3D scanning system based on radar data fusion

Abstract

The present invention discloses a three-dimensional scanning system based on radar data fusion. It includes a data processing module and at least two radar bodies. The radar body is installed on the container installation surface and is at least used to scan the posture reference object based on the preset scanning logic before measuring the three-dimensional shape of the material surface in the container to obtain and determine its own installation posture information based on the reference point cloud data; and in the process of measuring the three-dimensional shape of the material surface in the container, the material point cloud data within a set range on the measured material surface is calibrated based on the installation posture information, and the material calibration point cloud data is generated and uploaded to the data processing module; the data processing module establishes a communication connection with each radar body and is at least used to obtain and parse the material precision parameters and / or the material surface three-dimensional shape precision map based on all the material calibration point cloud data. The present invention uses at least two scanning radars to cooperate with each other to obtain high-precision material surface scanning data in the container and obtain the material precision parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional scanning systems, and in particular to a three-dimensional scanning system based on radar data fusion. Background Art

[0002] Currently, the three-dimensional shape of material surfaces within containers (such as silos and storage tanks) is mostly measured using a 3D scanning radar. However, due to the limitation of the number of scanning signals the radar can generate in a single detection cycle, existing 3D scanning radars struggle to achieve a balanced scanning resolution and efficiency.

[0003] Specifically, Figure 1 This is a schematic diagram of the scanning process of an existing 3D scanning radar, such as Figure 1 As shown, existing 3D scanning radars generally adopt methods such as adding a scanning signal Q1' between the original scanning signal Q1 and the original scanning signal Q2, and / or adding a scanning signal Q2' between the original scanning signal Q2 and the original scanning signal Q3 within one detection cycle to directly improve the scanning resolution of the 3D scanning radar.

[0004] However, within the detection range of 3D scanning radar (such as Figure 1 Under the premise that the spatial area between the original scanning signal Q1 and the original scanning signal Q3 remains unchanged, reducing the angle difference between two adjacent scanning signals while increasing the number of scanning signals can significantly improve the scanning resolution, but it will also greatly increase the total scanning time of the 3D scanning radar (that is, the time required for a detection cycle for the 3D scanning radar to scan the entire detection range), increase the operating time cost of the 3D scanning radar, and cause the scanning efficiency of the 3D scanning radar to be low. On the contrary, if the number of scanning signals is reduced (for example, Figure 1 If the scanning efficiency of the 3D scanning radar is improved by using a method of cutting off the original scanning signal Q2 between the original scanning signal Q1 and the original scanning signal Q3, the scanning resolution of the 3D scanning radar will be suppressed.

[0005] In view of this, there is an urgent need for a three-dimensional scanning system that can balance scanning resolution and scanning efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide a three-dimensional scanning system based on radar data fusion, aiming to solve the problem that a single 3D scanning radar has difficulty in balancing scanning resolution and scanning efficiency. At least two radar bodies are set on the mounting surface of the same container to cooperate with each other to obtain high-precision material scanning data, images, etc. in the container.

[0007] A technical solution adopted to achieve the purpose of the present invention is:

[0008] A three-dimensional scanning system based on radar data fusion, comprising a data processing module and at least two radar bodies;

[0009] Each radar body is mounted on the mounting surface of the container and is used to scan a posture reference object based on a preset scanning logic before measuring the three-dimensional shape of the material surface in the container to obtain and determine its own installation posture information based on the reference point cloud data; and, during the process of measuring the three-dimensional shape of the material surface in the container, calibrate the material point cloud data within a set range on the measured material surface based on the installation posture information, generating material calibration point cloud data and uploading it to the data processing module;

[0010] The data processing module establishes a communication connection with each radar body and is at least used to obtain and parse the material's precise parameters and / or the material's surface three-dimensional morphology precise map based on all material calibration point cloud data.

[0011] Optionally, the installation posture information includes at least one of the coordinate points of the precise installation point or the installation angle deviation.

[0012] Optionally, each radar body determines the coordinates of its own precise installation point by:

[0013] Set a preset plane;

[0014] The radar body uses the precise installation point as a first origin and a preset direction as the positive direction of the initial x or y coordinate axis to establish an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all the reference point cloud data in the initial two-dimensional coordinate system;

[0015] The radar body determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates;

[0016] The radar body re-uses the center point of the preset plane as the second origin, uses the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinates of the precise installation point and all the projection coordinates into the standard two-dimensional coordinate system, so as to determine the relative position of the precise installation point and the center point of the preset plane based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin;

[0017] Analyzing the coordinates of the precise installation point of the radar body according to the relationship between the preset plane and the actual installation surface of the radar body;

[0018] The standard two-dimensional coordinate system is configured to be used at least for a process in which the radar body measures the three-dimensional surface shape of the material in the container.

[0019] Optionally, each radar body determines its own installation angle deviation by:

[0020] Based on all the projected transformed coordinates in the standard two-dimensional coordinate system, the principal axis direction of the figure enclosed by the reference point cloud is determined. Then, based on the angular difference between the principal axis direction and the preset direction, the deflection direction of the radar body relative to the preset plane is analyzed.

[0021] Axially projecting the reference point cloud data onto the axial plane of the radar body to obtain the angle between the central axis of the axial projection and the normal of the preset plane;

[0022] determining an azimuth angle between the radar body and the preset plane according to a deflection direction of the radar body relative to the preset plane and an angle between a central axis of an axial projection and a normal to the preset plane;

[0023] According to the relationship between the preset plane and the actual installation surface of the radar body, the installation angle deviation of the radar body is analyzed.

[0024] Optionally, calibrating the material point cloud data within a set range on the measured material surface based on the installation posture information to generate material calibration point cloud data includes:

[0025] On the basis of the initial two-dimensional coordinate system and the standard two-dimensional coordinate system, an initial three-dimensional coordinate system and a standard three-dimensional coordinate system are established accordingly;

[0026] Determine the point cloud conversion parameters between the initial 3D coordinate system and the standard 3D coordinate system based on the relative position of the precise installation point and the center point of the preset plane;

[0027] The material point cloud data in the initial three-dimensional coordinate system is converted into material calibration point cloud data in the standard three-dimensional coordinate system through point cloud conversion parameters and installation angle deviation.

[0028] Optionally, the relationship between the preset plane and the actual installation surface of the radar body includes at least one of the following: the preset plane is the actual installation surface of the radar body, the preset plane is parallel to the actual installation surface of the radar body, and the preset plane is at a known angle to the actual installation surface of the radar body.

[0029] Optionally, the preset direction is the installation direction of the radar body; or the radar body has an azimuth measurement function. In this case, the preset direction is the azimuth direction measured by the radar body.

