A laser ranging correction system and method for use in a confined space dust environment

Abstract

The application provides a laser ranging correction system and method in a dust environment in a limited space, and relates to the field of optical measurement technology. A laser power attenuation model and a wavelength change relationship in a dust environment are obtained based on Mie scattering and a multi-particle single scattering model; a power attenuation coefficient is obtained based on the power attenuation model and Lambert-Beer law to estimate an effective ranging range of the instrument; and a distance correction model in the dust environment is established based on the wavelength change relationship and Maxwell electromagnetic theory. When applied, dust is collected in the limited space and a particle size distribution spectrum is obtained; a concentration measuring instrument is arranged in the limited space to collect dust mass concentration in real time; dust mass concentration on a ranging light path is obtained by interpolating the dust concentration at arrangement points; the particle size distribution and the light path dust mass concentration are substituted into the attenuation model and the distance correction model to obtain a correction value to correct the measured distance, and finally the ranging accuracy of the laser range finder in a dust environment in a limited space such as a mine working face and a construction site is improved.

Description

Technical Field

[0001] This invention relates to the field of optical measurement technology, and in particular to a laser ranging correction system and laser ranging correction method for use in confined space dusty environments. Background Technology

[0002] Laser instruments such as total stations and rangefinders are essential tools for surveying and construction, playing a crucial role in positioning and orientation within confined spaces such as underground mines, tunnels, and factory workshops. Due to poor ventilation and noisy working environments in confined spaces, the concentration of water vapor, dust, and other particles in the air is relatively high, resulting in significant absorption and scattering of laser signals. This affects the accuracy of instrument positioning and orientation, and can even directly lead to instrument failure.

[0003] To reduce or eliminate the impact of dust in confined spaces on laser rangefinders, many existing solutions focus on dust control. However, these solutions are relatively indirect in addressing the aforementioned problems, and in some key areas, dust dispersion cannot be completely eliminated, still affecting the normal operation of the laser rangefinder.

[0004] Another type of more direct laser ranging correction method mostly relies on numerical simulation or empirical models. Numerical simulation methods generally involve many theoretical assumptions that are difficult to meet in real-world environments, thus limiting their practicality and operability. Empirical models, on the other hand, are generally based on experimental data and consider fewer theoretical factors, thus lacking environmental transferability. In summary, current solutions for laser ranging affected by dusty environments in confined spaces cannot meet the requirements of high accuracy, high stability, and environmental transferability. Summary of the Invention

[0005] In view of the above problems, the present invention proposes a laser ranging correction system and laser ranging correction method for confined space dust environment.

[0006] This invention provides a laser ranging correction system for confined space dust environments. The laser ranging correction system includes: a laser rangefinder, an optical detection module, a dust diffusion module, a host computer, and multiple dust concentration measurement modules.

[0007] The laser rangefinder and the optical detection module are respectively positioned at both ends of the dust diffusion module;

[0008] The optical detection module is used to measure the power and wavelength of the laser rangefinder;

[0009] The dust diffusion module is used to deliver dust of different particle sizes and masses in batches, and to control the uniform and steady-state diffusion of dust of different particle sizes and masses.

[0010] Multiple dust concentration measurement modules are arranged within the dust diffusion module, each used to collect the dust mass concentration in the optical path of the laser emitted by the laser rangefinder.

[0011] The host computer is used to establish a power attenuation model based on the obtained power, and then calculate the effective range of the laser rangefinder corresponding to different dust mass concentrations at various particle size levels based on the power attenuation model.

[0012] The host computer is also used to obtain the mass concentration-wavelength variation relationship at each particle size level based on the wavelength. Based on the mass concentration-wavelength variation relationship, the host computer establishes a distance correction model corresponding to different dust mass concentrations at each particle size level in combination with Maxwell's electromagnetic theory. Then, in practical applications, the distance correction value corresponding to different dust mass concentrations at each particle size level is calculated based on the distance correction model.

[0013] Optionally, the dust diffusion module is provided with multiple discharge ports;

[0014] The dust particles of different sizes and masses are fed into the dust diffusion module in batches through the inlet.

[0015] Multiple discharge ports are located at any position of the dust diffusion module, and are connected to and cooperate with the dust diffusion module to control the uniform and steady-state diffusion of dust of different particle sizes and masses.

[0016] Multiple dust concentration measurement modules are arranged near the optical path, and are evenly distributed, with a number greater than the threshold.

[0017] Each of the multiple dust concentration measurement modules collects the dust mass concentration on the optical path and sends it to the host computer.

[0018] The power and wavelength of the laser rangefinder measured by the optical detection module are sent to the host computer.

[0019] Optionally, the specific methods for the host computer to calculate the effective ranging range and establish the distance correction model include:

[0020] In a cleanroom environment, the optical detection module repeatedly measures the power and wavelength of the laser rangefinder and sends the data to the host computer.

[0021] The host computer receives and records the power and wavelength obtained from multiple measurements, calculates the average value, and obtains the lossless power and lossless wavelength data of the laser rangefinder in a clean environment.

[0022] The dust diffusion module is used to release dust of different particle sizes and masses in batches, and to control the uniform and steady-state diffusion of dust of different particle sizes and masses.

[0023] Multiple dust concentration measurements are performed on different dust mass concentrations of different particle size classes in each batch, and the results are sent to the host computer.

[0024] The optical detection module measures the power and wavelength of the laser rangefinder corresponding to different dust mass concentrations of different particle size levels in each batch, and sends the data to the host computer.

[0025] The host computer receives and records the power and wavelength of the laser rangefinder corresponding to different dust mass concentrations of different particle size levels in each batch, calculates the average value, and obtains the effective power and effective wavelength data of the laser rangefinder in different dusty environments.

[0026] The host computer calculates the effective range of the laser rangefinder under different dusty environments based on the lossless power data and the effective power data.

[0027] The host computer fits the lossless wavelength data and the effective wavelength data within the effective range of the distance measurement to obtain the mass concentration-wavelength variation relationship at each particle size level. Based on the mass concentration-wavelength variation relationship, the host computer establishes the distance correction model in conjunction with Maxwell's electromagnetic theory, so as to correct the measured distance of the laser rangefinder in the actual confined space dust environment in practical applications.

[0028] Alternatively, for dust particles of the same size class:

[0029] The dust diffusion module is used to release dust of different masses in batches and to control the uniform and steady-state diffusion of dust of different masses.

