Due to the rapid demand of factory expansion, the cost of wired equipment installation is much higher than that of wireless devices. However, wireless network could alleviate much of the costs, so wireless mesh networks (WMNs) play a substantial role in industries now. WMNs enable real-time IP cameras to instantly report on device performance. We designed an algorithm called Quality of Service (QoS)-Based Centralized Minimum Cost Routing Algorithm (QCMCRA) in WMNs. Before traffic streams flow to its destination, we use a cost function composed of two utility functions to calculate the path cost in WMNs. Additionally, the channel utility function distributes a proper number of channels to each link, restricted by the available number of wireless channels. Finally, we use the proposed delay utility function to check the delay objective of QoS requirement. The proposed algorithm was evaluated under several scenarios. We used a queue simulator, Java Modelling Tools (JMT), to verify our design comparing to shortest path. By simulation results, we observed that the main advantage of the proposed algorithm is that it satisfies the QoS requirement at a lower path cost than the shortest path. The others are resistance of burstiness and channel fluctuation, load balancing and proper distribution of connections on each link. To sum up, our algorithm achieved desirable outcomes: Finding a minimum cost path within the delay objective of specific QoS.