Applicable to multiple channel full-section scanning wind measurement methods, systems and storage media

Abstract

The present invention discloses a full-section scanning wind measurement method, system, and storage medium applicable to various channels. The method comprises the following steps: S1, performing three-dimensional data detection on a ventilation channel using a three-dimensional scanner and establishing a three-dimensional model of the ventilation channel; S2, selecting an adaptive scanning mode model based on the three-dimensional model of the ventilation channel, and performing a scanning wind measurement simulation on the three-dimensional model based on the selected scanning mode model to obtain control data; S3, establishing a full-section scanning wind measurement system on the corresponding inner wall of the ventilation channel cross section based on the selected adaptive scanning mode model, and adjusting and activating the self-alignment correction module of the beam-bearing scanning wind measurement sensor group within the system; S4, synchronizing the control data during the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, and simultaneously synchronizing the wind measurement data results to the three-dimensional model of the ventilation channel for data analysis and recording. The present invention can be applied to full-section scanning wind measurement of various ventilation channels.

Description

Technical Field

[0001] The present invention relates to the technical field of mine ventilation detection, and in particular to a full-section scanning wind measurement method, system and storage medium applicable to multiple channels. Background Art

[0002] The purpose of mine ventilation is to continuously deliver an appropriate amount of fresh air from the surface to various points underground, ensuring the normal physiological needs of underground workers and safe mine production. During daily mine operations, the key to the high-performance operation of mine ventilation systems lies in the accuracy of roadway ventilation measurement.

[0003] Currently, the automation and intelligence levels of mine ventilation systems are increasing, and the measurement of wind speed in underground tunnels primarily relies on sensors. Generally, there are two methods for measuring average wind speed in tunnels: single-point and multi-point. The multi-point method involves deploying multiple wind speed sensors within a tunnel section and calculating the arithmetic mean of the monitoring data from each wind speed sensor to obtain the average wind speed. This method can achieve high measurement accuracy, but the test efficiency is low, and deploying sensors at multiple points can hinder normal passage through the tunnel. Therefore, multi-point wind measurement is not suitable for long-term monitoring of tunnel wind speed. Single-point wind measurement, due to its simplicity and efficiency, has become the primary method for measuring wind speed in tunnels.

[0004] In real mine operations, ventilation channels with various cross-sectional shapes are excavated according to the terrain to ensure the maximum air flow in the mine. Therefore, a wind measurement method and system suitable for full-section scanning of multiple channels is needed. Summary of the Invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To achieve the above object, the present invention proposes a full-section scanning wind measurement method applicable to multiple channels, comprising the following steps:

[0007] S1. Performing three-dimensional data detection on the ventilation channel by using a three-dimensional scanner and establishing a three-dimensional model of the ventilation channel;

[0008] S2. Selecting an adaptive scanning mode model according to the three-dimensional model of the ventilation channel, and performing a scanning wind measurement simulation on the three-dimensional model of the ventilation channel according to the selected scanning mode model to obtain control data corresponding to the current ventilation channel of the corresponding scanning model;

[0009] S3. Establish a full-section scanning wind measurement system on the corresponding inner wall of the ventilation duct section according to the selected adaptive scanning mode model, and adjust and start the self-alignment correction module of the through-beam scanning wind measurement sensor group in the system;

[0010] S4. Synchronize the control data in the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, control the beam-type scanning wind measurement sensor to move and scan at a predetermined speed and direction along the moving route of the contour within the ventilation duct section, so as to realize the test of the wind speed and air volume in the ventilation duct, and synchronize the wind measurement data results to the three-dimensional model of the ventilation duct for data analysis and recording.

[0011] The present invention proposes a full-section scanning wind measurement method suitable for a variety of ventilation channels, which can scan and model a variety of cross-section ventilation channels, and select a suitable scanning method according to the inner contour shape of the actual ventilation channel cross-section modeling, and synchronize the simulated detection route and detection control data to the physical scanning wind measurement system to obtain accurate measurement and the optimal data results that best match the current ventilation channel cross-section wind measurement results.

[0012] Optionally, in S2, the adapted scanning model includes: an up and down reciprocating scanning model and a peripheral circulation scanning model.

[0013] Furthermore, the up and down reciprocating scanning model uses the horizontal line as the corresponding scanning line and the two side walls of the ventilation channel cross section corresponding to the internal contour as the scanning movement trajectory to achieve full cross-sectional scanning of the ventilation channel.

[0014] Furthermore, in S2, the scanning wind measurement simulation of the up-and-down reciprocating scanning model includes the following steps:

[0015] S211. Divide the inner wall of the ventilation duct cross section into several groups of relative movement routes in the height direction of the three-dimensional ventilation duct model, each group being denoted as Ln / Ln', where n≥1, and determine the boundary line of each group of movement routes;

[0016] S212, determining the length of each group of moving routes within the same height range;

[0017] S213, unifying the intra-group travel time of each group of relative scanning routes, and obtaining the moving speed of each through-beam scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0018] S214. The through-beam scanning wind measurement sensor performs a full-section scanning wind measurement simulation on the three-dimensional model of the ventilation duct according to the moving speed in S213.

[0019] Furthermore, the peripheral circulation scanning model uses the line of the center point of the ventilation channel section as the corresponding scanning line, decomposes the inner contour of the ventilation channel section into multiple groups of relative moving paths, and moves and scans on each group of relative moving paths to achieve full-section scanning of the ventilation channel.