[0030] Maintain the dust diffusion state for each batch, and measure the dust mass concentration on the optical path of each batch and send it to the host computer.

[0031] The optical detection module measures the power and wavelength of each batch of laser rangefinders and sends the data to the host computer.

[0032] Optionally, the host computer performs fitting calculations based on the lossless power data and the effective power data under different dusty environments, using Mie scattering theory and multi-particle single scattering model, to establish the power attenuation model corresponding to each particle size level.

[0033] The host computer obtains the mass concentration-power attenuation coefficient relationship for each particle size level based on the power attenuation model and the Lambert-Beer transmission law.

[0034] The host computer calculates the ranging failure distance corresponding to different dust mass concentrations at each particle size level based on the mass concentration-power attenuation coefficient relationship and the Lambert-Beer transmission law, and then obtains the effective ranging range corresponding to different dust mass concentrations at each particle size level.

[0035] The expression for the ranging failure distance x is as follows:

[0036] Where k λ =a0+a1×m

[0037] In the above formula, γ0 represents the power attenuation ratio when ranging fails, and k λ denoted by , where m represents the dust mass concentration, and a0 and a1 represent the fitting parameters.

[0038] Optionally, the host computer fits the lossless wavelength data and the effective wavelength data based on the effective ranging range corresponding to different dust mass concentrations at each particle size level, and obtains the mass concentration-wavelength ratio change relationship at each particle size level.

[0039] The host computer establishes a distance correction model corresponding to different dust mass concentrations at each particle size level based on the mass concentration-wavelength ratio relationship and Maxwell's electromagnetic theory. Then, in practical applications, it calculates the distance correction value corresponding to different dust mass concentrations at each particle size level based on the distance correction model.

[0040] The formula for calculating the distance correction value is as follows:

[0041]

[0042] In the above formula, D' is the measured distance. This is the ratio of the lossless wavelength to the effective wavelength, a value given by the mass concentration-wavelength variation relationship.

[0043] Optionally, the specific methods for applying the distance correction model in practical confined spaces include:

[0044] A dust collection device is deployed within the actual confined space to collect a first preset amount of dust actually present within the actual confined space.

[0045] By analyzing the first preset amount of dust collected, the particle size distribution spectrum of the dust actually present in the actual confined space is obtained, and then the particle size level of the dust actually present in the actual confined space is obtained.

[0046] A second preset number of dust concentration measuring modules are deployed at different locations within the actual confined space to obtain the dust mass concentration at the deployment points of the dust concentration measuring modules in the actual confined space in real time.

[0047] When using the laser rangefinder to measure the actual confined space, three-dimensional interpolation is performed based on the real-time dust concentration at the deployment point to obtain the real-time dust mass concentration on the optical path;

[0048] By substituting the particle size of the dust actually present in the actual confined space and the real-time dust mass concentration on the optical path into the distance correction model, the distance correction value corresponding to the real-time dust mass concentration on the optical path under the particle size of the dust actually present in the actual confined space is calculated.

[0049] This invention provides a laser ranging correction method for use in confined space dusty environments, the laser ranging correction method comprising:

[0050] To acquire lossless power and lossless wavelength data of a laser rangefinder in a cleanroom environment;

[0051] The effective power and effective wavelength data of the laser rangefinder were obtained under different dusty environments, where different dusty environments refer to dusty environments corresponding to different particle size levels and different dust mass concentrations.

[0052] Based on the lossless power data and the effective power data, a power attenuation model is established, and then the effective ranging range is calculated based on the power attenuation model.

[0053] Within the effective range of the distance measurement, the lossless wavelength data and the effective wavelength data are fitted to establish a distance correction model, so that the measured distance of the laser rangefinder in a confined space dusty environment can be corrected based on the distance correction model in actual applications.

[0054] Optionally, the effective power and effective wavelength data of the laser rangefinder under different dusty environments are acquired, including:

[0055] For dust of the same particle size class:

[0056] Step S1: Add dust of different qualities in batches to ensure uniform and steady-state dust diffusion;

[0057] Step S2: Maintain the steady state of dust diffusion for each batch, obtain the dust mass concentration collected by different acquisition devices on the optical path for each batch and calculate the average value, and record the power and wavelength of the laser rangefinder for each batch, and calculate the average value to obtain the effective power and effective wavelength data of the laser rangefinder under the same particle size and different dust mass concentrations;

[0058] For dust particles of different sizes, the effective power and effective wavelength data of the laser rangefinder under different dusty environments were obtained using the methods in steps S1 to S2.

[0059] Optionally, based on the lossless power data and the effective power data, a power attenuation model is established, and then the effective ranging range is calculated based on the power attenuation model, including:

[0060] Based on the lossless power data and effective power data under different dusty environments, fitting calculations were performed based on Mie scattering theory and multi-particle single scattering model to establish the power attenuation model corresponding to each particle size level.

[0061] Based on the power attenuation model, the mass concentration-power attenuation coefficient relationship at each particle size level is obtained according to the Lambert-Beer transmission law.

[0062] Based on the mass concentration-power attenuation coefficient relationship and the Lambert-Beer transmission law, the ranging failure distance corresponding to different dust mass concentrations at each particle size level is calculated, and then the effective ranging range corresponding to different dust mass concentrations at each particle size level is obtained.

[0063] The expression for the ranging failure distance x is as follows:

[0064] Where k λ =a0+a1×m

[0065] In the above formula, γ0 represents the power attenuation ratio when ranging fails, and k λ denoted by , where m represents the dust mass concentration, and a0 and a1 represent the fitting parameters.

[0066] Optionally, within the effective ranging range, the lossless wavelength data and the effective wavelength data are fitted to establish a distance correction model, including:

[0067] Based on the effective range of distance measurement corresponding to different dust mass concentrations at each particle size level, the lossless wavelength data and the effective wavelength data are fitted to obtain the mass concentration-wavelength variation relationship at each particle size level.

[0068] Based on the mass concentration-wavelength variation relationship, and combined with Maxwell's electromagnetic theory, a distance correction model corresponding to different dust mass concentrations at each particle size level is established. Then, in practical applications, the distance correction value corresponding to different dust mass concentrations at each particle size level is calculated based on the distance correction model.

