CN104801549A - Cold rolling strip steel plate shape instrument signal distortion channel data processing method - Google Patents
Cold rolling strip steel plate shape instrument signal distortion channel data processing method Download PDFInfo
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- CN104801549A CN104801549A CN201510205217.0A CN201510205217A CN104801549A CN 104801549 A CN104801549 A CN 104801549A CN 201510205217 A CN201510205217 A CN 201510205217A CN 104801549 A CN104801549 A CN 104801549A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/02—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring flatness or profile of strips
Abstract
The invention discloses a cold rolling strip steel plate shape instrument signal distortion channel data processing method. An effective channel number of strip steels covering a plate shape instrument can be determined according to the structural parameter of the plate shape instrument and the measured distance between the edges of the strip steels and two ends of the plate shape instrument; on-line plate shape measurement is carried out on a plate belt, detected data are processed in real time, whether the channel detection signal distortion exists is judged, and a judgment method is determined by adopting an adjacent measured value slant angle difference method; the detection channel distortion types of the plate shape instrument are divided into two types of an edge channel defect and a middle channel defect, the edge channel defect type adopts a compensation slant angle interpolation method, and the middle channel defect type adopts a cubic spline curve interpolation method; whether the performance of the plate shape instrument is good is judged according to the distortion channel number and the continuous distortion detection times so as to determine whether the plate shape instrument needs to be repaired. According to the invention, the distortion detection channel of the plate shape instrument is subjected to scientific data processing, and high-precision plate shape quality control can be effectively ensured.
Description
Technical field
The present invention relates to cold-rolled strip steel shape detection field, particularly a kind of data processing method of cold-rolled strip steel shape instrument distorted signals passage.
Background technology
Along with the raising of modern industrial technology and developing rapidly of automatic technology, user is also more and more higher to the quality requirement of cold-strip steel, the control accuracy that strip quality will improve band steel improves in manufacturer, and the raising of control accuracy is too busy to get away flatness detection.Plate shape is the important indicator weighing strip quality grade, is also now to the important topic of cold-strip steel research.Strip thickness control is effectively solved with improving of AGC system, but the high accuracy that will realize plate shape controls, and also needs now to carry out deep research to Shape theory and Strip Shape Control theory.Due to the restriction of scene production conditions and operator's technical merit etc., the raising of strip shape quality is also restricted.The closed-loop control realizing plate shape is the effective way improving Strip Shape Control precision, and in order to realize the closed-loop control of plate shape, just must carry out the flatness detection of real-time online to band steel, therefore, the development of plate profile instrument just seems particularly important.The accuracy of detection of plate profile instrument directly affects the precision of Strip Shape Control means, thus produces important impact to strip quality.The process board form data of plate profile instrument detection being carried out to science also can not be ignored, because the data processing method of mistake not only can not improve the control accuracy of plate shape, can impact on the contrary, affect actual production to the raising of strip shape quality, and benefit reduces.
The closed-loop control of cold-strip steel is the effective way improving strip quality, its integrated application multiple subjects theory knowledge such as rolling mill practice, hydraulic transmission technology, milling equipment, rolled piece material, control theory and computer science, can realize the cold rolled strip steel production of high speed, serialization and automation, the strip shape quality simultaneously with steel is also significantly increased.In order to realize the closed-loop control of plate shape, its primary task is exactly flatness detection plate shape being carried out to real-time online, only have and reliable plate shape on-line checkingi data are supplied to plat control system, correct control instruction is sent to Strip Shape Control mechanism, just can realize accurate Strip Shape Control.Realize the flatness detection of cold-strip steel real-time online, then need plate profile instrument to be applied to actual production.
Plate profile instrument is mainly divided into two kinds, and a kind of is contact, and another kind is contactless.Contact plate profile instrument is more more direct than contactless to the detection of signal, and signal is easier to fidelity, and certainty of measurement is high, existing to reach ± 0.5I, and the accuracy of detection of actual product have ± 3I just can meet the demands.At home, the intelligent plate-shaped sensing roller of whole roller of the up-to-date development of University On The Mountain Of Swallows is successfully applied to actual production, and signal accurate stable, certainty of measurement is high, can reach 0.2I, and closed-loop control precision is up to 5 ~ 7I.
