CN117419646B - Method and system for monitoring displacement of fan spindle based on laser sensor - Google Patents
Method and system for monitoring displacement of fan spindle based on laser sensor Download PDFInfo
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Abstract
The invention discloses a method for monitoring the displacement of a main shaft of a fan based on a laser sensor, which comprises the following steps: s1, emitting laser through a laser sensor to form light spots, and acquiring pure signal data on the surface of a main shaft of a fan; s2, filtering the pure signal data, and calculating the central position of the light spot; s3, obtaining a laboratory multidimensional scaling factor and a displacement compensation coefficient through experiments, establishing a lookup relation table between the multidimensional scaling factor and the displacement compensation coefficient, and establishing a polynomial fitting equation; s4, determining corresponding multidimensional scaling factors according to the installation environment of the laser sensor on the fan spindle, selecting corresponding displacement compensation coefficients through a lookup relation table, and calculating to obtain the actual displacement of the fan spindle by combining a polynomial fitting equation.
Description
Technical Field
The invention relates to the field of wind power generation and fan spindle monitoring, in particular to a method and a system for monitoring fan spindle displacement based on a laser sensor.
Background
In recent years, with the rapid development of the wind power industry, the capacity of a wind turbine generator is larger and the length of blades is longer, the influence of different loads on the wind turbine generator is larger and larger, the real-time monitoring of the change of the load of a main shaft of the wind turbine generator gradually becomes an important step for realizing independent pitch control, the change of the load of the main shaft of the wind turbine generator is mainly reflected on the change amount of the displacement of the main shaft of a fan, and the main control of the fan can convert the change amount of the displacement of the main shaft into the actual change of the load of the main shaft, and then the independent pitch control is realized through different filtering modes so as to prolong the service life of the fan.
Most of the existing industrial displacement sensors applied to wind generating sets have the following problems: 1. is easily affected by temperature, resulting in low measurement accuracy; 2. the lightning is easy to be struck by lightning, damage is caused, and maintenance cost is increased; 3. the industrial displacement sensor is unstable in ranging, and the measurement result is affected; the problems above result in the problem that the industrial displacement sensor is easily disturbed by the environment in the use process to have a ranging fault.
Disclosure of Invention
The problems that the temperature is not adaptive, lightning is easy to strike and the distance measurement is unstable when the existing industrial displacement sensor is applied to a wind generating set in the prior art are solved; the invention aims to provide a method and a system for monitoring fan spindle displacement based on a laser sensor.
In order to achieve the above object, the present invention adopts the following technical scheme:
a method for monitoring fan spindle displacement based on a laser sensor comprises the following steps:
s1, emitting laser through a laser sensor to form light spots, and acquiring pure signal data on the surface of a main shaft of a fan;
s2, filtering the pure signal data, and calculating the central position of the light spot;
s3, obtaining a laboratory multidimensional scaling factor and a displacement compensation coefficient through experiments, establishing a lookup relation table between the multidimensional scaling factor and the displacement compensation coefficient, and establishing a polynomial fitting equation;
s4, determining corresponding multidimensional scaling factors according to the installation environment of the laser sensor on the fan spindle, selecting corresponding displacement compensation coefficients through a lookup relation table, and calculating to obtain the actual displacement of the fan spindle by combining a polynomial fitting equation;
s5, judging the hardware state of the laser sensor, wherein the hardware state comprises a temperature state and a lightning state, and when the temperature is greater than or equal to-0.5 ℃, the data flag bit is 1; when the temperature is less than-0.5 ℃, the data flag bit is 0; when not interfered by lightning, the data flag bit is 1; when lightning interference occurs, the data flag bit is 0;
s6, a state monitoring module monitors the hardware data flow state of the laser sensor, and if the hardware data flow state is normal, the data flag bit is 1; if not, the data flag bit is 0;
and S7, when the data zone bit of the hardware data stream state is 1, converting the actual displacement of the main shaft of the fan into an analog quantity of 4-20 mA, and transmitting the analog quantity to a main control of the fan through a PLC of the fan.
