CN111141649A - Road dust accumulation detection device, robot and detection method - Google Patents
Road dust accumulation detection device, robot and detection method Download PDFInfo
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- CN111141649A CN111141649A CN202010041963.1A CN202010041963A CN111141649A CN 111141649 A CN111141649 A CN 111141649A CN 202010041963 A CN202010041963 A CN 202010041963A CN 111141649 A CN111141649 A CN 111141649A
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- 239000000428 dust Substances 0.000 title claims abstract description 237
- 238000001514 detection method Methods 0.000 title claims abstract description 79
- 238000009825 accumulation Methods 0.000 title claims abstract description 40
- 238000005070 sampling Methods 0.000 claims abstract description 52
- 238000010410 dusting Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000005303 weighing Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 4
- 230000008021 deposition Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 230000014509 gene expression Effects 0.000 description 1
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N5/00—Analysing materials by weighing, e.g. weighing small particles separated from a gas or liquid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
- G01N15/075—Investigating concentration of particle suspensions by optical means
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Abstract
The application provides a road dust accumulation detection device, which comprises a device main body; the bottom of the device main body is provided with a sampling cover shell; a sampling port is formed in the sampling cover shell; a laser dust meter is arranged in the sampling port; the laser dust measuring instrument is connected with the controller; the controller is configured to receive and store dust concentration data sent by the laser dust meter, and calculate to obtain 1m according to the stored dust concentration data2Weight of dust deposited on the road; a dust generating brush group is arranged around the laser dust measuring instrument in the sampling port; the dust generating brush group comprises a dust generating rotating shaft and a plurality of dust generating brushes distributed along the circumferential direction of the dust generating rotating shaft; the dusting brush is contacted with a road to be detected; the dust-raising rotating shaft is driven to rotate by a dust-raising motor so as to drive the dust-raising brush to rotate; the bottom of the device main body is symmetrically provided with a pair of walking wheels. The beneficial effect of this application: the method does not need to collect the accumulated dust on the road, overcomes the problem that the manual collection of the accumulated dust is time-consuming and labor-consuming, does not have the interference of human factors, and hasThe error is effectively reduced.
Description
Technical Field
The application relates to the technical field of road dust accumulation detection, in particular to a road dust accumulation detection device, a robot and a detection method.
Background
With the environmental pollution treatment of national punch and the promotion of ecological civilized construction, all environmental indexes are improved, but the problem of dust accumulation in cities is still more prominent among all indexes. In order to strengthen road dust accumulation management and better solve the problem of road dust accumulation, the road dust accumulation evaluation standard of ' in grams ' net is adopted in the cities of Zhongwei City, Shaanxi province xi ' city and the like of Ningxia Hui nationality, and then the road dust accumulation evaluation standard of ' in grams ' net is widely applied in all cities in the country. The evaluation standard of the road dust accumulation of 'cleaning in grams' specifically means 1m2The weight of the dust deposited on the road does not exceed the standard gram number. At present, when the road dust is cleaned in grams, a manual method, namely manually sweeping 1m, is mostly adopted2And collecting the dust on the road, weighing the collected dust to obtain the gram number of the dust, and taking the obtained gram number as an evaluation index of 'clean in grams'. The method for manually collecting the accumulated dust wastes time and labor, has interference of human subjective factors, and has larger error.
Disclosure of Invention
The application aims to solve the problems and provides a road dust accumulation detection device, a robot and a detection method.
In a first aspect, the present application provides a road dust accumulation detection device, comprising a device body; the bottom of the device main body is provided with a sampling cover shell; a sampling port is formed in the sampling cover shell; a laser dust meter is arranged in the sampling port and used for detecting the dust concentration in the sampling port; the laser dust meter is in signal connection with the controller; the controller is configured to receive and store dust concentration data sent by the laser dust meter, and calculate to obtain 1m according to the stored dust concentration data2The weight of the accumulated dust on the road, namely the detection result of the laser dust meter; a dust generating brush group is arranged around the laser dust measuring instrument in the sampling port; the dust generating brush group comprises a dust generating rotating shaft and a plurality of dust generating brushes distributed along the circumferential direction of the dust generating rotating shaft; the dusting brush is connected with the road to be detectedContacting; the dust-raising rotating shaft is driven to rotate by a dust-raising motor so as to drive the dust-raising brush to rotate; the bottom of the device main body is positioned outside the sampling housing and symmetrically provided with a pair of travelling wheels; the walking wheels are driven to walk by the walking motor.