[0069] The formula for calculating the distance correction value is as follows:

[0070]

[0071] In the above formula, D' is the measured distance. This is the ratio of the lossless wavelength to the effective wavelength, a value given by the mass concentration-wavelength variation relationship.

[0072] Optionally, in practical applications, specific methods for calculating the distance correction values ​​corresponding to different dust mass concentrations at various particle size levels based on the distance correction model include:

[0073] A dust collection device is deployed in the actual confined space to collect a first preset amount of dust that actually exists in the actual confined space.

[0074] By analyzing the first preset amount of dust collected, the particle size distribution spectrum of the dust actually present in the actual confined space is obtained, and then the particle size level of the dust actually present in the actual confined space is obtained.

[0075] A second preset number of dust concentration measuring modules are deployed at different locations within the actual confined space to obtain the dust mass concentration at the deployment points of the dust concentration measuring modules in the actual confined space in real time.

[0076] When using the laser rangefinder to measure the actual confined space, three-dimensional spatial interpolation is performed based on the real-time dust concentration at the deployment point to obtain the real-time dust mass concentration on the optical path of the laser emitted by the laser rangefinder.

[0077] By substituting the particle size of the dust actually present in the actual confined space and the real-time dust mass concentration on the optical path into the distance correction model, the distance correction value corresponding to the real-time dust mass concentration on the optical path under the particle size of the dust actually present in the actual confined space is calculated.

[0078] The present invention provides a laser ranging correction system for confined space dust environments, wherein a laser rangefinder and an optical detection module are respectively arranged at both ends of a dust diffusion module; the optical detection module is used to measure the power and wavelength of the laser rangefinder; the dust diffusion module is used to release dust of different particle sizes and masses in batches, and to control the uniform steady-state diffusion of dust of different particle sizes and masses; multiple dust concentration measurement modules are used to collect the dust mass concentration on the optical path.

[0079] This invention does not require improvements in dust control capabilities, nor does it employ numerical simulation methods or empirical models. Instead, it compares laser signals collected in a dust-free environment with those from similar sources to obtain power attenuation models and wavelength variation relationships for lasers with different particle sizes and mass concentrations of dust. This allows for the calculation of the laser ranging failure distance, and consequently, the effective ranging range of the laser rangefinder under different dusty environments. Based on wavelength variation relationships and Maxwell's electromagnetic theory, a distance correction model is established for different dust mass concentrations at various particle size levels. In practical applications within the effective ranging range, the distance correction values ​​for the laser rangefinder under different dusty environments are calculated based on the distance correction model. This corrects the measured distance of the laser rangefinder in confined dusty environments, improving the ranging accuracy of the laser rangefinder in confined dusty environments such as mine working faces and construction sites. This meets the requirements of high precision, high stability, and environmental portability for laser rangefinders, making it highly practical. Attached Figure Description

[0080] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0081] Figure 1 This is a preferred structural diagram of a laser ranging correction system for confined space dust environments according to an embodiment of the present invention;

[0082] Figure 2 This is a flowchart of a laser ranging correction method for confined space dust environment according to an embodiment of the present invention;

[0083] Figure 3 This is a schematic diagram of the layout of various devices in actual application according to the embodiments of the present invention;

[0084] Figure 4 This is a schematic diagram illustrating the overall changes between the model establishment and the actual behavior in the embodiments of the present invention. Detailed Implementation

[0085] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention, and are only some, not all, embodiments of the present invention, and are not intended to limit the present invention.

[0086] The laser ranging correction system for confined space dust environments proposed in this invention includes: a laser rangefinder, an optical detection module, a dust diffusion module, a host computer, and multiple dust concentration measurement modules; the laser rangefinder and the optical detection module are respectively arranged at both ends of the dust diffusion module; the optical detection module is used to measure the power and wavelength of the laser rangefinder.

[0087] The dust diffusion module is used to batch-dispense dust of different particle sizes and masses, and to control the uniform and steady-state diffusion of dust of different particle sizes and masses. Multiple dust concentration measurement modules are arranged within the dust diffusion module, each collecting the dust mass concentration along the optical path of the laser emitted by the laser rangefinder. The host computer is used to establish a power attenuation model based on the obtained power, and to calculate the effective ranging range of the laser rangefinder corresponding to different dust mass concentrations at various particle sizes based on the power attenuation model. It is also used to obtain the mass concentration-wavelength variation relationship at various particle sizes based on the measured wavelength. Based on the mass concentration-wavelength variation relationship and combined with Maxwell's electromagnetic theory, the host computer establishes a distance correction model corresponding to different dust mass concentrations at various particle sizes, and then calculates the distance correction value corresponding to different dust mass concentrations at various particle sizes based on the distance correction model in practical applications.

[0088] In one possible embodiment, the dust diffusion module has multiple inlet ports; dust particles of different sizes and masses are introduced into the dust diffusion module in batches through these inlet ports. The multiple inlet ports are located at any position within the dust diffusion module, requiring them to be connected to the module and to cooperate with it to control the uniform and steady-state diffusion of dust particles of different sizes and masses. A preferred arrangement is that the multiple inlet ports are positioned below the laser beam path emitted by the laser rangefinder.

[0089] Multiple dust concentration measurement modules are arranged near the laser optical path, evenly distributed, and their number exceeds the threshold. Each module collects the dust mass concentration along the laser optical path and sends the data to the host computer. The threshold mentioned in this embodiment is an empirical value determined by the size of the dust diffusion module and the length of the laser optical path. Since each dust concentration measurement module can only collect the dust mass concentration within a certain range of the optical path, and to obtain accurate dust mass concentration data, several dust concentration measurement modules need to be evenly distributed according to the size of the dust diffusion module and the length of the laser optical path. This ensures accurate measurement of the dust mass concentration within the entire dust diffusion module.

[0090] In addition, the power and wavelength of the laser rangefinder measured by the optical detection module each time also need to be sent to the host computer.

[0091] To more clearly explain and illustrate the laser ranging correction system for confined space dust environments proposed in this invention, please refer to... Figure 1 The diagram shown represents a preferred structure of a laser ranging correction system for confined space dust environments. The dust diffusion module is exemplarily represented by a cuboid structure with a circular hole at each end. The laser emitted by the laser rangefinder enters the dust diffusion module through the circular hole at one end and is then received by the optical detection module through the circular hole at the other end.

