3D scanning radar with self-determination function of installation position

Abstract

The present application discloses a three-dimensional scanning radar with a self-determination function of installation posture. The three-dimensional scanning radar is installed on a container to measure the three-dimensional shape of the surface of the material in the container; before measuring the three-dimensional shape of the surface of the material, the three-dimensional scanning radar performs multi-point scanning on the inner wall of the container within a preset angle range along a set direction to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall corresponding to the preset angle range. On the one hand, the present application can overcome the existing method of manually measuring and obtaining the radar installation coordinate points, which is difficult to execute, has large errors, inaccurate installation coordinate points, inaccurate three-dimensional coordinates of the material surface converted by the radar, and poor radar detection accuracy. On the other hand, even if the radar is affected by external factors and produces an installation angle deviation, the present application can also self-determine its installation angle deviation through the three-dimensional scanning radar, which is conducive to improving the accuracy of the three-dimensional coordinates of the material surface converted by the radar, as well as the detection accuracy of the radar.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of industrial measurement technology, and in particular to a three-dimensional scanning radar with a self-determination function of installation posture. Background Art

[0002] Three-dimensional scanning radar has many advantages such as safety, high efficiency and environmental protection, and has therefore been widely promoted and applied in the scanning and monitoring of materials in containers such as silos and storage tanks.

[0003] According to the principle that the 3D scanning radar detects the material surface and then converts it into the 3D coordinates of the material surface, the accuracy of the 3D coordinate calculation of the material surface is closely related to the installation coordinate point of the 3D scanning radar on the top of the container such as the silo and storage tank. The more accurate the installation coordinate point of the 3D scanning radar, the more accurate the converted 3D coordinates of the material surface.

[0004] However, 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 shielding devices. In many cases, the center position of the top of containers such as silos and storage tanks is not marked. This makes it difficult for personnel to measure the distance between the 3D scanning radar and the center or sides of the container after installing the 3D scanning radar on the top of the silo and storage tank, and it is impossible to obtain accurate measurement results, which makes the installation coordinate point of the 3D scanning radar inaccurate, resulting in inaccurate converted 3D coordinates of the material surface, which ultimately seriously affects the detection accuracy. In addition, if there are obstacles such as ladders or pipes at or around the installation location of the 3D scanning radar, and the unequal installation surface of the container causes the 3D scanning radar to be installed non-vertically downward, there will be a certain angle deviation, resulting in inaccurate converted 3D coordinates of the material surface, which ultimately seriously affects the detection accuracy. Summary of the invention

[0005] In order to solve at least one of the above-mentioned technical problems, an embodiment of the present invention provides a three-dimensional scanning radar with a self-determination function of installation posture, which can detect and obtain the precise installation position coordinate point of the three-dimensional scanning radar, or detect and obtain the installation angle deviation of the three-dimensional scanning radar, so as to improve the measurement accuracy of the three-dimensional scanning radar.

[0006] In a first aspect, an embodiment of the present invention provides a three-dimensional scanning radar with a self-determination function of an installation posture, wherein the three-dimensional scanning radar is installed to a container to measure the three-dimensional shape of the surface of a material in the container;

[0007] Before measuring the three-dimensional shape of the surface of the material, the three-dimensional scanning radar performs multi-point scanning on the inner wall of the container within a preset angle range along a set direction to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall corresponding to the preset angle range;

[0008] The installation posture information at least includes a coordinate point of a precise installation point of the three-dimensional scanning radar or an installation angle deviation of the three-dimensional scanning radar.

[0009] Optionally, the three-dimensional scanning radar includes a multi-angle measurement module and a processing module;

[0010] The multi-angle measurement module is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple echo signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container;

[0011] The processing module receives a plurality of the reflected signals to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data.

[0012] Optionally, the multi-angle measurement module includes a signal transceiver module and a motion module;

[0013] The signal transceiver module is arranged on the motion module and is used to transmit the measurement signal, so that the reflection signal formed by the measurement signal being reflected by the inner wall at least once is received by the signal transceiver module;

[0014] The motion module is used to drive the signal transceiver module to scan the inner wall within the preset angle range along the set direction according to the preset motion logic;

[0015] 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; and to generate a detection control signal so that the signal transceiver module transmits the measurement signal based on the detection control signal; and, when the motion module drives the signal transceiver module to scan the inner wall, the processing module receives each of the reflected signals uploaded by the signal transceiver module to obtain the point cloud data, and then at least determines the installation posture information based on the point cloud data.

