CN215235154U - Single-machine sprayer capable of automatically tracking and treating unorganized dust generated by moving target - Google Patents
Single-machine sprayer capable of automatically tracking and treating unorganized dust generated by moving target Download PDFInfo
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- CN215235154U CN215235154U CN202021841247.3U CN202021841247U CN215235154U CN 215235154 U CN215235154 U CN 215235154U CN 202021841247 U CN202021841247 U CN 202021841247U CN 215235154 U CN215235154 U CN 215235154U
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- 239000000428 dust Substances 0.000 title claims abstract description 100
- 238000005507 spraying Methods 0.000 claims abstract description 160
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 60
- 238000010438 heat treatment Methods 0.000 claims abstract description 12
- 238000002347 injection Methods 0.000 claims abstract description 11
- 239000007924 injection Substances 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims description 21
- 238000010276 construction Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 7
- 239000007921 spray Substances 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
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Abstract
The utility model discloses a single-machine sprayer for automatically tracking and treating unorganized dust generated by a moving target, which comprises an image shooting machine, an unorganized dust detector, a water supply device, a sprayer equipment module and a manual remote control module; the manual instruction signal is that when the manual control mode is started, the spraying direction and the spraying time of the spraying machine are controlled in a manual remote control mode; when the manual instruction signal is started in an automatic control mode, the spraying machine equipment module is combined with the image shooting machine and the unorganized dust detector to control the spraying machine to automatically spray, so that the problems that the spraying machine cannot be automatically started immediately when the unorganized dust moving target generates unorganized dust, and the direction is automatically adjusted to track the unorganized dust moving target to spray and treat are effectively solved; the sprayer equipment module enhances self-starting protection through the automatic water injection unit, the heating protection unit and the alarm, and effectively solves the problem that self-starting protection measures of the sprayer are weak.
Description
Technical Field
The utility model relates to a sprayer field especially relates to the stand-alone sprayer of the produced unorganized dust of automatic tracking improvement moving target.
Background
The unorganized dust is widely existed in production and life of people, the unorganized dust can pollute the environment, harm can be caused to a human body after people inhale the unorganized dust, the water mist spraying can be carried out in an area where the unorganized dust is generated by using a spraying machine, the dust can be effectively treated, and the unorganized dust detector can be linked with the spraying machine in the prior art, so that the spraying machine can be automatically started to spray when the concentration of the unorganized dust exceeds the standard.
However, the inorganization dust detector linkage sprayer in the prior art has a limited linkage degree, when inorganization dust exceeds the standard, the inorganization dust detector linkage sprayer is automatically started to treat the inorganization dust, the inorganization dust pollutes the environment at the moment, potential threats are caused to the health of workers on the site, and the problems that the sprayer cannot be automatically started immediately when an inorganization dust moving target generates the inorganization dust, the direction is automatically adjusted to track the inorganization dust moving target to carry out spraying treatment and self-starting protective measures of the sprayer are weak exist in the prior art.
The unorganized dust moving target refers to a movable dust producing target which produces unorganized dust, and specifically can be a discharging vehicle, an open type pipeline and equipment for conveying materials, a quarrying machine, cement production equipment and the like.
Therefore, the utility model provides a new scheme to solve the problem.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a not enough to prior art exists, the utility model aims at providing a stand-alone sprayer of the produced unorganized dust of automatic tracking improvement moving target, the effectual sprayer of having solved can not carry out the self-starting at once when unorganized dust moving target produces the unorganized dust to the problem that the self-starting safeguard measure of while automatic adjustment direction tracking unorganized dust moving target sprays to administer and sprayer self is weak.
The technical scheme for solving the problem is that the single-machine spraying machine for automatically tracking and treating the unorganized dust generated by the moving target comprises an image shooting machine, an unorganized dust detector, a water supply device, a spraying machine equipment module and a manual remote control module; the image camera, the unorganized dust detector, the water supply device and the manual remote control module are respectively connected with the sprayer equipment module.