[0092] Dust particles of different sizes are introduced into the dust diffusion module through multiple inlets located below it. Figure 1 The example shows six injection ports. The specific number of dust concentration measurement modules is determined by the size of the dust diffusion module and the length of the optical path, and it is necessary to obtain accurate dust mass concentration within the entire dust diffusion module. Figure 1 The example shows 10 dust concentration measurement modules. All of these modules, including the optical detection module, are connected to a host computer to send relevant data.

[0093] Based on the aforementioned laser ranging correction system, in one possible embodiment, the host computer calculates the effective ranging range of the laser rangefinder corresponding to different dust mass concentrations at various particle size levels, and the specific method for establishing the distance correction values ​​corresponding to different dust mass concentrations at various particle size levels includes:

[0094] First, in a dust-free environment, i.e. without any dust being introduced, the laser rangefinder emits lasers multiple times, and the optical detection module measures the power and wavelength of the laser rangefinder multiple times. Under these conditions, the power and wavelength of the laser rangefinder are not affected by dust. These power and wavelength data are then sent to the host computer.

[0095] The host computer receives and records the power and wavelength obtained from multiple measurements, calculates the average value, and obtains the lossless power and lossless wavelength data of the laser rangefinder in a cleanroom environment. Because the power and wavelength of the laser rangefinder are obtained in a cleanroom environment, multiple measurements are taken and the average value is calculated to obtain more accurate values. This yields the power and wavelength of the laser rangefinder under dust-free conditions, and this power and wavelength are defined as lossless power and lossless wavelength.

[0096] After completing the above steps, the dust diffusion module is used to release different particle sizes and masses of dust in batches, and the dust diffusion module is used to control the uniform and steady-state diffusion of different particle sizes and masses of dust. Multiple dust concentration measurements are taken for the mass concentration of different particle sizes of dust in each batch and sent to the host computer.

[0097] It should be noted that for accurate subsequent calculations, the simulation and measurement of dusty environments require multiple similar operations. First, the dust particles are classified according to certain rules into several different particle size levels. Specific classification rules can refer to currently known rules and will not be elaborated upon here. For example, particle size levels can be divided into categories such as below 20 micrometers, 21–45 micrometers, and 46–60 micrometers, etc.

[0098] For each particle size level, different masses of dust need to be introduced to create a stable dusty environment with varying dust concentrations within the dust diffusion module. For example, the first batch of dust (3 mg / μm or less) is introduced into the dust diffusion module. After the module controls and maintains uniform and steady-state dust diffusion under these conditions, multiple dust concentrations measure the dust concentration along the optical path of the first batch and transmit the data to the host computer. Simultaneously, in the environment corresponding to the first batch, the laser rangefinder emits lasers multiple times, and the optical detection module also measures the power and wavelength of the laser rangefinder multiple times in the same environment and transmits the data to the host computer. After receiving the dust concentration measurements from multiple dust concentrations along the optical path of the first batch, the host computer needs to calculate the average value to obtain an accurate dust concentration.

[0099] After the first batch of measurements, the first batch still used dust particles smaller than 20 micrometers, but the input mass was changed to 5 milligrams. This altered the dust concentration entering the dust diffusion module. Subsequent measurements were performed using the same method as in the 3 milligram case, yielding the power and wavelength of the laser rangefinder for the second batch under the corresponding environment. This process continued until the dust concentration at that particle size level exceeded a certain threshold, making it impossible for the optical detection module to measure the laser rangefinder's power and wavelength.

[0100] After all measurements of dust particles with a diameter of less than 20 micrometers and of different masses have been completed, the dust diffusion module is cleaned to restore it to a dust-free environment. Then, dust particles of different masses with a diameter of 21 to 45 micrometers are introduced according to the above method. The power and wavelength of the laser rangefinder are then measured in a dusty environment with different dust concentrations at the 21 to 45 micrometer level until the dust concentration corresponding to that particle size level is higher than a certain level, at which point the optical detection module can no longer measure the power and wavelength of the laser rangefinder.

[0101] The above process is repeated until the power and wavelength of the laser rangefinders under dusty environments with different dust concentrations at all particle size levels are measured. The host computer receives and records the power and wavelength of the laser rangefinders corresponding to different dust concentrations at different particle size levels for each batch, calculates the average value, and obtains the effective power and effective wavelength data of the laser rangefinders under different dusty environments. Since dust interferes with the laser and attenuates the power and wavelength of the laser rangefinder, the power and wavelength of the laser rangefinder measured under dusty environments are defined as the effective power and effective wavelength.

[0102] After obtaining the above data, the host computer calculates the effective ranging range of the laser rangefinder under different dusty environments based on the lossless power data and effective power data. Then, based on the effective ranging range, it fits the lossless wavelength data and effective wavelength data to obtain the mass concentration-wavelength variation relationship for each particle size level. The host computer establishes a distance correction model based on the mass concentration-wavelength variation relationship and Maxwell's electromagnetic theory. This model is used to correct the measured distance of the laser rangefinder in actual confined dusty environments during practical applications. Since the optical detection module cannot measure any data from the laser rangefinder in dusty environments beyond the effective ranging range, it cannot obtain a distance correction value and therefore cannot correct the measured distance. It should be noted that the distance correction model consists of two parts: one is the mass concentration-wavelength variation relationship, and the other is the wavelength ratio-distance correction calculation formula (i.e., the formula for calculating the distance correction value). The first part is obtained by measuring the effective wavelength data by controlling the dust mass concentration variable at different particle size levels; the second part is based on Maxwell's electromagnetic theory and the principle of laser ranging. Each particle size class corresponds to a specific mass concentration-wavelength variation relationship, but the wavelength ratio-distance correction formula remains constant. For example, a mass concentration-wavelength variation relationship exists for particle sizes below 20 micrometers, while a different mass concentration-wavelength variation relationship exists for particle sizes between 21 and 45 micrometers, and so on for other particle size classes.

