CN116399773A - Building construction environment dust monitoring system - Google Patents
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- 239000000428 dust Substances 0.000 title claims abstract description 256
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Abstract
The invention relates to the technical field of material testing and analysis, in particular to a dust monitoring system for a building construction environment, which can realize dust monitoring of each detection position of the building construction environment and comprises the following components: in the process of determining the dust concentration corresponding to the optimal detection direction of the current detection position by using the simulated annealing algorithm, when the new solution acceptance probability corresponding to the current round disturbance is obtained, determining the dust concentration detection accuracy before and after the current round disturbance according to the wind speed of the current detection position and the included angle between the detection direction before and after the current round disturbance and the wind direction of the current detection position, correcting the new solution acceptance probability corresponding to the current round disturbance based on the dust concentration detection accuracy and the corresponding included angle, and determining the dust concentration in the optimal detection direction as the dust concentration of the current detection position. The invention can realize the rapid detection of the dust concentration in the construction environment and solve the problem of low dust concentration detection efficiency.
Description
Technical Field
The invention relates to the technical field of material testing and analysis, in particular to a dust monitoring system for a building construction environment.
Background
Dust is a solid particle suspended in air, which not only pollutes the air and the environment, but also seriously affects the life of citizens, and is one of the main sources of atmospheric pollution. When building construction is performed at a construction site, a large amount of dust is generated due to various reasons such as the coming and going of a transport vehicle, the scattering of building materials, the excavation and stacking of earthwork, and the like, and the dust has become one of the main sources of the current urban atmospheric dust. Therefore, the existing building construction site is generally provided with a special automatic dust fall system, and when the dust content of the building construction site is monitored to exceed the standard, the dust fall treatment is carried out on the building construction site.
In the existing process of monitoring dust content, the dust concentration is often detected by utilizing the optical characteristics of dust, for example, by utilizing a light scattering method. However, in an actual building construction environment, dust is mostly generated in local areas, such as dust emission caused by truck driving, and the source positions of the dust are different, and wind in an outdoor environment where the building construction is located can cause the dust to drift towards a certain direction, so that dust detection results of the same detection position in different directions have obvious differences, and finally, when dust detection is performed in a fixed detection direction, the dust detection results are not reliable enough. In order to obtain a reliable dust detection result, the detection direction can be optimized by using a simulated annealing algorithm, so that an optimal detection direction corresponding to the maximum dust concentration of each detection position is determined, and the maximum dust concentration in the optimal detection direction is used as the final dust concentration of the detection position, so that the reliable dust concentration detection result is obtained. However, when the detection direction is optimized by directly using the simulated annealing algorithm, the existing simulated annealing algorithm has no influence on the acceptance probability of the new solution when the independent variable disturbance is performed, that is, the deviation from the independent variable to the optimal solution in the current scene is not considered, so that the disturbance new solution is more random, the process of obtaining the optimal solution is slower, the determination speed of the optimal detection direction is slower, the dust detection rate is lower finally, and the dust falling treatment of the exceeding dust cannot be performed in time. In addition, in the existing dust concentration detection process of the construction site, since only one dust detection device is usually configured in each area, the dust detection device is usually moved according to a preset route, so that the dust concentration detection at different positions is realized, but the advanced detection at the high dust concentration detection position cannot be realized, and the rapid monitoring of the larger dust concentration of the construction site cannot be realized.
Disclosure of Invention
The invention aims to provide a dust monitoring system for a building construction environment, which is used for solving the problem of low dust concentration detection efficiency when the existing dust monitoring is carried out on the building construction environment.
In order to solve the technical problem, the invention provides a dust monitoring system for a construction environment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the following method steps when executing the computer program:
acquiring the wind speed and the wind direction of the current detection position;
in the process of determining the dust concentration corresponding to the optimal detection direction of the current detection position by using the simulated annealing algorithm, when a new solution acceptance probability corresponding to the current round disturbance is obtained, determining the dust concentration detection accuracy of the detection direction before and after the current round disturbance according to the wind speed of the current detection position and the included angle between the detection direction before and after the current round disturbance and the wind direction of the current detection position; determining a new solution acceptance probability influence value corresponding to the current round disturbance according to dust concentration detection accuracy of detection directions before and after the current round disturbance and an included angle between the detection direction after the current round disturbance and the wind direction of the current detection position; correcting the new solution acceptance probability corresponding to the current round disturbance according to the new solution acceptance probability influence value corresponding to the current round disturbance;
And determining the dust concentration corresponding to the optimal detection direction of the current detection position as the dust concentration of the current detection position.
Further, determining the dust concentration detection accuracy of the detection direction before and after the disturbance of the current turn includes:
taking an included angle between a detection direction before or after current round disturbance and a wind direction of a current detection position as a first numerator, taking a maximum included angle between the detection direction and the wind direction as a first denominator, and taking a ratio of the first numerator and the first denominator as a first ratio;
taking the added value of the wind speed of the current detection position and the wind speed regulating value as a second numerator, taking the maximum detection accepted wind speed as a second denominator, and taking the ratio of the second numerator to the second denominator as a second ratio;
and determining the dust concentration detection accuracy of the detection direction before or after the current round of disturbance according to the first ratio and the second ratio, wherein the first ratio and the second ratio are in negative correlation with the dust concentration detection accuracy.
Further, the difference value of the product value of 1 and the first ratio and the second ratio is determined as the dust concentration detection accuracy of the detection direction before or after the current round of disturbance.