[0030] Optionally, the radar body adopts a three-dimensional scanning radar, including at least a three-dimensional microwave scanning radar and / or a three-dimensional laser scanning radar, and each of the radar bodies includes:

[0031] a multi-angle measurement module, configured to, before measuring the three-dimensional shape of the surface of the material in the container, emit a first measurement signal from multiple angles to scan the posture reference object, and receive a plurality of first echo signals formed by at least one reflection of the first measurement signal at multiple angles from the posture reference object; and, during the process of measuring the three-dimensional shape of the surface of the material in the container, emit a second measurement signal from multiple angles to scan the material surface, and receive a plurality of second echo signals formed by at least one reflection of the second measurement signal at multiple angles from the material surface;

[0032] A processing module is used to obtain multiple first echo signals to parse the reference point cloud data, and then determine at least the installation posture information of each radar body based on the reference point cloud data; and to obtain multiple second echo signals to parse the material point cloud data, and then calibrate the material point cloud data within a set range on the measured material surface based on the installation posture information, generate material calibration point cloud data, and upload it to the data processing module.

[0033] Optionally, the multi-angle measurement module includes a signal transceiver module and a motion module;

[0034] The signal transceiver module is provided on the motion module and is used to transmit the first measurement signal before measuring the three-dimensional shape of the surface of the material in the container, so that the first echo signal formed by the first measurement signal reflecting at least once by the posture reference object is received by the signal transceiver module; and, during the process of measuring the three-dimensional shape of the surface of the material in the container, is used to transmit the second measurement signal so that the second echo signal formed by the second measurement signal reflecting at least once by the material surface is received by the signal transceiver module.

[0035] The motion module is configured to drive the signal transceiver module to scan the pose reference object within a preset angle range along a first set direction according to a preset motion logic before measuring the three-dimensional shape of the surface of the material in the container; and to drive the signal transceiver module to scan the material surface within the preset range along a second set direction according to the set motion logic during the process of measuring the three-dimensional shape of the surface of the material in the container;

[0036] The processing module is respectively connected to the signal transceiver module and the motion module, and is used to control the motion module to move according to the preset motion logic or the set motion logic; and, generates a detection control signal to enable the signal transceiver module to transmit the first measurement signal based on the detection control signal; and, in the process of the motion module driving the signal transceiver module to scan the posture reference object, receives each first reverberation signal uploaded by the signal transceiver module to obtain the reference point cloud data, and then determines at least the installation posture information based on the reference point cloud data; and, generates a scanning control signal to enable the signal transceiver module to transmit the second measurement signal based on the scanning control signal; and, in the process of the motion module driving the signal transceiver module to scan the material surface, receives each second reverberation signal uploaded by the signal transceiver module to obtain material point cloud data; and, calibrates the material point cloud data based on the installation posture information to generate material calibration point cloud data and uploads it to the data processing module.

[0037] Another technical solution adopted to achieve the purpose of the present invention is:

[0038] A three-dimensional scanning system based on radar data fusion, comprising a data processing module and at least two radar bodies;

[0039] Each radar body is mounted on the mounting surface of the container and is used at least to scan a posture reference object based on a preset scanning logic before measuring the three-dimensional shape of the surface of the material in the container to obtain reference point cloud data and upload it to the data processing module; and during the process of measuring the three-dimensional shape of the surface of the material in the container, scan the material surface within a set range based on the set scanning logic to obtain material point cloud data and upload it to the data processing module;

[0040] The data processing module establishes a communication connection with each radar body and is at least used to determine the installation posture information of each radar body based on the reference point cloud data uploaded by each radar body; and calibrate the material point cloud data measured by the corresponding radar body based on the installation posture information of each radar body to generate multiple sets of material calibration point cloud data; and, based on all the material calibration point cloud data, parse the material precision parameters and / or the material surface three-dimensional precision map.

[0041] The three-dimensional scanning system based on radar data fusion provided by the present invention first uses at least two radar bodies to scan the posture reference object based on the corresponding preset scanning logic before measuring the three-dimensional shape of the material surface in the container, so as to obtain and determine the installation posture information of each radar body based on the reference point cloud data; then, in the process of measuring the three-dimensional shape of the material surface in the container, each radar body calibrates the material point cloud data within a set range on the material surface measured by each radar body based on its own installation posture information, and then generates material calibration point cloud data and uploads it to the data processing module; finally, the data processing module parses the material precision parameters and / or the material surface three-dimensional shape precision map based on all the material calibration point cloud data.

[0042] It can be understood that the present invention, through the application of at least two radar bodies, can independently set the set range of the material scanning area of ​​each radar body and adaptively adjust the scanning range of a single radar body. Compared with the technical solution of measuring the three-dimensional morphology of the entire material surface through a 3D scanning radar, the setting of the present application can balance the scanning resolution and scanning efficiency of the entire three-dimensional scanning system by adjusting the number of scanning signals of each radar body in a single detection cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 This is a schematic diagram of the scanning process of an existing 3D scanning radar.

[0045] Figure 2 3D scanning system based on radar data fusion according to an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the installation of a radar body with a self-determination function of the installation posture provided by an embodiment of the present invention.

[0047] Figure 4 This is a multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention.

[0048] Figure 5 This is another multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention.

[0049] Figure 6 This is another multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention.

[0050] Figure 7 It is a structural diagram of a radar body provided by an embodiment of the present invention.

[0051] Figure 8 This is a flow chart of a method for determining the coordinates of a precise installation point of a radar body provided by an embodiment of the present invention.

[0052] Figure 9 This is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention.

[0053] Figure 10 This is a flow chart of another method for determining the coordinates of a precise installation point of a radar body provided by an embodiment of the present invention.

[0054] Figure 11 This is a flow chart of a method provided by an embodiment of the present invention for calibrating material point cloud data within a set range on the measured material surface based on installation posture information to generate material calibration point cloud data.

[0055] Figure 12 This is another coordinate system transformation schematic diagram provided by an embodiment of the present invention.

[0056] Figure 13 This is a flow chart of a method for determining the installation angle deviation of a radar body provided by an embodiment of the present invention.

[0057] Figure 14 This is a schematic diagram of a figure surrounded by all reference point clouds formed by a radar body under a non-vertical installation condition provided by an embodiment of the present invention.

[0058] Figure 15 This is another multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention.

[0059] Figure 16 This is another multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0061] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0062] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0063] As mentioned in the background, most on-site material monitoring processes are currently performed using a single 3D scanning radar. In practice, since the 3D scanning radar's monitoring range (i.e., the material surface) is essentially fixed, increasing the number of scanning signals within a single detection cycle to improve its scanning resolution will inevitably extend the detection cycle. Conversely, reducing the number of scanning signals within a single detection cycle to shorten the detection cycle will inevitably reduce its scanning resolution.

