Dust concentration monitoring system and method based on multi-sensor data fusion

Abstract

The invention provides a multi-sensor data fusion dust concentration monitoring system and method, and relates to the technical field of dust concentration monitoring, and the system comprises a laser emission assembly, a plurality of laser receiving assemblies and a processing assembly; the laser emission assembly comprises a rotation driving mechanism, a pitching driving mechanism and a laser emitter. The laser emitting assembly sequentially emits laser to each laser receiving assembly; the plurality of laser receiving assemblies are distributed in different directions of a to-be-measured space, each direction of the to-be-measured space has the same number of laser receiving assemblies, and the laser receiving assemblies are used for generating measurement data according to received laser; and the processing assembly is used for determining first probability evaluation distribution of the security level of each orientation according to each piece of measurement data of the current measurement period, and performing fusion processing on the first probability evaluation distribution by adopting a preset first data fusion algorithm to obtain target dust concentration fusion evaluation. By means of the monitoring system, dust concentration monitoring can be achieved, and a safety risk evaluation result is given.

Description

Technical Field

[0001] This application relates to the technical field of dust concentration monitoring, and particularly to a dust concentration monitoring system and method based on multi-sensor data fusion. Background Art

[0002] Wood-based panels are made from wood or non-wood plants. After mechanical processing, they are separated into various unit materials, and then glued with or without adhesives and other additives to form panels or molded products. The application of such wood-based panels can effectively improve the comprehensive utilization rate of wood, extend the products and deep-processed products to more than a hundred kinds, and also marks the beginning of the modern era of wood processing. At present, a large amount of wood dust is generated during the production process of wood-based panels. These wood dusts not only occupy a large amount of land area, but also cause environmental pollution and are prone to fires.

[0003] Currently, traditional dust concentration monitoring methods include the gravimetric method, the beta-ray method, and the charge method. The gravimetric method sets a filter membrane in a pipeline and pumps gas into the pipeline through an air pump. When the dusty gas passes through the filter membrane, the dust will be intercepted on the filter membrane, and the dust concentration can be obtained by weighing the mass difference of the filter membrane before and after. This method requires manual replacement of the filter membrane, and the measurement efficiency is relatively low. The beta-ray method utilizes the characteristic that the intensity of the ray decreases after the dust adsorbs the ray, and calculates the dust concentration by measuring the difference in ray intensity. The equipment required for this method is relatively expensive, and the generated beta-ray is a radioactive ray, which requires strict management during use. The charge method utilizes the principle that dust particles generate electricity by friction when passing through a measurement sensor, and estimates the dust concentration by detecting the charge amount of the charged particles. However, wood-based panel dust is mainly composed of organic matter, its charging ability is weak, and it changes greatly with the environmental humidity, so this method is not suitable for measurement. Summary of the Invention

[0004] In view of this, this application proposes a dust concentration monitoring system and method based on multi-sensor data fusion.

[0005] In a first aspect, this application provides a dust concentration monitoring system based on multi-sensor data fusion, including: a laser emission component, a plurality of laser reception components, and a processing component;

[0006] The laser emission component includes a rotation drive mechanism, a pitch drive mechanism, and a laser emitter. The laser emitter is disposed on the pitch drive mechanism. The rotation drive mechanism is used to drive the pitch drive mechanism to rotate, so as to synchronously drive the laser emitter to rotate. The pitch drive mechanism is used to adjust the pitch angle of the laser emitter; wherein, in one round of measurement cycle, the laser emission component sequentially emits lasers to each of the laser reception components in a predetermined order;

[0007] A plurality of the laser receiving components are distributed in different orientations of the space to be measured, and each orientation of the space to be measured has the same number of laser receiving components. The laser receiving components are used to generate measurement data according to the received laser.

[0008] The processing component is used to obtain the measurement data output by each of the laser receiving components, determine the first probability evaluation distribution of the safety level of each orientation according to the measurement data of the current measurement cycle, perform fusion processing on the first probability evaluation distribution by using a preset first data fusion algorithm to obtain a target dust concentration fusion evaluation, and determine the target dust concentration fusion evaluation as the safety level evaluation of the current measurement cycle.

[0009] In one embodiment, the processing component is further used to, when the number of measurement rounds corresponding to the current measurement cycle is not less than two, obtain the measurement data of the current measurement cycle and the previous measurement cycle, and determine the dust concentration change direction of the detection area of each of the laser receiving components according to the obtained measurement data.

[0010] In one embodiment, the processing component is further used to, when the number of measurement rounds corresponding to the current measurement cycle is not less than three, obtain the measurement data of the current measurement cycle and the previous two measurement cycles, determine the second probability evaluation distribution of the dust concentration change trend of each orientation according to the obtained measurement data, perform fusion processing on the second probability evaluation distribution by using a preset second data fusion algorithm to obtain a target fusion evaluation of the dust concentration change trend, and determine the target fusion evaluation of the dust concentration change trend as the dust concentration change trend of the current measurement cycle.

[0011] In one embodiment, the processing component is further used to query a preset control strategy table according to the safety level evaluation and the dust concentration change trend of the current measurement cycle to determine a control recommendation or a control strategy, and correspondingly output the control recommendation or execute the control strategy.

[0012] In one embodiment, the processing component is further used to respectively use the first-order orientation and the second-order orientation as the first orientation and the second orientation based on the orientation processing sequence, perform a first fusion processing operation to obtain a target dust concentration fusion probability evaluation, where the target dust concentration fusion probability evaluation includes the probability distribution of different safety levels; and determine the safety level corresponding to the maximum probability in the target dust concentration fusion probability evaluation as the target dust concentration fusion evaluation.

[0013] Among them, the first fusion processing operation includes: fusing the probability evaluations of the safety levels of the first azimuth and the second azimuth to obtain the fused probability evaluation of the dust concentration of the first azimuth and the second azimuth; using the fused probability evaluation of the dust concentration of the first azimuth and the second azimuth as the probability evaluation of the new first azimuth safety level, and using the next sequential azimuth as the new second azimuth; repeating the above processing process until the probability evaluations of the safety levels of all azimuths have been fused.

[0014] In one embodiment, the probability evaluation of the safety level of azimuth i is:

[0015]

[0016] Among them, O is the number of laser receiving components included in azimuth i, m i (S), m i (N), and m i (D) are respectively the probability evaluations of the relative safety, general safety, and relative danger of the safety level corresponding to azimuth i. The measurement data output by the laser receiving components are used to evaluate the safety level. s i is the number of laser receiving components corresponding to relative safety in azimuth i, r i is the number of laser receiving components corresponding to general safety in azimuth i, d i is the number of laser receiving components corresponding to relative danger in azimuth i;

[0017] The calculation formula for fusing the probability evaluations of the initial first azimuth and the initial second azimuth is:

[0018]

[0019] Among them, m1(S), m1(R), and m1(D) are the probability evaluations of the safety level of the initial first azimuth, m2(S), m2(R), and m2(D) are the probability evaluations of the safety level of the initial second azimuth, m 12 (S), m 12 (R), and m 12 (D) are the fused probability evaluations of the dust concentration of the first azimuth and the second azimuth. s1 is the number of laser receiving components corresponding to relative safety in the first azimuth, r1 is the number of laser receiving components corresponding to general safety in the first azimuth, d1 is the number of laser receiving components corresponding to relative danger in the first azimuth, s2 is the number of laser receiving components corresponding to relative safety in the second azimuth, r2 is the number of laser receiving components corresponding to general safety in the second azimuth, d2 is the number of laser receiving components corresponding to relative danger in the second azimuth, K 12 is the first conflict coefficient, and the calculation formula for the first conflict coefficient is:

[0020]

[0021] After performing the first fusion processing operation, the calculation formula corresponding to the target dust concentration fusion probability assessment is as follows:

[0022]