As a further preferred aspect of the present invention, the acquiring pure signal data of the surface of the spindle of the fan includes:
s1.1, a laser sensor is arranged on the surface of a main shaft of a fan, the laser sensor system comprises a laser, an image sensor, an MCU controller and a lightning protection module, the laser sensor system transmits laser to a surface to be detected through the laser, the surface to be detected returns a reflected signal to enter the image sensor, and the MCU controller acquires real-time dark level data inside the whole laser sensor system and spot signal data reflected back by the surface to be detected;
s1.2, reducing the output power of a laser through an MCU (micro control Unit) controller in the laser sensor, collecting a plurality of frames of dark level data, and calculating the average value of the dark level data;
s1.3, the output power of the laser is improved through an MCU (micro control Unit) controller in the laser sensor, single-frame facula signal data are collected in real time, and dark level data are subtracted, so that pure signal data are obtained.
As a further preferred aspect of the present invention, the filtering the pure signal data to calculate the center position of the light spot includes:
s2.1, setting a sliding window based on pure signal data of a single frame, calculating the average value of the pure signal data in the sliding window, and taking the average value as an output value to obtain pure signal data DN after mean value filtering;
s2.2, calculating to obtain the maximum value of the pure signal data DNAnd the minimum value of the pure signal data DN；
S2.3, calculating half-peak width by using a differential threshold method,
，
，
wherein->For the acquired pure signal value of the i-th pixel, is->For the acquired pure signal value of the j-th pixel, a calculation is made +.>And->；
S2.4 byAnd->Extracting a starting point StartPoint and an ending point Endpoint of an effective peak area;
s2.5, based on pure signal data in the effective peak area, passing
，
Wherein,，/>signal values representing the positions of the different pixels,pixel coordinates representing different positions, calculating to obtain centroid pixel coordinates +.>。
As a further preferred aspect of the present invention, the sliding window is set to 5-31.
As a further preferred aspect of the present invention, the obtaining the laboratory calibration factor includes:
s3.1, classifying the surface state of the main shaft of the fan; the classification includes: measured surfaces p of different roughness 1 Measured surface p of different inclination angles 2 Measured surfaces p of different colours 3 Different ambient temperatures p 4 ；
S3.2, the measured surfaces p with different roughness 1 Measured surface p of different inclination angles 2 Measured surfaces p of different colours 3 Different ambient temperatures p 4 Dividing into 6 grades respectively, and giving different weights; measured surfaces p of different roughness 1 Divided into 6 different classes: p is p 11 、p 12 、p 13 、p 14 、p 15 、p 16 Wherein p is 11 +p 12 +p 13 +p 14 +p 15 +p 16 =1; measured surfaces p of different inclination angles 2 Divided into 6 different classes: p is p 21 、p 22 、p 23 、p 24 、p 25 、p 26 Wherein p is 21 +p 22 +p 23 +p 24 +p 25 +p 26 =1; different colors of the surface p to be measured 3 Divided into 6 different classes: p is p 31 、p 32 、p 33 、p 34 、p 35 、p 36 Wherein p is 31 +p 32 +p 33 +p 34 +p 35 +p 36 =1; different ambient temperature p 4 Divided into 6 different classes: p is p 41 、p 42 、p 43 、p 44 、p 45 、p 46 Wherein p is 41 +p 42 +p 43 +p 44 +p 45 +p 46 =1；
S3.3, arranging and combining six different levels of four different classifications to form a plurality of multidimensional scaling factors; making an experiment record table under different multidimensional scaling factor combinations;
s3.4, installing the laser sensor on the automatic calibration platform, and automatically controlling the actual displacement of the laser sensor on the automatic calibration platform through a program according to a program set by the experiment record table;
s3.5, calibrating the pixel coordinates of the centroid position output by the laser sensor, establishing a polynomial fitting equation of the pixel coordinates of the centroid position and the actual displacement,wherein y represents the actual displacement, x represents the pixel coordinates, a1, a2, a3 and a4 represent fitting coefficients, and displacement compensation coefficients under corresponding calibration factors are automatically calculated to obtain a lookup relation table of the compensation coefficients and the multi-dimensional calibration factors.
As a further preferable aspect of the present invention, when the temperature status data flag bit of the laser sensor is 0, the heating sheet inside the laser sensor is turned on to heat until the temperature of the laser sensor is recovered, and the data flag bit jumps to 1.