According to the technical scheme provided by some embodiments of the application, the bottom of the device main body is provided with a dust suction port communicated with the sampling port; a dust suction pump is arranged in the device main body; the dust suction pump is communicated with the dust suction port through a dust suction pipeline; the dust collection pipeline is detachably connected with a dust collection box for collecting accumulated dust.
According to the technical scheme provided by some embodiments of the application, a balance is arranged on the device main body; the balance is used for weighing the dust collecting box to obtain weighing data; the balance is in signal connection with the controller; the controller is configured to receive the weighing data sent by the balance and calculate the weighing data to obtain 1m2The weight of the dust on the road is the dust collection weighing detection result.
According to the technical scheme provided by some embodiments of the application, a pair of universal wheels is symmetrically arranged at the bottom of the device main body outside the sampling cover shell; and a connecting line of the pair of universal wheels is vertical to a connecting line of the pair of walking wheels.
In a second aspect, the present application provides a road accumulated dust detecting robot, including any one of the above road accumulated dust detecting devices; a casing is arranged above the road dust accumulation detection device; and the shell is provided with a result output module.
According to the technical scheme provided by some embodiments of the application, the result output module comprises any one or more of a display screen, a printer and a voice broadcaster; the result output module is in signal connection with the controller; the controller is configured to send the detection result of the laser dust meter or the dust collection weighing detection result to the result output module.
According to the technical scheme provided by some embodiments of the application, an anti-collision shell is arranged between the road dust accumulation detection device and the machine shell; the anti-collision shell is provided with an obstacle avoidance module; the obstacle avoidance module comprises ultrasonic distance measuring sensors and infrared obstacle avoidance sensors which are uniformly distributed on the surface of the anti-collision shell; the obstacle avoidance module is in signal connection with the controller; the controller is configured to receive detection information sent by the obstacle avoidance module and control the traveling wheels to avoid obstacles according to the detection information.
In a third aspect, the present application provides a method for detecting road dust deposition, where the method employs any one of the above-mentioned road dust deposition detection robots, and includes the following steps:
setting sampling frequency and a motion track of the robot;
synchronously starting a walking motor and a dusting motor to start working;
controlling a laser dust meter to detect the dust concentration in a sampling port within the motion track range of the robot according to the set sampling frequency;
receiving and storing dust concentration data sent by the laser dust meter;
when the robot finishes walking the planned motion trail, controlling the walking motor and the dust-laden motor to stop working;
1m is calculated from the saved dust concentration data2The weight of the dust deposited on the road.
According to the technical scheme provided by some embodiments of the application, 1m is calculated and obtained according to the saved dust concentration data2The weight of the dust on the road specifically comprises the following steps:
calculating a plurality of groups of dust concentration data received and stored in the motion trail range of the robot to obtain average dust concentration H;
1m was calculated according to the following formula2Weight M of dust deposited on road:
in the formula, M is 1M2The weight of dirt on the road, H the average dirt concentration, V the volume of the sampling enclosure, and S the area of the sampling opening.
He-ShiCompared with the prior art, the beneficial effects of the application are that: at the in-process of travelling wheel drive device main part according to predetermineeing the orbit motion, the dusting motor drive shaft that makes a dust rotates to drive the dusting brush and rotate, become the laying dust on road surface, thereby the laser dust measuring appearance detects the concentration in order to acquire dust to the laying dust, calculates according to the dust concentration who acquires and can obtain 1m2The weight of laying dust on the road, this road laying dust detection device need not to collect the road laying dust, has overcome the manual work and has collected the problem that the laying dust wastes time and energy, and does not have the interference of human factor, has effectively reduced the error.