The utility model discloses the beneficial effect who realizes:
(1) the manual remote control module transmits a manual instruction signal to the sprayer equipment module in a wireless mode, and the manual instruction signal is used for manually and remotely controlling the horizontal spraying direction, the pitching spraying angle and the spraying time of the sprayer when the manual control mode is started;
when the manual instruction signal is started in an automatic control mode, the spraying machine equipment module analyzes the acquired image and video data information transmitted by the image shooting machine in a wired or wireless network mode, automatically positioning the spatial position of the unorganized dust moving target, immediately controlling to start the spraying machine and controlling the spraying machine to automatically adjust the horizontal direction and the pitching angle of the spraying to the direction of the unorganized dust moving target for automatically spraying, analyzing and collecting environmental data information detected by a construction site by an unorganized dust detector in a wired or wireless network manner by a spray type equipment module, when the unorganized dust moving target does not generate unorganized dust, and the concentration of the unorganized dust in the construction site reaches the standard, the spraying machine equipment module automatically controls the spraying machine to be turned off.
(2) The sprayer equipment module enhances self-starting protection through the automatic water injection unit, the heating protection unit and the alarm, and effectively solves the problem that self-starting protection measures of the sprayer are weak.
Drawings
FIG. 1 is a block diagram of the single-machine sprayer for automatically tracking and treating the unorganized dust generated by the moving target of the present invention.
Detailed Description
The foregoing and other technical and scientific aspects, features and advantages of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying fig. 1. The structural contents mentioned in the following embodiments are all referred to the attached drawings of the specification.
The present invention provides a single-machine sprayer for automatically tracking and treating the unorganized dust generated by a moving target, which will be described in detail by embodiments with reference to the attached drawings.
The single-machine spraying machine for automatically tracking and treating the unorganized dust generated by the moving target comprises an image shooting machine, an unorganized dust detector, a water supply device, a spraying machine equipment module and a manual remote control module; the image camera, the unorganized dust detector, the water supply device and the manual remote control module are respectively connected with the sprayer equipment module;
the manual remote control module transmits a manual instruction signal to the sprayer equipment module in a wireless mode, and the manual instruction signal is used for manually and remotely controlling the horizontal spraying direction, the pitching spraying angle and the spraying time of the sprayer when the manual control mode is started;
when the manual instruction signal is started in an automatic control mode, the spraying machine equipment module analyzes and collects image and video data information transmitted by the image shooting machine in a wired or wireless network mode, automatically positioning the spatial position of the unorganized dust moving target, immediately controlling to start the spraying machine and controlling the spraying machine to automatically adjust the horizontal direction and the pitching angle of the spraying to the direction of the unorganized dust moving target for automatically spraying, analyzing and collecting environmental data information detected by a construction site by an unorganized dust detector in a wired or wireless network manner by a spray type equipment module, when the unorganized dust moving target does not generate unorganized dust, and meanwhile, the spraying machine equipment module automatically controls to turn off the spraying machine after the concentration of the unorganized dust reaches the standard on the construction site;
the sprayer equipment module enhances self-starting protection through the automatic water injection unit, the heating protection unit and the alarm.
The image shooting machine is connected with the spraying machine equipment module, the image shooting machine transmits shot pictures and video data to the spraying machine equipment module in a wired or wireless network mode, the image shooting machine adopts a 360-degree high-definition shooting machine to shoot images and videos, the image shooting machine collects treatment bases of unorganized dust sites in a video recording and snapshot mode for construction sites, and whether unorganized dust moving targets generate unorganized dust or not can be judged according to the pictures and the video data shot by the image shooting machine.
The unstructured dust detector is connected with the spraying machine equipment module, the unstructured dust detector transmits environmental data detected by a construction site to the spraying machine equipment module in a wired or wireless network mode, the unstructured dust detector can be a flying dust detector, comprehensive monitoring is carried out on TSP, PM2.5, PM10 and temperature of the construction site, and powerful data analysis is provided for the construction site environment.
The water supply device is connected with the sprayer equipment module, can be a water tap, and can be connected with the sprayer equipment module by a water pipe or other transmission channels to provide a water source for the sprayer equipment module.
