Intelligent trolley system for poison gas detection of plastic playground and detection method

Abstract

The invention belongs to detection equipment in the environmental protection industry, and particularly relates to an intelligent trolley system for plastic playground poison gas detection and a detection method. According to the intelligent trolley system for plastic playground poison gas detection, motors are fixed to the front portion and the rear portion of a trolley body and connected with wheels through couplings, a main control box is arranged on the trolley body, two main control boards are arranged in the main control box, the first main control board controls the motors, and the second main control board is connected with a three-in-one gas sensor and used for collecting and processing gas data; the plastic playground poison gas detection method comprises the following steps: programming the two ESP8266 main control boards; and writing an MQTT client program, realizing connection with a cloud MQTT server, sending a control instruction, receiving gas concentration data and a safety evaluation result, and displaying the gas concentration data and the safety evaluation result on an interface. Through automatic movement of the intelligent trolley, poison gas detection can be rapidly and comprehensively carried out on the plastic playground, compared with manual detection, the detection efficiency is greatly improved, the detection range is greatly widened, and detected data are accurate.

Description

Technical Field

[0001] This invention pertains to detection equipment in the environmental protection industry, and specifically relates to an intelligent vehicle system and detection method for detecting toxic gases in plastic playgrounds. Background Technology

[0002] With the widespread use of synthetic running tracks in schools, sports stadiums, and other venues, the potential health threats posed by harmful gases released from these materials, such as carbon dioxide (CO2), total volatile organic compounds (TVOCs), and formaldehyde (CH2O), are increasingly attracting attention. Currently, the detection of harmful gases from synthetic running tracks mostly relies on on-site testing with personnel carrying portable detection equipment. This method suffers from low detection efficiency, limited detection range, and inability to provide real-time monitoring, making it difficult to comprehensively and promptly grasp the air quality status of synthetic running tracks and failing to meet practical needs. Although some existing intelligent detection devices also use sensors and communication technologies for data collection and transmission, there is a lack of efficient mobile detection platforms and comprehensive data analysis and evaluation mechanisms for the specific scenario of detecting toxic gases from synthetic running tracks. Furthermore, there is a lack of convenient and stable solutions for remote control of detection equipment and real-time data display. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide an intelligent vehicle system and detection method for detecting toxic gases in plastic playgrounds that is simple and compact in structure, automatically and efficiently detected, and remotely controlled.

[0004] The technical solution adopted by this invention to solve the technical problem is as follows: An intelligent trolley system for detecting toxic gases on plastic playgrounds includes a trolley body, motors, motor frames, couplings, and wheels. Its characteristic is that four motors are fixed to the upper left and right sides of the front and rear of the trolley body using motor frames. The output shafts of the motors are connected to the four wheels via couplings. A main control box is fixed in the middle of the upper part of the trolley body. The main control box contains two ESP8266 main control boards: ESP8266 main control board one and ESP8266 main control board two. Main control board one is mainly used to control the left and right motors through an L298N drive module to achieve motion control of the trolley. Main control board two is connected to a three-in-one gas sensor (BINLSENSCR) for gas data acquisition and processing. Both the main control board and the second main control board have built-in wireless communication capabilities, enabling communication between them and with external devices. The motor drive module is connected to the first main control board and is used to drive the motor of the vehicle. The three-in-one gas sensor BINLSENSCR simultaneously detects three indicators: carbon dioxide (CO2), total volatile organic compounds (TVOCS), and formaldehyde (CH2O). The second main control board collects the gas concentration data output by the sensor according to a preset sampling frequency. The gas concentration data collected by the second main control board is displayed on an OLED display. The internal hardware circuit diagram of the main control box is as follows: The circuit diagram includes the first main control board U1, the second main control board U2, the motor drive module U3, and the three-in-one gas sensor BINLSENSCR. The components are SQ, OLED display J, drive motors M1 and M2, battery power supply T, and LEDs D1 and D2. Their connections are as follows: pins 4, 5, 6, 7, 8, and 9 of main control board one U1 are connected to pins Q12, Q01, Q02, Q03, Q04, and Q13 of motor drive module U3, respectively; pins 10 and 11 of main control board one U1 are connected to pins 11 and 10 of main control board two U2, respectively; pin 21 of main control board one U1 is connected to pin Q06 of motor drive module U3, the positive terminal of battery power supply T, pin 21 of main control board two U2, one end of LEDs D1 and D2, and pin 3 of the BINLSENSCR SQ three-in-one gas sensor; pin 22 of main control board one U1 is connected to pin Q07 of motor drive module U3 and pin 22 of main control board two; pins 6 and 7 of main control board two U2 are connected to the BINLSENSCR three-in-one gas sensor, respectively. Pins 0 and 1 of SQ, pins 8 and 9 of main control board 2 U2 are connected to the other ends of LEDs D1 and D2 respectively; pins 5 and 4 of main control board 2 U2 are connected to pins 2 and 3 of OLED display J respectively; pin 19 of main control board 2 U2 is connected to pin 0 of OLED display J and pin 2 of BINLSENSCR SQ three-in-one gas sensor; pin Q05 of drive motor module U3 is connected to the negative terminal of battery power supply T; pins Q08 and Q09 of motor drive module U3 are connected to the two ends of drive motor M1 respectively; pins Q10 and Q11 of motor drive module U3 are connected to the two ends of drive motor M2 respectively.