[0020] Furthermore, in S2, the scanning wind measurement simulation of the peripheral circulation scanning model includes the following steps:

[0021] S221. In the three-dimensional model of the ventilation duct, the inner wall of the ventilation duct section is divided into a plurality of relative movement routes according to the inner contour of the ventilation duct section. Each group is denoted as Ln / Ln', where n ≥ 1. The boundary line of each group of movement routes is determined.

[0022] S222. Based on the contour of the cross section corresponding to each set of moving routes, with the center point of the ventilation duct cross section as the origin, the scanning range enclosed by the lines connecting the boundary points of each set of moving routes to the origin is evenly divided into a number of corresponding scanning areas at the same angle. The area on the moving route corresponding to each set of scanning areas is recorded as scanning position an / an', where n ≥ 1;

[0023] S223, unifying the intra-group travel time of each group of relative scanning routes to obtain the moving speed of each through-beam scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0024] S224, by analyzing the changes in the through-beam scanning line angles corresponding to adjacent scanning positions and the movement speeds of the through-beam scanning wind measurement sensors along their respective movement routes, obtaining the next deflection angle and deflection speed of the through-beam scanning wind measurement sensor probe;

[0025] S225. The through-beam sensor performs a scanning simulation in the three-dimensional model of the ventilation duct according to the moving speed of S223 and the probe deflection angle and deflection speed of S224.

[0026] Furthermore, in S3, the track for the opposed-type scanning wind measurement sensor to travel in the full-section scanning wind measurement system is set to one or more combinations of a rigid track made of rigid material or a flexible track made of flexible material, and the track is selected specifically according to the inner contour of the ventilation channel section and the selection of the scanning model.

[0027] Furthermore, in S3, the self-alignment and correction module in the full-section scanning wind measurement system includes an image capture unit, a position recognition unit, a signal processing unit, and a mechanical adjustment unit provided on each through-beam scanning wind measurement sensor. The working steps of the self-alignment and correction module include the following steps:

[0028] S31, the image capture unit of each of the two through-beam scanning wind measurement sensors performs position recognition on the position recognition unit provided on the other through-beam scanning wind measurement sensor, and transmits image data to the signal processing unit;

[0029] S32: The signal processing unit processes the image data, analyzes the height difference and angle difference between the two opposing scanning wind measurement sensors, and sends an action signal to the mechanical adjustment unit according to the scanning model requirements;

[0030] S33. After receiving the action signal, the mechanical adjustment unit controls the corresponding through-beam scanning wind speed sensor to perform height adjustment or angle adjustment so that the scanning line between the two through-beam scanning wind speed sensors conforms to the selected scanning model.

[0031] The present invention also provides a full-section scanning wind measurement system applicable to multiple channels, comprising the following modules:

[0032] The model building module uses a 3D scanner to detect the 3D data of the ventilation channel and build a 3D model of the ventilation channel;

[0033] The scanning model selection module selects an adaptive scanning mode model according to the ventilation channel 3D model, and performs a scanning wind measurement simulation on the ventilation channel 3D model according to the selected scanning mode model to obtain the control data of the corresponding scanning model corresponding to the current ventilation channel. The adaptive scanning model includes an up and down reciprocating scanning model and a peripheral circulation scanning model;

[0034] The first unit, the adaptive scanning model includes an up and down reciprocating scanning model, wherein the up and down reciprocating scanning model uses the horizontal line as the corresponding scanning line and the two side walls of the ventilation channel cross section corresponding to the internal contour as the scanning movement trajectory, so as to realize the full cross-section scanning of the ventilation channel;

[0035] At the first node, in the height direction of the three-dimensional ventilation duct model, the inner wall of the ventilation duct section is divided into several groups of relative movement routes, each group is recorded as Ln / Ln', n ≥ 1, and the boundary line of each group of movement routes is determined;

[0036] The second node determines the length of each group of moving routes within the same height range;

[0037] The third node unifies the intra-group walking time of each relative scanning route and obtains the moving speed of each opposing scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0038] In the fourth node, the beam scanning wind measurement sensor performs a full-section scanning wind measurement simulation on the three-dimensional model of the ventilation duct according to the moving speed in S213;

[0039] The second unit, the peripheral circulation scanning model uses the line of the center point of the ventilation channel section as the corresponding scanning line, decomposes the inner contour of the ventilation channel section into multiple groups of relative movement paths, and moves and scans on each group of relative movement paths to achieve full-section scanning of the ventilation channel;

[0040] Node 5: In the 3D model of the ventilation duct, the inner wall of the ventilation duct section is divided into several groups of relative movement routes according to the inner contour shape of the ventilation duct section. Each group is recorded as Ln / Ln', where n ≥ 1. The boundary line of each group of movement routes is determined.

[0041] The sixth node is based on the contour shape of the cross section corresponding to each group of moving routes. With the center point of the ventilation duct cross section as the origin, the scanning range enclosed by the lines connecting the boundary points of each group of moving routes to the origin is evenly divided into several groups of corresponding scanning areas at the same angle. The area on the moving route corresponding to each group of scanning areas is recorded as the scanning position an / an', where n ≥ 1;

[0042] The seventh node unifies the intra-group travel time of each relative scanning route and obtains the moving speed of each opposing scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0043] In the eighth node, the deflection angle and deflection speed of the through-beam scanning wind sensor probe at the next moment are obtained by analyzing the changes in the through-beam scanning line angles corresponding to adjacent scanning positions and the movement speed of the through-beam scanning wind sensor along its respective movement paths;

[0044] Node 9: The through-beam sensor performs a scanning simulation in the three-dimensional model of the ventilation duct according to the moving speed of S223 and the probe deflection angle and deflection speed of S224.