The manual remote control module comprises an automatic control sprayer opening and closing unit, a manual control sprayer opening and closing unit, a spraying horizontal direction setting unit, a spraying up-down direction setting unit, a spraying time setting unit, a microprocessor and a data control sending unit; the automatic control sprayer opening and closing unit, the manual control sprayer opening and closing unit, the spraying horizontal direction setting unit, the spraying up-down direction setting unit and the spraying time setting unit are respectively electrically connected with the microprocessor, the microprocessor analyzes and processes the received manual instruction signal and then electrically connects and transmits the manual instruction signal to the data control sending unit, and the data control sending unit transmits the signal to the sprayer equipment module in a wireless mode;
the manual remote control module transmits a manual instruction signal to the sprayer equipment module in a wireless mode, the manual instruction signal is used for manually remotely controlling the horizontal spraying direction, the pitching spraying angle and the spraying time of the sprayer when the manual control mode is started, and the manual remote control module controls the sprayer in a remote controller key mode;
the manual instruction signal is under the manual control mode starting, namely the signal sent by the manual control starting and closing unit is a signal for manually starting the spraying machine, the manual control starting and closing unit transmits the signal for manually starting the spraying machine to the microprocessor, the microprocessor can select an integrated chip and an integrated circuit, the microprocessor analyzes and processes the received signal and transmits the signal to the data control sending unit, the signal is transmitted to the spraying machine equipment module by the data control sending unit, and the spraying machine equipment module controls the spraying machine to be started;
the manual instruction signal is under the manual control mode starting, namely when the manual control opening and closing unit sends a signal for starting the sprayer, the spraying horizontal direction of the sprayer is controlled by using the spraying horizontal direction setting unit; the spraying horizontal direction setting unit transmits a horizontal rotation angle signal of the spraying machine to the microprocessor, the microprocessor analyzes and transmits the received signal to the data control transmitting unit, the data control transmitting unit transmits the received horizontal rotation angle signal of the spraying machine, which is sent by the microprocessor, to the spraying machine equipment module to control the horizontal spraying direction of the spraying machine, the spraying horizontal direction setting unit sets and controls the spraying machine of the spraying machine equipment module at 0-350 degrees in the horizontal direction, and the specific rotating angle range is determined according to the model of the selected spraying machine;
the manual instruction signal is used for controlling the sprayer pitching angle of the sprayer equipment module by utilizing the spraying up-down direction setting unit when the manual instruction signal is used for manually controlling the mode to be started, namely the manual control opening and closing unit sends out a signal for starting the sprayer; the spraying up-down direction setting unit transmits pitch angle signals of the spraying machine to the microprocessor, the microprocessor analyzes and processes the received signals and transmits the signals to the data control transmitting unit, the data control transmitting unit transmits the pitch angle signals of the spraying machine sent by the microprocessor to the spraying machine equipment module to control the up-down pitch angle of the spraying machine, the spraying up-down direction setting unit regulates and controls the spraying machine of the spraying machine equipment module within a pitch angle of-10 degrees to 70 degrees, and the specific pitch angle range is determined according to the model of the selected spraying machine;
the manual instruction signal is used for manually controlling the starting of the mode, namely when the signal sent by the manual control starting and closing unit is used for starting the sprayer, the spraying time of the sprayer equipment module is manually set by using the spraying time setting unit; the spraying time setting unit transmits spraying time signals of the spraying machine to the microprocessor, the microprocessor analyzes and processes the received signals and transmits the signals to the data control and transmission unit, and the data control and transmission unit transmits the received spraying time signals of the spraying machine, which are sent by the microprocessing, to the spraying machine equipment module to control the spraying time of the spraying machine;
the manual instruction signal is under the manual control mode closing, namely the signal sent by the manual control opening and closing unit is a signal for manually closing the spraying machine, the manual control opening and closing unit transmits the signal for manually closing the spraying machine to the microprocessor, the microprocessor analyzes and processes the received signal and transmits the signal to the data control sending unit, the signal is transmitted to the spraying machine equipment module by the data control sending unit, and the spraying machine equipment module controls the spraying machine to be closed;