[0064] Based on this, the inventors proposed a general inventive concept of installing multiple radar bodies on the same container mounting surface, using these bodies to coordinate and cooperate to obtain high-precision scanning data and images of the material within the container. Based on this general inventive concept, when multiple radar bodies are installed on the same container mounting surface, each radar body can be responsible for scanning different areas of the material surface. This reduces the scanning range of a single radar body, allowing users to shorten the detection cycle of the 3D scanning system by adjusting the number of scanning signals from each radar body based on actual application needs without reducing the scanning resolution of the 3D scanning system.

[0065] However, after testing an actual 3D scanning system based on the aforementioned general inventive concept, the inventors discovered that the point clouds generated by the various radar bodies did not form a uniformly distributed or distinct distribution across the material surface. Instead, the point clouds generated by the different radar bodies were sometimes layered or jagged, making direct fusion of the point cloud data virtually impossible. Therefore, after careful research, the inventors discovered the following specific reasons for this phenomenon:

[0066] On the one hand, after the actual three-dimensional scanning system is installed, the installation positions of each radar body are different and cannot be self-confirmed. The installation position of each radar body relies entirely on manual measurement by on-site personnel, which is difficult to implement and has low accuracy. The low-precision installation position will affect the measurement accuracy of the radar body.

[0067] Specifically, due to the actual installation conditions on site, there are often many other devices on the top of containers such as silos and storage tanks, such as belts, feeding devices, dust removal devices or other obstructing equipment. In these cases, the center position cannot be marked on the top of containers such as silos and storage tanks. This results in the installation of the radar body on the top of containers such as silos and storage tanks. On-site personnel need to manually measure the distance between the radar body and the center of the container or the sides of the container to obtain the installation position of a single radar body. This is difficult to implement and accurate measurement results cannot be obtained, which makes the installation coordinate points of each radar body inaccurate, resulting in inaccurate converted three-dimensional coordinates of the material surface, which ultimately seriously affects the detection accuracy.

[0068] On the other hand, in actual application, there may be obstacles such as ladders or pipes at or around the installation location of the radar body, and the installation surface of the container may be unequal. This means that after the three-dimensional scanning system is installed, the installation postures of the various radar bodies are inconsistent and are likely to be non-vertical.

[0069] However, when the radar body performs measurement, it will default to being installed vertically. Therefore, from the perspective of the radar body, the container and material are "tilted"; conversely, the point cloud data generated by the radar body measurement has a certain angle deviation compared to the actual material. As a result, the three-dimensional coordinates of the material surface converted by the radar body are inaccurate. The material surface shape and parameters determined by the radar body based on the inaccurate three-dimensional coordinates of the material surface have large errors, which ultimately seriously affects the detection accuracy.

[0070] In view of this, the present application proposes a three-dimensional scanning system based on radar data fusion to overcome the technical problems existing in the background technology and the aforementioned overall inventive concept and achieve high-precision measurement of materials in a container.

[0071] Take two radar bodies as an example to illustrate. Figure 23D scanning system based on radar data fusion according to an embodiment of the present invention. The 3D scanning system based on radar data fusion according to an embodiment of the present invention comprises a data processing module 40 and at least two radar bodies 10.

[0072] Each radar body 10 is mounted on the mounting surface of the container 20 and is configured to scan a position reference object based on a preset scanning logic before measuring the three-dimensional shape of the material 30 in the container to obtain and determine its own mounting position information based on the reference point cloud data. Furthermore, during the process of measuring the three-dimensional shape of the surface of the material 30 in the container, the radar body 10 calibrates the measured material point cloud data within a set range on the surface of the material 30 based on the obtained mounting position information, generating material calibration point cloud data and uploading it to the data processing module 40.

[0073] The data processing module 40 establishes a communication connection with each of the radar bodies 10 and is at least used to obtain and parse the material precision parameters and / or the material surface three-dimensional morphology precision map based on all material calibration point cloud data.

[0074] Communication between the radar and the data processing module can be wireless, such as 4G / 5G, Wi-Fi, or Bluetooth, or wired, such as Ethernet cables or fiber optic cables. The data processing module can be integrated into any radar or a self-contained server, computer, industrial computer, microcontroller, or system-on-chip. Precision material parameters can include maximum and minimum material levels, average material levels, material volume, material mass, and material density.

[0075] In this application, the posture reference object can be, but is not limited to, a component inside the container 20 whose position remains basically unchanged, such as the inner wall of the container, a pipeline, a ladder, etc.; the reference point cloud data can refer to the point cloud data of the posture reference object; the material calibration point cloud data can refer to the material point cloud data within a set range on the material surface after calibration of the installation posture information.

[0076] In the present application, there can be two or more radar bodies, and the scanning range of each radar body on the material surface (i.e., the set range corresponding to each radar body) can be overlapping or non-overlapping; in the case of non-overlapping scanning, the scanning range of all radar bodies can just cover the surface of the material to be scanned, that is, the scanning range of each radar body is connected at the common boundary to achieve full coverage scanning of the entire material surface.

[0077] In the present application, when the posture reference object is selected as the inner wall of the container, before measuring the three-dimensional surface shape of the material 30, the radar body 10 can perform multi-point scanning on the inner wall of the container 20 within the fifth preset angle range along the fifth set direction to obtain and determine at least the installation posture information of the radar body 10 based on the point cloud data of the inner wall within the fifth preset angle range.

[0078] The installation posture information of the radar body 10 at least includes the coordinates of the precise installation point of the radar body 10 or the installation angle deviation of the radar body 10 .

[0079] The radar body 10 can adopt a three-dimensional scanning radar, which can be divided into three-dimensional microwave scanning radar, three-dimensional laser scanning radar, etc. according to the measurement principle; correspondingly, the point cloud data obtained by the radar body 10 can be specifically microwave point cloud data, laser point cloud data, etc.

[0080] The radar body 10 can be installed anywhere on the container 20, for example, at the top of the container 20 (i.e., the roof of the container 20). Preferably, two or more radar bodies are installed at different locations on the top of the same container. The container 20 can be a tank or silo capable of carrying material 30, or other similar equipment or components, such as a reaction tank or storage silo in production equipment. The material 30 can be in a solid state, a viscous mixture of solid and liquid, or other states.