[0005] The methods for detecting toxic gases on plastic playgrounds are as follows:

[0006] 1. Write a program for the ESP8266 main control board U1. In the program, write a motor control program to control the motor drive module U3 according to the instructions received from the cloud server MQTT, and control the speed and direction of the drive motors M1 and M2. Write a client program to realize the connection with the cloud server and the function of receiving instructions.

[0007] 2. In the program of the main control board 2U2, write a gas data acquisition program to read the data of the three-in-one gas sensor BINLSENSCR according to the preset sampling frequency, write a data processing program to filter and calibrate the acquired gas concentration data, and write a client program to upload the processed data and safety evaluation results to the cloud server.

[0008] 3. Develop the client program and implement the user interface design, including the car control buttons, gas concentration data display area, and safety evaluation result display area. Write the program to connect to the cloud server, send control commands and receive gas concentration data and safety evaluation results, and display them on the OLED display.

[0009] 4. Debug the vehicle system and software programming. After debugging, place the intelligent vehicle in the designated location on the plastic playground. Perform network configuration through the client program to connect the main control board 1 U1 and main control board 2 U2 to the wireless network and establish communication with the cloud server. The user sends control commands through the client program to control the intelligent vehicle to move within the plastic playground and perform toxic gas detection. The main control board 2 U2 uploads the collected data and safety evaluation results to the cloud server in real time, and the client program displays the detection data and evaluation results in real time.

[0010] The beneficial effects of this invention are as follows: The intelligent vehicle system and method for detecting toxic gases on plastic playgrounds, through the automatic movement of the intelligent vehicle, can quickly and comprehensively detect toxic gases on plastic playgrounds, greatly improving detection efficiency and range compared to manual detection, and ensuring accurate data. Utilizing the main control board functions and cloud server protocol, real-time transmission of gas data and remote control of the vehicle are achieved. Users can monitor the detection status and control the vehicle's operation anytime, anywhere, enhancing the flexibility and convenience of the detection process. Through comprehensive evaluation and analysis of the detected harmful gas concentrations, the safety level of the plastic playground can be accurately determined, providing a scientific basis for decision-making by relevant departments and ensuring the health and safety of personnel engaging in activities on plastic playgrounds. Attached Figure Description

[0011] The following description, in conjunction with the accompanying drawings, illustrates specific embodiments.

[0012] Figure 1This is a structural diagram of the intelligent vehicle system for detecting toxic gases on plastic playgrounds.

[0013] Figure 2 yes Figure 1 Circuit diagram of the main control box.

[0014] In the diagram: 1 - Vehicle body; 2 - Main control box; 3 - Motor frame; 4 - Drive motor; 5 - Coupling; 6 - Wheels; 7 - Control buttons; U1 - Main control board one; U2 - Main control board two; U3 - Motor drive module; SQ - BINLSENSCR three-in-one gas sensor; J - OLED display; M1, M2 - Drive motors; T - Battery power supply; D1, D2 - Light-emitting diodes. Detailed Implementation