[0103] In one possible embodiment, the host computer can perform fitting calculations based on the Mie scattering theory and the multi-particle single scattering model, using lossless power data and effective power data under different dusty environments, to establish a power attenuation model (i.e., the mass concentration-power attenuation ratio) corresponding to each particle size level. Generally, Mie's theorem and the multi-particle single scattering model provide two key factors: "particle size" and "mass concentration," respectively. The relationship between power attenuation and these two factors is obtained through fitting calculations using measured data. Then, the host computer uses the power attenuation model and Lambert-Beer's transmission law to obtain the mass concentration-power attenuation coefficient relationship for each particle size level. Generally, Lambert-Beer's law provides an exponential relationship between the attenuation coefficient and the attenuated power, indicating the direction for the fitting calculations, which are specifically obtained from measured data. Finally, the host computer calculates the ranging failure distance corresponding to different dust mass concentrations at each particle size level based on the mass concentration-power attenuation coefficient relationship and Lambert-Beer's transmission law, thereby obtaining the effective ranging range corresponding to different dust mass concentrations at each particle size level. The expression for the ranging failure distance x is:

[0104] Where k λ =a0+a1×m

[0105] In the above formula, γ0 represents the power attenuation ratio when ranging fails, and k λ denoted by , where m represents the dust mass concentration, and a0 and a1 represent the fitting parameters.

[0106] In one possible embodiment, the host computer can fit lossless wavelength data and effective wavelength data based on the effective ranging range corresponding to different dust mass concentrations at each particle size level, to obtain the mass concentration-wavelength variation relationship at each particle size level. The host computer then establishes a distance correction model corresponding to different dust mass concentrations at each particle size level based on the mass concentration-wavelength variation relationship and Maxwell's electromagnetic theory. In practical applications, the distance correction value corresponding to different dust mass concentrations at each particle size level is calculated based on the distance correction model. The formula for calculating the distance correction value is:

[0107]

[0108] In the above formula, D' is the measured distance. This is the ratio of the lossless wavelength to the effective wavelength, and this ratio is given by the mass concentration-wavelength variation relationship.

[0109] In one possible embodiment, the specific method for applying the distance correction model at various particle size levels in practical confined spaces includes:

[0110] First, a dust collection device is deployed within the actual confined space to collect a predetermined quantity of dust actually present in the space. Then, the collected dust is analyzed to obtain the particle size distribution spectrum of the dust actually present in the confined space, thereby determining the particle size level of the dust actually present in the confined space. The predetermined quantity can be determined to meet the analytical requirements and accurately obtain the particle size level of the dust actually present in the confined space.

[0111] Subsequently, a second, predetermined number of dust concentration measurement modules are deployed at different locations within the actual confined space to obtain the dust concentration at each deployment point in real time. The deployment points can be chosen arbitrarily, but since the dust concentration measurement modules require a sturdy, fixed object for fixation, they can be distributed across the surrounding walls, floor, and ceiling of the actual confined space. The second, predetermined number can be determined based on the requirement for accurate, real-time acquisition of dust concentration at each deployment point.

[0112] Next, when measuring the actual confined space using a laser rangefinder, three-dimensional spatial interpolation is performed based on the real-time dust concentration at the deployment points to obtain the real-time dust mass concentration along the laser beam path emitted by the laser rangefinder. Finally, the particle size distribution of the actual dust in the confined space and the real-time dust mass concentration along the optical path are substituted into the distance correction model to calculate the distance correction value corresponding to the real-time dust mass concentration along the optical path at the actual dust particle size distribution in the confined space. Based on the aforementioned formula for calculating the distance correction value, in different dusty environments, after obtaining the wavelength ratio and the measured distance, substituting them into the formula for calculating the distance correction value yields a more accurate true distance, thus improving the ranging accuracy of the laser rangefinder in dusty environments.

[0113] As can be seen from the above explanations and descriptions, this invention does not require improving dust control capabilities, nor does it employ numerical simulation methods or empirical models. Instead, by comparing the laser signal with that collected in a dust-free environment, it obtains the attenuation characteristics and wavelength influence of dust with different particle sizes and mass concentrations on the laser signal power. This allows for the calculation of the cutoff distance at which laser ranging fails, and subsequently, the effective ranging range of the laser rangefinder under different dusty environments. Within this effective range, the ranging correction values ​​for the laser rangefinder under different dusty environments are calculated to correct the measured distance of the laser rangefinder in confined dusty environments, thereby improving the accuracy of laser ranging. This meets the requirements of high precision, high stability, and environmental portability for laser rangefinders.

[0114] Based on the aforementioned laser ranging correction system for confined space dust environments, the present invention also provides a laser ranging correction method for confined space dust environments, referring to... Figure 2The flowchart illustrates a laser ranging correction method for confined space dust environments according to an embodiment of the present invention. The laser ranging correction method includes:

[0115] Step 201: Obtain the lossless power and lossless wavelength data of the laser rangefinder in a clean environment.

[0116] The laser ranging correction method for confined space dusty environments proposed in this invention is based on the aforementioned laser ranging correction system for confined space dusty environments. First, it acquires the lossless power and lossless wavelength data of the laser rangefinder in a cleanroom environment. For details on how to acquire the lossless power and lossless wavelength data of the laser rangefinder in a cleanroom environment, please refer to the foregoing content; further details will not be elaborated here.

[0117] Step 202: Obtain the effective power and effective wavelength data of the laser rangefinder under different dusty environments. Different dusty environments refer to dusty environments corresponding to different particle size levels and different dust mass concentrations.

[0118] After obtaining the lossless power and wavelength data, the effective power and effective wavelength data of the laser rangefinder were then acquired under different dusty environments. Simply put, for dust of the same particle size class:

[0119] Step S1: Add dust of different qualities in batches to ensure uniform and steady-state dust diffusion;

[0120] Step S2: Maintain the dust diffusion state for each batch, acquire the dust mass concentration collected by different acquisition devices (i.e., dust concentration measurement modules) on the optical path for each batch, and calculate the average value. Record the power and wavelength of each batch of laser rangefinders, and calculate the average value to obtain the effective power and effective wavelength data of the laser rangefinders under the same particle size and different dust mass concentrations. For dust of different particle sizes, use the methods in steps S1 and S2 to obtain the effective power and effective wavelength data of the laser rangefinders under different dusty environments. For details on how to obtain the effective power and effective wavelength data of the laser rangefinders under dusty environments, please refer to the aforementioned content, which will not be elaborated further.

[0121] Step 203: Based on the lossless power data and effective power data, establish a power attenuation model, and then calculate the effective ranging range based on the power attenuation model.