[0081] Continuing to illustrate the preset scanning logic using the posture reference object being the inner wall of a container as an example, in some specific implementations, there may be multiple specific ways for the radar body 10 to perform multi-point scanning on the inner wall of the container. Figure 3 This is a multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention. Figure 4 This is another multi-point scanning profile of the inner wall of a container provided by an embodiment of the present invention. Figure 5 This is another multi-point scanning profile of the inner wall of a container provided by a radar body in an embodiment of the present invention. Figure 15 This is another multi-point scanning profile of the inner wall of a container provided by a radar body in an embodiment of the present invention. Figure 16 This is another multi-point scanning profile of the inner wall of a container by a radar body provided by an embodiment of the present invention.

[0082] Specifically, Figure 4 The shape of the middle container 20 is cylindrical, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is elliptical; Figure 5 The shape of the middle container 20 is a cuboid, the set direction is counterclockwise, the preset angle range is 360°, and the scanning profile is a rectangle; Figure 6 The shape of the middle container 20 is cylindrical, the setting direction is clockwise, and the scanning profile includes three parts. The angle range corresponding to the scanning profile of each part is 60° (i.e. Figure 6 Angle α, angle β and angle γ are shown); Figure 15The shape of the middle container 20 is cylindrical, the set direction is clockwise, the preset angle range is 360°, and the cross section of the scanning profile is circular; Figure 16 The shape of the middle container 20 is cylindrical, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is circular.

[0083] It is understandable that when the shape of the container 20 is relatively standard (e.g. Figure 4 The cylindrical container shown or Figure 5 When scanning a rectangular container as shown in the figure, the radar body 10 may also only scan a partial range of the container 20 (the range may be selected according to the adaptability of the container shape, such as 1 / 4, 1 / 2, etc. of the container 20), and then obtain point cloud data of the entire container inner wall through axial symmetry or central symmetry, and finally determine at least the installation posture information of the radar body 10 based on these reference point cloud data.

[0084] Of course, in other specific embodiments, the shape of the container 20 may be irregular, or the fifth set direction may change irregularly, or the scanning profile may include multiple parts, and the angle range corresponding to the scanning profile of each part may be completely identical, not completely identical, or completely different.

[0085] To summarize, the three-dimensional scanning system based on radar data fusion provided by the present invention first uses at least two radar bodies to scan the posture reference object based on the corresponding preset scanning logic before measuring the three-dimensional shape of the material surface in the container, so as to obtain and determine the installation posture information of each radar body based on the reference point cloud data; then, in the process of measuring the three-dimensional shape of the material surface in the container, each radar body calibrates the material point cloud data within a set range on the material surface measured by each radar body based on its own installation posture information, and then generates material calibration point cloud data and uploads it to the data processing module; finally, the data processing module parses the material precision parameters and / or the material surface three-dimensional shape precision map based on all material calibration point cloud data.

[0086] It can be understood that the present invention, through the application of at least two radar bodies, can independently set the set range of the material scanning area of ​​each radar body and adaptively adjust the scanning range of a single radar body. Compared with the technical solution of measuring the three-dimensional morphology of the entire material surface through a 3D scanning radar, the setting of the present application can balance the scanning resolution and scanning efficiency of the entire three-dimensional scanning system by adjusting the number of scanning signals of each radar body in a single detection cycle.

[0087] In addition, the present application is configured in such a way that, under the working condition that there is an obstructing device on the top of the container on site, there is no need for manual measurement. Instead, the coordinates of the precise installation point can be directly confirmed by the radar body by itself, which effectively overcomes the existing method of manually measuring the distance between the center of the container or the sides of the container and the radar body on site to obtain the installation coordinates of the radar body. The method has high execution difficulty and large manual measurement errors, which lead to inaccurate installation coordinates, inaccurate three-dimensional coordinates of the material surface converted by the radar body, and poor detection accuracy of the radar body. Technical problems; moreover, even if the radar body is affected by obstacles such as ladders or pipes at or around its installation position, or uneven installation surfaces of the container, resulting in the radar body being installed non-vertically downward and having a certain angle deviation, the present application can also self-confirm its installation angle deviation through the radar body, which is conducive to improving the accuracy of the three-dimensional coordinates of the material surface converted by the radar body and the detection accuracy of the radar body.

[0088] It should be noted that Figure 2-Figure 6 、 Figure 15 、 Figure 16 The radar body 10 is exemplarily shown as being installed on the top of the container 20 , which is not intended to limit the embodiments of the present invention.

[0089] Based on the above embodiment, the specific structure of the radar body is described below, which does not limit the embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of a radar body provided by an embodiment of the present invention. Figure 7 Optionally, each radar body includes a multi-angle measurement module 110 and a processing module 120; before measuring the three-dimensional shape of the surface of the material in the container, the multi-angle measurement module 110 is used to send a first measurement signal from multiple angles to scan the posture reference object, and receive multiple first echo signals formed by the first measurement signals at multiple angles being reflected at least once by the posture reference object; the processing module 120 obtains the multiple first echo signals to parse the reference point cloud data, and then determines at least the installation posture information of each radar body based on the reference point cloud data.

[0090] In one embodiment, in the process of measuring the three-dimensional shape of the material surface in the container, the multi-angle measurement module 110 is also used to send a second measurement signal from multiple angles to scan the material surface, and receive multiple second echo signals formed by the second measurement signals at multiple angles reflected at least once by the material surface; the processing module 120 is also used to obtain multiple second echo signals to parse the material point cloud data, and then calibrate the material point cloud data within a set range on the measured material surface based on the installation posture information, generate material calibration point cloud data and upload it to the data processing module.

[0091] Optionally, the multi-angle measurement module 110 includes a signal transceiver module 111 and a motion module 112; the signal transceiver module 111 is arranged on the motion module 112, and is used to transmit a first measurement signal before measuring the three-dimensional shape of the surface of the material in the container, so that the first measurement signal is reflected at least once by the posture reference object to form a first reverberation signal that is received by the signal transceiver module 111; the motion module 112 is used to drive the signal transceiver module 111 to scan the posture reference object within a preset angle range along a first set direction according to a preset motion logic; the processing module 120 is respectively connected to the signal transceiver module 111 and the motion module 112, and is used to control the motion module 112 to move according to the preset motion logic; and, generates a detection control signal so that the signal transceiver module 111 transmits the first measurement signal based on the detection control signal; and, during the process of the motion module 112 driving the signal transceiver module 111 to scan the posture reference object, receives each first reverberation signal uploaded by the signal transceiver module 111 to obtain reference point cloud data, and then determines at least the installation posture information based on the reference point cloud data.