[0015] Example, see attached document Figure 1 The intelligent vehicle system for detecting toxic gases on a plastic playground consists of an I-shaped vehicle body 1 with a rectangular main control box 2 fixed in the middle at the top. Four motor brackets 3 are symmetrically fixed on both sides of two symmetrical horizontal plates at the front and rear, with a drive motor 4 fixed on each bracket 3. The output shafts of the four drive motors 4 are connected to four wheels 6 via couplings 5. Control buttons 7 are located in the middle of the front and rear horizontal plates of the vehicle body 1. The control system is housed in the main control box 2. (See attached diagram) Figure 2The control system circuit schematic includes ESP8266 main control board one U1, ESP8266 main control board two U2, L298N motor drive module U3, OLED display J, three-in-one gas sensor BINLSENSCR SQ, motor drive motors M1 and M2, battery power supply T, and LEDs D1 and D2. Their connection relationships are as follows: Pins 4, 5, 6, 7, 8, and 9 of main control board one U1 are connected to pins Q12, Q01, Q02, Q03, Q04, and Q13 of motor drive module U3, respectively; pins 10 and 11 of main control board one U1 are connected to pins 11 and 10 of main control board two U2, respectively; pin 21 of main control board one U1 is connected to pin Q06 of motor drive module U3, the positive terminal of battery power supply T, pin 21 of main control board two U2, one end of LEDs D1 and D2, and pin 3 of the three-in-one gas sensor BINLSENSCRSQ; pin 22 of main control board one U1 is connected to pin Q07 of motor drive module U3 and pin 22 of main control board two U2; pins 6 and 7 of main control board two U2 are connected to the three-in-one gas sensor BINLSENSCRSQ, respectively. Pins 0 and 1 of SQ, pins 8 and 9 of main control board 2 U2 are connected to the other ends of LEDs D1 and D2 respectively; pins 5 and 4 of main control board 2 U2 are connected to pins 2 and 3 of OLED display J respectively; pin 19 of main control board 2 U2 is connected to pin 0 of OLED display J and pin 2 of BINLSENSCR SQ three-in-one gas sensor; pin Q05 of drive motor module U3 is connected to the negative terminal of battery power supply T; pins Q08 and Q09 of motor drive module U3 are connected to the two ends of drive motor M1 respectively; pins Q10 and Q11 of motor drive module U3 are connected to the two ends of drive motor M2 respectively.

[0016] The control system in main control box 2, i.e., software programming, involves writing code for both ESP8266 main control board one (U1) and ESP8266 main control board two (U2). In the program for main control board one (U1), control programs for drive motors M1 and M2 are written to control the L298N motor drive module U3 based on instructions received from the cloud MQTT server, thereby controlling the speed and direction of drive motors M1 and M2. An MQTT client program is also written to implement functions such as connection to the cloud MQTT server and instruction reception. In the program for main control board two (U2), a gas data acquisition program is written to read data from the three-in-one gas sensor BINLSENSCR SQ according to a preset sampling frequency. A data processing program is written to filter and calibrate the acquired gas concentration data. An MQTT client program is also written to upload the processed data and safety evaluation results to the cloud MQTT server. Develop an MQTT client program to implement the user interface design, including 7 control buttons for the vehicle, a data display area for gas concentration collected by the BINLSENSCRSQ three-in-one gas sensor, and a safety evaluation result display area. Write a program to connect to the cloud MQTT server, send control commands, receive gas concentration data and safety evaluation results, and display them on an OLED display. Debug and run the vehicle system. After debugging, place the intelligent vehicle in a designated location on the plastic playground. Perform network configuration via the client program to connect the main control board 1 (U1) and main control board 2 (U2) to the wireless network and establish communication with the cloud server. The user sends control commands through the client program to control the intelligent vehicle to move within the plastic playground and perform toxic gas detection. Main control board 2 (U2) uploads the collected data and safety evaluation results to the cloud server in real time, and the client program displays the detection data and evaluation results in real time.

[0017] The data acquisition and display program is as follows:

[0018] #define BLYNK_PRINT Serial

[0019] #include<U8g2lib.h>

[0020] #include<Wire.h>

[0021] #include<ESP8266WiFi.h>

[0022] #include<BlynkSimpleEsp8266.h>

[0023] #include<DNSServer.h>

[0024] #include <ESP8266WebServer.h>

[0025] #include <WiFiManager.h>

[0026] #include "Adafruit_MQTT.h"

[0027] #include "Adafruit_MQTT_Client.h"

[0028] WiFiClient client;

[0029] int mylist[9]={0,0,0,0,0,0,0,0,0};

[0030] U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, U8X8_PIN_NONE);

[0031] volatile float TVOC;

[0032] volatile float CH2O;

[0033] volatile float CO2;

[0034] String Cvoc;

[0035] String Cch2o;

[0036] String Cco2;

[0037] String Jsendout;

[0038] char TargetC[]={0x2C,0xE4};

[0039] WiFiServer server(80);