Drawings
Fig. 1 is a schematic structural diagram of a bottom of a road dust accumulation detection device provided in embodiment 1 of the present application;
fig. 2 is a schematic structural diagram of a dusting brush set of the road dusting detection apparatus provided in embodiment 1 of the present application;
fig. 3 is a schematic structural diagram of the interior of the road dust collecting detection device provided in embodiment 1 of the present application;
fig. 4 is a schematic structural diagram of a road dust collecting detection robot according to embodiment 2 of the present application.
The text labels in the figures are represented as:
1. a device main body; 2. a sampling housing; 3. installing a housing; 4. a laser dust meter; 5. a dusting brush group; 6. a dusting rotating shaft; 7. a dusting brush; 8. a dusting motor; 9. a traveling wheel; 10. a traveling motor; 11. a dust suction port; 12. a dust suction pump; 13. a dust collection duct; 14. a dust collecting box; 15. a shutter; 16. a balance; 17. a universal wheel; 18. a housing; 19. a display screen; 20. a printer; 21. a voice broadcaster; 22. an anti-collision shell; 23. an ultrasonic ranging sensor; 24. an infrared obstacle avoidance sensor; 25. an input keyboard; 26. detecting an over-standard indicator lamp; 27. detecting a qualified indicator light; 28. and (4) a balance cover.
Detailed Description
The following detailed description of the present application is given for the purpose of enabling those skilled in the art to better understand the technical solutions of the present application, and the description in this section is only exemplary and explanatory, and should not be taken as limiting the scope of the present application in any way.
Example 1:
please refer to fig. 1 and fig. 2, this embodiment provides a road dust deposition detection apparatus, which includes an apparatus main body 1, a hollow sampling housing 2 is disposed at the bottom of the apparatus main body 1, a sampling opening is formed inside the sampling housing 2, an installation housing 3 is disposed at the center of the sampling opening, a laser dust meter 4 is installed on one inner wall of the installation housing 3 for detecting the dust concentration in the sampling opening, the laser dust meter 4 is in signal connection with a controller, the laser dust meter 4 sends the detected dust concentration data to the controller, the controller is configured to receive and store the dust concentration data sent by the laser dust meter 4, and calculate according to the stored dust concentration data to obtain 1m dust concentration data2Recording the weight of the accumulated dust on the road as a detection result of the laser dust meter; the dust-raising brush group 5 is arranged around the laser dust-measuring instrument 4 in the sampling port, in the embodiment, four dust-raising brush groups 5 are arranged and respectively arranged at four corners of the sampling housing 2, each dust-raising brush group 5 comprises a dust-raising rotating shaft 6 and a plurality of dust-raising brushes 7, for example 6, which are distributed along the circumferential direction of the dust-raising rotating shaft 6, each dust-raising brush 7 is in contact with the surface of a road to be detected, the dust-raising rotating shaft 6 is driven to rotate by a dust-raising motor 8 so as to drive the dust-raising brushes 7 to rotate, so that the dust accumulated on the surface of the road is changed into raised dust, the laser dust-measuring instrument 4 can detect the concentration of the raised dust, a pair of traveling wheels 9 is arranged at the bottom of the device main body 1, the pair of traveling wheels 9 are arranged outside the sampling housing 2, each traveling wheel 9 is driven to travel by a traveling motor 10, when a turn is needed, the rotating, the speeds of the two walking wheels 9 are inconsistent, and the steering is determined according to the differential ratio of the two walking wheels 9 to finish the turning.