A system for monitoring the displacement of a fan spindle based on a laser sensor comprises a laser sensor system, a laser measuring module, a state monitoring module and a displacement output module; the laser sensor system comprises a laser, an image sensor, an MCU controller and a lightning protection module, wherein the laser sensor system transmits laser to a surface to be detected through the laser, the surface to be detected returns a reflected signal to enter the image sensor, and the MCU controller can acquire real-time dark level data inside the whole sensor system and spot signal data reflected by the surface to be detected and is used for photoelectric signal conversion of the system; the laser measurement module is used for converting signal data of a target to be measured, which is acquired in real time, into actual displacement; the state monitoring module is used for monitoring whether the real-time hardware data flow in the working process of the laser sensor is normal or not; the laser measuring module and the state monitoring module are respectively connected with the laser sensor system, and the state monitoring module is connected with the displacement output module; the hardware data flow comprises working temperature, working voltage, working current and the running state of the lightning protection module; the displacement output module is used for converting the measured actual displacement into current analog quantity according to application rules by combining the real-time laser sensor hardware data stream and transmitting the current analog quantity to the fan main control.
The invention has the advantages that:
1. according to the invention, through designing automatic time sequence control, firstly, the power of the laser is reduced to collect the dark level data of the whole system, then the power of the laser is increased to a stable state to collect the signal data of the whole system in real time, and the influence of background noise on the ranging precision of the system is reduced;
2. according to the invention, by detecting the temperature state and the lightning state of hardware, the self-protection of the system is realized, the data zone bit is updated in real time, and the real-time judgment improves the environmental adaptability of the laser sensor in the application of the fan main shaft;
3. in the invention, from the multi-dimensional consideration, a lookup relation table of compensation coefficients and multi-dimensional calibration factors is established; when in actual installation and use, different compensation coefficients can be selected according to different field environment configurations to realize high-precision output of displacement variation,
4. the laser sensor system adopts a combined control mode of signal data flow and state data flow, improves the confidence of displacement measurement of the laser sensor, and provides an effective data source for health detection of the fan.
Drawings
Fig. 1 is a schematic flow chart of the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments.
Example 1: referring to fig. 1, a method for monitoring displacement of a fan spindle based on a laser sensor includes the following steps:
s1, emitting laser through a laser sensor to form light spots, and acquiring pure signal data on the surface of a fan spindle.
Install laser sensor in fan main shaft, utilize microcontroller MCU to reduce the power of laser instrument, gather laser sensor system's dark level data, then improve the power of laser instrument, carry out dark level correction when obtaining fan main shaft surface signal data in real time, obtain laser sensor system's pure signal data, specifically include:
s1.1, install laser sensor in fan main shaft surface, laser sensor system includes laser instrument, image sensor, MCU controller, lightning protection module, laser sensor system passes through laser instrument transmission laser to the surface of awaiting measuring, and the surface of awaiting measuring can return reflected signal and get into image sensor, and MCU controller obtains the inside real-time dark level data of whole laser sensor system, the facula signal data that the surface of awaiting measuring reflected back.
S1.2, reducing the output power of the laser through an MCU (micro control Unit) controller in the laser sensor, collecting a plurality of frames of dark level data, wherein the dark level data refer to noise data in the sensor system when the laser is turned off, and calculating the average value of the dark level data.
S1.3, the output power of a laser is improved through an MCU (micro control Unit) in the laser sensor, single-frame facula signal data are collected in real time, the facula signal data refer to signals reflected back to the sensor system through irradiation of the laser on the surface to be measured, and dark level data are subtracted, so that pure signal data are obtained.
S2, filtering the pure signal data, and calculating the central position of the light spot.
Based on the obtained pure signal data, selecting a certain sliding window for mean value filtering, screening out an effective signal peak area, and calculating pixel coordinates corresponding to the centroid position of the light spot, wherein the method specifically comprises the following steps:
s2.1, setting a sliding window based on pure signal data of a single frame, setting the sliding window to be 5-31, calculating the average value of the pure signal data in the sliding window, and taking the average value as an output value to obtain pure signal data DN after mean filtering.
S2.2, calculating to obtain the maximum value of the pure signal data DNAnd the minimum value of the pure signal data DN。
S2.3, calculating half-peak width by using a differential threshold method,
，
，
wherein->For the acquired pure signal value of the i-th pixel, is->For the acquired pure signal value of the j-th pixel, a calculation is made +.>And->。
S2.4 byAnd->The starting point StartPoint and the ending point Endpoint of the effective peak region are extracted.
S2.5, based on pure signal data in the effective peak area, passing
，
Wherein,，/>signal values representing the positions of the different pixels,pixel coordinates representing different positions, calculating to obtain centroid pixel coordinates +.>。
S3, obtaining a laboratory multidimensional scaling factor and a displacement compensation coefficient through experiments, establishing a lookup relation table between the multidimensional scaling factor and the displacement compensation coefficient, and establishing a polynomial fitting equation.