[0040] char auth[] = "XhX8FxnNAfwUd41KOdCiiJ0mjKwdFjhL";

[0041] Adafruit_MQTT_Client mqtt(&client, "servername", 1883, "siot", "siot");

[0042] void MQTT_connect();

[0043] void MQTT_connect() { int8_t ret; if (mqtt.connected()) {return;}

[0044] Serial.print("Connecting to MQTT... ");

[0045] uint8_t retries = 3;

[0046] while ((ret = mqtt.connect()) != 0) {

[0047] Serial.println(mqtt.connectErrorString(ret));

[0048] Serial.println("Retrying MQTT connection in 5 seconds...");

[0049] mqtt.disconnect();

[0050] delay(5000);

[0051] retries--;

[0052] if (retries == 0) { while (1);}}

[0053] Serial.println("MQTT Connected!");}

[0054] void page1(String x, String y, String z) {

[0055] u8g2.setFont(u8g2_font_timR12_tf);

[0056] u8g2.setFontPosTop();

[0057] u8g2.setCursor(0,5);

[0058] u8g2.print(x);

[0059] u8g2.setCursor(0,25);

[0060] u8g2.print(y);

[0061] u8g2.setCursor(0,50);

[0062] u8g2.print(z);}

[0063] void setup(){

[0064] u8g2.setI2CAddress(0x3C*2);

[0065] u8g2.begin();

[0066] TVOC = 0;

[0067] CH2O = 0;

[0068] CO2 = 0;

[0069] Cvoc = String("TVOC:") + String("");

[0070] Cch2o = String("CH2O:") + String("");

[0071] Cco2 = String("CO2 :") + String("");

[0072] Jsendout = "";

[0073] Serial.begin(9600);

[0074] WiFiManager wifiManager;

[0075] wifiManager.autoConnect("Blynk");

[0076] Serial.println("Connected.");

[0077] server.begin();

[0078] Blynk.config(auth, IPAddress(), 8080);

[0079] u8g2.enableUTF8Print();}

[0080] void loop(){

[0081] Blynk.run();MQTT_connect();

[0082] if (Serial.available()) {

[0083] delay(100);

[0084] if (Serial.find(TargetC)) {

[0085] for (int i = 1; i <= 7; i = i + (1)) {

[0086] mylist[i] = Serial.read();

[0087] delay(200);}

[0088] TVOC = (mylist[1] * 256 + mylist[2]) * 0.001;

[0089] Cvoc = String("TVOC: ") + String(String(TVOC, 3));

[0090] CH2O = (mylist[3] * 256 + mylist[4]) * 0.001;

[0091] Cch2o = String("CH2O: ") + String(String(CH2O, 3));

[0092] CO2 = (mylist[5] * 256 + mylist[6]) * 0.001;

[0093] Cco2 = String("CO2 : ") + String(String(CO2, 3));

[0094] delay(200);}}

[0095] u8g2.firstPage();

[0096] do {

[0097] page1(Cvoc, Cch2o, Cco2);

[0098] delay(500);

[0099] } while (u8g2.nextPage());

[0100] Jsendout = String("{\"TVOC\":") + String(Cvoc) + String(",\"CH2O\":") + String(Cch2o) + String(",\"CO2\":") + String(Cco2) + String("}");

[0101] client.publish(String("YourTPK / youID").c_str(), String(Jsendout).c_str());}

[0102] The control program for the小车 is as follows:

[0103] #include <SimpleTimer.h>

[0104] volatile int LeftMotor;

[0105] volatile int RightMotor;

[0106] volatile float PosX;

[0107] volatile float PosY;

[0108] char auth[] = "kmScP5vymGHle1CgGTvrS2k8ffBP_oH0";

[0109] char ssid[] = "TP-LINK_2";

[0110] char pass[] = "yourpass";

[0111] int vpin_value1;

[0112] int vpin_value;

[0113] SimpleTimer timer;

[0114] BLYNK_WRITE(V4) {

[0115] vpin_value1 = param.asInt();

[0116] It should be noted that the term "小车" in Chinese is directly translated as "小车" in English here as it's not clear what it specifically refers to in this context. If it has a more specific English name, it should be replaced accordingly.Serial.println(vpin_value1);

[0117] PosY = vpin_value1;}

[0118] BLYNK_WRITE(V5) {

[0119] vpin_value = param.asInt();

[0120] Serial.println(vpin_value);

