unit, detects abnormal transportation states through acceleration sensors, gyroscopes, temperature and humidity sensors, and photosensitive sensors, and transmits monitoring information through a wireless communication module. To achieve the purpose of effectively monitoring the express in the process of transportation, help the logistics company to analyze the problem of damaged goods, and improve the transportation efficiency.
本发明的目的是通过以下技术方案来实现的：一种基于多传感器融合的物流状态监控方法，该方法包括以下步骤：The object of the present invention is achieved through the following technical solutions: a method for monitoring the state of logistics based on multi-sensor fusion, the method comprises the following steps:
步骤1：将4个智能标签分别粘贴在大型货物包装内壳四个侧面，安装位置处于表面中等偏上位置，分别标记为1,2,3,4号；Step 1: Paste the 4 smart labels on the four sides of the inner shell of the large cargo package, and the installation position is at the upper middle position of the surface, marked as Nos. 1, 2, 3, and 4 respectively;
步骤2：智能标签搭载加速度传感器、陀螺仪、温度传感器、湿度传感器和光敏传感器，通过加速度传感器检测垂直于地面方向(x方向)、平行于地面方向(方向)、垂直于表面(z方向)三个方向的加速度，加速度其中axi,ayi,azi分别为第i个传感器的x，z方向的加速度值；通过陀螺仪检测垂直于地面方向(x方向)、平行于地面方向(方向)、垂直于表面(z方向)三个方向的倾斜角度，倾斜角度 其中θxi,θyi,θzi分别为第i个传感器的x，z方向的旋转角度分量；通过温度传感器检测环境温度通过湿度传感器检测环境湿度通过光敏传感器检测环境光强li；Step 2: The smart label is equipped with an acceleration sensor, a gyroscope, a temperature sensor, a humidity sensor and a photosensitive sensor, and the acceleration sensor detects the direction perpendicular to the ground (x direction) and parallel to the ground ( direction), the acceleration in three directions perpendicular to the surface (z direction), the acceleration where a xi , a yi , and a zi are the x of the i-th sensor, respectively, The acceleration value in the z direction; the gyroscope detects the direction perpendicular to the ground (x direction), parallel to the ground ( direction), the inclination angle of the three directions perpendicular to the surface (z direction), the inclination angle where θ xi , θ yi , θ zi are the x of the ith sensor, respectively, Rotation angle component in z direction; ambient temperature detected by temperature sensor Detect ambient humidity through humidity sensor The ambient light intensity li is detected by a photosensitive sensor;
步骤3：设置传感器的检测周期将传感器采集的数据输入长度为的数据缓存中，对缓存数据进行中值滤波或者滑动平均滤波预处理；Step 3: Set the detection period of the sensor The input length of the data collected by the sensor is In the data cache, perform median filtering or moving average filtering preprocessing on the cached data;
步骤4：设定倾倒事件阈值为θTHR，跌落事件阈值为athr1，碰撞事件阈值为athr2，振动事件阈值为ath3和cthr，温度失调事件阈值为湿度失调事件阈值为hthrh,hthrl，拆封事件阈值为lthr，根据步骤3预处理后的数据进行事件的判定，判定准则如下：Step 4: Set the tipping event threshold as θ THR , the drop event threshold as a thr1 , the crash event threshold as a thr2 , the vibration event threshold as a th3 and c thr , and the temperature misalignment event threshold as The humidity imbalance event threshold is h thrh , h thrl , the unpacking event threshold is l thr , and the event is determined according to the preprocessed data in step 3. The determination criteria are as follows:
当时，判定发生倾倒事件；when When it is determined that a dumping event has occurred;
当时，判定发生跌落事件；when , it is determined that a drop event occurs;
当时，判定发生碰撞事件；when , it is determined that a collision event occurs;
当时，计数器count自增一，当时，计数器count自减一，当count＞cthr时，判定发生振动事件；when When the counter is incremented by one, when When , the counter count is decremented by one, and when count>c thr , it is determined that a vibration event occurs;
当或者时，判定发生温度失调事件；when or When , it is determined that a temperature imbalance event occurs;
当或者时，判定发生湿度失调事件；when or When , it is determined that a humidity imbalance event occurs;
当时，判定发生拆封事件。when When it is determined that an unpacking event has occurred.