Referring to fig. 3, preferably, a dust suction port 11 communicated with the sampling port is formed at the center of the mounting cover 3 at the bottom of the device body 1, a dust suction pump 12 is disposed inside the device body 1, the dust suction pump 12 is communicated with the dust suction port 11 through a dust suction pipe 13, a dust collection box 14 for collecting accumulated dust is detachably connected to the dust suction pipe 13, a door 15 is disposed at one side of the device body 1 close to the dust collection box 14, and when the device body 1 is used, the door 15 is openedWhen the detection result obtained by the laser dust meter 4 needs to be verified or the laser dust meter 4 breaks down, the dust collection pump 12 can be started to collect the raised dust in the sampling port, the accumulated dust is collected in the dust collection box 14, and when the collection is finished, the stop door 15 is opened, the dust collection box 14 is taken out to be weighed and converted to obtain 1m2The weight of the dust on the road is recorded as the dust collection weighing detection result, in this embodiment, a balance 16 capable of weighing the dust collection box 14 is arranged on the device main body 1, the balance 16 is in signal connection with the controller and sends the weighing data to the controller, and the controller is configured to receive the weighing data sent by the balance 16 and calculate to obtain 1m2The weight of the dust on the road is the dust collection weighing detection result.
Preferably, the bottom of the device body 1 is further provided with a pair of universal wheels 17, the pair of universal wheels 17 are located outside the sampling housing 2 and are symmetrically arranged with respect to the sampling housing 2, a connecting line of the pair of universal wheels 17 is perpendicular to a connecting line of the pair of walking wheels 9, and the universal wheels 17 can be matched with the walking wheels 9 to better turn according to a set track, so that the device body 1 is prevented from turning over or deflecting in the turning process.
The embodiment of the application provides a road laying dust detection device, device main part 1 is under the cooperation of travelling wheel 9 and universal wheel 17 when using, according to predetermineeing the orbit motion, 8 drive dusting pivots 6 rotations of dusting motor simultaneously, thereby it rotates to drive dusting brush 7, become the laying dust on road surface, thereby laser dust meter 4 detects the concentration in order to acquire dust to the dusting, calculate according to the dust concentration who acquires and can obtain 1m2The road dust accumulation detection device does not need to collect road dust accumulation due to the weight of the dust accumulation on the road, so that the problem that the time and labor are wasted when the dust accumulation is manually collected is solved, the interference of human factors does not exist, and the error is effectively reduced; meanwhile, the road accumulated dust detection device is also provided with a dust suction pump 12, a dust suction pipeline 13, a dust collection box 14 and a dust suction port 11, and when the detection result obtained by the laser dust meter 4 needs to be verified or the laser dust meter 4 breaks down, the accumulated dust can still be subjected to dust suction and weighing.
Example 2:
please refer to fig. 4, this embodiment provides a road dust accumulation detection robot using the road dust accumulation detection device provided in embodiment 1, a casing 18 is disposed above the road dust accumulation detection device, a result output module is disposed on the casing 18, the result output module includes a display screen 19, any one or more of a printer 20 and a voice broadcaster 21, in this embodiment, the result output module includes the display screen 19, the printer 20 and the voice broadcaster 21, the display screen 19, the printer 20 and the voice broadcaster 21 are all connected to a controller through signals, and the controller is configured to send a detection result of a laser dust meter or a detection result of a dust collection weighing to the display screen 19 for displaying, the printer 20 for printing, and the voice broadcaster 21 for broadcasting.
Preferably, be equipped with crashproof shell 22 between road laying dust detection device and the casing 18, be equipped with on crashproof shell 22 and keep away the barrier module, keep away the barrier module and include evenly distributed at the supersound ranging sensor 23 and the infrared barrier sensor 24 of keeping away on crashproof shell 22 surface, in this embodiment, the number of supersound ranging sensor 23 is eight, each side of crashproof shell 22 respectively has two, the number of infrared barrier sensor 24 of keeping away is twelve, each side of crashproof shell 22 respectively has three, make its detection range wider, supersound ranging sensor 23 and infrared barrier sensor 24 of keeping away are respectively with controller signal connection, the controller configuration is used for receiving the detection information that supersound ranging sensor 23 and infrared barrier sensor 24 of keeping away sent, and keep away the barrier according to detection information control walking wheel 9.