Further, a new solution acceptance probability influence value corresponding to the current round disturbance is determined, and a corresponding calculation formula is as follows:
wherein ,
accepting probability influence values for new solutions corresponding to the current round of disturbance,/>
for the dust concentration detection accuracy of the detection direction before the disturbance of the current round, < >>
For the dust concentration detection accuracy of the detection direction after the disturbance of the current round, < >>
The angle between the detection direction after the disturbance of the current turn and the wind direction of the current detection position is +.>
For detecting the maximum angle between the direction and the wind direction, e is a natural constant.
Further, correcting the new solution acceptance probability corresponding to the current round disturbance includes:
calculating a product value of a new solution acceptance probability influence value corresponding to the current round disturbance and a new solution acceptance probability corresponding to the current round disturbance, and taking the addition value of the new solution acceptance probability corresponding to the current round disturbance and the product value as the corrected new solution acceptance probability corresponding to the current round disturbance.
Further, the method steps further include:
according to the wind speed of the current detection position and the included angle between the optimal detection direction of the current detection position and the wind direction of the current detection position, determining the weight value of the wind direction vector corresponding to the wind direction of the current detection position and the weight value of the direction vector corresponding to the optimal detection direction of the current detection position;
According to the wind direction vector corresponding to the wind direction of the current detection position and the weight value thereof and the direction vector corresponding to the optimal detection direction of the current detection position and the weight value thereof, carrying out weighted summation operation, and taking the weighted summation operation result as a movement direction vector moving from the current detection position to the next detection position;
and moving a set distance from the current detection position according to the direction of the moving direction vector, thereby determining the next detection position.
Further, determining a weight value of a wind direction vector corresponding to a wind direction of the current detection position and a weight value of a direction vector corresponding to an optimal detection direction of the current detection position includes:
taking the added value of the wind speed of the current detection position and the wind speed regulating value as a third numerator, taking the maximum detection accepted wind speed as a third denominator, and taking the ratio of the third numerator to the third denominator as a third ratio;
taking the included angle between the optimal detection direction of the current detection position and the wind direction of the current detection position as a fourth numerator, taking the maximum included angle between the detection direction and the wind direction as a fourth denominator, taking the ratio of the fourth numerator to the fourth denominator as a fourth ratio, and taking the addition value of the fourth ratio and the correction coefficient as a correction ratio;
Determining a weight value of a wind direction vector corresponding to the wind direction of the current detection position according to the third ratio and the correction ratio, wherein the weight value of the wind direction vector corresponding to the wind direction of the current detection position is in positive correlation, and the weight value of the wind direction vector corresponding to the wind direction of the current detection position is in negative correlation;
and determining the difference value of the weight value of the wind direction vector corresponding to the wind direction of the current detection position as the weight value of the direction vector corresponding to the optimal detection direction of the current detection position.
Further, the ratio of the third ratio to the corrected ratio is determined as a weight value of the wind direction vector corresponding to the wind direction of the current detection position.
The invention has the following beneficial effects: when monitoring dust at each detection position in the construction environment, the dust concentration detection reliability of the detection direction is measured by analyzing the wind speed and the wind direction of the detection position, so that the correction of the new solution acceptance probability corresponding to the disturbance is realized, the optimal detection direction of the current detection position can be finally and rapidly determined, the dust concentration in the optimal detection direction is determined to be the dust concentration corresponding to the detection position, the rapid detection of the dust concentration of the construction environment can be realized, and the problem of low detection efficiency of the existing dust concentration is solved. Specifically, in the process of determining the optimal detection direction of the current detection position by using the simulated annealing algorithm, when the new solution acceptance probability corresponding to the current round disturbance is obtained, that is, when the dust concentration of the detection direction after the current round disturbance is lower than that of the detection direction before the current round disturbance, the relation between the detection direction before and after the current round disturbance and the wind direction of the current detection position is analyzed, and the influence of the wind speed of the current detection position is combined, so that the dust concentration detection accuracy of the detection direction before and after the current round disturbance influenced by the wind is determined, and the dust concentration detection accuracy characterizes the influence degree of the difference between the detection direction before and after the current round disturbance and the wind direction on the dust concentration detection quality. The method comprises the steps of analyzing the dust concentration detection accuracy of the detection direction before and after the current round disturbance, and determining a new solution acceptance probability influence value corresponding to the current round disturbance by combining the relation between the detection direction and the wind direction, wherein the new solution acceptance probability influence value characterizes the influence degree of the wind direction and the wind speed on the new solution acceptance probability corresponding to the current round disturbance of the detection direction. The new solution acceptance probability influence value is utilized to correct the new solution acceptance probability corresponding to the current round disturbance of the detection direction, so that the corrected new solution acceptance probability can more accurately represent the acceptance probability of the detection direction after the current round disturbance, the optimizing efficiency of the detection direction is effectively improved, the dust concentration in the optimal detection direction is determined to be the dust concentration of the current detection position, the rapid detection of the dust concentration of the current detection position can be realized, and the problem of low detection efficiency of the existing dust concentration is effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for implementing a dust monitoring system for construction environment provided in embodiment 1 of the present invention;
fig. 2 is a flowchart of an implementation method of the dust monitoring system for construction environment provided in embodiment 2 of the system of the present invention.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention to achieve the preset purpose, the following detailed description is given below of the specific implementation, structure, features and effects of the technical solution according to the present invention with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In addition, all parameters or indices in the formulas referred to herein are values after normalization that eliminate the dimensional effects.