[0023] Where n is the number of azimuths, is the fusion probability assessment corresponding to relatively safe for the first n - 1 azimuths, is the fusion probability assessment corresponding to generally safe for the first n - 1 azimuths, is the fusion probability assessment corresponding to relatively dangerous for the first n - 1 azimuths, m 12…n (S) is the fusion probability assessment corresponding to relatively safe for the first n azimuths, m 12…n (R) is the fusion probability assessment corresponding to generally safe for the first n azimuths, m 12…n (D) is the fusion probability assessment corresponding to relatively dangerous for the first n azimuths, s n is the number of laser receiving components corresponding to relatively safe in azimuth n, r n is the number of laser receiving components corresponding to generally safe in azimuth n, d n is the number of laser receiving components corresponding to relatively dangerous in azimuth n; the calculation formula for the target dust concentration fusion evaluation is:

[0024] Mi = argmax(m 12…n (S), m 12…n (R), m 12…n (D));

[0025] Where K 12…n is the second conflict coefficient, and the calculation formula for the second conflict coefficient is:

[0026]

[0027] In one embodiment, the processing component is further configured to use the first - order azimuth and the second - order azimuth as the first azimuth and the second azimuth respectively based on the azimuth processing sequence, perform a second fusion processing operation to obtain a target change - trend fusion probability assessment, where the target change - trend fusion probability assessment includes probability distributions corresponding to different trends; determine the change trend corresponding to the maximum probability in the target change - trend fusion probability assessment as the target fusion evaluation of the dust - concentration change trend;

[0028] Among them, the second fusion processing operation includes: fusing the probability evaluations of the dust concentration change trends in the first direction and the second direction to obtain the change trend fusion probability evaluation of the first direction and the second direction; using the change trend fusion probability evaluation of the first direction and the second direction as the probability evaluation of the dust concentration change trend in the new first direction, and using the next sequential direction as the new second direction; repeating the above processing process until the probability evaluations of the dust concentration change trends in all directions have been fused.

[0029] In one embodiment, the probability evaluation of the dust concentration change trend in direction i is:

[0030]

[0031] Among them, O is the number of laser receiving components included in direction i, m i (B), m i (P), and m i (G) are the probability evaluations corresponding to sharp increase, relatively stable, and sharp decrease in direction i respectively. The measurement data output by the laser receiving components in at least three measurement cycles are used to evaluate the change trend, and b i is the number of laser receiving components corresponding to sharp increase in direction i, p i is the number of laser receiving components corresponding to relatively stable in direction i, g i is the number of laser receiving components corresponding to sharp decrease in direction i;

[0032] The calculation formula for fusing the probability evaluations of the initial first direction and the initial second direction is:

[0033]

[0034] Among them, m1(B), m1(P), and m1(G) are the probability evaluations of the dust concentration change trend in the initial first direction, m2(B), m2(P), and m2(G) are the probability evaluations of the dust concentration change trend in the initial second direction, m 12 (B), m 12 (P), and m 12 (G) are the change trend fusion probability evaluations of the first direction and the second direction, b1 is the number of laser receiving components corresponding to sharp increase in the first direction, p1 is the number of laser receiving components corresponding to relatively stable in the first direction, g1 is the number of laser receiving components corresponding to sharp decrease in the first direction, b2 is the number of laser receiving components corresponding to sharp increase in the second direction, p2 is the number of laser receiving components corresponding to relatively stable in the second direction, g2 is the number of laser receiving components corresponding to sharp decrease in the second direction, and K' 12 is the third conflict coefficient, and the calculation formula for the third conflict coefficient is:

[0035]

[0036] After performing the second fusion processing operation, the calculation formula corresponding to the target dust concentration fusion probability assessment is as follows:

[0037]

[0038] Where n is the number of azimuths, is the fusion probability assessment corresponding to the intensifying rise of the first n - 1 azimuths, is the fusion probability assessment corresponding to the relatively stable state of the first n - 1 azimuths, is the fusion probability assessment corresponding to the intensifying decline of the first n - 1 azimuths, m 12…n (B) is the fusion probability assessment corresponding to the intensifying rise of the first n azimuths, m 12…n (P) is the fusion probability assessment corresponding to the relatively stable state of the first n azimuths, m 12…n (G) is the fusion probability assessment corresponding to the intensifying decline of the first n azimuths, b n is the number of laser receiving components corresponding to the intensifying rise in azimuth n, p n is the number of laser receiving components corresponding to the relatively stable state in azimuth n, g n is the number of laser receiving components corresponding to the intensifying decline in azimuth n; the calculation formula for the target change trend fusion probability assessment is as follows:

[0039] MBi = argmax(m 12…n (S), m 12…n (R), m 12…n (D));

[0040] Where K′ 12…n is the fourth conflict coefficient, and the calculation formula for the fourth conflict coefficient is as follows:

[0041]

[0042] In one embodiment, the laser receiving component includes an optical trap, a photoelectric sensor, a directional light shield, and a single - chip microcomputer. The optical trap is located inside the directional light shield, the light - receiving surface of the optical trap faces the opening of the directional light shield, and the opening of the directional light shield faces the laser transmitting component; the photoelectric sensor is connected to the single - chip microcomputer. The photoelectric sensor is used to receive the light transmitted by the optical trap and output a measurement electrical signal according to the received light, and the single - chip microcomputer is used to generate the measurement data according to the measurement electrical signal.

[0043] In a second aspect, the present application further provides a dust concentration monitoring method using multi-sensor data fusion. The dust concentration monitoring method using multi-sensor data fusion applies the dust concentration monitoring system described in the first aspect; the dust concentration monitoring method using multi-sensor data fusion includes:

[0044] Acquiring measurement data output by each of the laser receiving components;

[0045] Determine a first probability assessment distribution of security levels in all directions according to each measurement data of the current measurement cycle;

[0046] The first probability assessment distribution is fused using a preset first data fusion algorithm to obtain a target dust concentration fusion evaluation, and the target dust concentration fusion evaluation is determined as a safety level evaluation for the current measurement cycle.

[0047] The dust concentration monitoring system of the present invention with multi-sensor data fusion has the following beneficial effects compared with the related art:

[0048] 1. The present application can realize the measurement of wood dust concentration of artificial board by light scattering method through the cooperation of laser emitting component and laser receiving component. Since the wood dust concentration in the measured space may change at any time and is not evenly distributed in the limited working space, this method is suitable for dust concentration monitoring. This method utilizes the scattering effect generated when laser interacts with dust particles, and can calculate the dust concentration through Mie scattering theory, which has the advantages of real-time monitoring and high sensitivity.

[0049] 2. The laser emitting assembly of the present application can adjust the position of the laser emitter by rotation and pitch adjustment, so that one laser emitting assembly can be used to pair multiple laser receiving assemblies, without setting up multiple sets of transmitting and receiving systems, thereby simplifying the dust concentration monitoring system and reducing the cost of the dust concentration monitoring system. In addition, after determining the orientation of each laser receiving assembly, the position adjustment path of the laser emitting assembly can be set, and the laser emitting assembly can automatically adjust the position and emit laser, which can realize automatic and real-time monitoring of dust concentration, and the measurement efficiency is high.

[0050] 3. This application determines the first probability assessment distribution of the safety level in each direction according to the measurement data of the current measurement cycle, and uses a preset first data fusion algorithm to fuse the first probability assessment distribution to obtain a fused evaluation of the target dust concentration, and determines the fused evaluation of the target dust concentration as the safety level evaluation of the current measurement cycle, thereby fusing the data of multiple measurement points to obtain a more universal and representative safety risk assessment result, providing a reliable reference for subsequent adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 It is a schematic structural diagram of a dust concentration monitoring system for multi-sensor data fusion in an embodiment of the present application;

[0053] Figure 2 It is a schematic cross-sectional structure diagram of a laser emission component in an embodiment of the present application;

[0054] Figure 3 It is a top view of a laser emission component in an embodiment of the present application;

[0055] Figure 4 It is a schematic flow diagram of multi-round evaluation of a dust concentration monitoring system for multi-sensor data fusion in an embodiment of the present application;

[0056] Figure 5 It is a schematic flow diagram of a dust concentration monitoring method for multi-sensor data fusion in an embodiment of the present application. Detailed implementation manners

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present application in combination with the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0058] In some embodiments, as Figure 1 shown, a dust concentration monitoring system for multi-sensor data fusion provided by the present application includes: a laser emission component 1, a plurality of laser reception components 2, and a processing component 3.