Contact plate profile instrument has multiple advantage, but because band steel is directly contact with plate profile instrument, there is tangential frictional force and radial pressure between the two, along with the increase of working time, and the change of scene production conditions, or by the interference of other factors, may there is distortion phenomenon in the sense channel signal of plate profile instrument.When the signal generation distortion of certain or certain several sense channel of plate profile instrument, must compensate correction process, otherwise can cause the mistake in computation of plate shape value to detected data, the high accuracy affecting strip shape quality controls.
At present, be simple linear interpolation solving method to the computational methods of distortion board form data, interpolation equation is
it is the simple linear interpolation of single channel signal distortion, and two continuous print distortion channel signal interpolation calculation equations are
These two kinds of interpolation solve only for the situation of the channel signal distortion of centre, and it judges that the condition of detection signal whether distortion is | (y
i-y
i-1) (y
i+1-y
i) (2y
i-y
i-1-y
i+i) | > δ, δ are limit value, and i is port number.Simple linear interpolation calculates the board form data that can compensate to a certain extent because of distorted signals, but this method is coarse, compensation precision is not high, plate shape value through compensating also distributes with the board form data of reality and there is larger error, can not meet the requirement of modern industry to strip shape quality so to compensate board form data by simple linear interpolation.With parabolic interpolation compensating distortion Shape signal, because the parabola that the method is used is conic section, its compensation precision still has much room for improvement.
The high accuracy realizing plate shape controls, then need in depth to study Shape theory and Strip Shape Control theory.Professor Peng Yan of University On The Mountain Of Swallows once applied cubic spline streamline bar unit method and simulated cold-strip steel 3 D deformation in its thesis for the doctorate, and propose assumed condition, that is, the outlet lateral displacement function in bar unit presses the change of cubic spline function rule along bar unit width.Apply the result that this hypothesis simulates to conform to actual conditions.
In sum, data processing is carried out to the passage because of the distortion of plate profile instrument detection signal and has directly had influence on the quality of strip shape quality, improve the precision of Interpolation compensation distortion board form data, important effect is had for the precision improving Strip Shape Control, reliable on-line checkingi board form data is provided in order to give the closed-loop control of cold-strip steel, improve strip shape quality, be necessary to develop the higher board form data Interpolation compensation method of precision.
Summary of the invention
In order to improve the interpolation precision of the board form data of plate profile instrument distorted signals passage, the object of the present invention is to provide a kind of data processing method of cold-rolled strip steel shape instrument distorted signals passage, this method provide the Rule of judgment of board form data distortion, employing spline interpolation solves the board form data because of distorted signals, the service behaviour of plate profile instrument is monitored, when plate profile instrument needs to carry out prompting report during maintenance simultaneously.Present invention efficiently solves the defect problems such as the error that simple linear interpolation method exists is comparatively large, processing method is coarse, give up the interpolation method of low order, the interpolating function of application high order simultaneously, improve the precision of board form data interpolation.