System example 1:
the embodiment provides a dust monitoring system for a construction environment, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor can realize the following method steps when executing the computer program, and a flow chart corresponding to the method steps is shown in fig. 1, and specifically comprises the following steps:
step S1: and acquiring the wind speed and the wind direction of the current detection position.
In the dust monitoring process of the construction environment, in order to realize detecting the dust concentration of different detection positions of the whole construction site, the embodiment provides a detecting instrument which is arranged on a monitoring trolley and can detect the dust concentration of different detection positions along with the running of the monitoring trolley. The detecting instrument includes: light scattering type dust meter, filter membrane tester and wind direction and speed detector. Wherein, this light scattering formula dust appearance and filter membrane apparatus mutually support, utilize light scattering method survey principle for survey every detection position dust concentration in the different orientation, because utilize light scattering formula dust appearance and filter membrane apparatus to carry out the specific process that dust concentration detected in the different orientation belongs to prior art, and do not belong to the focus of this scheme, and this is unnecessary to describe again. In this embodiment, the air inlets of the light scattering dust meter and the filter membrane tester are placed at the same measuring point of the detection position and at the same height, and the two air inlets point to the same direction, so as to ensure that the characteristics of dust samples at the air inlets of the two instruments are consistent, and the two instruments need to sample simultaneously when detecting the dust concentration, so that the center distance of the air inlets of the two instruments is not more than 10cm in order to ensure the detection reliability. The wind direction and wind speed detector is used for measuring the wind speed and the wind direction of different detection positions when measuring the dust concentration of the detection positions, wherein the wind speed is a scalar quantity, and the wind speed is the wind speed.
Step S2: in the process of determining the dust concentration corresponding to the optimal detection direction of the current detection position by using the simulated annealing algorithm, when a new solution acceptance probability corresponding to the current round disturbance is obtained, determining the dust concentration detection accuracy of the detection direction before and after the current round disturbance according to the wind speed of the current detection position and the included angle between the detection direction before and after the current round disturbance and the wind direction of the current detection position; determining a new solution acceptance probability influence value corresponding to the current round disturbance according to dust concentration detection accuracy of detection directions before and after the current round disturbance and an included angle between the detection direction after the current round disturbance and the wind direction of the current detection position; and correcting the new solution acceptance probability corresponding to the current round disturbance according to the new solution acceptance probability influence value corresponding to the current round disturbance.
In dust monitoring of a building construction environment, the source positions of dust are usually different, so that dust concentrations in different directions of different positions have obvious differences, dust drift of the building construction environment is influenced by wind direction and wind speed, final concentration monitoring is influenced, and final dust concentration of one position cannot be obtained directly. In order to realize reliable monitoring of dust in a construction environment, dust concentration detection needs to be carried out on a plurality of different positions, and in dust monitoring of the construction environment, the maximum dust concentration of each position needs to be obtained to represent environmental dust to the greatest extent, so that dust falling treatment is carried out on excessive dust in time and rapidly, and environmental dust pollution is reduced, therefore, the optimal detection directions of different positions need to be determined, and the detected dust concentration in the optimal detection directions is the maximum dust concentration of the corresponding position.
For any detection position of the building construction environment, in order to obtain the dust concentration of the detection position in the optimal detection direction, namely, the maximum dust concentration of the detection position, if one detection is carried out in each direction, the detection workload is definitely greatly increased, at this time, after one direction detection is completed, the adjustment angle of the detection direction can be determined by utilizing an optimization algorithm, and then the maximum dust concentration is rapidly obtained. In this embodiment, in order to quickly obtain the maximum value of the dust concentration, the adjustment angle of the detection direction is obtained by using the simulated annealing algorithm, and the detection direction is optimized, so as to obtain the dust concentration in the optimal detection direction. The core idea of the simulated annealing algorithm is as follows: when the current new solution is better than the previous solution, the previous solution is directly replaced by the current new solution, and when the current new solution is worse than the previous solution, the current new solution is accepted according to the new solution acceptance probability. In the simulated annealing algorithm, the new solution acceptance probability under the normal constant temperature state is as follows:
. wherein ,/>
After the j-th disturbance is applied, i.e. the new solution acceptance probability corresponding to the current new solution,/ >
For the new solution after the j-th disturbance application, namely the target quantity corresponding to the j-th disturbance application,/->
For the solution corresponding to the j-th disturbance application, namely the target quantity corresponding to the j-th disturbance application, the absolute value sign is taken, and the absolute value sign is taken>
Is natural constant, T is the ith reduced temperature, ">
，/>
For the initial temperature +.>
Is constant and is usually set to +.>
0.95. Because the specific implementation process of the simulated annealing algorithm belongs to the prior art, the description is omitted here. When the simulated annealing algorithm is used for optimizing the dust concentration in the detection direction of any detection position, the detection direction of the detection position is a disturbance dependent variable, and the dust concentration measured in the detection direction is a target quantity.