Preferably, the casing 18 is further provided with an indicator light module and an input keyboard 25, the indicator light module comprises a detection standard exceeding indicator light 26 and a detection qualified indicator light 27, and the detection standard exceeding indicator light 26 and the detection qualified indicator light 27 are respectively in signal connection with the controller; the input keyboard 25 is in signal connection with the controller, a user can set a qualified upper limit value for detection by inputting a numerical value through the input keyboard 25, the controller is configured to receive the upper limit value sent by the input keyboard 25 and compare the received detection result of the laser dust measuring instrument or the dust collection weighing detection result with the upper limit value, when the detection result of the laser dust measuring instrument or the dust collection weighing detection result is greater than the upper limit value, the standard exceeding indicator lamp is controlled to be turned on, and when the detection result of the laser dust measuring instrument or the dust collection weighing detection result is not greater than the upper limit value, the qualified detection indicator lamp 27 is controlled to be turned on.
Preferably, a balance cover 28 is arranged on the housing 18 and positioned right above the balance 16, so that dust can be prevented from entering and the accuracy of a weighing result is influenced.
The road dust accumulation detection robot provided by the embodiment of the application has the advantages of the road dust accumulation detection device provided by the embodiment 1, a user can know detection results in different modes by arranging the result output module, and the obstacle avoidance and collision avoidance of the road dust accumulation detection robot can be effectively realized in the operation process by arranging the anti-collision shell 22 and the obstacle avoidance module; by arranging the indicator light module and the input keyboard 25, a user can conveniently set a detection qualified upper limit value and remind the user whether the standard exceeds or not.
Example 3:
the embodiment provides a road dust accumulation detection method using the road dust accumulation detection robot provided in embodiment 2, which specifically includes the following steps:
setting sampling frequency and a motion track of the robot;
synchronously starting a walking motor and a dusting motor to start working;
controlling a laser dust meter to detect the dust concentration in a sampling port within the motion track range of the robot according to the set sampling frequency;
receiving and storing dust concentration data sent by the laser dust meter;
when the robot finishes walking the planned motion trail, controlling the walking motor and the dust-laden motor to stop working;
1m is calculated from the saved dust concentration data2The weight of the dust deposited on the road.
Wherein 1m is calculated from the saved dust concentration data2The weight of the dust on the road specifically comprises the following steps:
calculating a plurality of groups of dust concentration data received and stored in the motion trail range of the robot to obtain average dust concentration H;
1m was calculated according to the following formula2Weight M of dust deposited on road:
in the formula, M is 1M2The weight of dust on the road, H is the average dust concentration, V is the volume of the internal sampling space surrounded by the sampling cover, and S is the area of the sampling opening.
The road dust accumulation detection method provided by the embodiment of the application can complete detection without collecting road dust accumulation, overcomes the problem that manual collection of dust accumulation wastes time and labor, has no interference of human factors, and effectively reduces errors.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are no specific structures which are objectively limitless due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes can be made without departing from the principle of the present invention, and the technical features mentioned above can be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention in other instances, which may or may not be practiced, are intended to be within the scope of the present application.
Claims (9)
1. A road dust accumulation detection device is characterized by comprising a device main body (1); the bottom of the device main body (1) is provided with a sampling cover shell (2); the interior of the sampling cover shell (2) forms a sampling port; a laser dust meter (4) is arranged in the sampling port and used for detecting the dust concentration in the sampling port; the laser dust meter (4) is in signal connection with the controller; the controller is configured to receive and store dust concentration data sent by the laser dust meter (4), and calculate to obtain 1m according to the stored dust concentration data2The weight of the accumulated dust on the road, namely the detection result of the laser dust meter; the sampling port is internally provided with the laser dust measurement deviceA dust brush group (5) is arranged around the instrument (4); the dust generating brush group (5) comprises a dust generating rotating shaft (6) and a plurality of dust generating brushes (7) distributed along the circumferential direction of the dust generating rotating shaft (6); the dust brush (7) is in contact with a road to be detected; the dust-raising rotating shaft (6) is driven to rotate by a dust-raising motor (8) so as to drive the dust-raising brush (7) to rotate; a pair of walking wheels (9) are symmetrically arranged at the bottom of the device main body (1) and outside the sampling cover shell (2); the walking wheels (9) are driven to walk by a walking motor (10).