the manual instruction signal is a signal for automatically starting the spraying machine when the automatic control mode is started, namely the signal sent by the automatic control starting and closing unit is a signal for automatically starting the spraying machine, the automatic control spraying machine starting and closing unit transmits the signal for automatically starting the spraying machine to the microprocessor, the microprocessor analyzes and processes the received signal and transmits the signal to the data control sending unit, the signal is transmitted to the spraying machine equipment module by the data control sending unit, and the spraying machine equipment module controls the spraying machine to be started;
the manual instruction signal is under the automatic control mode, namely the signal sent by the automatic control sprayer opening and closing unit is the signal for automatically opening the sprayer, the image and video data information which is analyzed and collected by the sprayer equipment module and transmitted by the image shooting machine in a wired or wireless network mode is automatically positioned at the spatial position of the unorganized dust moving target when the unorganized dust moving target generates unorganized dust, the sprayer equipment module immediately controls the sprayer to be opened and controls the sprayer to automatically adjust the spraying horizontal direction and the spraying pitching angle to the direction of the unorganized dust moving target for automatically spraying, the spraying equipment module analyzes and collects the environmental data information which is detected by the unorganized dust detector and transmitted by the unorganized dust detector in a wired or wireless network mode, when the unorganized dust moving target does not generate unorganized dust, meanwhile, after the concentration of the unorganized dust in the construction site reaches the standard, the spraying machine equipment module automatically controls to close the spraying machine;
the manual instruction signal is in a manual control mode, the manual instruction signal is in an automatic control mode, and the manual instruction signal and the automatic instruction signal can only select one of the manual instruction signal and the automatic instruction signal to control the sprayer to work, namely, only one of the manual control sprayer opening and closing unit and the automatic control sprayer opening and closing unit can be in an opening working state at the same time.
The spraying machine equipment module comprises a target tracking unit, a signal acquisition and processing unit, a control center, a water quantity monitoring unit, a working state monitoring unit, a spraying machine, an automatic water injection unit, a heating protection unit and an alarm; the control center is also respectively and electrically connected with a water quantity data signal in the sprayer transmitted by the water quantity monitoring unit and a working state data signal of the sprayer transmitted by the working state monitoring unit, and sends a control command to the sprayer, the automatic water injection unit, the heating protection unit and the alarm in an electrically connected manner after analyzing and processing the received data signal;
the target tracking unit can select a radar to measure the spatial position of the unorganized dust moving target and transmit the measured data information to the signal acquisition and processing unit;
the signal acquisition and processing unit is used for respectively receiving a spatial position signal of an unorganized dust moving target transmitted by the target tracking unit, a picture and video data signal transmitted by the image camera, a TSP, PM2.5 and PM10 data signal of a construction site transmitted by the unorganized dust detector, and a manual instruction signal transmitted by the data control transmitting unit, processing the received signals and transmitting the processed signals to the control center, and is provided with a multi-protocol communication interface, so that transmission signal data of different communication protocols can be acquired at the same time, the acquired data are uniformly processed, and then the data are output to the control center;
the control center receives a manual instruction signal sent by the signal acquisition processing unit and is started in a manual control mode, namely when a signal sent by the manual control sprayer starting and closing unit is a sprayer starting signal, the control center simultaneously analyzes and processes three manual instruction signals of a horizontal spraying direction, a vertical spraying direction and a spraying time sent by the signal acquisition processing unit and then controls the sprayer to spray according to the manual instruction;