[0092] Optionally, in the process of measuring the three-dimensional shape of the material surface in the container, the signal transceiver module 111 is also used to transmit a second measurement signal, so that a second echo signal formed by the second measurement signal being reflected at least once by the material surface is received by the signal transceiver module, and the motion module 112 is also used to drive the signal transceiver module to scan the material surface within a set range along a second set direction according to the set motion logic; the processing module 120 is also used to control the motion module to move according to the set motion logic; and, generate a scanning control signal, so that the signal transceiver module transmits a second measurement signal based on the scanning control signal; and, in the process of the motion module driving the signal transceiver module to scan the material surface, receive each second echo signal uploaded by the signal transceiver module to obtain material point cloud data; and, calibrate the material point cloud data based on the installation posture information to generate material calibration point cloud data and upload it to the data processing module.

[0093] Optionally, the first measurement signal and the second measurement signal are one of a microwave signal and a laser signal.

[0094] Among them, when the radar body is a three-dimensional microwave scanning radar, the signal transceiver module 111 can be any type of microwave sensor or a module composed of multiple microwave sensors. At this time, the first measurement signal, the second measurement signal, the first echo signal, and the second echo signal are all microwave signals; when the radar body is a three-dimensional laser scanning radar, the signal transceiver module 111 can be any type of laser sensor or a module composed of multiple laser sensors. At this time, the first measurement signal, the second measurement signal, the first echo signal, and the second echo signal are all laser signals.

[0095] Of course, in some embodiments, the signal transceiver module 111 may also include multiple types of sensors at the same time, and the types of measurement signals and echo signals may be multiple, which will not be repeated here. The motion module 112 can be any mechanical device, and the motion module 112 can perform multiple dimensions of motion, such as horizontal motion, pitch motion, vertical motion, etc. The preset motion logic or set motion logic can be set according to the actual application scenario of the radar body. For example, for every 1° deflection in the horizontal direction, a complete pitch motion is performed. The detection control signal and the scanning control signal are at least used to control the signal transceiver module 111 to transmit the first measurement signal and the second measurement signal accordingly. The detection control signal and the scanning control signal can be wired signals or wireless signals.

[0096] For example, in this application, the pose reference object may be the inner wall of a container. Before measuring the three-dimensional shape of the surface of the material in the container, the working principle of each radar body determining its installation pose information may be specifically as follows:

[0097] While controlling the motion module 112 to move according to a preset motion logic, the processing module 120 generates a detection control signal so that the signal transceiver module 111 transmits a first measurement signal based on the detection control signal; in the process of the motion module 112 driving the signal transceiver module 111 to scan the inner wall within a preset angle range along a set direction according to the preset motion logic, the signal transceiver module 111 arranged on the motion module 112 continuously or intermittently transmits a first measurement signal so that the first reflection signal formed by at least one reflection of the first measurement signal on the inner wall is received by the signal transceiver module 111, and then uploaded to the processing module 120 by the signal transceiver module 111; in the process of the motion module 112 driving the signal transceiver module 111 to scan the inner wall, the processing module 120 receives each first reflection signal uploaded by the signal transceiver module 111 to obtain reference point cloud data, and then determines at least the installation posture information based on the reference point cloud data.

[0098] To sum up, if the present application is configured in this way, on the one hand, under the working condition that there is a shielding device on the top of the container on site, there is no need for manual measurement, but the coordinates of its precise installation point can be directly confirmed by the radar body itself, which effectively overcomes the existing method of manually measuring the distance between the center of the container or the sides of the container and the radar body on site, and then obtaining the installation coordinates of the radar body. The method has high execution difficulty and large manual measurement errors, which lead to inaccurate installation coordinates, inaccurate three-dimensional coordinates of the material surface converted by the radar body, and poor detection accuracy of the radar body. Technical problems.

[0099] In addition, even if the radar body is affected by obstacles such as ladders or pipes at or around its installation location, or the uneven installation surface of the container, resulting in the radar body being installed non-vertically downward and having a certain angle deviation, the present application can also self-identify its installation angle deviation through the radar body, which is beneficial to improving the accuracy of the three-dimensional coordinates of the material surface converted by the radar body, as well as the detection accuracy of the radar body.

[0100] On the other hand, after determining the installation posture information of the radar body based on the above method, the present application can also, on the premise of ensuring the improvement of the accuracy of the three-dimensional coordinates of the material surface converted by the radar body, adaptively adjust the number of scanning signals of each radar body in a single detection cycle through the application of at least two radar bodies and the range limitation of the material surface area scanned by each radar body, thereby achieving a balance between the scanning resolution and scanning efficiency of the entire scanning system.

[0101] It should be noted that there may be multiple specific methods for each radar body to determine the coordinates of its own precise installation point, which are described in detail below but are not intended to limit the embodiments of the present invention.

[0102] In one embodiment, Figure 8 This is a flow chart of a method for determining the coordinates of a precise installation point of a radar body provided by an embodiment of the present invention. Figure 8 Optionally, each radar body determines the coordinates of its own precise installation point by:

[0103] S610: Set a preset plane.

[0104] The preset plane can refer to the actual mounting surface of the radar body, or a plane parallel to or at a known angle to the actual mounting surface. Furthermore, the preset plane can be horizontal or non-horizontal. In practical applications, the radar body is often mounted on top of a container, so the preset plane is generally preferably set to the container's top surface.

[0105] Optionally, the relationship between the preset plane and the actual installation surface of the radar body includes at least one of the following: the preset plane is the actual installation surface of the radar body, the preset plane is parallel to the actual installation surface of the radar body, and the preset plane is at a known angle to the actual installation surface of the radar body.

[0106] S620: The radar body uses the precise installation point as the origin and the preset direction as the positive direction of the initial x or y coordinate axis to establish an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all reference point cloud data in the initial two-dimensional coordinate system.

[0107] There are multiple options for the preset direction. In one embodiment, the preset direction is optionally the installation direction of the radar body. In order to clarify the installation direction of the radar body, a direction mark can be set on the radar body. The direction mark can point to the starting scanning direction of the radar body, or can point to the direction of the radar body. Figure 5 The direction of the straight line on which the long side or wide side of the rectangular container is located, etc.

[0108] In another embodiment, the radar body optionally has a direction measurement function, and the preset direction is the direction measured by the radar body. The radar body having a direction measurement function may mean that the radar body can measure directions such as east, west, south, and north, and the preset direction may be, for example, due south.

[0109] S630: The radar body determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates.

[0110] The center point of the preset plane may refer to the geometric center point of the preset plane, and the center coordinates are the coordinates of the aforementioned geometric center point in the initial two-dimensional coordinate system.

[0111] S640. The radar body determines the relative position of the precise installation point and the center point of the preset plane based on the center coordinates and the origin.