[0059] The laser emission component 1 includes a rotation drive mechanism, a pitch drive mechanism, and a laser emitter. The laser emitter is disposed on the pitch drive mechanism. The rotation drive mechanism is used to drive the pitch drive mechanism to rotate, so as to synchronously drive the laser emitter to rotate. The pitch drive mechanism is used to adjust the pitch angle of the laser emitter; wherein, the laser emission component 1 emits laser to each laser reception component 2 in a predetermined order. Through the cooperation of the rotation drive mechanism and the pitch drive mechanism, the laser emitter can emit laser in any direction, so that the laser emission component 1 can emit laser to a plurality of laser reception components 2.

[0060] In the application, the laser emitting component 1 can irradiate each laser receiving component 2 in sequence according to the orientation and serial number of the laser receiving component 2. At this time, the corresponding laser receiving component 2 will also perform data acquisition synchronously. If the data acquisition time of a single laser receiving component 2 plus the preset time for the laser rotating platform to move to the next laser receiving component 2 is set as t, and the number of laser receiving components 2 is m, then the time required for the whole system to complete one round of measurement (i.e., one round of measurement cycle) is: T = m·t.

[0061] Multiple laser receiving components 2 are distributed in different orientations of the space to be measured. Each orientation of the space to be measured has the same number of laser receiving components 2. The laser receiving component 2 is used to generate measurement data according to the received laser.

[0062] It should be noted that when a light beam passes through an inhomogeneous medium, part of the light beam will deviate from its original direction and spread diffusely. The phenomenon that light can be seen from the side is called light scattering. Light scattering is divided into Rayleigh scattering and Mie scattering. When the particle size of the scattering particle is much smaller than the wavelength of light, it belongs to Rayleigh scattering. At this time, the intensity of the scattered light is uniform in all directions and is inversely proportional to the fourth power of the incident wavelength. When the particle size of the scattering particle is equal to or larger than the incident wavelength, it belongs to Mie scattering. At this time, the intensity of the scattered light is related to the scattering angle and has no dependence on the wavelength of the incident light wave. The wood dust suspended in the air is larger than the wavelength of light. When the laser emitted by the laser source passes through the dust cloud, Mie scattering will occur.

[0063] When the light beam generated by the laser emitter is an approximately ideal light beam and Mie scattering occurs when the light beam passes through suspended particulate matter. According to Mie scattering theory, the number N of dust particles in the scattering region and the light intensity IS after the light beam is scattered satisfy the relation:

[0064]

[0065] Formula (1), where IS is the intensity of the scattered light, measured by the laser receiver. K is the complex scattering coefficient of the dust particle group, representing the refraction and absorption characteristics during propagation in wood materials. Its value is related to the type of wood, the particle size and shape of the dust generated by different lathes and different processes, the environmental humidity, and the wavelength of the incident light. This parameter can be expressed by the formula K = n0 - m0i, where n0 is the real part of the complex scattering coefficient. Since the refraction of light by wood fibers and the main components of wood (such as cellulose and lignin) is weak, its range is usually between 1.4 and 1.6. m0 is the imaginary part of the complex scattering coefficient. Since the absorption capacity of wood dust is limited (especially in the visible light band), its range is usually between 0.01 and 0.1. N is the number of dust particles in the scattering region, which is the unknown quantity to be determined. II is the intensity of the incident light, and λ is the wavelength of the incident light. These two parameters are determined when the laser emission source is selected. d is the distance between the scattering point and the photoelectric sensor in the laser receiving component 2. This parameter is determined after the laser emitting end and the receiving end are installed and fixed. For example, it can be taken as 0.05 m.

[0066] When the measurement area is in a dark room and the measurement distance is relatively short, the required intensity of the incident light is relatively low. Exemplarily, a laser emitter with a power of 1 mW and a beam diameter of 1 mm can be used, and its light intensity is about 70 W / m 2 . When the measurement area is placed between the entire working intervals and the measurement distance is relatively long, the required light intensity is also higher. Exemplarily, a laser emitter with a power of 10 mW and a beam diameter of 1 mm can be used, and its light intensity is about 700 W / m 2 . According to Mie scattering theory, when the wavelength difference compared to the dust particle size is too large, the scattering phenomenon will become weak, which is not conducive to the measurement of scattered light. Since wood dust belongs to large particle dust, it is better to use a laser emitter with a longer wavelength, such as an infrared laser emitter or a red light laser emitter. Exemplarily, a 650 nm (red light) laser emitter can be used.

[0067]

[0068] Among them, S1(θ) and S2(θ) are amplitude functions, which are functions related to Bessel functions and Hankel functions.

[0069] θ is the angle between the scattered light and the z-axis, is the angle between the scattered light and the x-axis. Since the laser emitter and the laser receiver are on the same plane and a scheme of measuring 90-degree scattered light is adopted, then θ is 90 degrees, is 0 degree.

[0070] As can be seen from the above, when the parameters K, I I , d, λ, θ, When all are determined, the intensity of the scattered light is proportional to the number of dust particles in the area, and thus proportional to the dust concentration in the area. By selecting appropriate positions and angles to measure the intensity of the scattered light, the dust concentration in the scattering area can be accurately characterized. Therefore, based on the Mie scattering principle, the dust concentration in the corresponding area can be measured by the cooperation of the laser emission component 1 and multiple laser receiving components 2.

[0071] The processing component 3 is used to obtain the measurement data output by each laser receiving component 2, determine the first probability evaluation distribution of the safety level of each azimuth according to the measurement data of the current measurement period, perform fusion processing on the first probability evaluation distribution by using a preset first data fusion algorithm to obtain a fused evaluation of the target dust concentration, and determine the fused evaluation of the target dust concentration as the safety level evaluation of the current measurement period.

[0072] It should be noted that the process of calculating the dust concentration in the corresponding area can be completed by the laser receiving component 2 or by the processing component 3.

[0073] It can be understood that the dust concentration in the detection space corresponding to each laser receiving component 2 can be determined according to the measurement data of each laser receiving component 2. On this basis, safety assessment can be performed according to the dust concentration assessment standard to obtain the corresponding safety assessment result. The dust concentration assessment standard can be specified according to relevant national safety regulations and the safety standards of each manufacturer. Exemplarily, the safety standard can be set as shown in Table 1.

[0074] Table 1 is the safety assessment standard for dust concentration

[0075]

[0076] Since the number of laser receivers in each azimuth is the same, the number o of laser receiving components 2 contained in a single azimuth is:

[0077]

[0078] In formula (3), m is the total number of laser receiving components 2, and n is the number of azimuths. Since each azimuth has o pieces of data, and each piece of data has obtained a safety evaluation according to the dust concentration safety assessment standard, the safety evaluation of a single azimuth can be counted according to the number of each evaluation. The safety evaluation statistical table of azimuth i is as follows.

[0079] Table 2 is the safety evaluation statistical table of azimuth i

[0080]

[0081] Among them: s i +r i +d i =o(4)

[0082] According to the safety evaluation statistics of dust concentration in each direction, the corresponding basic probability function can be obtained. The first probability evaluation distribution of the safety level in each direction can be shown in Table 3.

[0083] Table 3 shows the first probability evaluation distribution of the security level in each direction

[0084]

[0085]

[0086] After obtaining the first probability evaluation distribution of the safety level in each direction, the first probability evaluation distribution is fused using a preset first data fusion algorithm to obtain a fused evaluation of the target dust concentration, and the fused evaluation of the target dust concentration is determined as the safety level evaluation of the current measurement cycle, thereby determining the safety level evaluation of the space to be measured, and then determining whether the space to be measured is safe. It should be noted that the first data fusion algorithm can be a data fusion algorithm based on DS evidence theory.