一种基于多传感器融合的物流状态监控系统，该系统包括若干智能标签，每个智能标签由标签外壳、微控制器MCU、传感器模块、无线通信模块以及电源模块组成；A logistics state monitoring system based on multi-sensor fusion, the system includes several smart labels, each smart label is composed of a label shell, a microcontroller MCU, a sensor module, a wireless communication module and a power supply module;
所述标签外壳是所有电子器件的载体，是一个可拆卸的标签黑匣子，可安装于物流包装盒内部或者货物的表面；The label shell is the carrier of all electronic devices, and is a detachable label black box, which can be installed inside the logistics box or on the surface of the goods;
所述微控制器MCU与传感器模块和无线通信模块相连，负责整个系统的工作任务调度，包括数据采集控制、传感器数据记录和传输、事件判断等；The microcontroller MCU is connected with the sensor module and the wireless communication module, and is responsible for the work task scheduling of the entire system, including data acquisition control, sensor data recording and transmission, event judgment, etc.;
所述传感器模块用于检测货物的运输环境，包括震动情况、倾斜情况、撞击情况、温湿度、光照情况等；The sensor module is used to detect the transportation environment of the goods, including vibration, inclination, impact, temperature and humidity, illumination, etc.;
所述无线通信模块用于与外界进行通信，将传感器数据以及货物状态信息发送至其他智能标签、移动终端或者远程云端服务器；The wireless communication module is used to communicate with the outside world, and send sensor data and cargo status information to other smart labels, mobile terminals or remote cloud servers;
所述电源模块与微控制器MCU、传感器模块以及无线通信模块相连接，为整个系统供电。The power supply module is connected with the microcontroller MCU, the sensor module and the wireless communication module to supply power to the whole system.
进一步地，所述微控制器采用低功耗MCU以确保标签的工作时长可以满足运输时间的要求；MCU为运输事件建模，通过接收传感器模块发送的震动、倾斜、温湿度、光照等数据进行事件判断，包括震动、撞击、倾倒、跌落、拆封、温湿度失调等事件；MCU也将附带时间标签的数据和事件记录存储于内部ROM中。Further, the microcontroller adopts a low-power MCU to ensure that the working time of the label can meet the requirements of the transportation time; the MCU models transportation events, and carries out the data by receiving vibration, tilt, temperature and humidity, illumination and other data sent by the sensor module. Event judgment, including vibration, impact, dumping, falling, unpacking, temperature and humidity imbalance, etc.; MCU also stores data and event records with time stamps in the internal ROM.
进一步地，所述传感器模块通过多类型传感器互联，实现货物运输环境的数据采集，并用于运输事件建模和判断；传感器模块使用陀螺仪检测货物倾斜角度，使用加速度传感器检测货物的冲击以及震动情况，使用温湿度传感器检测货物周围环境的温湿度，使用光敏期间记录环境光照强度条件。Further, the sensor module is interconnected through multiple types of sensors to realize data collection of the cargo transportation environment, and used for modeling and judgment of transportation events; the sensor module uses a gyroscope to detect the inclination angle of the cargo, and uses an acceleration sensor to detect the impact and vibration of the cargo. , Use the temperature and humidity sensor to detect the temperature and humidity of the surrounding environment of the goods, and record the ambient light intensity conditions during the use of photosensitive.
进一步地，所述微控制器中存储货物运输条件信息，包括加速度和倾角阈值、温湿度阈值、光照阈值等信息；当运输条件超出这些阈值设定的范围时，MCU通过无线通信模块向远程云服务器或者监控移动终端发送报警信息。Further, cargo transportation condition information is stored in the microcontroller, including acceleration and inclination angle thresholds, temperature and humidity thresholds, illumination thresholds and other information; when the transportation conditions exceed the range set by these thresholds, the MCU sends the information to the remote cloud through the wireless communication module. The server or monitoring mobile terminal sends alarm information.
进一步地，当远程云服务器或者监控移动终端接收到智能标签发送的报警信息后，立即通过物流系统发送验视货物请求给运输人员，让运输人员及时处理异常状况，提高运输效率。Further, when the remote cloud server or the monitoring mobile terminal receives the alarm information sent by the smart label, it immediately sends a request for inspection of the goods to the transport personnel through the logistics system, so that the transport personnel can deal with the abnormal situation in time and improve the transportation efficiency.
进一步地，所述无线通信模块采用蓝牙与NB-IoT技术；运输过程传感器采集的数据以及货物状态信息通过蓝牙传输至监控移动终端，通过NB-IoT传输至远程云服务器，同时监控移动终端可以通过蓝牙发送工作条件范围至MCU进行设定。Further, the wireless communication module adopts bluetooth and NB-IoT technology; the data collected by the sensor during transportation and the cargo status information are transmitted to the monitoring mobile terminal through bluetooth, and are transmitted to the remote cloud server through NB-IoT. Bluetooth sends the working condition range to the MCU for setting.