[0016] Optionally, the measurement signal is one of a microwave signal and a laser signal.

[0017] Optionally, the three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by:

[0018] Set a preset plane;

[0019] The three-dimensional scanning radar takes the precise installation point as the origin, takes 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 the point cloud data in the initial two-dimensional coordinate system;

[0020] The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates;

[0021] The three-dimensional scanning radar determines the relative position of the precise installation point and the center point of the preset plane according to the center coordinates and the origin;

[0022] According to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed, the coordinate point of the precise installation point of the three-dimensional scanning radar is parsed.

[0023] Optionally, the three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by:

[0024] Set a preset plane;

[0025] The three-dimensional scanning radar takes the precise installation point as the first origin, takes 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 the point cloud data in the initial two-dimensional coordinate system;

[0026] The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates;

[0027] The three-dimensional scanning radar 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 according to the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin;

[0028] According to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar, the coordinate points of the precise installation points of the three-dimensional scanning radar are parsed;

[0029] The standard two-dimensional coordinate system is configured to be used at least for a process in which the three-dimensional scanning radar measures the three-dimensional surface morphology of the material in the container.

[0030] Optionally, the three-dimensional scanning radar determines the installation angle deviation of the three-dimensional scanning radar in the following manner:

[0031] The three-dimensional scanning radar determines the main axis direction of the figure surrounded by the point cloud according to all the projection conversion coordinates in the standard two-dimensional coordinate system, and then analyzes the deflection direction of the three-dimensional scanning radar compared to the preset plane according to the angle difference between the main axis direction and the preset direction;

[0032] The three-dimensional scanning radar performs axial projection on the point cloud data on the radar axial plane to obtain an angle between the central axis of the axial projection and the normal of the preset plane;

[0033] The three-dimensional scanning radar determines an azimuth angle between the three-dimensional scanning radar and the preset plane according to a deflection direction of the three-dimensional scanning radar compared to the preset plane and an angle between a central axis of the axial projection and a normal to the preset plane;

[0034] According to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar, the installation angle deviation of the three-dimensional scanning radar is analyzed.

[0035] Optionally, the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar includes at least one of the following: the preset plane is the actual installation surface of the three-dimensional scanning radar, the preset plane is parallel to the actual installation surface of the three-dimensional scanning radar, and the preset plane is at a known angle to the actual installation surface of the three-dimensional scanning radar.

[0036] Optionally, the preset direction is an installation direction of the three-dimensional scanning radar.

[0037] Optionally, the three-dimensional scanning radar has an azimuth measurement function, and the preset direction is the azimuth direction measured by the three-dimensional scanning radar.

[0038] In a second aspect, an embodiment of the present invention further provides a three-dimensional scanning system with a self-determination function of installation posture, the three-dimensional scanning system comprising a three-dimensional scanning radar and a server;

[0039] The three-dimensional scanning radar is installed on the container to measure the three-dimensional shape of the surface of the material in the container;

[0040] Before measuring the three-dimensional shape of the surface of the material, the three-dimensional scanning radar scans the inner wall of the container within a preset angle range along a set direction to obtain point cloud data of the inner wall;

[0041] The server establishes a communication connection with the three-dimensional scanning radar, and is used to receive and determine at least the installation posture information of the three-dimensional scanning radar according to the point cloud data uploaded by the three-dimensional scanning radar;

[0042] The installation posture information at least includes a coordinate point of a precise installation point of the three-dimensional scanning radar or an installation angle deviation of the three-dimensional scanning radar.

[0043] In summary, before measuring the three-dimensional morphology of the surface of the material, the embodiment of the present invention uses a three-dimensional scanning radar to perform multi-point scanning on the inner wall of the container within a preset angle range along a set direction, so as to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall within the corresponding preset angle range (that is, the three-dimensional scanning radar can at least determine the coordinate point of the precise installation point of the three-dimensional scanning radar, or one of the installation angle deviations of the three-dimensional scanning radar). As set up in this way in the present application, 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 coordinate point of its precise installation point can be directly confirmed by the three-dimensional scanning radar, which effectively overcomes the existing method of manually measuring the distance between the center of the container or each side of the container and the three-dimensional scanning radar on site, and then obtaining the installation coordinate point of the three-dimensional scanning radar, which has high execution difficulty and large manual measurement errors, resulting in inaccurate installation coordinate points, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, and poor detection accuracy of the three-dimensional scanning radar. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the unequal installation surface of the container, and the three-dimensional scanning radar is not installed vertically downward and there is a certain angle deviation, the present application can also self-confirm the installation angle deviation through the three-dimensional scanning radar, which is beneficial to improve the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, as well as the detection accuracy of the three-dimensional scanning radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 It is a schematic diagram of the installation of a three-dimensional scanning radar with a self-determination function of installation posture provided by an embodiment of the present invention;