Since the wind direction and the wind speed of the detection position influence the dust concentration detection results in different detection directions, and meanwhile, the relation between the dust concentration detection results in different detection directions influences the adjustment of the detection directions, in the existing simulated annealing algorithm, the adjustment of the detection directions mainly depends on the acceptance probability of new solutions, and the existing new solution acceptance probabilities have the same response to all variables, namely, the corresponding new solution acceptance probability is determined for each new solution in the same way. However, the wind direction and the wind speed at each detection position directly influence the relation between different detection directions and dust concentration, so that the detection direction adjustment angle has a certain trend, and at the moment, in order to utilize the trend of the detection direction adjustment angle, the adjustment of the maximum dust concentration direction is quickened.
For any detection position of the building construction environment, when the direction of the air suction ports of the light scattering dust meter and the filter membrane tester is consistent with the wind direction, the direction of the air suction ports is considered to be completely consistent with the wind direction when the direction of the air suction ports is well aligned with the wind direction, and the more consistent the dust characteristics of air samples entering the light scattering dust meter and the filter membrane tester are, the more accurate the measured dust concentration is. Meanwhile, when the wind speed is smaller, the influence of the included angle between the wind direction and the pointing direction of the air suction port on measurement is smaller, and accordingly the measured dust concentration is more accurate. Therefore, in order to facilitate improvement of the new solution acceptance probability in the subsequent simulated annealing algorithm, in determining the dust concentration in the optimal detection direction of any one detection position by using the simulated annealing algorithm, when the new solution acceptance probability corresponding to the current round disturbance is obtained, the dust concentration detection accuracy in the detection direction before and after each round disturbance is obtained based on the relationship between the direction of the air inlets of the light scattering dust meter and the filter membrane tester and the wind direction and the wind speed, the implementation steps include:
taking an included angle between a detection direction before or after current round disturbance and a wind direction of a current detection position as a first numerator, taking a maximum included angle between the detection direction and the wind direction as a first denominator, and taking a ratio of the first numerator and the first denominator as a first ratio;
Taking the added value of the wind speed of the current detection position and the wind speed regulating value as a second numerator, taking the maximum detection accepted wind speed as a second denominator, and taking the ratio of the second numerator to the second denominator as a second ratio;
and determining the dust concentration detection accuracy before the current round of disturbance or after the current round of disturbance according to the first ratio and the second ratio, wherein the first ratio and the second ratio are in negative correlation with the dust concentration detection accuracy.
Specifically, for any one detection position in the construction environment, in the process of determining the dust concentration in the optimal detection direction of the detection position by using the simulated annealing algorithm, the wind speed and the wind direction of the detection position are measured by using the wind direction and wind speed detector, and the wind speed and the wind direction of the same position are not changed greatly in a short time because the time taken for determining the optimal detection direction of the detection position is extremely small, so that the wind speed and the wind direction of the detection position can be considered unchanged in the process of determining the optimal detection direction of the detection position. Meanwhile, the rotation of the monitoring trolley is controlled to change the directions of air inlets of the light scattering dust meter and the filter membrane tester, each direction of the air inlets corresponds to one detection direction, and the dust concentration in each detection direction is detected by the light scattering dust meter and the filter membrane tester, so that the dust concentration detection in each determined detection direction is realized. And continuously applying disturbance to the detection direction to generate a new detection direction, and finishing one-time dust concentration detection in the new detection direction to obtain new dust concentration. When the dust concentration of the detection direction corresponding to the current round disturbance is larger than that of the detection direction corresponding to the current round disturbance, the detection direction corresponding to the current round disturbance is directly updated to the detection direction corresponding to the current round disturbance, and at the moment, the new solution acceptance probability corresponding to the current round disturbance can be considered not to be acquired; when the dust concentration of the detection direction corresponding to the current round disturbance is not greater than the dust concentration of the detection direction corresponding to the current round disturbance, a new solution acceptance probability corresponding to the current round disturbance is obtained, meanwhile, according to the relation between the wind direction and the wind direction of the detection direction corresponding to the current round disturbance and the wind direction and the wind speed, the dust concentration detection accuracy of the detection direction before the current round disturbance or after the current round disturbance is determined, namely, the difference value of the product value of 1 and the first ratio and the second ratio is determined as the dust concentration detection accuracy of the detection direction before the current round disturbance or after the current round disturbance, and the corresponding calculation formula is as follows:
wherein ,
for the dust concentration detection accuracy of the detection direction before or after the current round disturbance,/for the detection direction before or after the current round disturbance>
For a first ratio, ++>
The angle between the detection direction before or after the current round disturbance and the wind direction of the current detection position is +.>
For detecting the maximum angle between direction and wind direction +.>
For regulating the coefficient->
For a second ratio, ++>
For the wind speed of the current detected position, +.>
For the wind speed regulating value, ">
The wind speed is accepted for maximum detection.
The accuracy of detecting the dust concentration in the detection direction before or after the current turn disturbance
In the calculation formula of (1), the maximum included angle between the detection direction and the wind direction is +.>
For detecting the direction before or after the disturbance of the current round and the currentIncluded angle of wind direction of detection position +.>
Normalization is carried out, and the embodiment is set
Angle->
The set value range of (2) is [0 DEG, 90 DEG ]]That is, it is necessary to ensure that the included angle between the corresponding detection direction before and after each disturbance turn and the wind direction of the current detection position is within the set value range, the first ratio +.>
Characterizing the difference degree between the detection direction before or after the current turn disturbance and the wind direction of the current detection position, and when the first ratio is +. >
The larger the value of (2) is, the larger the difference between the detection direction and the wind direction before or after the current turn disturbance is, the adjusting coefficient +.>
Prevent->
The present embodiment sets +.>
. Wind speed regulating value->
For preventing
The present embodiment sets +.>
Maximum detected accepted wind speed +.>
Representing the maximum acceptable wind speed that can be detected for wind speed +.>
Normalizing, and maximum detection of the received wind speed +.>
The value of (2) can be set empirically, the present embodiment sets +.>
Second ratio->
Characterizing the degree to which the wind speed at the current detected position approaches the maximum acceptable wind speed, the second ratio +.>
The larger the wind speed at the current detected position, the closer the wind speed approaches the maximum acceptable wind speed.