进一步地，收货人在签收货物前，通过用户移动终端从智能标签中读取货物状态记录和事件记录，在不需要开箱的情况下掌握货物的状态信息；同时用户移动终端可以与远程云端服务器进行通信实现各项记录的更新和校验。Further, before signing for the goods, the consignee reads the goods status record and event record from the smart label through the user's mobile terminal, and grasps the status information of the goods without opening the box; at the same time, the user's mobile terminal can communicate with the remote cloud. The server communicates to realize the update and verification of each record.
进一步地，所述电源模块采用一次性电池或者可充电电池进行供电，并能确保低功耗MCU的工作时长；一次运输任务完成后，远程云端服务器最后一次校验和保存所有数据和记录，然后授权智能标签清楚内部的数据记录，更换电池后即可再一次使用。Further, the power module is powered by a disposable battery or a rechargeable battery, and can ensure the working time of the low-power MCU; after a transportation task is completed, the remote cloud server checks and saves all data and records for the last time, and then The authorized smart tag clears the internal data record, and can be used again after replacing the battery.
本发明的有益效果是，本发明的适用范围为产物资流转、装卸搬运、物流运输等实时监控，能够有效地监控生产物资传递、物流运输过程中货物的实时状态和事件记录信息，货物受损时可及时报警，实现精确、有效地监控敏感产品的安全运输。The beneficial effect of the present invention is that the scope of application of the present invention is real-time monitoring of product material circulation, loading and unloading, logistics transportation, etc., and can effectively monitor the real-time status and event record information of goods in the process of production material delivery, logistics and transportation, and damage to goods. It can alarm in time to achieve accurate and effective monitoring of the safe transportation of sensitive products.
附图说明Description of drawings
图1是智能物流标签结构图；Figure 1 is a structural diagram of an intelligent logistics label;
图2是智能物流标签的部署位置示意图。FIG. 2 is a schematic diagram of the deployment position of the smart logistics label.
具体实施方式Detailed ways
下面结合附图对本发明具体实施方式作进一步详细描述。The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.
如图1所示，本发明提供的一种基于多传感器融合的物流状态监控系统，它由标签外壳5、低功耗微控制器MCU1、无线通信模块3、传感器模块4、以及电源模块2组成；所述标签外壳5为电子器件的载体的载体，是一个可拆卸的标签黑匣子，可安装于物流包装盒内部或者货物的表面；所述微控制器MCU1与传感器模块4及无线通信模块3相连，负责整个系统的工作任务调度，包括数据采集控制、传感器数据记录和传输、事件判断等；所述传感器模块4与MCU1连接，用于检测货物的运输环境，包括冲击以及震动情况、倾斜情况、撞击情况、温湿度、光照情况等等；所述无线通信模块3与MCU1连接，用于与外界进行通信，将传感器数据以及货物状态信息发送至监控移动终端7或者远程云端服务器6；所述电源模块2与MCU1、无线通信模块3以及传感器模块4相连接，为整个系统供电。As shown in FIG. 1 , a logistics state monitoring system based on multi-sensor fusion provided by the present invention is composed of a label shell 5 , a low-power microcontroller MCU1 , a wireless communication module 3 , a sensor module 4 , and a power supply module 2 The label shell 5 is the carrier of the carrier of the electronic device, which is a detachable label black box, which can be installed in the interior of the logistics box or the surface of the goods; the microcontroller MCU1 is connected with the sensor module 4 and the wireless communication module 3 , responsible for the task scheduling of the entire system, including data acquisition control, sensor data recording and transmission, event judgment, etc.; the sensor module 4 is connected to the MCU1 to detect the transportation environment of the goods, including shock and vibration conditions, tilt conditions, Impact conditions, temperature and humidity, lighting conditions, etc.; the wireless communication module 3 is connected to the MCU1 for communicating with the outside world, and sends sensor data and cargo status information to the monitoring mobile terminal 7 or the remote cloud server 6; the power supply The module 2 is connected with the MCU1, the wireless communication module 3 and the sensor module 4 to supply power to the whole system.
微控制器采用低功耗MCU1以确保标签的工作时长可以满足运输时间的要求；MCU1为运输事件建模，通过接收传感器模块发送的震动、倾斜、温湿度、光照等数据进行事件判断，并将附带时间标签的数据和事件记录存储于内部ROM中。The microcontroller adopts low-power MCU1 to ensure that the working time of the label can meet the requirements of transportation time; MCU1 models transportation events, and judges events by receiving vibration, inclination, temperature, humidity, illumination and other data sent by the sensor module, and sends the Time-stamped data and event records are stored in internal ROM.