[0045] The mechanical module includes a scanning track arranged on the inner contour of the ventilation duct cross section, a plurality of groups of through-beam scanning wind measurement sensors movably arranged on the scanning track, and a transmission assembly for controlling the movement of the through-beam scanning wind measurement sensors on the scanning track arranged in the scanning track;

[0046] A self-alignment and correction module is provided in the scanning track, and a self-alignment component is provided for realizing self-alignment of each group of through-beam scanning wind measurement sensors. The self-alignment and correction module is adjusted and started for each group of through-beam scanning wind measurement sensors in the system according to the selected adaptive scanning mode model;

[0047] The third unit, the self-alignment correction module, includes an image capture unit, a position recognition unit, a signal processing unit, and a mechanical adjustment unit provided on each through-beam scanning wind measurement sensor;

[0048] A tenth node, wherein the image capture unit of each of the two through-beam scanning wind measurement sensors identifies the position of the position identification unit provided on the other through-beam scanning wind measurement sensor and transmits image data to the signal processing unit;

[0049] The eleventh node, the signal processing unit, processes the image data, analyzes the height difference and angle difference between the two opposing scanning wind measurement sensors, and sends an action signal to the mechanical adjustment unit according to the scanning model requirements;

[0050] At the twelfth node, after receiving the action signal, the mechanical adjustment unit controls the corresponding through-beam scanning wind speed sensor to adjust the height or angle so that the scanning line between the two through-beam scanning wind speed sensors conforms to the selected scanning model;

[0051] The control scanning module synchronizes the control data in the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, controls the through-beam scanning wind measurement sensor to move and scan at a predetermined speed and direction along the moving route of the contour within the ventilation duct section, so as to realize the test of the wind speed and air volume in the ventilation duct, and synchronizes the wind measurement data results to the three-dimensional model of the ventilation duct for data analysis and recording.

[0052] The present invention also provides a storage medium storing instructions executable by a multi-channel full-section scanning wind measurement system. The instructions are executed by a processor included in the multi-channel full-section scanning wind measurement system to implement any one of the above-mentioned methods for multi-channel full-section scanning wind measurement.

[0053] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0055] Figure 1 1. A schematic diagram of the overall method steps of the full-section scanning wind measurement method applicable to multiple channels according to the present invention;

[0056] Figure 2 This is a schematic diagram of the division of simulated scanning movement routes of an up-and-down reciprocating scanning model applicable to a multi-channel full-section scanning wind measurement method according to the present invention;

[0057] Figure 3 It is a schematic flow chart of the simulation scanning steps of the up-and-down reciprocating scanning model applicable to the full-section scanning wind measurement method of various channels according to the present invention;

[0058] Figure 4 It is a schematic diagram of the division of simulated scanning movement routes and scanning positions of a peripheral circulation scanning model applicable to a multi-channel full-section scanning wind measurement method according to the present invention;

[0059] Figure 5 This is a schematic flow chart of the simulation scanning steps of a peripheral circulation scanning model applicable to a full-section scanning wind measurement method for multiple channels according to the present invention;

[0060] Figure 6This is a schematic flow chart of a working method of a self-alignment and correction module applicable to a full-section scanning wind measurement method for multiple channels according to the present invention;

[0061] Figure 7 It is a schematic diagram of signal transmission of a self-alignment and correction module applicable to a multi-channel full-section scanning wind measurement method according to the present invention. DETAILED DESCRIPTION

[0062] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but are not to be construed as limiting the present invention.

[0063] The present invention provides a full-section scanning wind measurement method applicable to various channels. Figures 1 to 7 Elaborate in detail.

[0064] The method is applicable to a variety of channel full-section scanning wind measurement methods, including the following steps:

[0065] S1. Performing three-dimensional data detection on the ventilation channel by using a three-dimensional scanner and establishing a three-dimensional model of the ventilation channel;

[0066] S2. Selecting an adaptive scanning mode model according to the three-dimensional model of the ventilation channel, and performing a scanning wind measurement simulation on the three-dimensional model of the ventilation channel according to the selected scanning mode model to obtain control data corresponding to the current ventilation channel of the corresponding scanning model;

[0067] S3. Establish a full-section scanning wind measurement system on the corresponding inner wall of the ventilation duct section according to the selected adaptive scanning mode model, and adjust and start the self-alignment correction module of the through-beam scanning wind measurement sensor group in the system;

[0068] S4. Synchronize the control data in the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, control the beam-type scanning wind measurement sensor to move and scan at a predetermined speed and direction along the moving route of the contour within the ventilation duct section, so as to realize the test of the wind speed and air volume in the ventilation duct, and synchronize the wind measurement data results to the three-dimensional model of the ventilation duct for data analysis and recording.