[0087] The present application can realize the measurement of wood dust concentration of artificial board by light scattering method through the cooperation of laser emitting component 1 and laser receiving component 2. Since the wood dust concentration in the measured space may change at any time and is not evenly distributed in the limited working space, it is suitable to use this method for dust concentration monitoring. This method uses the scattering effect generated when the laser interacts with dust particles, and can calculate the dust concentration through Mie scattering theory, which has the advantages of real-time monitoring and high sensitivity. In addition, the laser emitting component 1 can adjust the posture of the laser emitter by rotation and pitch adjustment, so that one laser emitting component 1 can be used to match multiple laser receiving components 2, without setting up multiple groups of transmitting and receiving systems, thereby simplifying the dust concentration monitoring system and reducing the cost of the dust concentration monitoring system. After determining the orientation of each laser receiving component 2, the posture adjustment path of the laser emitting component 1 can be set, and the laser emitting component 1 can automatically adjust the posture and emit laser, so that the dust concentration can be automatically and real-time monitored, and the measurement efficiency is high. Processing component 3 determines the target dust concentration fusion evaluation as the safety level evaluation of the current measurement cycle, thereby fusing the data of multiple measurement points to obtain a more universal and representative safety risk evaluation result, providing a reliable reference for subsequent adjustments.

[0088] In some embodiments, Figure 2 and Figure 3As shown, the laser emission assembly 1 may further include a base 14, and the rotation drive mechanism 11 may be disposed within the base 14. The base 14 may be equipped with the power supply system and control system of the entire laser emission assembly 1. The control system may control the rotation drive mechanism 11 to drive the pitch drive mechanism 12 to rotate, and the control system may also control the pitch drive mechanism 12 to adjust the pitch angle of the laser emitter 13.

[0089] In application, the laser emission assembly 1 may further include a square box housing 15. The pitch drive mechanism 12 is disposed within the square box housing 15, and the laser emitter 13 may be partially located within the square box housing 15. The pitch drive mechanism 12 and the laser emitter 13 are protected by the square box housing 15.

[0090] In one example, the rotation drive mechanism 11 may include a first stepping motor 111 and a main shaft 112. The motor shaft of the first stepping motor 111 may be drivingly connected to the main shaft 112. Exemplarily, the motor shaft of the first stepping motor 111 may be drivingly connected to the main shaft 112 through a gear. The main shaft 112 is connected to the pitch drive mechanism 12. The first stepping motor 111 drives the main shaft 112 to rotate, and further drives the pitch drive mechanism 12 to rotate. The pitch drive mechanism 12 may include a second stepping motor 121 and an emission bracket 122. The laser emitter 13 is rotatably connected to the emission bracket 122. The second stepping motor 121 may drive the laser emitter 13 to rotate relative to the emission bracket 122, thereby achieving pitch angle adjustment.

[0091] An electric slip ring may also be fixed to the top end of the main shaft 112. The outside of the electric slip ring is fixed on the pitch drive mechanism 12 and rotates synchronously with the main shaft 112; the inside of the electric slip ring is fixed on the base bracket and remains stationary during equipment operation. The connection lines outside the electric slip ring are connected to the power supply lines of the second stepping motor 121 and the laser emitter 13, so that the rotating platform can rotate without limitation in a single direction.

[0092] It should be noted that the main connection methods of the components in the laser emission assembly 1 are screw-nut connection and chute connection. Benefiting from the fact that the interior of the entire laser emission assembly 1 is completely sealed after assembly, the probability of the entire system malfunctioning due to dust entering the device is greatly reduced, and the purpose of reducing maintenance costs is achieved by reducing the maintenance frequency.

[0093] Exemplarily, the first stepping motor 111 located within the base 14 can be a 57-type stepping motor, which is fixed to the inner side of the outer shell of the base 14 through a stepping motor bracket. A straight-tooth asymptotic gear with 18 teeth and a module of 3 is assembled on the motor shaft of the first stepping motor 111, which mates with a straight-tooth asymptotic gear with the same module and 50 teeth. The large gear rotates coaxially with the main shaft 112 and the pitch drive mechanism 12 (which can also be a square box housing 15) fixed on the main shaft 112 by means of a connection key. The step angle of the 57-type stepping motor is 1.8 degrees, that is, every time the stepping motor rotates one step in the clockwise direction, the main shaft 112 and the pitch drive mechanism 12 fixed thereon will rotate 5 degrees counterclockwise. Therefore, the minimum horizontal measurement angle of the laser emission assembly 1 is 5 degrees. However, after weighing the efficiency and accuracy of dust concentration measurement, the default horizontal measurement angle is set to 30 degrees. The second stepping motor 121 can be a 42-type stepping motor. The second stepping motor 121 can drive the laser emitter 13 to pitch by 90 degrees. The step angle of this stepping motor is 1.8 degrees, that is, the minimum vertical measurement angle is also 1.8 degrees. However, after weighing the efficiency and accuracy of dust concentration measurement, the default vertical measurement is set to 18 degrees.

[0094] Since the laser emission assembly 1 is arranged in a space filled with wood dust, in order to reduce the number of maintenance operations after the system runs, the sealing performance of the outer shell of the laser emission assembly 1 needs to be ensured. Therefore, after the main shaft 112 and the stepping motor are installed on their respective connecting brackets, they are connected to the outer shell of the emission platform through screw nuts, ensuring the enclosure of the system while also meeting the fastening requirements of the installation. The outer shell of the laser emission assembly 1 is connected through a chute, ensuring the enclosure of the system while also reducing the complexity of disassembly and assembly and improving the efficiency of single maintenance. The laser emission assembly 1 achieves dust protection by installing the square box housing 15, and an opening is provided on the square box housing 15 to meet the normal pitching operation of the laser emitter 13. The gap of the opening can be sealed with a dust-proof cloth. Four threaded holes can also be provided on the base 14 of the laser emission assembly 1, and they are connected to the corresponding lifting platform through screw nuts.

[0095] In some embodiments, the laser receiving assembly 2 includes a light trap, a photoelectric sensor, a directional light shield, and a single-chip microcomputer. The light trap is located within the directional light shield. The light-receiving surface of the light trap faces the opening of the directional light shield, and the opening of the directional light shield faces the laser emission assembly 1; the photoelectric sensor is connected to the single-chip microcomputer. The photoelectric sensor is used to receive the light transmitted by the light trap and output a measurement electrical signal according to the received light. The single-chip microcomputer is used to generate measurement data based on the measurement electrical signal. Among them, the photoelectric sensor can be a photodiode.

[0096] When the laser emitting component 1 emits laser light towards a laser receiving component 2, the targeted position is the light trap of the laser receiving component 2. The purpose is to prevent non-target scattered light from being captured by the measuring element, avoiding an increase in the error of the measuring instrument. The photoelectric sensor is the core measuring element and has the characteristic of changing the magnitude of the current passing through it when irradiated by light. By comparing the change values of the current before and after the laser scattered light irradiates it, the purpose of measuring the dust concentration is achieved. Different from traditional closed light scattering method dust concentration measuring instruments, the laser emitting component 1 and the laser receiving component 2 of this detection system are exposed to ambient light. In order to minimize the influence of ambient light as much as possible and collect the laser scattered light in a specific area, a directional light shield needs to be used to cover the photoelectric sensor. The single-chip microcomputer is used to generate measurement data based on the measured electrical signal and can then transmit the measurement data to the processing component 3. It should be noted that in order to ensure the power supply of the laser receiving component, a battery can also be set on the laser receiving component 2 to improve the flexibility of the position setting and the stability of the power supply of the laser receiving component 2.