To achieve these goals, the present invention is achieved by the following technical solutions:
A data processing method for cold-rolled strip steel shape instrument distorted signals passage, its content comprises the following steps:
The structural parameters of a1, collection plate profile instrument, comprise the width b of each sense channel
j, plate profile instrument overall channel number n
1, usually, each sense channel width is identical, i.e. b
j=b
i=b, wherein j ≠ i, collect the technological parameter of cold-strip steel, comprises the wide B of band steel plate, rolling pass N;
A2, measurement steel edge portion are apart from the distance l of plate profile instrument two end point detection passage
1, l
2;
A3, according to the structural parameters of plate profile instrument and the measured steel edge portion distance apart from plate profile instrument two end point detection passage, determine to be with steel to cover effective port number of plate profile instrument, defining method is: the passage at band steel edge part place, if 1/2 of plate profile instrument sense channel is not capped, then this sense channel is non-valid channel; If 1/2 of plate profile instrument sense channel is capped, then this sense channel is effective passage; Whether effective according to the passage at band steel edge part place, obtain the sum of effective sense channel, and the serial number from fore side to transmission side is carried out to it, i=1,2 ..., n;
A4, cold-strip steel is carried out to the flatness detection of real-time online, obtain flatness detection data;
A5, detection signal whether distortion according to each passage of flatness detection data verification plate profile instrument detected, verification method is, gets adjacent two flatness detection value y
i+1, y
i(i=2,3 ..., n-1), calculate its tiltangleθ
i=arctan [(y
i+1-y
i)/((i+1) b
i-ib
i-1)] (i=2,3 ..., n-1), because each sense channel width is identical, i.e. b
i=b
i-1=b, therefore θ
i=arctan [(y
i+1-y
i)/b]; Setting distortion data judges critical value δ, distorted signals is divided into the distortion of edge channel signal and center-aisle distorted signals two kinds of situations; The distortion of edge channel signal is divided into single channel signal distortion and double-channel signal distortion, is calculated by a6 step and a7 step respectively; Center-aisle distorted signals is divided into single channel signal distortion and continuous double-channel signal distortion, is calculated by a8 and a9 step respectively;
If a6 | θ
2-θ
1| > δ and | θ
3-θ
2| < δ is the distortion of edge first passage then, and compensate the 1st channel distortion signal interpolation, its offset is y'
1=y
2+ btan [θ
2+ (θ
2-θ
3)]; If | θ
n-1-θ
n-2| > δ and | θ
n-2-θ
n-3| < δ, then edge n-th channel distortion, compensate the n-th channel distortion signal interpolation, its offset is y'
n=y
n-1+ btan [θ
n-2+ (θ
n-2-θ
n-3)];
If a7 | θ
3-θ
2| > δ and | θ
4-θ
3| < δ, be then the 2nd channel distortion, first carry out pretreatment, y'
2=y3,
If | θ '
2-θ '
1| > δ, then the 1st channel distortion, compensates y to its value "
2=y
3+ btan [θ
3+ (θ
3-θ
4)],
y "
1=y "
2+ btan [θ "
2+ (θ "
2-θ
3)]; If | θ '
2-θ '
1| < δ, be then only the 2nd channel distortion, and compensation method adopts cubic spline functions method to compensate; If | θ
n-2-θ
n-1| > δ and | θ
n-4-θ
n-3| < δ, be then the (n-1)th channel distortion, first carry out pretreatment, y'
n-1=y
n-2,
if | θ '
n-2-θ '
n-1| > δ, then the n-th channel distortion, compensate y to its value "
n-2=y
n-3+ btan [θ
n-3+ (θ
n-3-θ
n-4)],
y "
n=y "
n-1+ btan [θ "
n-2+ (θ "
n-2-θ
n-3)]; If | θ '
n-2-θ '
n-1| < δ, be then only the (n-1)th channel distortion, and compensation method adopts cubic spline functions method to compensate;
If a8 | θ
i-2-θ
i-3| < δ, | θ
i-1-θ
i-2| > δ, | θ
i-θ
i-1| > δ, | θ
i+1-θ
i| > δ and | θ
i+2-θ
i+1| < δ, wherein 5≤i≤n-3, then the i-th channel signal distortion, its compensation method is cubic spline functions method;
If a9 | θ
i-2-θ
i-3| < δ, | θ
i-1-θ
i-2| > δ and | θ
i-θ
i-1| > δ, wherein 5≤i≤n-3, then the i-th channel signal distortion, makes y'
i=y
i-1, then
if | θ '
i-θ
i+1| > δ, | θ
i+2-θ
i+1| > δ and | θ
i+3-θ
i+2| < δ then the i-th passage both the i-th+1 channel signal distortions, its compensation method is cubic spline functions method;
A10, suppose that kth frame detection signal distortion port number is m, if m>=3, then give up this frame detection signal; And statistics gives up the totalframes T of detection signal
1;
A11, statistics give up the totalframes T of detection signal
1; If T
1>=50, then report an error, prompting plate profile instrument needs maintenance, calculates and terminates.