[0046] Figure 2 It is a multi-point scanning profile of the inner wall of a container by a three-dimensional scanning radar provided in an embodiment of the present invention;

[0047] Figure 3 It is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention;

[0048] Figure 4It is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention;

[0049] Figure 5 is a schematic structural diagram of a three-dimensional scanning radar provided by an embodiment of the present invention;

[0050] Figure 6 It is a flow chart of a method for determining the coordinate points of precise installation points by a three-dimensional scanning radar provided by an embodiment of the present invention;

[0051] Figure 7 is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention;

[0052] Figure 8 is a flow chart of another method for determining the coordinate points of precise installation points by a three-dimensional scanning radar provided by an embodiment of the present invention;

[0053] Fig. 9 is another coordinate system transformation schematic diagram provided by an embodiment of the present invention;

[0054] Fig.10 It is a flow chart of a method for determining an installation angle deviation of a three-dimensional scanning radar provided by an embodiment of the present invention;

[0055] Fig.11 is a schematic diagram of a figure surrounded by all point clouds formed by a three-dimensional scanning radar under a non-vertical installation condition provided by an embodiment of the present invention;

[0056] Fig.12 It is a structural schematic diagram of a three-dimensional scanning system with a self-determination function of installation posture provided by an embodiment of the present invention;

[0057] Fig.13 It is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention;

[0058] Fig.14 This is another multi-point scanning profile diagram of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 described embodiments 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 creative work should fall within the scope of protection of the present invention.

[0060] It should be noted that the terms "first", "second", etc. in the specification 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 data 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 that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0061] Figure 1 This is a schematic diagram of the installation of a three-dimensional scanning radar with a self-determination function of the installation posture provided by an embodiment of the present invention. Figure 1 The three-dimensional scanning radar 10 is installed to the container 20 to measure the three-dimensional surface shape of the material 30 in the container 20; before measuring the three-dimensional surface shape of the material 30, the three-dimensional scanning radar 10 performs multi-point scanning on the inner wall of the container 20 within a preset angle range along a set direction to obtain and determine at least the installation posture information of the three-dimensional scanning radar 10 based on the point cloud data of the inner wall within the corresponding preset angle range.

[0062] The installation posture information at least includes the coordinate point of the precise installation point of the three-dimensional scanning radar 10 or the installation angle deviation of the three-dimensional scanning radar 10 .

[0063] The three-dimensional scanning radar 10 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 acquired by the three-dimensional scanning radar 10 can be specifically microwave point cloud data, laser point cloud data, etc.

[0064] The installation position of the three-dimensional scanning radar 10 can be any position of the container 20, for example, it can be the top position of the container 20 (i.e., the top of the container 20). The container 20 can be a tank body and a silo body capable of carrying the material 30, or other similar instruments or components, for example, it can be a component such as a reaction tank or a storage silo in a production equipment. The state of the material 30 can be a solid state, a solid-liquid viscous mixed state, etc.

[0065] In some specific implementations, there may be multiple specific ways for the three-dimensional scanning radar 10 to perform multi-point scanning on the inner wall of the container. Figure 2 It is a multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention. Figure 3 is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention. Figure 4This is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention. Fig.13 This is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention. Fig.14 This is another multi-point scanning profile of the inner wall of a container provided by a three-dimensional scanning radar in an embodiment of the present invention. Specifically, Figure 2 The shape of the middle container 20 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is an ellipse; Figure 3 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 4 The shape of the middle container 20 is a cylinder, the setting direction is clockwise, and the scanning profile includes three parts, and the angle range corresponding to the scanning profile of each part is 60° (i.e. Figure 4 Angle α, angle β and angle γ shown); Fig.13 The shape of the middle container 20 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the cross section of the scanning profile is circular; Fig.14 The shape of the middle container 20 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is a circle.