2. The road dust accumulation detection device according to claim 1, wherein a dust suction port (11) communicated with the sampling port is formed at the bottom of the device body (1); a dust suction pump (12) is arranged in the device main body (1); the dust suction pump (12) is communicated with the dust suction port (11) through a dust suction pipeline (13); the dust collection pipeline (13) is detachably connected with a dust collection box (14) for collecting accumulated dust.
3. The road dust detection device according to claim 2, wherein a balance (16) is provided on the device body (1); the balance (16) is used for weighing the dust collecting box (14) to obtain weighing data; the balance (16) is in signal connection with the controller; the controller is configured to receive the weighing data sent by the balance (16) and calculate to obtain 1m2The weight of the dust on the road is the dust collection weighing detection result.
4. The road dust accumulation detection device according to claim 1, wherein the bottom of the device body (1) is provided with a pair of universal wheels (17) outside the sampling cover (2); the connecting line of the pair of universal wheels (17) is vertical to the connecting line of the pair of walking wheels (9).
5. A road dust accumulation detecting robot comprising the road dust accumulation detecting device according to any one of claims 1 to 4; a casing (18) is arranged above the road dust accumulation detection device; and a result output module is arranged on the shell (18).
6. The road dust accumulation detection robot according to claim 5, wherein the result output module comprises any one or more of a display screen (19), a printer (20) and a voice broadcaster (21); the result output module is in signal connection with the controller; the controller is configured to send the detection result of the laser dust meter or the dust collection weighing detection result to the result output module.
7. The road dust detection robot according to claim 5, wherein an anti-collision housing (22) is provided between the road dust detection device and the housing (18); the anti-collision shell (22) is provided with an obstacle avoidance module; the obstacle avoidance module comprises ultrasonic distance measuring sensors (23) and infrared obstacle avoidance sensors (24) which are uniformly distributed on the surface of the anti-collision shell (22); the obstacle avoidance module is in signal connection with the controller; the controller is configured to receive detection information sent by the obstacle avoidance module and control the traveling wheels to avoid obstacles according to the detection information.
8. A road dust accumulation detecting method using the road dust accumulation detecting robot according to any one of claims 5 to 7, comprising the steps of:
setting sampling frequency and a motion track of the robot;
synchronously starting a walking motor and a dusting motor to start working;
controlling a laser dust meter to detect the dust concentration in a sampling port within the motion track range of the robot according to the set sampling frequency;
receiving and storing dust concentration data sent by the laser dust meter;
when the robot finishes walking the planned motion trail, controlling the walking motor and the dust-laden motor to stop working;
1m is calculated from the saved dust concentration data2The weight of the dust deposited on the road.
9. The road dust collecting detection method according to claim 8, wherein 1m is calculated from the saved dust concentration data2The weight of the dust on the road specifically comprises the following steps:
calculating a plurality of groups of dust concentration data received and stored in the motion trail range of the robot to obtain average dust concentration H;
1m was calculated according to the following formula2Weight M of dust deposited on road:
in the formula, M is 1M2The weight of dust on the road, H is the average dust concentration, V is the volume of the sampling cover shell, and S is the area of the sampling port.
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| CN202010041963.1A CN111141649A (en) | 2020-01-15 | 2020-01-15 | Road dust accumulation detection device, robot and detection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112964608A (en) * | 2021-04-05 | 2021-06-15 | 山东诺方电子科技有限公司 | Dust load data acquisition system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112964608A (en) * | 2021-04-05 | 2021-06-15 | 山东诺方电子科技有限公司 | Dust load data acquisition system and method |
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