Owing to adopting technique scheme, the data processing method of a kind of cold-rolled strip steel shape instrument distorted signals passage provided by the invention, compared with prior art, has such beneficial effect:
The present invention carries out the data processing of science to the sense channel of plate profile instrument distortion, effectively ensure that high-precision strip shape quality controls.The present invention proposes the method judging the whether distortion of flatness detection data by the difference at adjacent inclined angle, it sets limit value according to the structural parameters of plate profile instrument, has flexibility and widely applicable property; By passage present position, two classes are divided into the distorted signals type of plate profile instrument, and select different data processing methods by the difference of type of distortion; Have employed spline interpolation method to compensate the board form data because of distorted signals, the number of times of interpolating function used is higher, and the precision of acquired results is higher, for plat control system provides reliable and stable board form data, is conducive to the raising of Strip Shape Control precision; Also the performance of plate profile instrument is detected while to board form data process, there is large-scale distortion in the data detected once plate profile instrument, then report an error, prompting plate profile instrument needs to overhaul, and reduces the reduction of the strip shape quality caused because of the fault of plate profile instrument.
Accompanying drawing explanation
Fig. 1 is the calculation flow chart of the data processing method of cold-rolled strip steel shape instrument distorted signals passage of the present invention;
Fig. 2 is the plate shape distribution map of certain frame flatness detection data the 13rd passage and the 14th channel signal distortion;
Fig. 3 is the plate shape distribution map obtained after carrying out interpolation calculation by method of the present invention to distorted signal.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
The calculation flow chart of the data processing method of a kind of cold-rolled strip steel shape instrument of the present invention that Figure 1 shows that distorted signals passage.Below for certain 1050 milling train, get the detection data instance of the 6th passage, its inlet thickness is 0.42mm, and exit thickness is 0.29mm, computational process of the present invention is described and calculates effect.
First, the structural parameters of plate profile instrument are collected, the width b of each sense channel
jall identical and be b
j=b
i=b=52mm (i ≠ j), plate profile instrument overall channel number n
1be 19, collect the technological parameter of cold-strip steel, strip width B is 910mm, rolling pass N is 6;
Subsequently, the distance l of steel edge portion apart from plate profile instrument two end point detection passage is measured
1=40mm, l
2=38mm;
Subsequently, determine to be with steel to cover effective port number of plate profile instrument, due to l
1=40mm, l
2=38mm, and b=52mm,
the first passage that can cover with steel is less than its half, so known first passage is non-valid channel,
19th passage that can cover with steel is less than its half, so known 19th passage is non-valid channel, finally can obtain effective port number n is 17;
Subsequently, cold-strip steel carries out the flatness detection of real-time online;
Subsequently, the board form data obtained by on-line checkingi processes, to judge whether Shape signal loses true feelings condition, for wherein a certain frame data, and its each passage y
1~ y
17check-out console shape value (unit is I) be, 2.95,4.81,5.89,7.18,11.22,12.40,13.64,14.84,16.17,14.91,12.41,10.99,0.00,0.00,6.55,4.58,3.26, because the width b of each passage
jall identical and be 52mm, so the inclination angle that can obtain adjacent two plate shape values is θ
i=arctan [(y
i+1-y
i)/b], calculate each θ
2~ θ
16for (unit is degree " ° "), 1.09,2.10,1.58,3.86,0.95,1.60,1.85,1.27 ,-1.49 ,-3.32 ,-0.66 ,-11.76,0.00,6.77 ,-1.96 ,-1.72, thus Δ θ can be calculated
i=| θ
i-θ
i-1|, Δ θ
3~ Δ θ
17for (unit is degree " ° "), 1.01,0.53,2.29,2.91,0.65,0.25,0.58,2.75,1.84,2.66,11.10,11.76,6.77,8.73,0.24, setting limit value δ=7 °, because Δ θ
13=11.10 ° of > δ=7 °, so the distorted signals of known 13rd passage, make y
13=y
12=10.99, obtain θ
13=0 °, θ