[0121] PosX = vpin_value;}

[0122] void setMotor(int dirpin1, int dirpin2, int speedpin, int speed) {

[0123] digitalWrite(dirpin2,!digitalRead(dirpin1));

[0124] if (speed == 0) {

[0125] digitalWrite(dirpin1, LOW);

[0126] analogWrite(speedpin, 0);

[0127] } else if (speed > 0) {

[0128] digitalWrite(dirpin1, LOW);

[0129] analogWrite(speedpin, speed);

[0130] } else {

[0131] digitalWrite(dirpin1, HIGH);

[0132] analogWrite(speedpin, -speed);}}

[0133] void Simple_timer_1() {

[0134] if (WiFi.status()) {

[0135] digitalWrite(5,(!digitalRead(5)));}}

[0136] void setup(){

[0137] LeftMotor = 0;

[0138] RightMotor = 0;

[0139] PosX = 0;

[0140] PosY = 0;

[0141] pinMode(5, OUTPUT);

[0142] digitalWrite(5,HIGH);

[0143] Serial.begin(9600);

[0144] pinMode(0, OUTPUT);

[0145] pinMode(2, OUTPUT);

[0146] digitalWrite(0, LOW);

[0147] digitalWrite(2, LOW);

[0148] pinMode(12, OUTPUT);

[0149] pinMode(13, OUTPUT);

[0150] digitalWrite(12, LOW);

[0151] digitalWrite(13, LOW);

[0152] timer.setInterval(2000L, Simple_timer_1);}

[0153] void loop(){

[0154] Blynk.run();

[0155] if (WiFi.status()) {

[0156] digitalWrite(5,HIGH);

[0157] Serial.print("wifi connected");}

[0158] Serial.print(PosX);

[0159] Serial.print(" ");

[0160] Serial.println(PosY);

[0161] LeftMotor = 0.707 * (PosY + PosX);

[0162] RightMotor = 0.707 * (PosY - PosX);

[0163] setMotor(0, 2, 14, LeftMotor);

[0164] setMotor(12, 13, 15, RightMotor);

[0165] timer.run();

[0166] Specific work process:

[0167] 1. Perform software programming.

[0168] Program the two ESP8266 main control boards, U1 and U2, respectively; write the MQTT client program, implement the user interface design through the program, realize the connection with the cloud MQTT server, send control commands and receive gas concentration data and safety evaluation results, and display them on the interface.

[0169] 2. Assemble an intelligent vehicle system for detecting toxic gases on plastic playgrounds.

[0170] After completing the software programming, connect the hardware, including the vehicle body 1, main control box 2, motor frame 3, drive motor 4, coupling 5, wheels 6, control buttons 7, main control board one U1, main control board two U2, motor drive module U3, three-in-one gas sensor BINLSENSCR SQ, OLED display J, drive motors M1 and M2, battery power supply T, and LEDs D1 and D2, etc. Figure 1 , Figure 2 The positions shown are assembled into an intelligent vehicle system for detecting toxic gases on a plastic playground.

[0171] 3. System debugging and operation

[0172] After hardware assembly, hardware debugging is performed first to check the correct connections of each component, the normal operation of the motor, and the accurate data collection of the sensors. Then, network configuration is performed to test the communication between the two ESP8266 main control boards (U1 and U2) and the cloud MQTT server, ensuring accurate data transmission and proper control and display functions of the client program. After debugging, the smart car is placed in a designated location on the plastic playground. Network configuration is then performed via the client program, connecting main control boards U1 and U2 to the wireless network and establishing communication with the cloud server. Users send control commands through the client program to move the smart car within the playground and perform toxic gas detection. After the car completes the toxic gas detection, main control board U2 performs a comprehensive evaluation based on the collected concentration data of carbon dioxide (CO2), total volatile organic compounds (TVOCs), and formaldehyde (CH2O), combined with preset evaluation criteria. The evaluation criteria are formulated based on relevant national air quality standards and the specific usage scenarios of synthetic running tracks, classifying the safety level of synthetic running tracks into different levels (such as safe, lightly polluted, moderately polluted, heavily polluted, etc.). The main control board U2 uploads the comprehensive evaluation results to the cloud MQTT server according to the MQTT protocol. The client program retrieves the evaluation results from the server and displays them so that users can understand the overall safety status of the synthetic running track in a timely manner.