[0069] The present invention proposes a full-section scanning wind measurement method suitable for various ventilation channels, which can scan and model various cross-section ventilation channels, and select a suitable scanning method model according to the contour shape of the actual ventilation channel cross-section modeling. The three-dimensional modeled ventilation channel is simulated and scanned according to the selected scanning method model, and the control information of each mechanical component in the simulation process is planned in detail and output to the control module in the entity full-section scanning wind measurement system, so that the full-section scanning wind measurement system can perform entity full-section scanning wind measurement according to the simulated predetermined route, speed, deflection angle and self-alignment correction simulation results. Operation, synchronize the simulated detection route and detection control data to the full-section scanning wind measurement system to obtain accurate measurement and the optimal data results that best match the current ventilation channel section wind measurement results, so as to combine the three-dimensional modeling model and the measurement results of the full-section scanning wind measurement system in step S4 to establish and record the wind measurement model of the ventilation channel measurement position. After measuring and recording the wind measurement model at the same position of the same ventilation channel for multiple times, a conventional wind measurement model of the ventilation channel measurement position can be generated, and the wind measurement model can be adjusted for data learning to make a quick comparison of the measurement results of subsequent measurements, thereby improving the measurement work efficiency.

[0070] In the above S2, the adaptive scanning model includes: an up and down reciprocating scanning model and a peripheral circulation scanning model, and the specific working principles of the two models are as follows:

[0071] The up and down reciprocating scanning model uses the horizontal line as the scanning line and the two side walls of the ventilation channel section corresponding to the internal contour as the scanning movement trajectory to achieve full section scanning of the ventilation channel;

[0072] The peripheral circulation scanning model uses the line of the center point of the ventilation channel section as the corresponding scanning line, decomposes the inner contour of the ventilation channel section into multiple groups of relative moving paths, and moves and scans on each group of relative moving paths to achieve full-section scanning of the ventilation channel.

[0073] Taking into account the fact that mine ventilation channels in actual situations may be over-excavated or under-excavated during the excavation process due to factors such as terrain, irregular boundaries will appear during the excavation of the ventilation channels. When performing scanning simulation based on the scanning model, it is necessary to divide the scanning route of the through-beam scanning wind measurement sensor, plan the speed, and plan the probe angle change to ensure that the through-beam scanning wind measurement sensor can realize wind measurement scanning of the entire section of the ventilation channel under the corresponding scanning model. The specific steps for simulating scanning with different scanning models are as follows.

[0074] In S2, the wind measurement simulation of the up-and-down reciprocating scanning model includes the following steps:

[0075] S211. In the height direction of the three-dimensional ventilation duct model, divide the inner wall of the ventilation duct section (i.e., the side wall and top wall of the ventilation duct section) into several groups of relative movement routes, each group being denoted as Ln / Ln', where n ≥ 1, and determine the boundary line of each group of movement routes;

[0076] S212, determining the length of each group of moving routes within the same height range;

[0077] S213, unifying the intra-group travel time of each group of relative scanning routes, and obtaining the moving speed of each through-beam scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0078] S214. The through-beam scanning wind measurement sensor performs a full-section scanning wind measurement simulation on the three-dimensional model of the ventilation duct according to the moving speed in S213.

[0079] Since the opposed-type scanning wind measurement sensor is generally composed of two opposed-type scanning wind measurement sensors with probes facing each other to jointly complete the scanning wind measurement work, but in the actual ventilation channel, the walking routes of the Ln / Ln' group divided out, the ventilation channel side walls corresponding to the walking routes facing each other in the group may have different surface contour shapes, that is, there are situations where the walking routes of the opposed-type scanning wind measurement sensors have different lengths but the same displacements. Therefore, it is necessary to divide the walking routes into groups according to S211 and determine the boundary line of each group. When the opposed-type scanning wind measurement sensors walk to different groups of walking routes, the opposed-type scanning wind measurement sensors in different groups or on different side walls in the same group need to be By controlling different speeds, that is, simulating steps S212-S214, the walking route of the through-beam scanning wind measuring sensor in the current up and down reciprocating scanning model of the current ventilation duct section and the walking speed within each group of Ln / Ln' walking routes are obtained. While ensuring the same test time, the displacement of the through-beam scanning wind measuring sensors in the same group in the height direction is the same, which ensures that the probes of the through-beam scanning wind measuring sensors in the same group always face each other, and also ensures that the scanning line always exists horizontally, which greatly reduces the possibility that the probes of the through-beam scanning wind measuring sensors in the same group cannot face each other due to different walking routes, thereby ensuring measurement accuracy.

[0080] In S2, refer to Figure 4 , the scanning wind measurement simulation of the peripheral circulation scanning model includes the following steps:

[0081] S221. In the three-dimensional model of the ventilation duct, the inner wall of the ventilation duct section is divided into a plurality of relative movement routes according to the inner contour of the ventilation duct section. Each group is denoted as Ln / Ln', where n ≥ 1. The boundary line of each group of movement routes is determined.

[0082] S222. Based on the contour of the cross section corresponding to each set of moving routes, with the center point of the ventilation duct cross section as the origin, the scanning range enclosed by the lines connecting the boundary points of each set of moving routes to the origin is evenly divided into a number of corresponding scanning areas at the same angle. The area on the moving route corresponding to each set of scanning areas is recorded as scanning position an / an', where n ≥ 1;

[0083] S223, unifying the intra-group travel time of each group of relative scanning routes to obtain the moving speed of each through-beam scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0084] S224, by analyzing the changes in the through-beam scanning line angles corresponding to adjacent scanning positions and the movement speeds of the through-beam scanning wind measurement sensors along their respective movement routes, obtaining the next deflection angle and deflection speed of the through-beam scanning wind measurement sensor probe;

[0085] S225. The through-beam sensor performs a scanning simulation in the three-dimensional model of the ventilation duct according to the moving speed of S223 and the probe deflection angle and deflection speed of S224.