The influence of the difference between the detection direction and the wind direction on the dust concentration detection quality is shown, the larger the value is, the lower the accuracy of the detected dust concentration is, and the corresponding dust concentration detection accuracy is->
The smaller the value of (c).
According to the analysis, for any detection position of the building construction environment, the detected dust concentration is influenced by the current environment wind direction and the wind speed, and the different detection directions have obvious differences due to different layering drift directions caused by different wind directions, but a certain optimal detection direction always exists, so that the maximum dust concentration of the current environment can be reflected, and the dust falling operation can be conveniently carried out on the region with the detected dust concentration being too high in time. The maximum dust concentration in the optimal detection direction is detected, and the dust concentration at the corresponding detection position is represented by adopting the maximum dust concentration, so that the inaccuracy of a detection result caused by dust drift due to wind direction in one direction detection is avoided, and the reliable monitoring of the dust concentration can be effectively realized.
For any detection position of the building construction environment, when the wind direction is more consistent with the detection direction, the air sucked by the air suction ports of the light scattering dust meter and the filter membrane tester can carry more dust drifting along with the wind, and larger dust concentration is more likely to be obtained, so that the smaller the included angle between the detection direction adjustment amount and the wind direction is, the higher the acceptance probability of new solution is. It should be understood that, since the dust concentration is affected not only by the wind speed and the wind direction, but also by factors such as the position and the direction of the dust source, although it is said that the more likely that the wind direction is identical to the detection direction, the greater the dust concentration is obtained, the detection direction that is identical to the wind direction does not necessarily correspond to the maximum dust concentration. The dust concentration detection accuracy reflected by the wind direction and the wind speed reflects the reliability of the detection result before and after the detection direction is adjusted, and when the dust concentration detection accuracy obtained before adjustment is smaller and the dust concentration detection accuracy obtained after adjustment is larger, the probability that the detection direction is adjusted is correspondingly larger, and the acceptance probability of the current new solution is supposed to be higher.
Based on the analysis, after determining the dust concentration detection accuracy of the detection direction before and after the current round disturbance, determining a new solution acceptance probability influence value corresponding to the current round disturbance according to the dust concentration detection accuracy of the detection direction before and after the current round disturbance and an included angle between the detection direction after the current round disturbance and the wind speed of the current detection position, wherein a corresponding calculation formula is as follows:
wherein ,
accepting a probability influence value for a new solution corresponding to the current round disturbance,/for the new solution>
For detection before disturbance of current roundDust concentration detection accuracy of direction, +.>
For the dust concentration detection accuracy of the detection direction after the disturbance of the current round, < >>
The angle between the detection direction after the disturbance of the current turn and the wind direction of the current detection position is +.>
For detecting the maximum angle between the direction and the wind direction, e is a natural constant.
The new solution corresponding to the current round disturbance receives the probability influence value
In the corresponding calculation formula, the detection accuracy of the dust concentration before the disturbance of the current round is +.>
The reliability of the detection direction corresponding to the dust concentration before the jth disturbance is shown, the smaller the value is, the greater the possibility that the corresponding detection direction is adjusted is, so the higher the acceptance probability of the current new solution should be. Dust concentration detection accuracy after current round disturbance +.>
The reliability of the detection direction corresponding to the dust concentration after the jth disturbance is shown, and the larger the value is, the higher the acceptance probability of the corresponding new solution is. />
The degree of difference between the detection direction after the jth disturbance and the wind direction of the current detection position is shown, and the larger the value is, the smaller the possibility of obtaining the maximum dust concentration is. / >
Indicating the possibility that the current detection direction reflected by the included angle between the detection direction and the wind direction after the jth disturbance approaches the maximum dust concentration,the larger the value is, the higher the probability of acceptance of the detection direction after the jth disturbance is. By using an exponential function based on the natural constant e>
Negative correlation maps to [0,1 ]]Interval so as to obtain final new solution acceptance probability influence value +.>
. New solution acceptance probability influence value->
The influence degree of the wind direction and the wind speed on the new solution acceptance probability after the jth disturbance of the detection direction is shown, and the larger the value is, the larger the influence degree is shown.
After determining a new solution acceptance probability influence value corresponding to the current round disturbance, correcting the new solution acceptance probability corresponding to the current round disturbance based on the new solution acceptance probability influence value, wherein the implementation steps comprise:
calculating a product value of a new solution acceptance probability influence value corresponding to the current round disturbance and a new solution acceptance probability corresponding to the current round disturbance, taking an addition value of the new solution acceptance probability corresponding to the current round disturbance and the product value as a new solution acceptance probability corresponding to the corrected current round disturbance, wherein a corresponding calculation formula is as follows:
wherein ,
for new solution acceptance probability corresponding to the modified current round disturbance, ++ >
For new solution acceptance probability corresponding to current round disturbance before correction, ++>
And receiving a probability influence value for a new solution corresponding to the current round disturbance.