[0097] In some embodiments, the processing component 3 is further configured to, when the number of measurement rounds corresponding to the current measurement cycle is not less than two, obtain the measurement data of the current measurement cycle and the previous measurement cycle, and determine the change direction of the dust concentration in the detection area of each laser receiving component 2 according to the obtained measurement data. Among them, if the measurement data measured by each laser receiving component 2 in the first measurement cycle is set as then the measurement data measured by each laser receiving component 2 in the subsequent j-th measurement cycle can be set as Then, by comparing the measurement data of the i-th laser receiving component 2 in the j-th round with its measurement data in the j - 1-th round, the change amount of the dust concentration of the i-th laser receiving component 2 can be determined. The corresponding formula is as follows:

[0098]

[0099] Then, in the j-th measurement cycle, the difference between each laser receiving component 2 and its previous round is Then, the change direction of the dust concentration can be determined based on each difference, as shown in Table 4 specifically.

[0100] Table 4 is the dust concentration change direction evaluation table

[0101]

[0102]

[0103] Based on the evaluation method of Table 4, the direction of change of dust concentration in the detection area of each laser receiving component 2 can be determined according to the measurement data of the current measurement cycle and the previous measurement cycle. After determining the direction of change of dust concentration in each detection area, the control strategy for each detection area can be determined according to the direction of change of dust concentration in each detection area to avoid excessive dust concentration in each detection area. It is also possible to determine the direction of change of the overall dust concentration of the space to be measured according to the direction of change of dust concentration in each detection area, and then determine the control strategy for the space to be measured.

[0104] In some embodiments, the processing component 3 is also used to obtain measurement data of the current measurement cycle and the previous two measurement cycles when the number of measurement rounds corresponding to the current measurement cycle is not less than three, determine a second probability assessment distribution of the dust concentration change trend in each direction based on the acquired measurement data, and use a preset second data fusion algorithm to fuse the second probability assessment distribution to obtain a target fusion evaluation of the dust concentration change trend, and determine the target fusion evaluation of the dust concentration change trend as the dust concentration change trend of the current measurement cycle.

[0105] It can be understood that when j ≥ 3, the dust concentrations measured by each laser receiving component 2 in the jth round of measurement are The dust concentration change trend at the i-th laser receiving component 2 can be determined based on the measurement data of the current measurement cycle and the previous two measurement cycles. The corresponding formula can be as follows:

[0106]

[0107] In formula (6), is the dust concentration change speed index corresponding to the laser receiving component 2 numbered i in the jth round of measurement. When , it means that the dust concentration change of this round is in the same direction as that of the previous round and the change is greater; when When , it means that the dust concentration change in this round is smaller than that in the previous round or the change direction has changed directly. Table 5 is designed to evaluate the urgency of the change of the dust concentration measured by the i-th receiver in the j-th round.

[0108] Table 5 is the dust concentration change trend evaluation table

[0109]

[0110] Combined with the dust concentration change direction evaluation of each laser receiving assembly 2, the dust concentration change trend of the i-th receiver in the j-th round can be determined. The dust concentration change trend of the i-th receiver in the j-th round can be shown in Table 6.

[0111] Table 6 is the specific change table of dust concentration

[0112]

[0113] Since the control suggestions for the slowing rise and the transforming decline are the same, the two can be counted into the new category of relative stability. Similarly, count the number of data corresponding to each change trend in the same direction, and make a change statistical table similar to Table 2, and obtain the specific change statistical table of dust concentration in a single direction as shown in Table 7.

[0114] Table 7 is the specific change statistical table of dust concentration

[0115]

[0116] In Table 7, the sum of the evaluation numbers of the three trends should be equal to the total number o of the laser receiving components 2 within a single direction. Based on each measurement data, the evaluation numbers corresponding to different trends in a single direction can be obtained. Then, based on the evaluation numbers of different directions, the second probability evaluation distribution of the dust concentration change trend in each direction can be determined. The second probability evaluation distribution of the dust concentration change trend in each direction is shown in Table 8.

[0117] Table 1 is the second probability evaluation distribution of the dust concentration change trend in each direction

[0118]

[0119]

[0120] After obtaining the second probability evaluation distribution of the dust concentration change trend in each direction, the preset second data fusion algorithm is used to fuse the second probability evaluation distribution, and the target fusion evaluation of the dust concentration change trend can be obtained. The target fusion evaluation of the dust concentration change trend is determined as the dust concentration change trend in the current measurement cycle, so as to determine the dust concentration change trend in the space to be measured, and further provide data support for the subsequent control strategy. It should be noted that the second data fusion algorithm can also be a data fusion algorithm based on the D-S evidence theory.

[0121] In some embodiments, the processing component 3 is further configured to determine the control suggestion or control strategy according to the safety level evaluation and the dust concentration change trend in the current measurement cycle by querying the preset control strategy table, and correspondingly output the control suggestion or execute the control strategy. Combining the above embodiments, the process of the processing component 3 for the safety level evaluation and the change trend evaluation in the current measurement cycle and obtaining the control suggestion is as Figure 4 shown. After measuring at least 3 rounds, the safety level evaluation and the change trend evaluation in the current measurement cycle can be determined, and the control suggestion in the current measurement cycle can be determined.

[0122] It can be understood that after determining the safety level evaluation and the change trend of dust concentration in the current measurement period, the control suggestions or control strategies can be determined by referring to the preset control strategy table according to the safety level evaluation and the change trend of dust concentration in the current measurement period. If it is a control suggestion, it can be output through the corresponding output device. If it is a control strategy, the corresponding control device (such as a fan) can be controlled to work according to the control strategy. Exemplarily, the preset control strategy table can be as shown in Table 9.

[0123] Table 2 is the preset control strategy table

[0124]

[0125] In Table 9, relaxing control means that the expected safety is relatively high, and the control can be relaxed, which is beneficial to maximizing production benefits. Maintaining control means that the control intensity is relatively appropriate and can be continued in this measurement cycle. Increasing control means that the expected safety is poor, and the control intensity should be promptly increased. Maximum control indicates that the current dust concentration is at a dangerous position, and any control device should operate at full power. Warning means that the dust concentration is close to the dangerous value in this measurement and is very likely to reach the dangerous value in the next measurement; severe warning means that the dust concentration has reached the dangerous value in this measurement and there is no sign of rapid decline; stopping production means that the dust concentration has reached the dangerous value in this measurement, and even if the control device has been operating at full power, it cannot prevent the rapid increase of dust concentration. At this time, it is recommended to immediately stop production activities.

[0126] In some embodiments, the processing component 3 is further configured to, based on the azimuth processing sequence, use the first-order azimuth and the second-order azimuth as the first azimuth and the second azimuth respectively, perform a first fusion processing operation to obtain an evaluation of the fusion probability of the target dust concentration, where the evaluation of the fusion probability of the target dust concentration includes the probability distribution of different safety levels; and determine the safety level corresponding to the maximum probability in the evaluation of the fusion probability of the target dust concentration as the evaluation of the fusion of the target dust concentration.

[0127] Among them, the first fusion processing operation includes: fusing the probability evaluations of the safety levels of the first azimuth and the second azimuth to obtain an evaluation of the fusion probability of the dust concentration of the first azimuth and the second azimuth; using the evaluation of the fusion probability of the dust concentration of the first azimuth and the second azimuth as the new probability evaluation of the safety level of the first azimuth, and using the next-order azimuth as the new second azimuth; repeating the above processing process until the probability evaluations of the safety levels of all azimuths have been fused.

[0128] It can be understood that through the above processing method, the fusion of two probability evaluations can be achieved in sequence, and finally, the probability evaluations of all azimuth safety levels can be fused. Using the above method can reduce the computational complexity. Only the probability evaluation fusion of two azimuths is processed each time, avoiding the high-dimensional data operations and complex weight allocation problems that may occur when fusing multiple azimuths simultaneously. Especially when the number of azimuths is large, the processing efficiency is significantly improved. Secondly, it supports sequential incremental processing, and information can be gradually integrated according to the actual processing order of the azimuths. The fusion result of each step is used as a new input for iterative processing with the next azimuth, adapting to the scenario where data arrives in sequence in a dynamic environment and enhancing the flexibility and controllability of the processing flow.