[0086] Figure 4 This is a step diagram of steps S221 and S222. In this diagram, the cross-section of the ventilation channel is only divided into two groups of moving routes L1 / L1' and L2 / L2'. At the same time, in order to clearly mark the an / an' division, the an / an' division is only performed in L1 / L1', and the an / an' division in L2 / L2' should follow the an / an' division rules in L1 / L1'.

[0087] When the peripheral circulation scanning model is selected, it is necessary to ensure that the scanning line in the model complies with the provisions of this model, that is, the scanning line needs to always pass through the center point of the ventilation channel, that is, one of the two opposing scanning wind measurement sensors on the ventilation channel section needs to move clockwise and the other needs to move counterclockwise. However, since the side walls of the ventilation channel may have different surface contour shapes, that is, there are situations where the walking routes of the opposing scanning wind measurement sensors are different in length but the displacement is the same, the inner contour of the entire ventilation channel section is divided into several groups according to S221. However, unlike the up and down reciprocating scanning model, which only divides the inner walls of the ventilation channel in the height direction (that is, the side walls and top walls of the ventilation channel section), the peripheral circulation scanning model needs to divide all the inner walls of the inner contour of the ventilation channel section, including the top wall, side walls and bottom wall, so that the opposing scanning wind measurement sensor can perform cyclic scanning on the inner contour of the entire section.

[0088] After dividing each group of Ln / Ln' moving routes and the boundaries of each group of moving routes, it is also considered that the corresponding cross-sectional contour shapes of Ln and Ln' in the same group of moving routes may be different. Therefore, referring to S222, the corresponding moving routes of each group of scanning areas are further subdivided into an / an'. When the moving routes are different, it is necessary to ensure that the probes of the two opposing scanning wind measurement sensors are always facing each other and the scanning line between the two opposing scanning wind measurement sensors passes through the center point of the cross section. Therefore, it is necessary to ensure that the two opposing scanning wind measurement sensors have the same angular velocity with the center point of the cross section as the center of the circle. Therefore, it is necessary to ensure that the opposing scanning wind measurement sensors perform walking simulation in the scanning position of each group of an / an', so as to obtain the walking speed of the opposing scanning wind measurement sensor in each group of an / an' scanning position and the deflection direction and speed of the opposing scanning wind measurement sensor probe, that is, perform steps S223-S224, and then complete step S225, that is, complete the ventilation channel cross-sectional scanning simulation under the peripheral circulation scanning model.

[0089] After simulating the two scanning models in S2, the control data such as the movement route, movement speed, probe deflection angle and speed of each through-beam scanning wind measurement sensor under the corresponding scanning model can be obtained. Then, after establishing the full-section scanning wind measurement system according to step S3, the control data is synchronized to the control module of the system, so that the through-beam scanning wind measurement sensor can move according to the established control data simulated by the model.

[0090] In S3, the track for the beam-type scanning wind measurement sensor in the full-section scanning wind measurement system is configured to be a rigid track made of rigid material or a flexible track made of flexible material, or a combination thereof. The track is selected based on the cross-sectional profile of the ventilation duct and the selected scanning model. Examples of rigid tracks include those made of standard square tubes or those with racks. Examples of flexible tracks include those made of steel wire rope or cable.

[0091] When the cross-section of the ventilation duct is a relatively regular shape, such as a rectangle or an arch, a rigid track or a flexible track can be selected alone, or a combination of a rigid track and a flexible track can be selected at the same time; when the cross-section of the ventilation duct is an irregular shape, it is difficult for the rigid track to completely fit the inner contour of the ventilation duct cross-section, so a flexible track is preferred.

[0092] After completing the simulated scan of the scanning model of S2, a physical scan is required. However, before performing the physical scan of S4, the self-alignment correction module in the full-section scanning wind measurement system in S3 needs to be adjusted and turned on to further reduce the possibility that the two opposing scanning wind measurement sensors cannot keep the probes facing each other due to installation problems or control data errors before and during the scan.

[0093] In S3, the self-alignment and correction module in the full-section scanning wind measurement system includes an image capture unit, a position recognition unit, a signal processing unit, and a mechanical adjustment unit provided on each through-beam scanning wind measurement sensor. The working steps of the self-alignment and correction module include the following steps:

[0094] S31, the image capture unit of each of the two through-beam scanning wind measurement sensors performs position recognition on the position recognition unit provided on the other through-beam scanning wind measurement sensor, and transmits image data to the signal processing unit;

[0095] S32: The signal processing unit processes the image data, analyzes the height difference and angle difference between the two opposing scanning wind measurement sensors, and sends an action signal to the mechanical adjustment unit according to the scanning model requirements;

[0096] S33. After receiving the action signal, the mechanical adjustment unit controls the corresponding through-beam scanning wind speed sensor to perform height adjustment or angle adjustment so that the scanning line between the two through-beam scanning wind speed sensors conforms to the selected scanning model.

[0097] In S32, refer to Figure 5 ,The signal processing unit includes an image storage node, an image comparison and analysis node, an action signal generation node, and a timing node;

[0098] The image storage node is used to store image information captured by the image capture unit when self-alignment is completed for the first time;

[0099] The image comparison and analysis node is used to call the image information of the image storage node and the real-time image information of the image capture unit, and perform angle difference analysis of the position recognition unit, and send a corresponding signal to the action signal generation node according to the analysis result;

[0100] The action signal generating node is used to receive the signal sent by the image comparison and analysis node and send a corresponding action signal to the mechanical adjustment unit;

[0101] The timing node performs time stamping on the image information collected by the image acquisition unit.