the control center receives a manual instruction signal sent by the signal acquisition and processing unit and is started in an automatic control mode, namely when a signal sent by the automatic control sprayer starting and closing unit is a sprayer starting signal, the control center simultaneously analyzes and processes the spatial position, the construction site picture and the video data signal of the unorganized dust moving target sent by the received signal acquisition and processing unit, when the unorganized dust moving target generates unorganized dust, the control center controls the sprayer to automatically adjust the horizontal direction of spraying and the pitch angle to be aligned with the spatial position of the unorganized dust moving target for spraying operation, when the position of the unorganized dust moving target changes, the control center timely controls the sprayer to adjust the spraying direction, so that the target is automatically tracked, sprayed and treated, and simultaneously receives TSP, video and audio signals sent by the signal acquisition and processing unit, The control center analyzes the data signals of the dust concentration of PM2.5 and PM10 to obtain that when the unstructured dust moving target does not generate unstructured dust and simultaneously analyzes the dust concentration of TSP, PM2.5 and PM10 to reach the standard, the control center controls the sprayer to stop spraying;
when the manual instruction signal received by the control center and sent by the signal acquisition and processing unit is the automatic control mode closing signal, namely the signal sent by the automatic control sprayer opening and closing unit is the sprayer closing signal, the control center controls the sprayer not to be automatically started for spraying operation any more;
the water quantity monitoring unit monitors the water quantity in the water tank of the sprayer in real time and transmits a water quantity data signal to the control center;
the working state monitoring unit monitors the working state of the spraying machine in real time and transmits a working state signal of the spraying machine to the control center, and the working state monitoring unit can monitor whether a fan of the spraying machine works normally and is in a damaged state, can monitor whether a motor of the spraying machine works normally and is in a damaged state, and can monitor whether some important parts of the spraying machine work normally and is in a damaged state;
the control center respectively receives a water quantity data signal sent by the water quantity monitoring unit and a working state signal of the spraying machine sent by the working state monitoring unit, the control center controls the work of the automatic water injection unit according to the received water quantity data signal and the working state signal of the spraying machine, the specific control center judges whether the spraying work is normally carried out according to the working state signal of the spraying machine transmitted by the working state monitoring unit, the water quantity signals transmitted by the water quantity monitoring unit in the water tank of the spraying machine are combined, two judgment points are used when the water quantity respectively reaches 10 percent and reaches 90 percent, the two judgment points can also be properly adjusted according to the water containing quantity of the water tank, the control center automatically controls the automatic water injection unit to be communicated with a water feeder to inject water into the water tank of the spraying machine when the control center detects that the spraying operation is normally carried out and the water quantity in the water tank of the spraying machine is lower than 10 percent, when the control center detects that the sprayer is normally spraying and the water amount in the water tank of the sprayer is higher than 90%, the control center automatically controls the automatic water injection unit not to switch on the water feeder to inject water into the water tank of the sprayer;
the control center controls the alarm to work according to the received working state signal of the spraying machine transmitted by the working state monitoring unit, and the control center judges that the spraying machine is in an abnormal working state according to the received working state signal of the spraying machine output by the working state monitoring unit, so that the alarm is controlled to be started to give an alarm sound, and construction technicians can know information to maintain the spraying machine;
the control center controls the heating protection unit to work according to the temperature data signal sent by the received signal acquisition and processing unit and the water quantity data signal sent by the water quantity monitoring unit, the control center controls the heating protection unit to heat the spraying machine when the environmental temperature is lower than 0 ℃ according to the temperature data signal sent by the received signal acquisition and processing unit and the water quantity data signal sent by the water quantity monitoring unit and the water quantity in the water tank of the spraying machine is judged to be higher than 10 percent, the control center controls the heating protection unit to heat the spraying machine and automatically stops heating when the temperature reaches a certain temperature, the phenomenon that the water in the water tank is frozen in a large area due to too low temperature is prevented, and the spraying operation of the spraying machine is further influenced.