传感器模块4通过多类型传感器互联，实现货物运输环境的数据采集，并用于运输事件建模和判断。传感器模块4使用陀螺仪检测货物倾斜角度，使用加速度传感器检测货物的冲击以及震动情况，使用温湿度传感器检测货物周围环境的温湿度，使用光敏期间记录环境光照强度条件，具体步骤为：The sensor module 4 is interconnected through multiple types of sensors to realize data collection of the cargo transportation environment, and use it for modeling and judgment of transportation events. The sensor module 4 uses a gyroscope to detect the inclination angle of the goods, uses an acceleration sensor to detect the impact and vibration of the goods, uses a temperature and humidity sensor to detect the temperature and humidity of the surrounding environment of the goods, and records the ambient light intensity conditions during the photosensitive period. The specific steps are:
步骤1：将4个智能标签分别粘贴在大型货物包装内壳四个侧面，安装位置处于表面中等偏上位置，分别标记为1,2,3,4号；Step 1: Paste the 4 smart labels on the four sides of the inner shell of the large cargo package, and the installation position is at the upper middle position of the surface, marked as Nos. 1, 2, 3, and 4 respectively;
步骤2：智能标签搭载加速度传感器、陀螺仪、温度传感器、湿度传感器和光敏传感器，通过加速度传感器检测垂直于地面方向(x方向)、平行于地面方向(方向)、垂直于表面(z方向)三个方向的加速度，加速度其中axi,ayi,azi分别为第i个传感器的x，z方向的加速度值；通过陀螺仪检测垂直于地面方向(x方向)、平行于地面方向(方向)、垂直于表面(z方向)三个方向的倾斜角度，倾斜角度 其中θxi,θyi,θzi分别为第i个传感器的x，z方向的旋转角度分量；通过温度传感器检测环境温度通过湿度传感器检测环境湿度通过光敏传感器检测环境光强li；Step 2: The smart label is equipped with an acceleration sensor, a gyroscope, a temperature sensor, a humidity sensor and a photosensitive sensor, and the acceleration sensor detects the direction perpendicular to the ground (x direction) and parallel to the ground ( direction), the acceleration in three directions perpendicular to the surface (z direction), the acceleration where a xi , a yi , and a zi are the x of the i-th sensor, respectively, The acceleration value in the z direction; the gyroscope detects the direction perpendicular to the ground (x direction), parallel to the ground ( direction), the inclination angle of the three directions perpendicular to the surface (z direction), the inclination angle where θ xi , θ yi , θ zi are the x of the ith sensor, respectively, Rotation angle component in z direction; ambient temperature detected by temperature sensor Detect ambient humidity through humidity sensor The ambient light intensity li is detected by a photosensitive sensor;
步骤3：设置传感器的检测周期将传感器采集的数据输入长度为的数据缓存中，对缓存数据进行中值滤波或者滑动平均滤波预处理；Step 3: Set the detection period of the sensor The input length of the data collected by the sensor is In the data cache, perform median filtering or moving average filtering preprocessing on the cached data;
步骤4：通过监控移动终端7设定倾倒事件阈值为θTHR，跌落事件阈值为athr1，碰撞事件阈值为athr2，振动事件阈值为ath3和cthr，温度失调事件阈值为湿度失调事件阈值为hthrh,hthrl，拆封事件阈值为lthr，并通过蓝牙传输至MCU1中，根据步骤3预处理后的数据进行事件的判定，判定准则如下Step 4: Set the dumping event threshold as θ THR by monitoring the mobile terminal 7 , the drop event threshold as a thr1 , the collision event threshold as a thr2 , the vibration event threshold as a th3 and c thr , and the temperature imbalance event threshold as The humidity imbalance event threshold is h thrh , h thrl , the unpacking event threshold is l thr , and the event is transmitted to MCU1 through Bluetooth, and the event is determined according to the preprocessed data in step 3. The determination criteria are as follows
当时，判定发生倾倒事件；when When it is determined that a dumping event has occurred;
当时，判定发生跌落事件；when , it is determined that a drop event occurs;
当时，判定发生碰撞事件；when , it is determined that a collision event occurs;
当时，计数器count自增一，当时，计数器count自减一，当count＞cthr时，判定发生振动事件；when When the counter is incremented by one, when When , the counter count is decremented by one, and when count>c thr , it is determined that a vibration event occurs;
当或者时，判定发生温度失调事件；when or When , it is determined that a temperature imbalance event occurs;
当或者时，判定发生湿度失调事件；when or When , it is determined that a humidity imbalance event occurs;
当时，判定发生拆封事件。when When it is determined that an unpacking event has occurred.