[0112] S650: Analyze the coordinates of the precise installation point of the radar body according to the relationship between the preset plane and the plane where the radar body is installed.

[0113] For example, in Figure 5 On the basis of Figure 9 This is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention, see Figure 5 and Figure 9 The radar body uses the precise installation point O' as the origin, takes one direction of the straight line where the long side of the rectangular container is located as the positive direction of the initial x-coordinate axis, and takes one direction of the straight line where the wide side of the rectangular container is located as the positive direction of the initial y-coordinate axis, and establishes the initial two-dimensional coordinate system xO'y on the plane where the top of the container is located (i.e., the preset plane). After the radar body performs a multi-point scan of the posture reference object based on the preset scanning logic, the reference point cloud data formed by the radar body scan constitutes the scanning profile B (it can be understood that when there are enough reference point cloud data, the scanning profile no longer remains linear, but strip-shaped, such as Figure 13 As shown), at this time, all reference point cloud data are projected onto the initial two-dimensional coordinate system xO'y, that is, a projection contour B' is formed.

[0114] Based on the coordinates of all the projections that enclose the projection profile B', the radar body can determine the coordinates of the center point O of the preset plane (i.e., the geometric center point of the projection profile B') in the initial two-dimensional coordinate system xO'y. In this way, in the initial two-dimensional coordinate system xO'y, the coordinates of both the precise installation point O' and the center point O of the preset plane are known. The radar body can then determine the relative position of the precise installation point O' and the center point O of the preset plane. For example, the distance between the precise installation point O' and the center point O of the preset plane can be determined using the distance calculation formula between two points in the same coordinate system.

[0115] Figure 10 This is a flow chart of another method for determining the coordinates of the precise installation point of the radar body provided by an embodiment of the present invention. Figure 10 Alternatively, in another embodiment, each radar body determines the coordinates of its own precise installation point by:

[0116] S810: Set a preset plane.

[0117] S820: The radar body uses the precise installation point as the first origin, uses the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all reference point cloud data in the initial two-dimensional coordinate system.

[0118] S830: The radar body determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates.

[0119] S840. The radar body re-uses the center point of the preset plane as the second origin, uses the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinates of the precise installation point and all projection coordinates into the standard two-dimensional coordinate system. Based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin, the relative position of the precise installation point and the center point of the preset plane is determined.

[0120] The standard two-dimensional coordinate system is configured to be used at least for a process in which the radar body measures the three-dimensional surface shape of the material in the container.

[0121] S850: Analyze the coordinates of the precise installation point of the radar body based on the relationship between the preset plane and the actual installation surface of the radar body.

[0122] For example, in Figure 5 On the basis of Figure 12 This is another coordinate system transformation diagram provided by an embodiment of the present invention, see Figure 5 and Figure 12The radar body uses the precise installation point O' as the first origin, takes one direction of the straight line where the long side of the rectangular container is located as the positive direction of the initial x-axis, and takes one direction of the straight line where the wide side of the rectangular container is located as the positive direction of the initial y-axis, and establishes an initial two-dimensional coordinate system xO'y on the plane where the top of the container is located. After the radar body performs a multi-point scan of the posture reference object based on the preset scanning logic, the point cloud data formed by the radar body scan constitutes the scanning profile B. At this time, all the point cloud data are projected onto the initial two-dimensional coordinate system xO'y, forming the projection profile B'. Based on all the projection coordinates that enclose the projection profile B', the radar body can determine the coordinates of the preset plane center point O (that is, the geometric center point of the projection profile B') in the initial two-dimensional coordinate system xO'y.

[0123] Based on this, the radar body re-uses the preset plane center point O as the second origin, and takes one direction of the straight line where the long side of the rectangular container is located as the standard x-coordinate axis (i.e. Figure 9 The positive direction of the x' axis in the rectangle is the direction of the straight line where the wide side of the rectangular container is located as the standard y coordinate axis (i.e. Figure 9 A standard two-dimensional coordinate system x'Oy' is established on the plane where the top of the container is located, and the coordinates of the precise installation point O' and all projection coordinates are converted to the standard two-dimensional coordinate system x'Oy'. The relative position of the precise installation point O' and the preset plane center point O can be determined based on the coordinates of the precise installation point O' in the standard two-dimensional coordinate system x'Oy' and the coordinates of the second origin. For example, the distance between the precise installation point O' and the preset plane center point O can be determined based on the distance calculation formula between two points in the same coordinate system.

[0124] Based on the above embodiment, the method for determining the installation angle deviation of the radar body is described in detail below, but it is not intended to limit the embodiment of the present invention.

[0125] Figure 13 This is a flow chart of a method for determining the installation angle deviation of a radar body provided by an embodiment of the present invention. Figure 13 Optionally, each radar body determines the installation angle deviation of the radar body by:

[0126] S1010: Determine the principal axis direction of the figure enclosed by the reference point cloud based on all reference point cloud data, and then analyze the deflection angle of the radar body on the preset plane according to the difference between the principal axis direction and the preset direction.

[0127] S1020: Obtain a deflection angle of the radar body relative to a preset plane based on the distribution of the reference point cloud data in the container and the projection length of the figure enclosed by the reference point cloud in the main axis direction.

[0128] S1030: Determine an azimuth angle between the radar body and the preset plane according to a deflection angle of the radar body on the preset plane and a deflection angle of the radar body relative to the preset plane.

[0129] S1040: Analyze the installation angle deviation of the radar body according to the relationship between the preset plane and the actual installation surface of the radar body.

[0130] Among them, taking the cylindrical container as an example, Figure 14 This is a schematic diagram of a figure surrounded by all reference point clouds formed by a radar body under a non-vertical installation condition provided by an embodiment of the present invention, see Figure 4 and Figure 14 When the container is cylindrical and the radar body is not installed vertically, the figure M enclosed by all reference point clouds is an ellipse when viewed from the axis of the radar body. The reference point clouds on the inner walls of the container on both sides are gathered to form regions M1 and M2 respectively. Based on the figure M, its main axis direction (i.e., the major axis direction x" of the ellipse; correspondingly, the minor axis direction of the figure M can also be determined). The difference between the main axis direction and the preset direction can directly reflect the deflection angle of the radar body on the preset plane of the container. At the same time, the projection lengths of regions M1 and M2 in the main axis direction (e.g., Figure 14 The l in the figure can be obtained from the point cloud) and the range of the radar body performing multi-point scanning on the inner wall of the container (e.g. Figure 14 The larger the multi-point scanning range, the longer the projection length.