14=-11.76 °, Δ θ can be obtained
14=11.76 ° of > δ=15 °, so the distorted signals of known 14th passage, make y
14=y
13=10.99, obtain θ
14=0 °, θ
15=-5.12 °, Δ θ can be obtained
15=5.12 ° of < δ=7 °, so the non-distortion of signal of the 15th passage, and the also non-distortion of the signal of other passages;
Subsequently, the total m of recording channel distorted signals, by the known m=2 of calculating;
Subsequently, judge whether m>3 sets up, and knows m=2<3 by calculating;
Subsequently, judging the type of channel signal distortion, known by calculating, the 13rd and the 14th channel distortion, there is not distortion situation in edge channel signal, so determine that distorted signals type is for middle double-channel signal type of distortion continuously;
Subsequently, with cubic spline curve, Interpolation compensation is carried out to the channel signal that defect occurs, adopt the cubic spline curve of slpine eqution as interpolating function, the boundary condition adopted is not a node boundary condition, the spline function of application MATLAB software can solve the data of distortion passage fast, the speed requirement in line computation can be met, and its boundary condition is not a node boundary condition, the plate shape value (unit is I) that can obtain the 13rd and the 14th passage through interpolation calculation is 9.92 and 8.17;
Subsequently, the board form data through processing being sent into data handling system, calculating and recording corresponding plate shape value, comprising the plate shape value of macroscopical plate shape value and required plate shape component;
Subsequently, carry out the board form data monitoring of next frame, check it whether to have the distorted signals of passage, whether be continuous print situation in order to the distortion of witness plate shape detection signal, do not have the signal of passage that the phenomenon of continuous distortion occurs in this example;
Subsequently, continuing on-line monitoring board form data, whether, in order to witness plate shape detection signal distortion be periodic situation, do not have the phenomenon of the signal generating period distortion of passage in this example if checking it whether to have the distorted signals of passage;
Subsequently, statistics gives up the totalframes T of detection signal
1=0<50;
Finally, end is calculated.
In this example, the situation of distortion port number m>3 is not had to occur, so the detection signal frame number do not given up; The distorted signals situation processing method of edge passage is interpolation method distorted signal being compensated to inclination angle, again other signal datas are processed, because plate profile instrument service behaviour is good, only because of individual signal distortion that disturbing cause causes, so only made above processing method, show the data processing method giving up edge distorted signal, and the overall performance of plate profile instrument is good, does not occur T
1the situation of >50, points out the situation of plate profile instrument needs maintenance so do not occur reporting an error.By above example, interpolation processing is carried out to the passage of plate profile instrument distorted signals, Fig. 2 gives the distribution map of board form data along plate width direction of a certain frame signal distortion, Fig. 3 gives the board form data solved through interpolation, can be found out that the data of the 13rd and the 14th passage of interpolation calculation can meet actual Production requirement by figure.
Claims (1)
1. a data processing method for cold-rolled strip steel shape instrument distorted signals passage, is characterized in that: the method content comprises the following steps:
The structural parameters of a1, collection plate profile instrument, comprise the width b of each sense channel
j, plate profile instrument overall channel number n
1, usually, each sense channel width is identical, i.e. b
j=b
i=b, wherein j ≠ i, collect the technological parameter of cold-strip steel, comprises the wide B of band steel plate, rolling pass N;
A2, measurement steel edge portion are apart from the distance l of plate profile instrument two end point detection passage
1, l
2;