微控制器中存储了货物运输条件信息，包括加速度和倾角阈值、温湿度阈值、光照阈值等信息；当运输条件超出这些阈值设定的范围时，MCU1通过无线通信模块向远程云服务器或者监控移动终端7发送报警信息；The microcontroller stores information on cargo transportation conditions, including acceleration and inclination thresholds, temperature and humidity thresholds, light thresholds, and other information; when the transportation conditions exceed the range set by these thresholds, MCU1 moves to a remote cloud server or monitors the movement through a wireless communication module. Terminal 7 sends alarm information;
无线通信模块3采用蓝牙与NB-IoT技术；运输过程传感器采集的数据以及货物状态信息通过蓝牙传输至监控移动终端7，通过NB-IoT传输至远程云服务器6，同时监控移动终端7可以通过蓝牙发送工作条件范围至MCU1进行设定。The wireless communication module 3 adopts Bluetooth and NB-IoT technology; the data collected by the sensors during transportation and the cargo status information are transmitted to the monitoring mobile terminal 7 through Bluetooth, and are transmitted to the remote cloud server 6 through NB-IoT, and the monitoring mobile terminal 7 can use Bluetooth Send the working condition range to MCU1 for setting.
当远程云服务器6或者监控移动终端7收到智能标签发送的报警信息后，立即通过物流系统发送验视货物请求给运输人员，让运输人员及时处理异常状况，提高运输效率。When the remote cloud server 6 or the monitoring mobile terminal 7 receives the alarm information sent by the smart label, it immediately sends a request to inspect the goods to the transport personnel through the logistics system, so that the transport personnel can deal with the abnormal situation in time and improve the transportation efficiency.
收货人在签收货物前，通过用户移动终端从智能标签中读取货物状态记录和事件记录，在不需要开箱的情况下掌握货物的状态信息；同时用户移动终端也将与远程云端服务器6进行通信实现各项记录的更新和校验。Before signing for the goods, the consignee reads the goods status record and event record from the smart label through the user's mobile terminal, and grasps the status information of the goods without unpacking; at the same time, the user's mobile terminal will also communicate with the remote cloud server 6 Communicate to achieve the update and verification of various records.
电源模块2采用一次性电池或者可充电电池进行供电并能确保低功耗MCU1的工作时长。一次运输任务完成后，远程云端服务器6最后一次校验和保存所有数据和记录，然后授权电子标签清楚内部的数据记录，更换电池后即可再一次使用。The power module 2 is powered by a disposable battery or a rechargeable battery and can ensure the working time of the low-power MCU1. After a transportation task is completed, the remote cloud server 6 checks and saves all data and records for the last time, and then authorizes the electronic tag to clear the internal data records, and can be used again after replacing the battery.
在一次具体的实验中，货物尺寸设置为1m*1m*2m；检测周期为T＝1ms；缓存长度L＝10；倾倒事件阈值θTHR取30；跌落事件阈值athr1取7m/s2；碰撞事件阈值athr2取5m/s2；振动事件阈值ath3取2m/s2，cthr取10000；温度失调事件阈值取50℃，取0℃；湿度失调事件阈值为hthrh取60％，hthrl取20％；拆封事件阈值lthr取100Lux；实验结果证明本发明具有较好的异常运输状态检测精度。In a specific experiment, the size of the cargo is set to 1m*1m*2m; the detection period is T=1ms; the buffer length L=10; the dumping event threshold θ THR is set to 30; the drop event threshold a thr1 is set to 7m/s2; Threshold a thr2 is 5m/s2; vibration event threshold a th3 is 2m/s2, c thr is 10000; temperature misalignment event threshold Take 50℃, Take 0°C; the humidity imbalance event threshold is 60% for h thrh , and 20% for h thrl ;
以上详细描述了本发明的一个较佳实施例。对本领域的专业技术人员来说，可以依据本发明的描述无需创造性的劳动就可以做出其它各种修改及变化，所有这些变化皆应在由权利要求书所确定的保护范围之内。A preferred embodiment of the present invention has been described in detail above. For those skilled in the art, other various modifications and changes can be made without creative work according to the description of the present invention, and all these changes should fall within the protection scope determined by the claims.
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