[0102] Therefore, during the entire scanning wind measurement operation, the self-alignment and correction module can ensure that the two opposing scanning wind measurement sensors perform real-time self-alignment and correction, so that the scanning line always meets the requirements of the selected scanning model.

[0103] Furthermore, when the peripheral circulation scanning model is selected, the mechanical adjustment unit in S33, while receiving the signal from the signal processing unit to perform the mechanical action of self-alignment and correction, needs to execute the deflection of the through-beam scanning wind measurement sensor probe obtained in S221-S225 in real time, and control the deflection of the through-beam scanning wind measurement sensor probe according to the predetermined deflection direction, deflection angle, and deflection speed. When the peripheral circulation scanning model is selected, the priority of the signal sent from the signal processing unit in the self-alignment module to the mechanical adjustment unit is lower than the priority of the signal controlling the probe deflection in the peripheral circulation scanning simulation model, so that in the peripheral circulation scanning model, the self-alignment and correction module controls the through-beam scanning wind measurement sensor to perform the self-alignment operation at the auxiliary level signal, avoiding interference with the signal controlling the probe deflection in the peripheral circulation scanning model, which may cause the through-beam scanning wind measurement sensor to fail to operate.

[0104] The present invention also provides a full-section scanning wind measurement system applicable to multiple channels, characterized by comprising the following modules:

[0105] The model building module uses a 3D scanner to detect the 3D data of the ventilation channel and build a 3D model of the ventilation channel;

[0106] The scanning model selection module selects an adaptive scanning mode model according to the ventilation channel 3D model, and performs a scanning wind measurement simulation on the ventilation channel 3D model according to the selected scanning mode model to obtain the control data of the corresponding scanning model corresponding to the current ventilation channel. The adaptive scanning model includes an up and down reciprocating scanning model and a peripheral circulation scanning model;

[0107] The first unit, the adaptive scanning model includes an up and down reciprocating scanning model. The up and down reciprocating scanning model uses the horizontal line as the corresponding scanning line and the two side walls of the ventilation channel section corresponding to the internal contour as the scanning movement trajectory to achieve full section scanning of the ventilation channel;

[0108] At the first node, in the height direction of the three-dimensional ventilation duct model, the inner wall of the ventilation duct section is divided into several groups of relative movement routes, each group is recorded as Ln / Ln', n ≥ 1, and the boundary line of each group of movement routes is determined;

[0109] The second node determines the length of each group of moving routes within the same height range;

[0110] The third node unifies the intra-group walking time of each relative scanning route and obtains the moving speed of each opposing scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0111] In the fourth node, the beam scanning wind measurement sensor performs a full-section scanning wind measurement simulation on the three-dimensional model of the ventilation duct according to the moving speed in S213;

[0112] The second unit, the peripheral circulation scanning model, uses the line of the center point of the ventilation channel section as the corresponding scanning line, decomposes the inner contour of the ventilation channel section into multiple groups of relative movement paths, and moves and scans on each group of relative movement paths to achieve full-section scanning of the ventilation channel;

[0113] Node 5: In the 3D model of the ventilation duct, the inner wall of the ventilation duct section is divided into several groups of relative movement routes according to the inner contour shape of the ventilation duct section. Each group is recorded as Ln / Ln', where n ≥ 1. The boundary line of each group of movement routes is determined.

[0114] The sixth node is based on the contour shape of the cross section corresponding to each group of moving routes. With the center point of the ventilation duct cross section as the origin, the scanning range enclosed by the lines connecting the boundary points of each group of moving routes to the origin is evenly divided into several groups of corresponding scanning areas at the same angle. The area on the moving route corresponding to each group of scanning areas is recorded as the scanning position an / an', where n ≥ 1;

[0115] The seventh node unifies the intra-group travel time of each relative scanning route and obtains the moving speed of each opposing scanning wind measurement sensor on its respective moving route under the corresponding moving route;

[0116] In the eighth node, the deflection angle and deflection speed of the through-beam scanning wind sensor probe at the next moment are obtained by analyzing the changes in the through-beam scanning line angles corresponding to adjacent scanning positions and the movement speed of the through-beam scanning wind sensor along its respective movement paths;

[0117] Node 9: The through-beam sensor performs a scanning simulation in the three-dimensional model of the ventilation duct according to the moving speed of S223 and the probe deflection angle and deflection speed of S224.

[0118] The mechanical module includes a scanning track arranged on the inner contour of the ventilation duct cross section, a plurality of groups of through-beam scanning wind measurement sensors movably arranged on the scanning track, and a transmission assembly for controlling the movement of the through-beam scanning wind measurement sensors on the scanning track arranged in the scanning track;

[0119] A self-alignment and correction module is provided in the scanning track, and a self-alignment component is provided for realizing self-alignment of each group of through-beam scanning wind measurement sensors. The self-alignment and correction module is adjusted and turned on for each group of through-beam scanning wind measurement sensors in the system according to the selected adaptive scanning mode model;

[0120] The third unit, the self-alignment correction module, includes an image capture unit, a position recognition unit, a signal processing unit, and a mechanical adjustment unit provided on each through-beam scanning wind measurement sensor;

[0121] A tenth node, wherein the image capture unit of each of the two through-beam scanning wind measurement sensors identifies the position of the position identification unit provided on the other through-beam scanning wind measurement sensor and transmits image data to the signal processing unit;