The new solution acceptance probability corresponding to the corrected current round disturbance
In the corresponding calculation formula, < >>
The specific determination process of the probability of acceptance of the new solution corresponding to the jth disturbance of the corresponding detection direction determined by using the classical simulated annealing algorithm belongs to the prior art and does not belong to the key point of the scheme, and the above description has already provided a specific determination expression, which is not repeated here. />
Correction value representing new solution acceptance probability, when +.>
When the number of the new solutions is larger, the new solution acceptance probability corresponding to the current round disturbance after the correction is finally obtained>
The larger the value of (c) is, the more the detection direction after disturbance should be accepted.
After the new solution acceptance probability in the simulated annealing algorithm is corrected in the above manner, the optimal detection direction of any detection position of the building construction environment is determined by using the simulated annealing algorithm based on the corrected new solution acceptance probability, and the dust concentration corresponding to the optimal detection direction is obtained.
Step S3: and determining the dust concentration corresponding to the optimal detection direction of the current detection position as the dust concentration of the current detection position.
After the optimal detection direction of any detection position of the building construction environment and the dust concentration corresponding to the optimal detection direction are determined by using the simulated annealing algorithm, the dust concentration corresponding to the optimal detection direction of the detection position is determined as the dust concentration of the current detection position, so that a reliable dust concentration monitoring result of the detection position can be obtained. When the dust concentration of the detection position is monitored to be higher, an automatic dust falling system is utilized to carry out dust falling treatment on the area around the detection position.
According to the system, the simulation annealing algorithm is improved according to the influence of wind directions and wind speeds on detection results in different directions, so that the maximum concentration direction can be obtained quickly in the detection direction adjustment of each detection position, namely, the calculation speed is effectively increased, and the problem of low dust concentration detection efficiency in the existing dust monitoring of the building construction environment is effectively solved. It should be appreciated that the system is applicable not only to classical simulated annealing algorithms, but also to various modified classes of algorithms of classical simulated annealing algorithms.
System example 2:
the dust monitoring system for the construction environment provided by the embodiment 1 of the system can be used for rapidly detecting the dust concentration at any detection position in the construction environment. After the dust concentration detection of one detection position is completed, the robot is moved to detect the dust concentration of the next position, so that the dust concentration monitoring of all detection positions is realized. During the movement of the robot, it is necessary to determine the movement direction of the robot, thereby determining the next detection position. In the prior art, the dust detection device is usually moved according to a preset route, so that dust concentration detection at different positions is realized, but advanced detection at a high dust concentration detection position cannot be realized, and thus rapid monitoring of large dust concentration at a building construction site cannot be realized.
In order to realize the advanced detection of the next high dust concentration detection position and realize the rapid monitoring of the larger dust concentration of the construction site, the embodiment provides a new construction environment dust monitoring system, which can also determine the moving direction from any one detection position to the next detection position on the basis of the system provided by the embodiment 1 of the system, so as to determine the next detection position of the high dust concentration, and the corresponding flow chart is shown in fig. 2, and the implementation steps comprise:
According to the wind speed of the current detection position and the included angle between the optimal detection direction of the current detection position and the wind direction of the current detection position, determining the weight value of the wind direction vector corresponding to the wind direction of the current detection position and the weight value of the direction vector corresponding to the optimal detection direction of the current detection position;
according to the wind direction vector corresponding to the wind direction of the current detection position and the weight value thereof and the direction vector corresponding to the optimal detection direction of the current detection position and the weight value thereof, carrying out weighted summation operation, and taking the weighted summation operation result as a movement direction vector moving from the current detection position to the next detection position;
and moving a set distance from the current detection position according to the direction of the moving direction vector, thereby determining the next detection position.
Specifically, since the purpose of the present robot movement for dust detection is to timely and accurately obtain the condition of excessive dust content in the construction environment, and timely dust fall treatment is performed on the construction environment, the robot always needs to move toward the direction with larger dust content. The dust monitoring system for construction environment provided in the above system embodiment 1 can obtain the direction of maximum dust content of each detection position, that is, the optimal detection direction, but in the actual detection process, because the drift direction of dust can be changed under the influence of wind direction, the direction corresponding to the maximum dust concentration of the current detection position is not necessarily the direction of increasing dust content, at this time, the direction of increasing dust concentration cannot be directly obtained, so that the next detection position cannot be directly determined, and therefore, the direction of maximum dust concentration needs to be determined by combining the dust characteristics and the influence of corresponding wind direction, and then the advancing direction of the final robot is determined.
The advancing direction of the robot is mainly influenced by the wind direction of the current detection position and the direction of the maximum dust concentration, and the influence relation is influenced by the included angle between the wind direction and the direction of the maximum dust concentration, so that the advancing direction of the robot is determined jointly. In order to determine a moving direction vector moving from a current detection position to a next detection position, it is first necessary to determine a weight value of a wind direction vector corresponding to a wind direction of the current detection position and a weight value of a direction vector corresponding to an optimal detection direction of the current detection position, and the implementation steps include:
taking the added value of the wind speed of the current detection position and the wind speed regulating value as a third numerator, taking the maximum detection accepted wind speed as a third denominator, and taking the ratio of the third numerator to the third denominator as a third ratio;
taking the included angle between the optimal detection direction of the current detection position and the wind direction of the current detection position as a fourth numerator, taking the maximum included angle between the detection direction and the wind direction as a fourth denominator, taking the ratio of the fourth numerator to the fourth denominator as a fourth ratio, and taking the addition value of the fourth ratio and the correction coefficient as a correction ratio;
determining a weight value of a wind direction vector corresponding to the wind direction of the current detection position according to the third ratio and the correction ratio, wherein the weight value of the wind direction vector corresponding to the wind direction of the current detection position is in positive correlation, and the weight value of the wind direction vector corresponding to the wind direction of the current detection position is in negative correlation;
And determining the difference value of the weight value of the wind direction vector corresponding to the wind direction of the current detection position as the weight value of the direction vector corresponding to the optimal detection direction of the current detection position.