The laboratory installs the laser sensor on an automatic calibration platform, considers multi-factor conditions of measured surfaces with different roughness, measured surfaces with different inclination angles, measured surfaces with different colors and different environmental temperatures, combines multi-dimensional calibration factors, and establishes a lookup table of compensation coefficients and multi-dimensional calibration factors; and then corresponding calibration coefficients are applied according to the installation environment of the laser sensor, so that the actual displacement is obtained, and the method specifically comprises the following steps:
s3.1, classifying the surface state of the main shaft of the fan; the classification includes: measured surfaces p of different roughness 1 Measured surface p of different inclination angles 2 Measured surfaces p of different colours 3 Different ambient temperatures p 4 。
S3.2, the measured surfaces p with different roughness 1 Measured surface p of different inclination angles 2 Measured surfaces p of different colours 3 Different ambient temperatures p 4 Dividing into 6 grades respectively, and giving different weights; measured surfaces p of different roughness 1 Divided into 6 different classes: p is p 11 、p 12 、p 13 、p 14 、p 15 、p 16 Wherein p is 11 +p 12 +p 13 +p 14 +p 15 +p 16 =1; measured surfaces p of different inclination angles 2 Divided into 6 different classes: p is p 21 、p 22 、p 23 、p 24 、p 25 、p 26 Wherein p is 21 +p 22 +p 23 +p 24 +p 25 +p 26 =1; different colors of the surface p to be measured 3 Divided into 6 different classes: p is p 31 、p 32 、p 33 、p 34 、p 35 、p 36 Wherein p is 31 +p 32 +p 33 +p 34 +p 35 +p 36 =1; different ambient temperature p 4 Divided into 6 different classes: p is p 41 、p 42 、p 43 、p 44 、p 45 、p 46 Wherein p is 41 +p 42 +p 43 +p 44 +p 45 +p 46 =1。
S3.3, arranging and combining six different levels of four different classifications to form a plurality of multidimensional scaling factors; and (5) making an experiment record table under different multidimensional scaling factor combinations.
S3.4, installing the laser sensor on the automatic calibration platform, and automatically controlling the actual displacement of the laser sensor on the automatic calibration platform through a program according to the program set by the experiment record table.
S3.5, calibrating the pixel coordinates of the centroid position output by the laser sensor, establishing a polynomial fitting equation of the pixel coordinates of the centroid position and the actual displacement,wherein y represents the actual displacement, x represents the pixel coordinates, a1, a2, a3 and a4 represent fitting coefficients, and displacement compensation coefficients under corresponding calibration factors are automatically calculated to obtain a lookup relation table of the compensation coefficients and the multi-dimensional calibration factors.
S4, determining corresponding multidimensional scaling factors according to the installation environment of the laser sensor on the fan spindle, selecting corresponding displacement compensation coefficients through a lookup relation table, and calculating to obtain the actual displacement of the fan spindle by combining a polynomial fitting equation.
S5, judging the hardware state of the laser sensor, wherein the hardware state comprises a temperature state and a lightning state, and when the temperature is greater than or equal to-0.5 ℃, the data flag bit is 1; when the temperature is less than-0.5 ℃, the data flag bit is 0; when not interfered by lightning, the data flag bit is 1; when the lightning is interfered, the data flag bit is 0.
And monitoring the hardware state of the laser sensor, wherein when the laser sensor is monitored to be in an environment with the temperature less than-0.5 ℃, the heating plate in the sensor is started, the data flag bit is 0, and when the temperature is recovered, the data flag bit is 1.
When the lightning interference of the laser sensor is monitored, the lightning protection module in the sensor is started, the data zone bit is 0, and when the lightning interference is eliminated, the data zone bit is 1.
And judging hardware state data of the laser sensor system in real time, determining whether the calculated actual displacement is effective, updating corresponding data zone bits, and converting the data zone bits into displacement analog quantity for output in a threshold judgment mode.
S6, a state monitoring module monitors the hardware data flow state of the laser sensor, and if the hardware data flow state is normal, the data flag bit is 1; and if not, the data flag bit is 0.
And S7, when the data zone bit of the hardware data stream state is 1, converting the actual displacement of the main shaft of the fan into an analog quantity of 4-20 mA, and transmitting the analog quantity to a main control of the fan through a PLC of the fan.