[0122] The eleventh node, the signal processing unit, processes the image data, analyzes the height difference and angle difference between the two opposing scanning wind measurement sensors, and sends an action signal to the mechanical adjustment unit according to the scanning model requirements;

[0123] At the twelfth node, after receiving the action signal, the mechanical adjustment unit controls the corresponding through-beam scanning wind speed sensor to adjust the height or angle so that the scanning line between the two through-beam scanning wind speed sensors conforms to the selected scanning model;

[0124] The control scanning module synchronizes the control data in the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, controls the through-beam scanning wind measurement sensor to move and scan at a predetermined speed and direction along the moving route of the contour within the ventilation duct section, so as to realize the test of the wind speed and air volume in the ventilation duct, and synchronizes the wind measurement data results to the three-dimensional model of the ventilation duct for data analysis and recording.

[0125] The present invention also provides a storage medium storing instructions executable by a multi-channel full-section scanning wind measurement system. The instructions are executed by a processor included in the multi-channel full-section scanning wind measurement system to implement any one of the above-mentioned methods for multi-channel full-section scanning wind measurement.

[0126] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0127] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0128] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A full-section scanning wind measurement method applicable to multiple channels, characterized in that: The following steps are involved: S1. Performing three-dimensional data detection on the ventilation channel by using a three-dimensional scanner and establishing a three-dimensional model of the ventilation channel; S2. Selecting an adaptive scanning mode model according to the three-dimensional model of the ventilation channel, and performing a scanning wind measurement simulation on the three-dimensional model of the ventilation channel according to the selected scanning mode model to obtain control data corresponding to the current ventilation channel of the corresponding scanning model; S3. Establish a full-section scanning wind measurement system on the inner wall corresponding to the ventilation duct cross section according to the selected adaptive scanning mode model, and adjust and start the self-alignment correction module of the beam scanning wind measurement sensor group in the system. The adaptive scanning model includes: an up and down reciprocating scanning model and a peripheral circulation scanning model. The up and down reciprocating scanning model uses the horizontal line as the beam scanning line and the two side walls of the internal contour corresponding to the ventilation duct cross section as the scanning movement trajectory. The peripheral circulation scanning model uses the line of the center point of the ventilation duct cross section as the beam scanning line. The inner contour of the ventilation duct cross section is decomposed into multiple groups of relative movement paths. The scanning is performed on each group of relative movement paths to achieve full-section scanning of the ventilation duct. S4. Synchronize the control data during the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, control the beam-type scanning wind measurement sensor to move and scan along the contour of the ventilation duct cross section at a predetermined speed and direction, so as to achieve the test of the wind speed and air volume in the ventilation duct, and synchronize the wind measurement data results to the three-dimensional model of the ventilation duct for data analysis and recording; In S2, the scanning wind measurement simulation of the up-and-down reciprocating scanning model includes the following steps: S211. Divide the inner wall of the ventilation duct cross section into several groups of relative movement routes in the height direction of the three-dimensional ventilation duct model, each group being denoted as Ln / Ln', where n≥1, and determine the boundary line of each group of movement routes; S212, determining the length of each group of moving routes within the same height range; S213, unifying the intra-group travel time of each group of relative scanning routes, and obtaining the moving speed of each through-beam scanning wind measurement sensor on its respective moving route under the corresponding moving route; S214, the through-beam scanning wind measurement sensor performs a full-section scanning wind measurement simulation on the three-dimensional model of the ventilation duct according to the moving speed in S213; In S2, the scanning wind measurement simulation of the peripheral circulation scanning model includes the following steps: S221. In the three-dimensional model of the ventilation duct, the inner wall of the ventilation duct section is divided into a plurality of relative movement routes according to the inner contour of the ventilation duct section. Each group is denoted as Ln / Ln', where n≥1. The boundary line of each group of movement routes is determined. S222. Based on the contour of the cross section corresponding to each set of moving routes, with the center point of the ventilation duct cross section as the origin, the scanning range enclosed by the lines connecting the boundary points of each set of moving routes to the origin is evenly divided into a number of corresponding scanning areas at the same angle. The area on the moving route corresponding to each scanning area is recorded as scanning position an / an', where n ≥ 1; S223, unifying the intra-group travel time of each group of relative scanning routes, and obtaining the moving speed of each through-beam scanning wind measurement sensor on its respective moving route under the corresponding moving route; S224, by analyzing the changes in the through-beam scanning line angles corresponding to adjacent scanning positions and the movement speeds of the through-beam scanning wind measurement sensors along their respective movement routes, obtaining the next deflection angle and deflection speed of the through-beam scanning wind measurement sensor probe; S225, the through-beam sensor performs a scanning simulation in the three-dimensional model of the ventilation duct according to the moving speed of S223 and the probe deflection angle and deflection speed of S224; In S3, the track for the opposed-beam scanning wind measurement sensor in the full-section scanning wind measurement system to travel is set to be a rigid track made of rigid material or a flexible track made of flexible material, or one or more combinations thereof, and the track is selected specifically according to the inner contour of the ventilation channel cross section and the selection of the scanning model; In S3, the self-alignment and correction module in the full-section scanning wind measurement system includes an image capture unit, a position recognition unit, a signal processing unit, and a mechanical adjustment unit provided on each through-beam scanning wind measurement sensor. The working steps of the self-alignment and correction module include the following steps: S31, the image capture unit of each of the two through-beam scanning wind measurement sensors performs position recognition on the position recognition unit provided on the other through-beam scanning wind measurement sensor, and transmits image data to the signal processing unit; S32: The signal processing unit processes the image data, analyzes the height difference and angle difference between the two opposing scanning wind measurement sensors, and sends an action signal to the mechanical adjustment unit according to the scanning model requirements; S33. After receiving the action signal, the mechanical adjustment unit controls the corresponding through-beam scanning wind speed sensor to perform height adjustment or angle adjustment so that the scanning line between the two through-beam scanning wind speed sensors conforms to the selected scanning model.