[0131] According to the Pythagorean theorem, l / h = sinθ. Since l and h are both known, θ can be calculated, which in turn determines the radar's deflection angle relative to the preset plane. Based on its deflection angle on the preset plane and its deflection angle relative to the preset plane, the radar can determine its azimuth relative to the preset plane.

[0132] In one embodiment, Figure 11 This is a flow chart of calibrating the material point cloud data within a set range on the measured material surface based on the installation posture information provided by an embodiment of the present invention to generate material calibration point cloud data. Figure 11 , based on the installation posture information, the material point cloud data within the set range on the measured material surface is calibrated to generate material calibration point cloud data, including:

[0133] S910, establishing an initial three-dimensional coordinate system and a standard three-dimensional coordinate system based on the initial two-dimensional coordinate system and the standard two-dimensional coordinate system;

[0134] S920: Determine point cloud conversion parameters between the initial three-dimensional coordinate system and the standard three-dimensional coordinate system based on the relative positions of the precise installation point and the center point of the preset plane;

[0135] S930. Convert the material point cloud data in the initial three-dimensional coordinate system into material calibration point cloud data in the standard three-dimensional coordinate system by using the point cloud conversion parameters and the installation angle deviation.

[0136] Among them, the point cloud conversion parameters and installation angle deviation are essentially the relevant parameters that can characterize the coordinate system transformation between the initial three-dimensional coordinate system and the standard three-dimensional coordinate system. The point cloud conversion parameters and installation angle deviation can be expressed in the form of, but not limited to, a coordinate system transformation matrix. The point cloud conversion parameters and installation angle deviation can convert a certain material point cloud data in the initial three-dimensional coordinate system into a specific material calibration point cloud data in the standard three-dimensional coordinate system. From the actual effect point of view, when each radar body can convert material point cloud data into material calibration point cloud data, the material calibration point cloud data measured by all radar bodies will be unified in the standard three-dimensional coordinate system. In this way, the data processing module can directly integrate all material calibration point cloud data to form a point cloud data map that can characterize the distribution of the actual material surface, and then parse the material precision parameters and / or the material surface three-dimensional morphology precision map.

[0137] In summary, the present application is configured in this way. On the one hand, under the working condition that there is an obstructing device on the top of the container on site, there is no need for manual measurement. Instead, the coordinates of the precise installation points of the radar body can be directly confirmed by the three-dimensional scanning system. This effectively overcomes the existing method of manually measuring the distance between the center of the container or the sides of the container and the radar body on site to obtain the installation coordinates of the radar body. The method has high execution difficulty and large manual measurement errors, which lead to inaccurate installation coordinates, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning system, and poor detection accuracy of the three-dimensional scanning system. Technical problems; moreover, even if the radar body is affected by obstacles such as ladders or pipes at or around its installation position, or uneven installation surfaces of the container, resulting in the radar body being installed non-vertically downward and having a certain angle deviation, the present application can also confirm the installation angle deviation of the radar body through the three-dimensional scanning system, which is conducive to improving the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning system, as well as the detection accuracy of the three-dimensional scanning system.

[0138] On the other hand, based on the determination of the installation posture information of the above-mentioned radar body, the present application uses at least two radars to adaptively reduce the predetermined range of the material surface scanning area of ​​each radar. This setting can balance the scanning resolution and scanning efficiency of the entire three-dimensional scanning system by adjusting the number of scanning signals of each radar body in a single detection cycle, and make the material point cloud data obtained by two or more radar bodies in the same coordinate system, which can be directly used for data fusion processing, and finally obtain the precise parameters of the material and / or the precise three-dimensional morphology map of the material surface.

[0139] Based on the above embodiments, the present application also provides another three-dimensional scanning system based on radar data fusion, including a data processing module and at least two radar bodies; each radar body is installed on the installation surface of the container, and is at least used to scan the posture reference object based on the preset scanning logic before measuring the three-dimensional shape of the material surface in the container to obtain reference point cloud data and upload it to the data processing module; and, in the process of measuring the three-dimensional shape of the material surface in the container, the material surface within a set range is scanned based on the set scanning logic to obtain material point cloud data and upload it to the data processing module; the data processing module establishes a communication connection with each radar body, and is at least used to determine the installation posture information of each radar body according to the reference point cloud data uploaded by each radar body; and, based on the installation posture information of each radar body, calibrate the material point cloud data measured by the corresponding radar body to generate multiple sets of material calibration point cloud data; and, based on all the material calibration point cloud data, parse the material precision parameters and / or the material surface three-dimensional shape precision map.

[0140] It should be noted that, compared with the aforementioned embodiment, the radar body in this embodiment is only used to obtain point cloud data and does not involve the processing of point cloud data. The processing of point cloud data is completed by the data processing module, that is, this embodiment does not involve improvements to the method and will not be elaborated on.

[0141] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0142] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0143] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A three-dimensional scanning system based on radar data fusion, characterized in that: It includes a data processing module and at least two radar bodies; Each radar body is installed on the installation surface of the container and is used to scan the posture reference object based on the preset scanning logic before measuring the three-dimensional shape of the surface of the material in the container, so as to obtain and determine its own installation posture information based on the reference point cloud data; Furthermore, in the process of measuring the three-dimensional shape of the material surface in the container, the material point cloud data within a set range on the measured material surface is calibrated based on the installation posture information, and the material calibration point cloud data is generated and uploaded to the data processing module; A data processing module establishes a communication connection with each radar body and is used to at least obtain and parse the material's precise parameters and / or a precise three-dimensional surface morphology map based on all material calibration point cloud data; The installation posture information includes at least one of the coordinates of the precise installation point or the installation angle deviation; Each radar body determines the coordinates of its own precise installation point by: Set a preset plane; The radar body uses the precise installation point as a first origin and a preset direction as the positive direction of the initial x or y coordinate axis to establish an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all the reference point cloud data in the initial two-dimensional coordinate system; The radar body determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates; The radar body re-uses the center point of the preset plane as the second origin, uses the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinates of the precise installation point and all the projection coordinates into the standard two-dimensional coordinate system, so as to determine the relative position of the precise installation point and the center point of the preset plane based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin; Analyzing the coordinates of the precise installation point of the radar body according to the relationship between the preset plane and the actual installation surface of the radar body; The standard two-dimensional coordinate system is configured to be used at least for a process in which the radar body measures the three-dimensional surface shape of the material in the container.