[0129] In one embodiment, corresponding to the first data fusion algorithm, the probability evaluation of the safety level of azimuth i is as follows:

[0130]

[0131] In formula (7), O is the number of laser receiving components 2 included in azimuth i, m i (S), m i (N), and m i (D) are the probability evaluations of the safety levels corresponding to relatively safe, generally safe, and relatively dangerous for azimuth i respectively. The measurement data output by the laser receiving components is used to evaluate the safety level. s i is the number of laser receiving components corresponding to relatively safe in azimuth i, r i is the number of laser receiving components corresponding to generally safe in azimuth i, and d i is the number of laser receiving components corresponding to relatively dangerous in azimuth i.

[0132] The calculation formula for fusing the probability evaluations of the initial first azimuth and the initial second azimuth is:

[0133]

[0134] In formula (8), m1(S), m1(R), and m1(D) are the probability evaluations of the safety level of the initial first azimuth, and m2(S), m2(R), and m2(D) are the probability evaluations of the safety level of the initial second azimuth. m 12 (S), m 12 (R), and m 12(D) is the evaluation of the dust concentration fusion probability between the first orientation and the second orientation. s1 is the number of laser receiving components corresponding to relatively safe in the first orientation, r1 is the number of laser receiving components corresponding to moderately safe in the first orientation, d1 is the number of laser receiving components corresponding to relatively dangerous in the first orientation, s2 is the number of laser receiving components corresponding to relatively safe in the second orientation, r2 is the number of laser receiving components corresponding to moderately safe in the second orientation, d2 is the number of laser receiving components corresponding to relatively dangerous in the second orientation, K 12 is the first conflict coefficient, and the calculation formula of the first conflict coefficient is:

[0135] After performing the first fusion processing operation, the corresponding calculation formula for the target dust concentration fusion probability evaluation is:

[0136]

[0137] where n is the number of orientations, is the fusion probability evaluation corresponding to relatively safe for the first n - 1 orientations, is the fusion probability evaluation corresponding to moderately safe for the first n - 1 orientations, is the fusion probability evaluation corresponding to relatively dangerous for the first n - 1 orientations, m 12…n (S) is the fusion probability evaluation corresponding to relatively safe for the first n orientations, m 12…n (R) is the fusion probability evaluation corresponding to moderately safe for the first n orientations, m 12…n (D) is the fusion probability evaluation corresponding to relatively dangerous for the first n orientations, s n is the number of laser receiving components corresponding to relatively safe in orientation n, r n is the number of laser receiving components corresponding to moderately safe in orientation n, d n is the number of laser receiving components corresponding to relatively dangerous in orientation n; the calculation formula for the target dust concentration fusion evaluation is:

[0138] Mi = argmax(m 12…n (S), m 12…n (R), m 12…n (D)) (10)

[0139] where K 12…n is the second conflict coefficient, and the calculation formula of the second conflict coefficient is:

[0140]

[0141] In some embodiments, the processing component 3 is further configured to use the first-order orientation and the second-order orientation as the first orientation and the second orientation respectively based on the orientation processing order, perform a second fusion processing operation to obtain a target change trend fusion probability evaluation, where the target change trend fusion probability evaluation includes a probability distribution corresponding to different trends; and determine the change trend corresponding to the maximum probability in the target change trend fusion probability evaluation as the target fusion evaluation of the dust concentration change trend.

[0142] Among them, the second fusion processing operation includes: performing a fusion processing on the probability evaluations of the dust concentration change trends of the first orientation and the second orientation to obtain a change trend fusion probability evaluation of the first orientation and the second orientation; using the change trend fusion probability evaluation of the first orientation and the second orientation as the probability evaluation of the dust concentration change trend of the new first orientation, and using the next-order orientation as the new second orientation; repeating the above processing process until the probability evaluations of the dust concentration change trends of all orientations have been fused.

[0143] Similarly, it can be understood that through the above processing method, the fusion of the two probability evaluations can be achieved in sequence, and finally the probability evaluations of the dust concentration change trends of all orientations can be fused. Using the above method can reduce the computational complexity, only processing the fusion of the probability evaluations of two orientations each time, avoiding the high-dimensional data operations and complex weight assignment problems that may occur when fusing multiple orientations simultaneously, especially significantly improving the processing efficiency when the number of orientations is large; secondly, it supports sequential incremental processing, can gradually integrate information according to the actual processing order of the orientations, and use the fusion result of each step as a new input for iterative processing with the next orientation, adapting to the scenario where data arrives in sequence in a dynamic environment and enhancing the flexibility and controllability of the processing flow.

[0144] In one of the embodiments, corresponding to the second data fusion algorithm, the probability evaluation of the dust concentration change trend of orientation i is:

[0145]

[0146] Among them, O is the number of laser receiving components 2 included in orientation i, m i (B), m i (P), and m i (G) are the probability evaluations corresponding to sharp increase, relatively stable, and sharp decrease of orientation i respectively. The measurement data output by the laser receiving component in at least three measurement cycles is used to evaluate the change trend. b i is the number of laser receiving components corresponding to sharp increase in orientation i, p i is the number of laser receiving components corresponding to relatively stable in orientation i, and g i is the number of laser receiving components corresponding to sharp decrease in orientation i.

[0147] The calculation formula for fusing the probability evaluations of the initial first orientation and the initial second orientation is as follows:

[0148]

[0149] Among them, m1(B), m1(P), and m1(G) are the probability evaluations of the dust concentration change trend in the initial first orientation, m2(B), m2(P), and m2(G) are the probability evaluations of the dust concentration change trend in the initial second orientation, m 12 (B), m 12 (P), and m 12 (G) are the fusion probability evaluations of the change trends of the first orientation and the second orientation, b1 is the number of laser receiving components corresponding to the sharp increase in the first orientation, p1 is the number of laser receiving components corresponding to the relatively stable state in the first orientation, g1 is the number of laser receiving components corresponding to the sharp decrease in the first orientation, b2 is the number of laser receiving components corresponding to the sharp increase in the second orientation, p2 is the number of laser receiving components corresponding to the relatively stable state in the second orientation, g2 is the number of laser receiving components corresponding to the sharp decrease in the second orientation, K’ 12 is the third conflict coefficient, and the calculation formula for the third conflict coefficient is:

[0150] After performing the second fusion processing operation, the calculation formula corresponding to the target dust concentration fusion probability evaluation is:

[0151]

[0152] Among them, n is the number of orientations, is the fusion probability evaluation corresponding to the sharp increase in the first n - 1 orientations, is the fusion probability evaluation corresponding to the relatively stable state in the first n - 1 orientations, is the fusion probability evaluation corresponding to the sharp decrease in the first n - 1 orientations, m 12…n (B) is the fusion probability evaluation corresponding to the sharp increase in the first n orientations, m 12…n (P) is the fusion probability evaluation corresponding to the relatively stable state in the first n orientations, m 12…n (G) is the fusion probability evaluation corresponding to the sharp decrease in the first n orientations, b n is the number of laser receiving components corresponding to the sharp increase in orientation n, p n is the number of laser receiving components corresponding to the relatively stable state in orientation n, g n is the number of laser receiving components corresponding to the sharp decrease in orientation n; the calculation formula for the target change trend fusion probability evaluation is:

[0153] MBi = argmax(m 12…n (S), m 12…n (R), m12…n (D)) (14)

[0154] wherein, K' 12…n is the fourth conflict coefficient, and the calculation formula of the fourth conflict coefficient is:

[0155]

[0156] In some embodiments, the present application further provides a dust concentration monitoring method for multi-sensor data fusion, and the dust concentration monitoring method for multi-sensor data fusion applies the dust concentration monitoring system of any one of the above solutions. As Figure 5 shown, the dust concentration monitoring method for multi-sensor data fusion includes the following steps S501 to S503.

[0157] S501: Obtain the measurement data output by each laser receiving component.

[0158] S502: Determine the first probability evaluation distribution of each azimuth safety level according to the measurement data in the current measurement period.