[0122] After obtaining the lossless power and effective power, a power attenuation model can be established based on the lossless power data and effective power data, and then the effective ranging range can be calculated based on the power attenuation model. A preferred method may include:

[0123] Based on lossless power data and effective power data under different dusty environments, fitting calculations were performed using Mie scattering theory and a multi-particle single scattering model to establish power attenuation models for each particle size level. Based on these power attenuation models, fitting calculations were performed using Lambert-Beer transmission law and an exponential attenuation model to obtain the mass concentration-power attenuation coefficient relationship for each particle size level. Using the mass concentration-power attenuation coefficient relationship and Lambert-Beer transmission law, the ranging failure distance corresponding to different dust mass concentrations at each particle size level was calculated, thus obtaining the effective ranging range corresponding to different dust mass concentrations at each particle size level. The expression for the ranging failure distance x is as follows:

[0124] Where k λ =a0+a1×m

[0125] In the above formula, γ0 represents the power attenuation ratio when ranging fails, and k λ Here, represents the power attenuation coefficient, m represents the dust mass concentration, and a0 and a1 represent the fitting parameters. For details on how to calculate the effective ranging range, please refer to the preceding content; further explanation is unnecessary.

[0126] Step 204: Within the effective range of distance measurement, fit the lossless wavelength data and the effective wavelength data to establish a distance correction model, so as to correct the measured distance of the laser rangefinder in the actual confined space dust environment based on the distance correction model in practical applications.

[0127] Within the effective ranging range, lossless wavelength data and effective wavelength data are fitted to establish a distance correction model. A preferred method may include:

[0128] Based on the effective ranging range corresponding to different dust mass concentrations at various particle size levels, lossless wavelength data and effective wavelength data are fitted to obtain the mass concentration-wavelength variation relationship at each particle size level. Based on this mass concentration-wavelength variation relationship and combined with Maxwell's electromagnetic theory, a distance correction model corresponding to different dust mass concentrations at each particle size level is established. Then, in practical applications, the distance correction value corresponding to different dust mass concentrations at each particle size level is calculated based on the distance correction model. The formula for calculating the distance correction value is:

[0129]

[0130] In the above formula, D' is the measured distance. This is the ratio of the lossless wavelength to the effective wavelength, given by the mass concentration-wavelength variation relationship. For details on how to calculate the distance correction value to calibrate the measured distance of the laser rangefinder in a confined, dusty environment, please refer to the foregoing content; further details will not be elaborated here.

[0131] After obtaining the above distance correction model, the specific methods for calculating the distance correction values ​​corresponding to different dust mass concentrations at various particle size levels based on the distance correction model in practical applications include:

[0132] First, a dust collection device is deployed within the actual confined space to collect a predetermined quantity of dust actually present in the space. Then, the collected dust is analyzed to obtain the particle size distribution spectrum of the dust actually present in the confined space, thereby determining the particle size level of the dust actually present in the confined space. The predetermined quantity can be determined to meet the analytical requirements and accurately obtain the particle size level of the dust actually present in the confined space.

[0133] Subsequently, a second, predetermined number of dust concentration measurement modules are deployed at different locations within the actual confined space to obtain the dust concentration at each deployment point in real time. The deployment points can be chosen arbitrarily, but since the dust concentration measurement modules require a sturdy, fixed object for fixation, they can be distributed across the surrounding walls, floor, and ceiling of the actual confined space. The second, predetermined number can be determined based on the requirement for accurate, real-time acquisition of dust concentration at each deployment point.

[0134] Next, when measuring the actual confined space using a laser rangefinder, three-dimensional spatial interpolation is performed based on the real-time dust concentration at the deployment points to obtain the real-time dust mass concentration on the laser beam path emitted by the laser rangefinder. Finally, the particle size level of the dust actually present in the actual confined space and the real-time dust mass concentration on the optical path are substituted into the distance correction model to calculate the distance correction value corresponding to the real-time dust mass concentration on the optical path at the particle size level of the dust actually present in the actual confined space.

[0135] To better explain and illustrate the specific method for calculating the distance correction values ​​corresponding to different dust mass concentrations at various particle size levels based on the distance correction model and power attenuation model in practical applications, please refer to... Figure 3 The diagram shows the layout of each device in a practical application. Figure 3 This includes: multiple dust concentration measuring devices (i.e., the aforementioned dust concentration measuring module) installed on the walls and floor of the actual confined space. Figure 3 For the sake of simplicity in the illustration, the remaining walls and ceiling of the actual confined space are not shown, and this does not mean that the dust concentration measuring equipment can only be installed in [specific locations]. Figure 3 The location shown. Figure 3 The dust collection device is not shown in the diagram. Those skilled in the art should understand how to deploy and collect the first preset amount of dust actually present in the confined space, based on existing dust collection devices.

[0136] A laser rangefinder (i.e., the aforementioned laser rangefinder) is placed at one end of the actual confined space, and a ranging target (generally referring to a laser rangefinder reflector) is placed at the other end. When the laser rangefinder emits a laser beam, the laser beam path emitted by the laser rangefinder is obtained by interpolating the real-time dust concentration at the deployment point using the aforementioned method. Figure 3 The system measures the real-time dust mass concentration on the optical path. Based on the actual particle size of the dust in the confined space, the real-time dust mass concentration on the optical path is substituted into the power attenuation model to calculate the current effective range of distance measurement and determine whether the current distance exceeds the effective range. If it does not exceed the effective range, the dust mass concentration on the optical path is substituted into the mass concentration-wavelength change relationship to obtain the wavelength ratio, which is then substituted into the distance correction value calculation formula. This yields the distance correction value corresponding to the real-time dust mass concentration on the optical path at the actual particle size of the dust in the confined space, thus obtaining a more accurate true distance and improving the distance measurement accuracy of laser rangefinders in dusty environments.

[0137] The above-mentioned model and practical application can be combined Figure 4 The overall change diagram provided offers a better understanding. A power attenuation model and a distance correction model can be established using a laser ranging and correction system designed for confined dusty environments. Once established, these models can be applied to actual confined dusty environments to achieve distance correction. Figure 4 As shown in the overall change diagram, the aforementioned laser ranging correction system for confined space dust environments (such as...) Figure 1 The preferred structure shown can actually be understood as a calibration system or calibration device. It simulates various real dust environments and then establishes a power attenuation model and a distance correction model based on these simulations. These two models are then applied to actual confined space dust environments (such as…). Figure 3 (As shown in the practical application), the effective range of the laser rangefinder in the current confined space dust environment can be calculated, it can be determined whether the current distance exceeds the effective range, and the distance correction value corresponding to the real-time dust mass concentration on the optical path at the actual dust particle size level in the confined space can be calculated, thus obtaining a more accurate true distance.