[0066] It is understandable that when the shape of the container 20 is relatively standard (e.g. Figure 2 The cylindrical container shown or Figure 3 When the 3D scanning radar 10 is a rectangular container as shown in the figure, the 3D scanning radar 10 may also only scan a part of the 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 the point cloud data of the inner wall of the entire container through axisymmetry or central symmetry, and finally determine at least the installation posture information of the 3D scanning radar 10 based on these point cloud data. Of course, in other specific embodiments, the shape of the container 20 may be irregular, or the 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 the same, not completely the same, or completely different.

[0067] In summary, before measuring the three-dimensional morphology of the surface of the material, the embodiment of the present invention uses a three-dimensional scanning radar to perform multi-point scanning on the inner wall of the container within a preset angle range along a set direction, so as to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall within the corresponding preset angle range (that is, the three-dimensional scanning radar can at least determine the coordinate point of the precise installation point of the three-dimensional scanning radar, or one of the installation angle deviations of the three-dimensional scanning radar). As set up in this way in the present application, 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 coordinate point of its precise installation point can be directly confirmed by the three-dimensional scanning radar, which effectively overcomes the existing method of manually measuring the distance between the center of the container or each side of the container and the three-dimensional scanning radar on site, and then obtaining the installation coordinate point of the three-dimensional scanning radar, which has high execution difficulty and large manual measurement errors, resulting in inaccurate installation coordinate points, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, and poor detection accuracy of the three-dimensional scanning radar. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the unequal installation surface of the container, and the three-dimensional scanning radar is not installed vertically downward and there is a certain angle deviation, the present application can also self-confirm the installation angle deviation through the three-dimensional scanning radar, which is beneficial to improve the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, as well as the detection accuracy of the three-dimensional scanning radar.

[0068] It should be noted that Figure 1-Figure 4 , Fig.13 , Fig.14 The three-dimensional scanning radar 10 is exemplarily shown to be installed on the top of the container 20, which is not intended to limit the embodiments of the present invention.

[0069] Based on the above embodiments, the specific structure of the three-dimensional scanning radar is described below, which does not limit the embodiments of the present invention. Figure 5 Schematic diagram of a three-dimensional scanning radar provided by an embodiment of the present invention. Figure 5 Optionally, the three-dimensional scanning radar includes a multi-angle measurement module 110 and a processing module 120; the multi-angle measurement module 110 is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple echo signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container; the processing module 120 receives the multiple echo signals to obtain point cloud data, and then determines at least the installation posture information based on the point cloud data.

[0070] 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 measurement signal, so that a reflection signal formed by the measurement signal being reflected by the inner wall at least once is received by the signal transceiver module 111; the motion module 112 is used to drive the signal transceiver module 111 to scan the inner wall within a preset angle range along a 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 a measurement signal based on the detection control signal; and, in the process of the motion module 112 driving the signal transceiver module 111 to scan the inner wall, receives each reflection signal uploaded by the signal transceiver module 111 to obtain point cloud data, and then determines at least the installation posture information according to the point cloud data.

[0071] Optionally, the measurement signal is one of a microwave signal and a laser signal.

[0072] Among them, when the three-dimensional scanning radar 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. In this case, the measurement signal and the echo signal are both microwave signals; when the three-dimensional scanning radar 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. In this case, the measurement signal and the echo signal are both laser signals. Of course, in some embodiments, the signal transceiver module 111 can also include multiple types of sensors at the same time, and the types of measurement signals and echo signals can be multiple, which will not be repeated. 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 can be set according to the actual application scenario of the three-dimensional scanning radar, for example, every 1° deflection in the horizontal direction, a pitch motion is completely performed. The detection control signal is at least used to control the signal transceiver module 111 to transmit the measurement signal, and the detection control signal can be a wired signal or a wireless signal.

[0073] For example, the working principle of the three-dimensional scanning radar can be specifically as follows:

[0074] 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 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 measurement signal so that a reflected signal formed by at least one reflection of the 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 reflected signal uploaded by the signal transceiver module 111 to obtain point cloud data, and then determines at least the installation posture information based on the point cloud data.

[0075] It can be seen that, before measuring the three-dimensional morphology of the surface of the material, the embodiment of the present invention uses the three-dimensional scanning radar to perform multi-point scanning on the inner wall of the container within the preset angle range along the set direction, so as to obtain and determine at least one of the coordinate points of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar according to the point cloud data of the inner wall within the corresponding preset angle range. As set up in this way in the present application, 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 coordinate points of its precise installation point can be directly confirmed by the three-dimensional scanning radar, which effectively overcomes the existing method of manually measuring the distance between the center of the container or each side of the container and the three-dimensional scanning radar on site, and then obtaining the installation coordinate points of the three-dimensional scanning radar, which has high execution difficulty and large manual measurement errors, thereby resulting in inaccurate installation coordinate points, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, and poor detection accuracy of the three-dimensional scanning radar. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the unequal installation surface of the container, and the three-dimensional scanning radar is not installed vertically downward and there is a certain angle deviation, the present application can also self-confirm the installation angle deviation through the three-dimensional scanning radar, which is beneficial to improve the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, as well as the detection accuracy of the three-dimensional scanning radar.