And determining the ratio of the third ratio to the correction ratio as a weight value of the wind direction vector corresponding to the wind direction of the current detection position, and determining the difference value of the weight values of the wind direction vectors corresponding to the wind direction of the current detection position as a weight value of the direction vector corresponding to the optimal detection direction of the current detection position, wherein the difference value of the weight values of the wind direction vectors corresponding to the wind direction of the current detection position is 1. After determining the weight value of the wind direction vector corresponding to the wind direction of the current detection position and the weight value of the direction vector corresponding to the optimal detection direction of the current detection position, performing weighted summation operation on the wind direction vector corresponding to the wind direction of the current detection position and the weight value thereof and the direction vector corresponding to the optimal detection direction of the current detection position, thereby determining a moving direction vector moving from the current detection position to the next detection position, wherein the corresponding calculation formula is as follows:
wherein ,
for a movement direction vector from the current detection position to the next detection position +. >
Weight value of wind direction vector corresponding to wind direction of current detection position, +.>
Weight value of direction vector corresponding to optimal detection direction for current detection position, +.>
A direction vector corresponding to the optimal detection direction for the current detection position, < >>
For a third ratio>
For the wind speed of the current detected position, +.>
For the wind speed regulating value, ">
For maximum detected accepted wind speed,/->
To correct the ratio->
For the fourth ratio, ++>
For the angle between the optimal detection direction of the current detection position and the wind direction of the current detection position,/>
For detecting the maximum angle between direction and wind direction +.>
Is a correction coefficient.
The above-mentioned movement direction vector for moving from the current detection position to the next detection position
In the calculation formula of (2), the fourth ratio +.>
The degree of difference between the optimal detection direction of the current t-th detection position and the wind direction of the current detection position is shown, the smaller the value is, the larger the influence of the wind direction on the current maximum dust concentration is, namely the greater the possibility that the current maximum dust concentration drifts along with the wind direction is, so the greater the possibility that the current optimal detection direction is that the maximum dust concentration direction is the dust increasing direction is, the smaller the difference between the advancing direction of the robot and the current optimal detection direction is, and the weight value of the wind direction vector corresponding to the wind direction of the current detection position is >
The larger. Third ratio->
The influence degree of the wind direction reflected by the wind speed on the current detection is represented, and the larger the value is, the larger the influence degree of the wind direction reflected by the wind speed on the current detection is represented. Current detected position wind directionWeight value of corresponding wind direction vector +.>
The larger the value of the influence degree of the wind direction and the wind speed is, the larger the influence degree of the wind direction and the wind speed is, and the larger the relation between the advancing direction and the wind direction is. Weight value of direction vector corresponding to optimal detection direction of current detection position +.>
The degree of influence of the optimal detection direction of the current detection position on the advancing direction of the robot is shown to be larger in addition to the influence of the wind speed and the wind direction, and the larger the value of the degree of influence is, the larger the degree of influence of the optimal detection direction of the current detection position on the maximum dust concentration is, and the larger the relation between the advancing direction and the optimal detection direction of the current detection position is. />
Representing the heading of the current robot as reflected by wind direction and wind speed,/>
The optimal detection direction representing the current position reflects the heading of the current robot.
In the above manner, a movement direction vector for moving from the current detection position to the next detection position is determined 
After the dust concentration detection at the current detection position is completed, the robot is controlled to move a set distance from the current detection position in the direction of the movement direction vector, thereby reaching the next detection position, and the dust concentration detection is performed at the next detection position. The size of the set distance can be set according to the dust concentration monitoring requirement, and the set distance is set to be 5 meters in value in the embodiment. In the case of dust concentration detection at the next detection position, the corresponding robot is advanced, that is, the movement direction vector +_ which moves from the current detection position to the next detection position>
The method comprises the steps of firstly, determining the dust concentration of a current detection position, namely, performing initial direction of dust concentration detection in different directions for the next detection position, then determining the dust concentration of the next detection position according to the method for determining the dust concentration of the current detection position, and the like, so as to realize dust concentration detection of different detection positions, and further realize dust monitoring of a building construction environment.
After the robot realizes dust concentration detection of different detection positions in the moving process, the acquired dust concentration can be directly transmitted to a dust monitoring background system, so that the dust monitoring background system can timely master dust concentration conditions of different positions, and the dust concentration monitoring in the current building construction environment is realized. After the dust monitoring background system receives the dust concentrations of different detection positions, judging whether the dust concentrations exceed the standard according to a dust management rule, and if so, starting the dust settling system to carry out dust settling treatment on the corresponding detection position areas.