[0159] S503: Perform fusion processing on the first probability evaluation distribution by using a preset first data fusion algorithm to obtain a target dust concentration fusion evaluation, and determine the target dust concentration fusion evaluation as the safety level evaluation in the current measurement period.

[0160] In some embodiments, the dust concentration monitoring method for multi-sensor data fusion further includes: when the number of measurement rounds corresponding to the current measurement period is not less than two, obtaining the measurement data of the current measurement period and the previous measurement period; determining the dust concentration change direction of the detection area of each laser receiving component according to the obtained measurement data.

[0161] In some embodiments, the dust concentration monitoring method for multi-sensor data fusion further includes: when the number of measurement rounds corresponding to the current measurement period is not less than three, obtaining the measurement data of the current measurement period and the previous two measurement periods; determining the second probability evaluation distribution of the dust concentration change trend of each azimuth according to the obtained measurement data; performing fusion processing on the second probability evaluation distribution by using a preset second data fusion algorithm to obtain a target fusion evaluation of the dust concentration change trend, and determining the target fusion evaluation of the dust concentration change trend as the dust concentration change trend in the current measurement period.

[0162] In some embodiments, the dust concentration monitoring method for multi-sensor data fusion further includes: determining a control suggestion or a control strategy according to the safety level evaluation and the dust concentration change trend in the current measurement period by looking up a preset control strategy table, and correspondingly outputting the control suggestion or executing the control strategy.

[0163] In some embodiments, a preset first data fusion algorithm is used to fuse the first probability evaluation distribution to obtain a target dust concentration fusion evaluation, including: based on the azimuth processing sequence, the first-order azimuth and the second-order azimuth are respectively used as the first azimuth and the second azimuth, and a first fusion processing operation is performed to obtain a target dust concentration fusion probability evaluation, where the target dust concentration fusion probability evaluation includes probability distributions of different safety levels; the safety level corresponding to the maximum probability in the target dust concentration fusion probability evaluation is determined as the target dust concentration fusion evaluation.

[0164] Wherein, the first fusion processing operation includes: fusing the probability evaluations of the safety levels of the first azimuth and the second azimuth to obtain a dust concentration fusion probability evaluation of the first azimuth and the second azimuth; using the dust concentration fusion probability evaluation of the first azimuth and the second azimuth as the probability evaluation of the new first azimuth safety level, and using the next-order azimuth as the new second azimuth; repeating the above processing process until the probability evaluations of the safety levels of all azimuths are fused.

[0165] In some embodiments, a preset second data fusion algorithm is used to fuse the second probability evaluation distribution to obtain a target fusion evaluation of the dust concentration change trend, including: based on the azimuth processing sequence, the first-order azimuth and the second-order azimuth are respectively used as the first azimuth and the second azimuth, and a second fusion processing operation is performed to obtain a target change trend fusion probability evaluation, where the target change trend fusion probability evaluation includes probability distributions corresponding to different trends; determining the change trend corresponding to the maximum probability in the target change trend fusion probability evaluation as the target fusion evaluation of the dust concentration change trend.

[0166] Wherein, the second fusion processing operation includes: fusing the probability evaluations of the dust concentration change trends of the first azimuth and the second azimuth to obtain a change trend fusion probability evaluation of the first azimuth and the second azimuth; using the change trend fusion probability evaluation of the first azimuth and the second azimuth as the probability evaluation of the new first azimuth dust concentration change trend, and using the next-order azimuth as the new second azimuth; repeating the above processing process until the probability evaluations of the dust concentration change trends of all azimuths are fused.

[0167] It should be noted that the dust concentration monitoring method based on multi-sensor data fusion provided in the embodiments of the present application and the dust concentration monitoring system based on multi-sensor data fusion provided in the embodiments of the present application are based on the same application concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned dust concentration monitoring system based on multi-sensor data fusion, and the repeated parts will not be elaborated.

[0168] In some embodiments, an electronic device provided by an embodiment of the present application includes a processor and a memory; the memory stores a computer program, wherein the computer program, when executed by the processor, implements the above-mentioned multi-sensor data fusion dust concentration monitoring method.

[0169] The present application also provides a computer-readable medium, on which a computer program is stored, and the program, when executed by the processor, implements the above-mentioned multi-sensor data fusion dust concentration monitoring method. The computer-readable medium may be included in the device / apparatus / system described in the above embodiments; or it may exist alone without being assembled into the device / apparatus / system. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed, the method of the embodiment of the present application is implemented.

[0170] Those skilled in the art can understand that the features described in the various embodiments and / or claims of the present application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in the various embodiments and / or claims of the present application can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present application. Therefore, the scope of the present application should not be limited to the above embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A dust concentration monitoring system for multi-sensor data fusion, characterized in that, Including: a laser emission component, a plurality of laser reception components, and a processing component; The laser emission component includes a rotation drive mechanism, a pitch drive mechanism, and a laser emitter. The laser emitter is disposed on the pitch drive mechanism. The rotation drive mechanism is configured to drive the pitch drive mechanism to rotate so as to synchronously drive the laser emitter to rotate. The pitch drive mechanism is configured to adjust the pitch angle of the laser emitter. Wherein, in one round of measurement cycle, the laser emission component sequentially emits lasers to each of the laser reception components in a predetermined order; The plurality of laser reception components are distributed in different azimuths of the space to be measured. Each azimuth of the space to be measured has the same number of laser reception components. The laser reception component is configured to generate measurement data according to the received laser; The processing component is configured to obtain the measurement data output by each of the laser reception components, determine a first probability evaluation distribution of the safety level of each azimuth according to the measurement data of the current measurement cycle, perform a fusion process on the first probability evaluation distribution by using a preset first data fusion algorithm, obtain a target dust concentration fusion evaluation, and determine the target dust concentration fusion evaluation as the safety level evaluation of the current measurement cycle.

2. The dust concentration monitoring system for multi-sensor data fusion according to claim 1, characterized in that The processing component is further configured to, when the number of measurement rounds corresponding to the current measurement cycle is not less than two, obtain the measurement data of the current measurement cycle and the previous measurement cycle, and determine the dust concentration change direction of the detection area of each of the laser reception components according to the obtained measurement data.

3. The dust concentration monitoring system for multi-sensor data fusion according to claim 1, characterized in that The processing component is further configured to, when the number of measurement rounds corresponding to the current measurement cycle is not less than three, obtain the measurement data of the current measurement cycle and the previous two measurement cycles, determine a second probability evaluation distribution of the dust concentration change trend of each azimuth according to the obtained measurement data, perform a fusion process on the second probability evaluation distribution by using a preset second data fusion algorithm, obtain a target fusion evaluation of the dust concentration change trend, and determine the target fusion evaluation of the dust concentration change trend as the dust concentration change trend of the current measurement cycle.

4. The dust concentration monitoring system for multi-sensor data fusion according to claim 3, characterized in that, The processing component is further configured to query a preset control strategy table according to the safety level evaluation and the dust concentration change trend of the current measurement cycle to determine a control suggestion or a control strategy, and correspondingly output the control suggestion or execute the control strategy.

5. The dust concentration monitoring system for multi-sensor data fusion according to claim 1, characterized in that, The processing component is further configured to respectively use the first-order azimuth and the second-order azimuth as the first azimuth and the second azimuth based on the azimuth processing sequence, perform a first fusion process operation to obtain a target dust concentration fusion probability evaluation, where the target dust concentration fusion probability evaluation includes a probability distribution of different safety levels; determine the safety level corresponding to the maximum probability in the target dust concentration fusion probability evaluation as the target dust concentration fusion evaluation; Among them, the first fusion processing operation includes: fusing the probability evaluations of the safety levels of the first azimuth and the second azimuth to obtain the fused probability evaluation of the dust concentration between the first azimuth and the second azimuth; using the fused probability evaluation of the dust concentration between the first azimuth and the second azimuth as the probability evaluation of the new first azimuth safety level, and using the next sequential azimuth as the new second azimuth; repeating the above processing process until the probability evaluations of the safety levels of all azimuths have been fused.