[0076] It should be noted that there may be multiple specific methods for the three-dimensional scanning radar to determine the coordinate points of its precise installation point, which are described in detail below but are not intended to limit the embodiments of the present invention.

[0077] In one embodiment, Figure 6 This is a flow chart of a method for determining the coordinates of precise installation points using a three-dimensional scanning radar according to an embodiment of the present invention. Figure 6Optionally, the three-dimensional scanning radar determines the coordinate point of the precise installation point of the three-dimensional scanning radar by:

[0078] S610: Set a preset plane.

[0079] The preset plane may refer to the actual installation surface of the 3D scanning radar, or a plane parallel to the actual installation surface or at a known angle; at the same time, the preset plane may be horizontal or non-horizontal. In actual application, the 3D scanning radar is installed at the top of the container in most cases, so the preset plane can generally be preferably set to the top surface of the container.

[0080] Optionally, the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar includes at least one of the following: the preset plane is the actual installation surface of the three-dimensional scanning radar, the preset plane is parallel to the actual installation surface of the three-dimensional scanning radar, and the preset plane and the actual installation surface of the three-dimensional scanning radar are at a known angle.

[0081] S620, the three-dimensional scanning radar takes the precise installation point as the origin, takes 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 point cloud data in the initial two-dimensional coordinate system.

[0082] There are multiple options for the preset direction.

[0083] In one embodiment, the preset direction is optionally the installation direction of the three-dimensional scanning radar. In order to clarify the installation direction of the three-dimensional scanning radar, a direction mark can be set on the three-dimensional scanning radar, and the direction mark can point to the starting scanning direction of the three-dimensional scanning radar, or can point to the following direction: Figure 3 The direction of the straight line where the long side or wide side of the rectangular container is located, etc.

[0084] In another embodiment, the three-dimensional scanning radar optionally has an azimuth measurement function, and the preset direction is the azimuth direction measured by the three-dimensional scanning radar. The three-dimensional scanning radar having an azimuth measurement function may mean that the three-dimensional scanning radar can measure directions such as east, west, south, and north, and the preset direction may be, for example, due south.

[0085] S630. The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates.

[0086] The preset plane center point 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.

[0087] S640, 3D scanning radar 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.

[0088] S650: Analyze the coordinates of the precise installation point of the three-dimensional scanning radar according to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed.

[0089] For example, in Figure 3 On the basis of Figure 7 is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention, see Figure 3 and Figure 7 , the three-dimensional scanning radar takes 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, 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 three-dimensional scanning radar performs multi-point scanning on the inner wall of the container within the preset angle range along the set direction, the point cloud data formed by the three-dimensional scanning radar scanning constitutes the scanning profile B (it can be understood that when there are enough point cloud data, the scanning profile is no longer linear, but strip-shaped, such as Fig.13 As shown), at this time, all point cloud data are projected to the initial two-dimensional coordinate system xO'y to form a projection contour B'. Based on all the projection coordinates that enclose the projection contour B', the three-dimensional scanning radar can determine the coordinates of the center point O of the preset plane (that is, the geometric center point of the projection contour 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 the precise installation point O' and the coordinates of the center point O of the preset plane are both known, and the three-dimensional scanning radar can 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 based on the distance calculation formula between two points in the same coordinate system.

[0090] In another embodiment, Figure 8 is a flow chart of another method for determining the coordinates of precise installation points by a three-dimensional scanning radar according to an embodiment of the present invention. Figure 8 Optionally, the three-dimensional scanning radar determines the coordinate point of the precise installation point of the three-dimensional scanning radar by:

[0091] S810. Set a preset plane.

[0092] S820, the three-dimensional scanning radar takes the precise installation point as the first origin, takes 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 point cloud data in the initial two-dimensional coordinate system.

[0093] S830. The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates.

[0094] S840, the three-dimensional scanning radar 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 to 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 according to the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin.