When the utility model is used in detail, the manual remote control module transmits manual instruction signals to the sprayer equipment module in a wireless mode, and the manual instruction signals are used for controlling the horizontal spraying direction, the pitching spraying angle and the spraying time of the sprayer in a manual remote control mode under the condition that the manual control mode is started; when the manual instruction signal is started in an automatic control mode, the spraying machine equipment module analyzes and collects image and video data information transmitted by the image shooting machine in a wired or wireless network mode, automatically positions the spatial position of the unorganized dust moving target when the unorganized dust moving target generates unorganized dust, immediately controls to start the spraying machine and controls to automatically adjust the horizontal direction of spraying and the pitching angle of spraying to the direction of the unorganized dust moving target to automatically spray, analyzes and collects environmental data information detected by a construction site by the unorganized dust detector in a wired or wireless network mode, and automatically controls to stop the spraying machine when the unorganized dust moving target does not generate unorganized dust and the concentration of the unorganized dust in the construction site reaches the standard at the same time, the problem that the spraying machine cannot be started automatically immediately when the unorganized dust moving target generates unorganized dust and can be automatically adjusted to track the unorganized dust moving target to spray and treat is effectively solved; the sprayer equipment module enhances self-starting protection through the automatic water injection unit, the heating protection unit and the alarm, and effectively solves the problem that self-starting protection measures of the sprayer are weak.
Claims (3)
1. The single-machine spraying machine for automatically tracking and treating the unorganized dust generated by the moving target is characterized by comprising an image shooting machine, an unorganized dust detector, a water supply device, a spraying machine equipment module and a manual remote control module; the image camera, the unorganized dust detector, the water supply device and the manual remote control module are respectively connected with the sprayer equipment module;
the manual remote control module comprises an automatic control sprayer opening and closing unit, a manual control sprayer opening and closing unit, a spraying horizontal direction setting unit, a spraying up-down direction setting unit, a spraying time setting unit, a microprocessor and a data control sending unit; the automatic control sprayer opening and closing unit, the manual control sprayer opening and closing unit, the spraying horizontal direction setting unit, the spraying up-down direction setting unit and the spraying time setting unit are respectively and electrically connected with and transmit manual instruction signals to the microprocessor, the microprocessor analyzes and processes the received manual instruction signals and then electrically connects and transmits the manual instruction signals to the data control sending unit, and the data control sending unit transmits the signals to the sprayer equipment module in a wireless mode;
the image camera transmits image and video data information to the spraying machine equipment module in a wired or wireless network mode;
the unorganized dust detector transmits environmental data information detected by a construction site to the spraying machine equipment module in a wired or wireless network mode;
the spraying machine equipment module comprises a target tracking unit, a signal acquisition and processing unit, a control center, a water quantity monitoring unit, a working state monitoring unit, a spraying machine, an automatic water injection unit, a heating protection unit and an alarm; the control center is also respectively and electrically connected with a water quantity data signal in the spraying machine transmitted by the water quantity monitoring unit and a working state data signal of the spraying machine transmitted by the working state monitoring unit, and sends a control command to be respectively and electrically connected and transmitted to the spraying machine, the automatic water injection unit, the heating protection unit and the alarm after analyzing and processing the received data signal;
the unorganized dust moving target refers to a movable dust producing target that produces unorganized dust.
2. The stand-alone sprayer for automatically tracking the unorganized dust generated by remediating a moving target as recited in claim 1, wherein the image camera is a 360-degree high definition camera.
3. The stand-alone sprayer for automatically tracking the generation of unstructured dust from remediating moving targets as recited in claim 1, wherein the unstructured dust detector provides comprehensive monitoring of TSP, PM2.5, PM10, and temperature at the job site.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021841247.3U CN215235154U (en) | 2020-08-28 | 2020-08-28 | Single-machine sprayer capable of automatically tracking and treating unorganized dust generated by moving target |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021841247.3U CN215235154U (en) | 2020-08-28 | 2020-08-28 | Single-machine sprayer capable of automatically tracking and treating unorganized dust generated by moving target |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115350547A (en) * | 2022-10-24 | 2022-11-18 | 湖南九九智能环保股份有限公司 | Laser radar positioning-based spray dust removal method and system |
-
2020
- 2020-08-28 CN CN202021841247.3U patent/CN215235154U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115350547A (en) * | 2022-10-24 | 2022-11-18 | 湖南九九智能环保股份有限公司 | Laser radar positioning-based spray dust removal method and system |
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