According to the system, the influence of the wind direction on the dust drift direction is considered, and different expression degrees of the wind direction and the maximum concentration direction on the concentration increasing direction are determined, so that the more reliable concentration increasing direction is obtained, namely, the advancing direction of the robot is obtained, and the rapid monitoring of the larger dust content in the current environment is facilitated.
It should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (8)
1. A building construction environment dust monitoring system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when executing the computer program, performing the method steps of:
Acquiring the wind speed and the wind direction of the current detection position;
in the process of determining the dust concentration corresponding to the optimal detection direction of the current detection position by using the simulated annealing algorithm, when a new solution acceptance probability corresponding to the current round disturbance is obtained, determining the dust concentration detection accuracy of the detection direction before and after the current round disturbance according to the wind speed of the current detection position and the included angle between the detection direction before and after the current round disturbance and the wind direction of the current detection position; determining a new solution acceptance probability influence value corresponding to the current round disturbance according to dust concentration detection accuracy of detection directions before and after the current round disturbance and an included angle between the detection direction after the current round disturbance and the wind direction of the current detection position; correcting the new solution acceptance probability corresponding to the current round disturbance according to the new solution acceptance probability influence value corresponding to the current round disturbance;
and determining the dust concentration corresponding to the optimal detection direction of the current detection position as the dust concentration of the current detection position.
2. The system for monitoring dust in a construction environment according to claim 1, wherein determining the dust concentration detection accuracy of the detection direction before and after the disturbance of the current turn comprises:
Taking an included angle between a detection direction before or after current round disturbance and a wind direction of a current detection position as a first numerator, taking a maximum included angle between the detection direction and the wind direction as a first denominator, and taking a ratio of the first numerator and the first denominator as a first ratio;
taking the added value of the wind speed of the current detection position and the wind speed regulating value as a second numerator, taking the maximum detection accepted wind speed as a second denominator, and taking the ratio of the second numerator to the second denominator as a second ratio;
and determining the dust concentration detection accuracy of the detection direction before or after the current round of disturbance according to the first ratio and the second ratio, wherein the first ratio and the second ratio are in negative correlation with the dust concentration detection accuracy.
3. The system according to claim 2, wherein a difference between the product value of 1 and the first ratio and the second ratio is determined as the dust concentration detection accuracy in the detection direction before or after the current disturbance.
4. The system for monitoring dust in a construction environment according to claim 1, wherein a new solution acceptance probability influence value corresponding to current round disturbance is determined, and a corresponding calculation formula is:
wherein ,
accepting a probability influence value for a new solution corresponding to the current round disturbance,/for the new solution>
For the dust concentration detection accuracy of the detection direction before the disturbance of the current round, < >>
For the dust concentration detection accuracy of the detection direction after the disturbance of the current round, < >>
The angle between the detection direction after the disturbance of the current turn and the wind direction of the current detection position is +.>
For detecting the maximum angle between the direction and the wind direction, e is a natural constant.
5. The system for monitoring dust in a construction environment according to claim 1, wherein the correction of the new solution acceptance probability corresponding to the current disturbance comprises:
calculating a product value of a new solution acceptance probability influence value corresponding to the current round disturbance and a new solution acceptance probability corresponding to the current round disturbance, and taking the addition value of the new solution acceptance probability corresponding to the current round disturbance and the product value as the corrected new solution acceptance probability corresponding to the current round disturbance.
6. The construction environment dust monitoring system according to claim 1, wherein the method steps further comprise:
according to the wind speed of the current detection position and the included angle between the optimal detection direction of the current detection position and the wind direction of the current detection position, determining the weight value of the wind direction vector corresponding to the wind direction of the current detection position and the weight value of the direction vector corresponding to the optimal detection direction of the current detection position;
According to the wind direction vector corresponding to the wind direction of the current detection position and the weight value thereof and the direction vector corresponding to the optimal detection direction of the current detection position and the weight value thereof, carrying out weighted summation operation, and taking the weighted summation operation result as a movement direction vector moving from the current detection position to the next detection position;
and moving a set distance from the current detection position according to the direction of the moving direction vector, thereby determining the next detection position.
7. The system according to claim 6, wherein determining the weight value of the wind direction vector corresponding to the wind direction of the current detection position and the weight value of the direction vector corresponding to the optimal detection direction of the current detection position comprises:
taking the added value of the wind speed of the current detection position and the wind speed regulating value as a third numerator, taking the maximum detection accepted wind speed as a third denominator, and taking the ratio of the third numerator to the third denominator as a third ratio;
taking the included angle between the optimal detection direction of the current detection position and the wind direction of the current detection position as a fourth numerator, taking the maximum included angle between the detection direction and the wind direction as a fourth denominator, taking the ratio of the fourth numerator to the fourth denominator as a fourth ratio, and taking the addition value of the fourth ratio and the correction coefficient as a correction ratio;
Determining a weight value of a wind direction vector corresponding to the wind direction of the current detection position according to the third ratio and the correction ratio, wherein the weight value of the wind direction vector corresponding to the wind direction of the current detection position is in positive correlation, and the weight value of the wind direction vector corresponding to the wind direction of the current detection position is in negative correlation;
and determining the difference value of the weight value of the wind direction vector corresponding to the wind direction of the current detection position as the weight value of the direction vector corresponding to the optimal detection direction of the current detection position.
8. The system according to claim 7, wherein the ratio of the third ratio to the corrected ratio is determined as a weight value of a wind direction vector corresponding to the wind direction of the current detection position.
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