A3, according to the structural parameters of plate profile instrument and the measured steel edge portion distance apart from plate profile instrument two end point detection passage, determine to be with steel to cover effective port number of plate profile instrument, defining method is: the passage at band steel edge part place, if 1/2 of plate profile instrument sense channel is not capped, then this sense channel is non-valid channel; If 1/2 of plate profile instrument sense channel is capped, then this sense channel is effective passage; Whether effective according to the passage at band steel edge part place, obtain the sum of effective sense channel, and the serial number from fore side to transmission side is carried out to it, i=1,2 ..., n;
A4, cold-strip steel is carried out to the flatness detection of real-time online, obtain flatness detection data;
A5, detection signal whether distortion according to each passage of flatness detection data verification plate profile instrument detected, verification method is, gets adjacent two flatness detection value y
i+1, y
i, wherein i=2,3 ..., n-1, calculates its tiltangleθ
i=arctan [(y
i+1-y
i)/((i+1) b
i-ib
i-1)], wherein i=2,3 ..., n-1, because each sense channel width is identical, i.e. b
i=b
i-1=b, therefore θ
i=arctan [(y
i+1-y
i)/b]; Setting distortion data judges critical value δ, distorted signals is divided into the distortion of edge channel signal and center-aisle distorted signals two kinds of situations; The distortion of edge channel signal is divided into single channel signal distortion and double-channel signal distortion, is calculated by a6 step and a7 step respectively; Center-aisle distorted signals is divided into single channel signal distortion and continuous double-channel signal distortion, is calculated by a8 and a9 step respectively;
If a6 | θ
2-θ
1| > δ and | θ
3-θ
2| < δ is the distortion of edge first passage then, and compensate the 1st channel distortion signal interpolation, its offset is y'
1=y
2+ btan [θ
2+ (θ
2-θ
3)]; If | θ
n-1-θ
n-2| > δ and | θ
n-2-θ
n-3| < δ, then edge n-th channel distortion, compensate the n-th channel distortion signal interpolation, its offset is y'
n=y
n-1+ btan [θ
n-2+ (θ
n-2-θ
n-3)];
If a7 | θ
3-θ
2| > δ and | θ
4-θ
3| < δ, be then the 2nd channel distortion, first carry out pretreatment, y'
2=y3,
If | θ '
2-θ '
1| > δ, then the 1st channel distortion, compensates y to its value "
2=y
3+ btan [θ
3+ (θ
3-θ
4)],
y "
1=y "
2+ btan [θ "
2+ (θ "
2-θ
3)]; If | θ '
2-θ '
1| < δ, be then only the 2nd channel distortion, and compensation method adopts cubic spline functions method to compensate; If | θ
n-2-θ
n-1| > δ and | θ
n-4-θ
n-3| < δ, be then the (n-1)th channel distortion, first carry out pretreatment, y'
n-1=y
n-2,
if | θ '
n-2-θ '
n-1| > δ, then the n-th channel distortion, compensate y to its value "
n-2=y
n-3+ btan [θ
n-3+ (θ
n-3-θ
n-4)],
y "
n=y "
n-1+ btan [θ "
n-2+ (θ "
n-2-θ
n-3)]; If | θ '
n-2-θ '
n-1| < δ, be then only the (n-1)th channel distortion, and compensation method adopts cubic spline functions method to compensate;
If a8 | θ
i-2-θ
i-3| < δ, | θ
i-1-θ
i-2| > δ, | θ
i-θ
i-1| > δ, | θ
i+1-θ
i| > δ and | θ
1+2-θ
i+1| < δ, wherein 5≤i≤n-3, then the i-th channel signal distortion, its compensation method is cubic spline functions method;
If a9 | θ
i-2-θ
i-3| < δ, | θ
i-1-θ
i-2| > δ and | θ
i-θ
i-1| > δ, wherein 5≤i≤n-3, then the i-th channel signal distortion, makes y'
i=y
i-1, then
if | θ '
i-θ
i+1| > δ, | θ
i+2-θ
i+1| > δ and | θ
i+3-θ
i+2| < δ then the i-th passage both the i-th+1 channel signal distortions, its compensation method is cubic spline functions method;
A10, suppose that kth frame detection signal distortion port number is m, if m>=3, then give up this frame detection signal; And statistics gives up the totalframes T of detection signal
1;
A11, statistics give up the totalframes T of detection signal
1; If T
1>=50, then report an error, prompting plate profile instrument needs maintenance, calculates and terminates.
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| CN110116139A (en) * | 2019-04-28 | 2019-08-13 | 燕山大学 | The decoupling method that cold-strip whole roll-type plate profile instrument channel intercouples |
| CN110479770A (en) * | 2019-08-07 | 2019-11-22 | 武汉钢铁有限公司 | A kind of optimal control method of mill plate shape |
| CN110826141A (en) * | 2019-11-29 | 2020-02-21 | 广西路桥工程集团有限公司 | Low-cost automatic test method for tower linear type and application test system thereof |
| CN115227247A (en) * | 2022-07-20 | 2022-10-25 | 中南大学 | Fatigue driving detection method and system based on multi-source information fusion and storage medium |
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