2. A full-section scanning wind measurement system applicable to multiple channels, characterized in that: Includes the following modules: The model building module uses a 3D scanner to detect the 3D data of the ventilation channel and build a 3D model of the ventilation channel; The scanning model selection module selects an adaptive scanning mode model according to the ventilation channel 3D model, and performs a scanning wind measurement simulation on the ventilation channel 3D model according to the selected scanning mode model to obtain the control data of the corresponding scanning model corresponding to the current ventilation channel. The adaptive scanning model includes an up and down reciprocating scanning model and a peripheral circulation scanning model; The first unit, the adaptive scanning model includes an up and down reciprocating scanning model, wherein the up and down reciprocating scanning model uses the horizontal line as the corresponding scanning line and the two side walls of the ventilation channel cross section corresponding to the internal contour as the scanning movement trajectory, so as to realize the full cross-section scanning of the ventilation channel; At the first node, in the height direction of the three-dimensional ventilation duct model, the inner wall of the ventilation duct section is divided into several groups of relative movement routes, each group is recorded as Ln / Ln', n ≥ 1, and the boundary line of each group of movement routes is determined; The second node determines the length of each group of moving routes within the same height range; The third node unifies the intra-group walking time of each relative scanning route and obtains the moving speed of each opposing scanning wind measurement sensor on its respective moving route under the corresponding moving route; In the fourth node, the beam scanning wind measurement sensor performs a full-section scanning wind measurement simulation on the three-dimensional model of the ventilation duct according to the moving speed in S213; The second unit, the peripheral circulation scanning model uses the line of the center point of the ventilation channel section as the corresponding scanning line, decomposes the inner contour of the ventilation channel section into multiple groups of relative movement paths, and moves and scans on each group of relative movement paths to achieve full-section scanning of the ventilation channel; Node 5: In the 3D ventilation duct model, the inner wall of the ventilation duct section is divided into several groups of relative movement routes according to the inner contour shape of the ventilation duct section. Each group is denoted as Ln / Ln', where n≥1. The boundary line of each group of movement routes is determined. At the sixth node, based on the contour of the cross section corresponding to each set of moving routes, with the center point of the ventilation duct cross section as the origin, the scanning range enclosed by the lines connecting the boundary points of each set of moving routes to the origin is evenly divided into several groups of corresponding scanning areas at the same angle. The area on the moving route corresponding to each group of scanning areas is recorded as the scanning position an / an', where n ≥ 1; The seventh node unifies the intra-group travel time of each relative scanning route and obtains the moving speed of each opposing scanning wind measurement sensor on its respective moving route under the corresponding moving route; In the eighth node, the deflection angle and deflection speed of the through-beam scanning wind sensor probe at the next moment are obtained by analyzing the changes in the through-beam scanning line angles corresponding to adjacent scanning positions and the movement speed of the through-beam scanning wind sensor along its respective movement paths; Node 9: The through-beam sensor performs a scanning simulation in the three-dimensional model of the ventilation duct according to the moving speed of S223 and the probe deflection angle and deflection speed of S224. The mechanical module includes a scanning track arranged on the inner contour of the ventilation duct cross section, a plurality of groups of through-beam scanning wind measurement sensors movably arranged on the scanning track, and a transmission assembly for controlling the movement of the through-beam scanning wind measurement sensors on the scanning track arranged in the scanning track; A self-alignment and correction module is provided in the scanning track, and a self-alignment component is provided for realizing self-alignment of each group of through-beam scanning wind measurement sensors. The self-alignment and correction module is adjusted and started for each group of through-beam scanning wind measurement sensors in the system according to the selected adaptive scanning mode model; The third unit, the self-alignment correction module, includes an image capture unit, a position recognition unit, a signal processing unit, and a mechanical adjustment unit provided on each through-beam scanning wind measurement sensor; A tenth node, wherein the image capture unit of each of the two through-beam scanning wind measurement sensors identifies the position of the position identification unit provided on the other through-beam scanning wind measurement sensor and transmits image data to the signal processing unit; The eleventh node, the signal processing unit, processes the image data, analyzes the height difference and angle difference between the two opposing scanning wind measurement sensors, and sends an action signal to the mechanical adjustment unit according to the scanning model requirements; At the twelfth node, after receiving the action signal, the mechanical adjustment unit controls the corresponding through-beam scanning wind speed sensor to adjust the height or angle so that the scanning line between the two through-beam scanning wind speed sensors conforms to the selected scanning model; The control scanning module synchronizes the control data in the scanning wind measurement simulation process to the control module of the full-section scanning wind measurement system, controls the through-beam scanning wind measurement sensor to move and scan at a predetermined speed and direction along the moving route of the contour within the ventilation duct section, so as to realize the test of the wind speed and air volume in the ventilation duct, and synchronizes the wind measurement data results to the three-dimensional model of the ventilation duct for data analysis and recording.

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