Embodiment 2, a system for monitoring fan spindle displacement based on a laser sensor, comprising a laser sensor system, a laser measurement module, a state monitoring module and a displacement output module; the laser sensor system comprises a laser, an image sensor, an MCU controller and a lightning protection module, wherein the laser sensor system transmits laser to a surface to be detected through the laser, the surface to be detected returns a reflected signal to enter the image sensor, and the MCU controller can acquire real-time dark level data inside the whole sensor system and spot signal data reflected by the surface to be detected and is used for photoelectric signal conversion of the system; the laser measurement module is used for converting signal data of a target to be measured, which is acquired in real time, into actual displacement; the state monitoring module is used for monitoring whether the real-time hardware data flow in the working process of the laser sensor is normal or not; the laser measuring module and the state monitoring module are respectively connected with the laser sensor system, and the state monitoring module is connected with the displacement output module; the hardware data flow comprises working temperature, working voltage, working current and the running state of the lightning protection module; the displacement output module is used for converting the measured actual displacement into current analog quantity according to application rules by combining the real-time laser sensor hardware data stream and transmitting the current analog quantity to the fan main control.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be appreciated by persons skilled in the art that the above embodiments are not intended to limit the invention in any way, and that all technical solutions obtained by means of equivalent substitutions or equivalent transformations fall within the scope of the invention.
Claims (6)
1. The method for monitoring the displacement of the main shaft of the fan based on the laser sensor is characterized by comprising the following steps of:
s1, emitting laser through a laser sensor to form light spots, and acquiring pure signal data on the surface of a main shaft of a fan;
s1.1, a laser sensor is arranged on the surface of a main shaft of a fan, the laser sensor system comprises a laser, an image sensor, an MCU controller and a lightning protection module, the laser sensor system transmits laser to a surface to be detected through the laser, the surface to be detected returns a reflected signal to enter the image sensor, and the MCU controller acquires real-time dark level data inside the whole laser sensor system and spot signal data reflected back by the surface to be detected;
s1.2, reducing the output power of a laser through an MCU (micro control Unit) controller in the laser sensor, collecting a plurality of frames of dark level data, and calculating the average value of the dark level data;
s1.3, improving the output power of a laser through an MCU (micro control Unit) controller in the laser sensor, collecting single-frame facula signal data in real time, and deducting dark level data, so that pure signal data are obtained;
s2, filtering the pure signal data, and calculating the central position of the light spot;
s3, obtaining a laboratory multidimensional scaling factor and a displacement compensation coefficient through experiments, establishing a lookup relation table between the multidimensional scaling factor and the displacement compensation coefficient, and establishing a polynomial fitting equation;
s4, determining corresponding multidimensional scaling factors according to the installation environment of the laser sensor on the fan spindle, selecting corresponding displacement compensation coefficients through a lookup relation table, and calculating to obtain the actual displacement of the fan spindle by combining a polynomial fitting equation;
s5, judging the hardware state of the laser sensor, wherein the hardware state comprises a temperature state and a lightning state, and when the temperature is greater than or equal to-0.5 ℃, the data flag bit is 1; when the temperature is less than-0.5 ℃, the data flag bit is 0; when not interfered by lightning, the data flag bit is 1; when lightning interference occurs, the data flag bit is 0;
s6, a state monitoring module monitors the hardware data flow state of the laser sensor, and if the hardware data flow state is normal, the data flag bit is 1; if not, the data flag bit is 0;
and S7, when the data zone bit of the hardware data stream state is 1, converting the actual displacement of the main shaft of the fan into an analog quantity of 4-20 mA, and transmitting the analog quantity to a main control of the fan through a PLC of the fan.
2. The method of claim 1, wherein filtering the pure signal data to calculate the center position of the spot comprises:
s2.1, setting a sliding window based on pure signal data of a single frame, calculating the average value of the pure signal data in the sliding window, and taking the average value as an output value to obtain pure signal data DN after mean value filtering;
s2.2, calculating to obtain the maximum value of the pure signal data DNAnd minimum value of pure signal data DN +.>；
S2.3, calculating half-peak width by using a differential threshold method,
，
，
wherein->For the acquired pure signal value of the i-th pixel, is->For the acquired pure signal value of the j-th pixel, a calculation is made +.>And->；
S2.4 byAnd->Extracting a starting point StartPoint and an ending point Endpoint of an effective peak area;
s2.5, based on pure signal data in the effective peak area, passing
，
Wherein,，/>signal values representing different pixel positions, +.>Pixel coordinates representing different positions, calculating to obtain centroid pixel coordinates +.>。
3. A method of monitoring fan spindle displacement based on a laser sensor according to claim 2, wherein the sliding window is set to 5-31.