Claims

1. A smart trolley system for detecting toxic gases on a plastic playground, comprising a trolley body (1), a motor, a motor frame (3), a coupling (5), and wheels (6), characterized in that, Four motors are fixed on the upper left and right sides of the front and rear of the vehicle body (1) using motor brackets. The output shafts of the motors are connected to the four wheels (6) through couplings (5). A main control box (2) is fixed in the middle of the upper part of the vehicle body (1). The main control box (2) contains an ESP8266 main control board one U1 and an ESP8266 main control board two U2. The main control board one U1 is mainly used to control the left and right motors through the L298N drive module to realize the motion control of the vehicle. The main control board two U2 is connected to the three-in-one gas sensor BINLSENSCR SQ for gas data acquisition and processing. Both the main control board one U1 and the main control board two U2 have built-in wireless communication functions to realize communication between each other and external devices. The motor drive module U3 is connected to the main control board one U1 to drive the motors of the vehicle. The three-in-one gas sensor BINLSENSCR SQ simultaneously detects three indicators: carbon dioxide (CO2), total volatile organic compounds (TVOCS), and formaldehyde (CH2O). The main control board 2 U2 collects the gas concentration data output by the sensor according to the preset sampling frequency. The gas concentration data collected by the main control board 2 U2 is displayed on the OLED display J. The internal hardware circuit diagram of the main control box (2) is as follows: The circuit diagram includes the main control board 1 U1, the main control board 2 U2, the motor drive module U3, and the three-in-one gas sensor BINLSENSCR. The components are SQ, OLED display J, drive motors M1 and M2, battery power supply T, and LEDs D1 and D2. Their connections are as follows: pins 4, 5, 6, 7, 8, and 9 of main control board one U1 are connected to pins Q12, Q01, Q02, Q03, Q04, and Q13 of motor drive module U3, respectively; pins 10 and 11 of main control board one U1 are connected to pins 11 and 10 of main control board two U2, respectively; pin 21 of main control board one U1 is connected to pin Q06 of motor drive module U3, the positive terminal of battery power supply T, pin 21 of main control board two U2, one end of LEDs D1 and D2, and pin 3 of the BINLSENSCR SQ three-in-one gas sensor; pin 22 of main control board one U1 is connected to pin Q07 of motor drive module U3 and pin 22 of main control board two; pins 6 and 7 of main control board two U2 are connected to the BINLSENSCR three-in-one gas sensor, respectively. Pins 0 and 1 of SQ, pins 8 and 9 of main control board 2 U2 are connected to the other ends of LEDs D1 and D2 respectively; pins 5 and 4 of main control board 2 U2 are connected to pins 2 and 3 of OLED display J respectively; pin 19 of main control board 2 U2 is connected to pin 0 of OLED display J and pin 2 of BINLSENSCR SQ three-in-one gas sensor; pin Q05 of drive motor module U3 is connected to the negative terminal of battery power supply T; pins Q08 and Q09 of motor drive module U3 are connected to the two ends of drive motor M1 respectively; pins Q10 and Q11 of motor drive module U3 are connected to the two ends of drive motor M2 respectively.

2. The intelligent vehicle system for detecting toxic gases in plastic playgrounds according to claim 1, characterized in that, The method for detecting toxic gases on a plastic playground is as follows: Programming is performed on the ESP8266 main control board U1. This includes a motor control program that controls the motor drive module U3 based on instructions received from the cloud server's MQTT, controlling the speed and direction of drive motors M1 and M2. A client program is also written to establish a connection with the cloud server and receive instructions. On the main control board U2, a gas data acquisition program is written to read data from the three-in-one gas sensor BINLSENSCR at a preset sampling frequency. A data processing program is written to filter and calibrate the acquired gas concentration data. Finally, a client program is written to upload the processed data and safety evaluation results to the cloud server. Develop the client program and implement the user interface design, including the vehicle control buttons, gas concentration data display area, and safety evaluation result display area. Write the program to connect to the cloud server, send control commands and receive gas concentration data and safety evaluation results, and display them on the OLED display. Then, debug the vehicle system and software programming.

3. The method for detecting toxic gases in a plastic playground according to claim 2, characterized in that, After debugging the vehicle system and software programming, the intelligent vehicle is placed in the designated location on the plastic playground. The network configuration is performed through the client program, enabling the main control board 1 U1 and main control board 2 U2 to connect to the wireless network and establish communication with the cloud server. The user sends control commands through the client program to control the intelligent vehicle to move within the plastic playground and perform toxic gas detection. The main control board 2 U2 uploads the collected data and safety evaluation results to the cloud server in real time, and the client program displays the detection data and evaluation results in real time.

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