[0138] In summary, the laser ranging correction system for confined space dust environments of the present invention comprises a laser rangefinder and an optical detection module respectively positioned at both ends of a dust diffusion module; the optical detection module is used to measure the power and wavelength of the laser rangefinder; the dust diffusion module is used to release dust of different particle sizes and masses in batches, and to control the uniform and steady-state diffusion of dust of different particle sizes and masses; multiple dust concentration measurement modules are used to collect the dust mass concentration on the optical path.

[0139] This invention does not require improvements in dust control capabilities, nor does it employ numerical simulation methods or empirical models. Instead, it compares laser signals collected in a dust-free environment with those from similar sources to determine the attenuation characteristics and wavelength effects of dust particles of different sizes and concentrations on laser signal power. This allows for the calculation of the cutoff distance at which laser ranging fails, leading to the determination of the effective ranging range of the laser rangefinder under different dusty environments. A distance correction model is then established for different dust concentrations at various particle sizes. In practical applications within the effective ranging range, the distance correction model is used to calculate the ranging correction values ​​for the laser rangefinder under different dusty environments. This corrects the measured distance of the laser rangefinder in confined dusty environments, improving its accuracy in dusty environments such as mine faces and construction sites. This meets the requirements of high precision, high stability, and environmental portability for laser rangefinders, making it highly practical.

[0140] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0141] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0142] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A laser ranging correction system for use in confined space dusty environments, characterized in that, The laser ranging correction system includes: a laser rangefinder, an optical detection module, a dust diffusion module, a host computer, and multiple dust concentration measurement modules; The laser rangefinder and the optical detection module are respectively positioned at both ends of the dust diffusion module; The optical detection module is used to measure the power and wavelength of the laser rangefinder; The dust diffusion module is used to deliver dust of different particle sizes and masses in batches, and to control the uniform and steady-state diffusion of dust of different particle sizes and masses. Multiple dust concentration measurement modules are arranged within the dust diffusion module, each used to collect the dust mass concentration in the optical path of the laser emitted by the laser rangefinder. The host computer is used to establish a power attenuation model based on the obtained power, and then calculate the effective range of the laser rangefinder corresponding to different dust mass concentrations at various particle size levels based on the power attenuation model. The host computer is also used to establish the mass concentration-wavelength change relationship under each particle size level based on the wavelength change. Based on the mass concentration-wavelength change relationship, and combined with Maxwell's electromagnetic theory, a distance correction model corresponding to different dust mass concentrations is established. Then, in practical applications, the distance correction value corresponding to different dust mass concentrations under each particle size level is calculated based on the distance correction model. The specific methods for calculating the effective ranging range by the host computer and establishing the distance correction model include: In a cleanroom environment, the optical detection module repeatedly measures the power and wavelength of the laser rangefinder and sends the data to the host computer. The host computer receives and records the power and wavelength measurements obtained from multiple measurements, calculates the average value, and obtains the lossless power and wavelength data of the laser rangefinder in the cleanroom environment. The dust diffusion module releases different particle sizes and masses of dust in batches, and controls the uniform and steady-state diffusion of these particles. Multiple dust concentration measurements are taken for different particle sizes and mass concentrations in each batch and sent to the host computer. The optical detection module measures the power and wavelength of the laser rangefinder corresponding to different particle sizes and mass concentrations in each batch and sends the data to the host computer. The host computer receives... The system collects and records the power and wavelength of laser rangefinders corresponding to different dust concentrations at different particle size levels for each batch, calculates the average value, and obtains the effective power and effective wavelength data of the laser rangefinders under different dusty environments. The host computer calculates the effective ranging range of the laser rangefinders under different dusty environments based on the lossless power data and the effective power data. Within the effective ranging range, the host computer fits the lossless wavelength data and the effective wavelength data to obtain the mass concentration-wavelength variation relationship at each particle size level. Based on the mass concentration-wavelength variation relationship and combined with Maxwell's electromagnetic theory, a distance correction model is established to correct the measured distance of the laser rangefinder in actual confined dusty environments during practical applications.

2. The laser ranging correction system according to claim 1, characterized in that, The dust diffusion module is equipped with multiple discharge ports; The dust particles of different sizes and masses are fed into the dust diffusion module in batches through the inlet. Multiple discharge ports are located at any position of the dust diffusion module, and are connected to and cooperate with the dust diffusion module to control the uniform and steady-state diffusion of dust of different particle sizes and masses. Multiple dust concentration measurement modules are arranged near the optical path, and are evenly distributed, with a number greater than the threshold. Each of the multiple dust concentration measurement modules collects the dust mass concentration on the optical path and sends it to the host computer. The power and wavelength of the laser rangefinder measured by the optical detection module are sent to the host computer.

3. The laser ranging correction system according to claim 2, characterized in that, For dust of the same particle size class: The dust diffusion module is used to release dust of different masses in batches and to control the uniform and steady-state diffusion of dust of different masses. Maintain the dust diffusion state for each batch, and measure the dust mass concentration on the optical path of each batch and send it to the host computer. The optical detection module measures the power and wavelength of each batch of laser rangefinders and sends the data to the host computer.

4. The laser ranging correction system according to claim 2, characterized in that, The host computer performs fitting calculations based on the lossless power data and the effective power data under different dusty environments, and on the Mie scattering theory and the multi-particle single scattering model, to establish the power attenuation model corresponding to each particle size level. The host computer obtains the mass concentration-power attenuation coefficient relationship for each particle size level based on the power attenuation model and the Lambert-Beer transmission law. The host computer calculates the ranging failure distance corresponding to different dust mass concentrations at each particle size level based on the mass concentration-power attenuation coefficient relationship and the Lambert-Beer transmission law, and then obtains the effective ranging range corresponding to different dust mass concentrations at each particle size level. Wherein, the ranging failure distance x The expression is: In the above formula, This indicates the power attenuation ratio when ranging fails. Indicates the power attenuation coefficient. m Indicates the dust mass concentration. , This represents the fitted parameters.