4. The method for monitoring fan spindle displacement based on a laser sensor according to claim 1, wherein the obtaining laboratory calibration coefficients comprises:
s3.1, classifying the surface state of the main shaft of the fan; the saidThe classification includes: measured surfaces p of different roughness 1 Measured surface p of different inclination angles 2 Measured surfaces p of different colours 3 Different ambient temperatures p 4 ；
S3.2, the measured surfaces p with different roughness 1 Measured surface p of different inclination angles 2 Measured surfaces p of different colours 3 Different ambient temperatures p 4 Dividing into 6 grades respectively, and giving different weights; measured surfaces p of different roughness 1 Divided into 6 different classes: p is p 11 、p 12 、p 13 、p 14 、p 15 、p 16 Wherein p is 11 +p 12 +p 13 +p 14 +p 15 +p 16 =1; measured surfaces p of different inclination angles 2 Divided into 6 different classes: p is p 21 、p 22 、p 23 、p 24 、p 25 、p 26 Wherein p is 21 +p 22 +p 23 +p 24 +p 25 +p 26 =1; different colors of the surface p to be measured 3 Divided into 6 different classes: p is p 31 、p 32 、p 33 、p 34 、p 35 、p 36 Wherein p is 31 +p 32 +p 33 +p 34 +p 35 +p 36 =1; different ambient temperature p 4 Divided into 6 different classes: p is p 41 、p 42 、p 43 、p 44 、p 45 、p 46 Wherein p is 41 +p 42 +p 43 +p 44 +p 45 +p 46 =1；
S3.3, arranging and combining six different levels of four different classifications to form a plurality of multidimensional scaling factors; making an experiment record table under different multidimensional scaling factor combinations;
s3.4, installing the laser sensor on the automatic calibration platform, and automatically controlling the actual displacement of the laser sensor on the automatic calibration platform through a program according to a program set by the experiment record table;
s3.5, calibrating the pixel coordinates of the centroid position output by the laser sensor,a polynomial fitting equation of the centroid position pixel coordinates and the actual displacement is established,wherein y represents the actual displacement, x represents the pixel coordinates, a1, a2, a3 and a4 represent fitting coefficients, and displacement compensation coefficients under corresponding calibration factors are automatically calculated to obtain a lookup relation table of the compensation coefficients and the multi-dimensional calibration factors.
5. The method for monitoring the displacement of the main shaft of the fan based on the laser sensor according to claim 1, wherein when the temperature state data flag bit of the laser sensor is 0, a heating plate inside the laser sensor is opened for heating until the temperature of the laser sensor is recovered, and the data flag bit jumps to 1.
6. The system for monitoring the displacement of the main shaft of the fan based on the laser sensor is characterized by comprising a laser sensor system, a laser measuring module, a state monitoring module and a displacement output module; the laser sensor system comprises a laser, an image sensor, an MCU controller and a lightning protection module, wherein the laser sensor system transmits laser to a surface to be detected through the laser, the surface to be detected returns a reflected signal to enter the image sensor, and the MCU controller can acquire real-time dark level data inside the whole sensor system and spot signal data reflected by the surface to be detected and is used for photoelectric signal conversion of the system; reducing the output power of a laser through an MCU (micro control Unit) in the laser sensor, collecting a plurality of frames of dark level data, and calculating the average value of the dark level data; the output power of the laser is improved through an MCU (micro control Unit) inside the laser sensor, single-frame facula signal data are collected in real time, and dark level data are deducted, so that pure signal data are obtained; the laser measurement module is used for converting signal data of a target to be measured, which is acquired in real time, into actual displacement; the state monitoring module is used for monitoring whether the real-time hardware data flow in the working process of the laser sensor is normal or not; the laser measuring module and the state monitoring module are respectively connected with the laser sensor system, and the state monitoring module is connected with the displacement output module; the hardware data flow comprises working temperature, working voltage, working current and the running state of the lightning protection module; the displacement output module is used for converting the measured actual displacement into current analog quantity according to application rules by combining the real-time laser sensor hardware data stream and transmitting the current analog quantity to the fan main control.
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