6. The dust concentration monitoring system for multi-sensor data fusion according to claim 5, characterized in that, The probability evaluation of the safety level of azimuth i is: Where O is the number of laser receiving components included in orientation i, m i (S), m i (N), and m i (D) are the probability assessments of relatively safe, generally safe, and relatively dangerous corresponding to the safety level of orientation i respectively. The measurement data output by the laser receiving components is used to evaluate the safety level, s i is the number of laser receiving components corresponding to relatively safe in orientation i, r i is the number of laser receiving components corresponding to generally safe in orientation i, d i is the number of laser receiving components corresponding to relatively dangerous in orientation i; The calculation formula for fusing the probability evaluations of the initial first azimuth and the initial second azimuth is: Among them, m1(S), m1(R), and m1(D) are the probability evaluations of the initial first azimuth safety level, m2(S), m2(R), and m2(D) are the probability evaluations of the initial second azimuth safety level, m 12 (S), m 12 (R), and m 12 (D) are the probability evaluations of the dust concentration fusion between the first azimuth and the second azimuth. s1 is the number of laser receiving components corresponding to relatively safe in the first azimuth, r1 is the number of laser receiving components corresponding to generally safe in the first azimuth, d1 is the number of laser receiving components corresponding to relatively dangerous in the first azimuth, s2 is the number of laser receiving components corresponding to relatively safe in the second azimuth, r2 is the number of laser receiving components corresponding to generally safe in the second azimuth, d2 is the number of laser receiving components corresponding to relatively dangerous in the second azimuth, K 12 is the first conflict coefficient, and the calculation formula of the first conflict coefficient is: After performing the first fusion processing operation, the corresponding calculation formula for the target dust concentration fused probability evaluation is: where n is the number of orientations, is the fusion probability assessment corresponding to relatively safe for the first n - 1 orientations, is the fusion probability assessment corresponding to moderately safe for the first n - 1 orientations, is the fusion probability assessment corresponding to relatively dangerous for the first n - 1 orientations, m 12…n (S) is the fusion probability assessment corresponding to relatively safe for the first n orientations, m 12…n (R) is the fusion probability assessment corresponding to moderately safe for the first n orientations, m 12…n (D) is the fusion probability assessment corresponding to relatively dangerous for the first n orientations, s n is the number of laser receiving components corresponding to relatively safe in orientation n, r n is the number of laser receiving components corresponding to moderately safe in orientation n, d n is the number of laser receiving components corresponding to relatively dangerous in orientation n; The calculation formula for the fusion evaluation of the target dust concentration is: Mi = argmax(m 12…n (S), m 12…n (R), m 12…n (D)); Among them, K 12…n is the second conflict coefficient, and the calculation formula of the second conflict coefficient is:

7. The dust concentration monitoring system for multi-sensor data fusion according to claim 3, characterized in that, The processing component is further configured to use the first sequential azimuth and the second sequential azimuth as the first azimuth and the second azimuth respectively based on the azimuth processing sequence, perform a second fusion processing operation to obtain a target change trend fused probability evaluation, and the target change trend fused probability evaluation includes the probability distribution corresponding to different trends; Determine the change trend corresponding to the maximum probability in the target change trend fused probability evaluation as the target fusion evaluation of the dust concentration change trend; Among them, the second fusion processing operation includes: fusing the probability evaluations of the dust concentration change trends of the first azimuth and the second azimuth to obtain the fused probability evaluation of the change trends between the first azimuth and the second azimuth; using the fused probability evaluation of the change trends between the first azimuth and the second azimuth as the probability evaluation of the new first azimuth dust concentration change trend, and using the next sequential azimuth as the new second azimuth; repeating the above processing process until the probability evaluations of the dust concentration change trends of all azimuths have been fused.

8. The dust concentration monitoring system for multi-sensor data fusion according to claim 7, characterized in that, The probability evaluation of the dust concentration change trend of azimuth i is: Where O is the number of laser receiving components included in orientation i, m i (B), m i (P), and m i (G) are the probability evaluations corresponding to increased rise, relatively stable, and increased decline in orientation i respectively. The measurement data output by the laser receiving components in at least three measurement cycles are used to evaluate the change trend, b i is the number of laser receiving components corresponding to increased rise in orientation i, p i is the number of laser receiving components corresponding to relatively stable in orientation i, g i is the number of laser receiving components corresponding to increased decline in orientation i; The calculation formula for fusing the probability evaluations of the initial first azimuth and the initial second azimuth is: Among them, m1(B), m1(P), and m1(G) are the probability evaluations of the change trend of the initial dust concentration in the first direction, m2(B), m2(P), and m2(G) are the probability evaluations of the change trend of the initial dust concentration in the second direction, m 12 (B), m 12 (P), and m 12 (G) are the probability evaluations of the change trend fusion between the first direction and the second direction. b1 is the number of laser receiving components corresponding to the aggravated upward trend in the first direction, p1 is the number of laser receiving components corresponding to the relatively stable trend in the first direction, g1 is the number of laser receiving components corresponding to the aggravated downward trend in the first direction, b2 is the number of laser receiving components corresponding to the aggravated upward trend in the second direction, p2 is the number of laser receiving components corresponding to the relatively stable trend in the second direction, g2 is the number of laser receiving components corresponding to the aggravated downward trend in the second direction, K’ 12 is the third conflict coefficient, and the calculation formula for the third conflict coefficient is: After performing the second fusion processing operation, the corresponding calculation formula for the target dust concentration fused probability evaluation is: where n is the number of azimuths, is the evaluation of the fusion probability corresponding to the first n - 1 azimuths with an increasing upward trend, is the evaluation of the fusion probability corresponding to the first n - 1 azimuths with a relatively stable trend, is the evaluation of the fusion probability corresponding to the first n - 1 azimuths with a decreasing downward trend, m 12…n (B) is the evaluation of the fusion probability corresponding to the first n azimuths with an increasing upward trend, m 12…n (P) is the evaluation of the fusion probability corresponding to the first n azimuths with a relatively stable trend, m 12…n (G) is the evaluation of the fusion probability corresponding to the first n azimuths with a decreasing downward trend, b n is the number of laser receiving components corresponding to an increasing upward trend in azimuth n, p n is the number of laser receiving components corresponding to a relatively stable trend in azimuth n, g n is the number of laser receiving components corresponding to a decreasing downward trend in azimuth n; The calculation formula for the evaluation of the fusion probability of the target change trend is: MBi = argmax(m 12…n (S), m 12…n (R), m 12…n (D)); where K' 12…n is the fourth conflict coefficient, and the calculation formula for the fourth conflict coefficient is:

9. The dust concentration monitoring system for multi-sensor data fusion according to claim 1, characterized in that, The laser receiving component includes an optical trap, a photoelectric sensor, a directional light shield, and a single-chip microcomputer. The optical trap is located inside the directional light shield, the light receiving surface of the optical trap faces the opening of the directional light shield, and the opening of the directional light shield faces the laser emitting component; The photoelectric sensor is connected to the single-chip microcomputer. The photoelectric sensor is configured to receive the light transmitted by the optical trap and output a measurement electrical signal according to the received light, and the single-chip microcomputer is configured to generate the measurement data according to the measurement electrical signal.

10. A dust concentration monitoring method based on multi-sensor data fusion, characterized in that, The multi-sensor data fusion dust concentration monitoring method is applied to the dust concentration monitoring system according to any one of claims 1 to 9; the multi-sensor data fusion dust concentration monitoring method includes: Obtain the measurement data output by each of the laser receiving components; Determine the first probability evaluation distribution of the safety levels of each azimuth according to the measurement data of the current measurement period; Use a preset first data fusion algorithm to fuse the first probability evaluation distribution to obtain a target dust concentration fusion evaluation, and determine the target dust concentration fusion evaluation as the safety level evaluation of the current measurement period.

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