5. The laser ranging correction system according to claim 4, characterized in that, The host computer fits the lossless wavelength data and the effective wavelength data based on the effective range of the distance measurement corresponding to different dust mass concentrations under each particle size level, and obtains the mass concentration-wavelength ratio change relationship under each particle size level. The host computer establishes a distance correction model corresponding to different dust mass concentrations at each particle size level based on the mass concentration-wavelength variation relationship and Maxwell's electromagnetic theory. Then, in practical applications, it calculates the distance correction value corresponding to different dust mass concentrations at each particle size level based on the distance correction model. The formula for calculating the distance correction value is as follows: In the above formula, D 'This is the measured distance.' This is the ratio of the lossless wavelength to the effective wavelength, a value given by the mass concentration-wavelength variation relationship.

6. The laser ranging correction system according to claim 2, characterized in that, The specific methods for applying the distance correction model in practical confined spaces include: A dust collection device is deployed within the actual confined space to collect a first preset amount of dust actually present within the actual confined space. By analyzing the first preset amount of dust collected, the particle size distribution spectrum of the dust actually present in the actual confined space is obtained, and then the particle size level of the dust actually present in the actual confined space is obtained. A second preset number of dust concentration measuring modules are deployed at different locations within the actual confined space to obtain the dust mass concentration at the deployment points of the dust concentration measuring modules in the actual confined space in real time. When using the laser rangefinder to measure the actual confined space, three-dimensional interpolation is performed based on the real-time dust concentration at the deployment point to obtain the real-time dust mass concentration on the optical path; By substituting the particle size of the dust actually present in the actual confined space and the real-time dust mass concentration on the optical path into the distance correction model, the distance correction value corresponding to the real-time dust mass concentration on the optical path under the particle size of the dust actually present in the actual confined space is calculated.

7. A laser ranging correction method for use in confined space dusty environments, characterized in that, The laser ranging correction method is applied to the laser ranging correction system according to any one of claims 1-6, and the laser ranging correction method includes: To acquire lossless power and lossless wavelength data of a laser rangefinder in a cleanroom environment; The effective power and effective wavelength data of the laser rangefinder were obtained under different dusty environments, where the different dusty environments refer to dusty environments corresponding to different particle size levels and different dust mass concentrations. Based on the lossless power data and the effective power data, a power attenuation model is established, and then the effective ranging range is calculated based on the power attenuation model. Within the effective range of the distance measurement, the lossless wavelength data and the effective wavelength data are fitted to establish a distance correction model, so that the measured distance of the laser rangefinder in a confined space dusty environment can be corrected based on the distance correction model in actual applications.

8. The laser ranging correction method according to claim 7, characterized in that, Acquire the effective power and effective wavelength data of the laser rangefinder under different dusty environments, including: For dust of the same particle size class: Step S1: Add dust of different qualities in batches to ensure uniform and steady-state dust diffusion; Step S2: Maintain the steady state of dust diffusion for each batch, obtain the dust mass concentration collected by different acquisition devices on the optical path for each batch and calculate the average value, and record the power and wavelength of the laser rangefinder for each batch, and calculate the average value to obtain the effective power and effective wavelength data of the laser rangefinder under the same particle size and different dust mass concentrations; For dust particles of different sizes, the effective power and effective wavelength data of the laser rangefinder under different dusty environments were obtained using the methods in steps S1 to S2.

9. The laser ranging correction method according to claim 7, characterized in that, Based on the lossless power data and the effective power data, a power attenuation model is established, and then the effective ranging range is calculated based on the power attenuation model, including: Based on the lossless power data and effective power data under different dusty environments, fitting calculations were performed based on Mie scattering theory and multi-particle single scattering model to establish the power attenuation model corresponding to each particle size level. Based on the power attenuation model and the Lambert-Beer transmission law, the mass concentration-power attenuation coefficient relationship is obtained for each particle size level. Based on the mass concentration-power attenuation coefficient relationship and the Lambert-Beer transmission law, the ranging failure distance corresponding to different dust mass concentrations at each particle size level is calculated, and then the effective ranging range corresponding to different dust mass concentrations at each particle size level is obtained. Wherein, the ranging failure distance x The expression is: In the above formula, This indicates the power attenuation ratio when ranging fails. Indicates the power attenuation coefficient. m Indicates the dust mass concentration. , This represents the fitted parameters.

10. The laser ranging correction method according to claim 8, characterized in that, Within the effective ranging range, the lossless wavelength data and the effective wavelength data are fitted to establish a distance correction model, including: Based on the effective range of distance measurement corresponding to different dust mass concentrations at each particle size level, the lossless wavelength data and the effective wavelength data are fitted to obtain the mass concentration-wavelength variation relationship at each particle size level. Based on the mass concentration-wavelength variation relationship, a distance correction model corresponding to different dust mass concentrations at each particle size level is established using Maxwell's electromagnetic theory. Then, in practical applications, the distance correction value corresponding to different dust mass concentrations at each particle size level is calculated based on the distance correction model. The formula for calculating the distance correction value is as follows: In the above formula, D 'This is the measured distance.' This is the ratio of the lossless wavelength to the effective wavelength, a value given by the mass concentration-wavelength variation relationship.

11. The laser ranging correction method according to claim 10, characterized in that, In practical applications, specific methods for calculating the distance correction values ​​corresponding to different dust mass concentrations at various particle size levels based on the aforementioned distance correction model include: A dust collection device is deployed in the actual confined space to collect a first preset amount of dust that actually exists in the actual confined space. By analyzing the first preset amount of dust collected, the particle size distribution spectrum of the dust actually present in the actual confined space is obtained, and then the particle size level of the dust actually present in the actual confined space is obtained. A second preset number of dust concentration measuring modules are deployed at different locations within the actual confined space to obtain the dust mass concentration at the deployment points of the dust concentration measuring modules in the actual confined space in real time. When using the laser rangefinder to measure the actual confined space, three-dimensional spatial interpolation is performed based on the real-time dust concentration at the deployment point to obtain the real-time dust mass concentration on the optical path of the laser emitted by the laser rangefinder. By substituting the particle size of the dust actually present in the actual confined space and the real-time dust mass concentration on the optical path into the distance correction model, the distance correction value corresponding to the real-time dust mass concentration on the optical path under the particle size of the dust actually present in the actual confined space is calculated.

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