2. The three-dimensional scanning system based on radar data fusion according to claim 1, characterized in that: Each radar body determines its own installation angle deviation by the following method: Based on all the reference point cloud data, the main axis direction of the figure enclosed by the reference point cloud is determined, and then the deflection angle of the radar body on the preset plane is analyzed according to the difference between the main axis direction and the preset direction; Obtain the deflection angle of the radar body relative to the preset plane based on the distribution of the reference point cloud data in the container and the projection length of the figure enclosed by the reference point cloud in the main axis direction; determining an azimuth angle between the radar body and the preset plane based on a deflection angle of the radar body on the preset plane and a deflection angle of the radar body relative to the preset plane; According to the relationship between the preset plane and the actual installation surface of the radar body, the installation angle deviation of the radar body is analyzed.

3. The three-dimensional scanning system based on radar data fusion according to claim 1, characterized in that: The step of calibrating the material point cloud data within a set range on the measured material surface based on the installation posture information to generate material calibration point cloud data includes: On the basis of the initial two-dimensional coordinate system and the standard two-dimensional coordinate system, an initial three-dimensional coordinate system and a standard three-dimensional coordinate system are established accordingly; Determine the point cloud conversion parameters between the initial 3D coordinate system and the standard 3D coordinate system based on the relative position of the precise installation point and the center point of the preset plane; The material point cloud data in the initial three-dimensional coordinate system is converted into material calibration point cloud data in the standard three-dimensional coordinate system through point cloud conversion parameters and installation angle deviation.

4. The three-dimensional scanning system based on radar data fusion according to any one of claims 1 to 3, characterized in that: The relationship between the preset plane and the actual installation surface of the radar body includes at least one of the following: the preset plane is the actual installation surface of the radar body, the preset plane is parallel to the actual installation surface of the radar body, and the preset plane and the actual installation surface of the radar body are at a known angle.

5. The three-dimensional scanning system based on radar data fusion according to any one of claims 1 or 2, characterized in that: The preset direction is the installation direction of the radar body; or the radar body has an azimuth measurement function. In this case, the preset direction is the azimuth direction measured by the radar body.

6. The three-dimensional scanning system based on radar data fusion according to claim 1, characterized in that: The radar body adopts a three-dimensional scanning radar, including at least a three-dimensional microwave scanning radar and / or a three-dimensional laser scanning radar, and each of the radar bodies includes: a multi-angle measurement module, configured to, before measuring the three-dimensional shape of the surface of the material in the container, emit a first measurement signal from multiple angles to scan the posture reference object, and receive a plurality of first echo signals formed by at least one reflection of the first measurement signal at multiple angles from the posture reference object; and, during the process of measuring the three-dimensional shape of the surface of the material in the container, emit a second measurement signal from multiple angles to scan the material surface, and receive a plurality of second echo signals formed by at least one reflection of the second measurement signal at multiple angles from the material surface; A processing module is used to obtain multiple first echo signals to parse the reference point cloud data, and then determine at least the installation posture information of each radar body based on the reference point cloud data; and to obtain multiple second echo signals to parse the material point cloud data, and then calibrate the material point cloud data within a set range on the measured material surface based on the installation posture information, generate material calibration point cloud data, and upload it to the data processing module.

7. The three-dimensional scanning system based on radar data fusion according to claim 6, characterized in that: The multi-angle measurement module includes a signal transceiver module and a motion module; The signal transceiver module is provided on the motion module and is used to transmit the first measurement signal before measuring the three-dimensional shape of the surface of the material in the container, so that the first echo signal formed by the first measurement signal reflecting at least once by the posture reference object is received by the signal transceiver module; and, during the process of measuring the three-dimensional shape of the surface of the material in the container, is used to transmit the second measurement signal so that the second echo signal formed by the second measurement signal reflecting at least once by the material surface is received by the signal transceiver module. The motion module is configured to drive the signal transceiver module to scan the pose reference object within a preset angle range along a first set direction according to a preset motion logic before measuring the three-dimensional shape of the surface of the material in the container; and to drive the signal transceiver module to scan the material surface within the preset range along a second set direction according to the set motion logic during the process of measuring the three-dimensional shape of the surface of the material in the container; The processing module is connected to the signal transceiver module and the motion module respectively, and is used to control the motion module to move according to the preset motion logic or the set motion logic; and generating a detection control signal to enable the signal transceiver module to transmit the first measurement signal based on the detection control signal; and receiving each of the first reverberated signals uploaded by the signal transceiver module during the process of the motion module driving the signal transceiver module to scan the posture reference object to obtain the reference point cloud data, and then determining at least the installation posture information based on the reference point cloud data; and, generating a scanning control signal so that the signal transceiver module transmits a second measurement signal based on the scanning control signal; and, in the process of the motion module driving the signal transceiver module to scan the material surface, receiving each second echo signal uploaded by the signal transceiver module to obtain material point cloud data; and, calibrating the material point cloud data based on the installation posture information to generate material calibration point cloud data and upload it to the data processing module.

8. A three-dimensional scanning system based on radar data fusion, including a data processing module and at least two radar bodies; Each radar body is mounted on the mounting surface of the container and is used to scan the posture reference object based on the preset scanning logic before measuring the three-dimensional shape of the surface of the material in the container to obtain reference point cloud data and upload it to the data processing module; and, in the process of measuring the three-dimensional shape of the surface of the material in the container, scanning the surface of the material within a set range based on the set scanning logic to obtain material point cloud data and upload it to the data processing module; A data processing module establishes a communication connection with each radar body and is at least used to determine the installation posture information of each radar body according to the reference point cloud data uploaded by each radar body; Furthermore, based on the installation posture information of each radar body, the material point cloud data measured by the corresponding radar body is calibrated to generate multiple sets of material calibration point cloud data; and, based on all the material calibration point cloud data, precise material parameters and / or a precise three-dimensional surface morphology map of the material are analyzed; The installation posture information includes at least one of the coordinates of the precise installation point or the installation angle deviation; The data processing module determines the coordinates of the precise installation point of the radar body by: Set a preset plane; Taking the precise installation point as the first origin and the preset direction as the positive direction of the initial x or y coordinate axis, an initial two-dimensional coordinate system is established on the preset plane to obtain the projection coordinates of all the reference point cloud data in the initial two-dimensional coordinate system; Determining the center coordinates of the preset plane center point in the initial two-dimensional coordinate system based on all the projection coordinates; Re-establishing a standard two-dimensional coordinate system on the preset plane with the center point of the preset plane as the second origin and the preset direction as the positive direction of the standard x or y coordinate axis, and converting the coordinates of the precise installation point and all the projection coordinates into the standard two-dimensional coordinate system, so as to determine the relative position of the precise installation point and the center point of the preset plane based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin; Analyzing the coordinates of the precise installation point of the radar body according to the relationship between the preset plane and the actual installation surface of the radar body; The standard two-dimensional coordinate system is configured to be used at least for a process in which the radar body measures the three-dimensional surface shape of the material in the container.

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