[0095] The standard two-dimensional coordinate system is configured to be used at least for the process of measuring the three-dimensional surface morphology of the material in the container by the three-dimensional scanning radar.

[0096] S850. Analyze the coordinates of the precise installation point of the three-dimensional scanning radar according to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed.

[0097] For example, in Figure 3 On the basis of Fig. 9 is another coordinate system transformation schematic diagram provided by an embodiment of the present invention, see Figure 3 and Fig. 9 , the three-dimensional scanning radar 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, 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 the initial two-dimensional coordinate system xO'y on the plane where the top of the container is located. After the three-dimensional scanning radar performs multi-point scanning on the inner wall of the container within the preset angle range along the set direction, the point cloud data formed by the three-dimensional scanning radar scanning constitutes the scanning profile B. At this time, all the point cloud data are projected onto the initial two-dimensional coordinate system xO'y to form the projection profile B'. According to all the projection coordinates that enclose the projection profile B', the three-dimensional scanning radar 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. Based on this, the three-dimensional scanning radar uses the preset plane center point O as the second origin again, and takes one direction of the straight line where the long side of the rectangular container is located as the standard x-coordinate axis (that is Fig. 9 The positive direction of the x' axis in the figure is the positive direction of the x' axis, and the direction of the straight line where the wide side of the rectangular container is located is used as the standard y coordinate axis (i.e. Fig. 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', so as to determine the relative position of the precise installation point O' and the center point O of the preset plane according to 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 center point O of the preset plane can be determined based on the distance calculation formula between two points in the same coordinate system.

[0098] Based on the above embodiment, the method for determining the installation angle deviation of the three-dimensional scanning radar is specifically described below, but it is not intended to limit the embodiment of the present invention.

[0099] Fig.10 1 is a flow chart of a method for determining the installation angle deviation of a three-dimensional scanning radar provided by an embodiment of the present invention. Fig.10 Optionally, the three-dimensional scanning radar determines the installation angle deviation of the three-dimensional scanning radar by:

[0100] S1010, the three-dimensional scanning radar determines the main axis direction of the figure surrounded by the point cloud based on all the point cloud data, and then analyzes the deflection angle of the three-dimensional scanning radar on the preset plane according to the difference between the main axis direction and the preset direction.

[0101] S1020. The three-dimensional scanning radar obtains a deflection angle of the three-dimensional scanning radar compared to a preset plane according to the distribution of the point cloud data in the container and the projection length of the figure surrounded by the point cloud in the main axis direction.

[0102] S1030. The three-dimensional scanning radar determines an azimuth angle between the three-dimensional scanning radar and the preset plane according to a deflection angle of the three-dimensional scanning radar on the preset plane and a deflection angle of the three-dimensional scanning radar compared to the preset plane.

[0103] S1040: Analyze the installation angle deviation of the three-dimensional scanning radar according to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar.

[0104] Among them, taking the cylindrical container as an example, Fig.11 is a schematic diagram of a figure surrounded by all point clouds formed by a three-dimensional scanning radar under a non-vertical installation condition provided by an embodiment of the present invention, see Figure 2 and Fig.11 , when the container is cylindrical and the 3D scanning radar is not installed vertically, when viewed from the axis direction of the 3D scanning radar, the figure M surrounded by all the point clouds is an ellipse, and the point clouds on the inner walls on both sides of the container are gathered to form areas M1 and M2 respectively. Based on the figure M, its main axis direction (that is, the major axis direction x" of the ellipse; correspondingly, the minor axis direction of the figure M is also determined), and the difference between the main axis direction and the preset direction can directly reflect the deflection angle of the 3D scanning radar on the preset plane of the container. At the same time, the projection lengths of areas M1 and M2 in the main axis direction (for example Fig.11 l in the figure, l can be obtained from the point cloud) and the range of the 3D scanning radar performing multi-point scanning on the inner wall of the container (e.g. Fig.11The larger the multi-point scanning range, the longer the projection length. According to the Pythagorean theorem, l / h = sinθ. Since l and h are both known, θ can be calculated, that is, the deflection angle of the 3D scanning radar compared to the preset plane can be calculated. According to its own deflection angle on the preset plane and its own deflection angle compared to the preset plane, the 3D scanning radar can determine the azimuth between it and the preset plane.

[0105] Based on the above embodiments, Fig.12 Schematic diagram of a three-dimensional scanning system with a self-determination function of installation posture provided by an embodiment of the present invention. Fig.12 Optionally, the three-dimensional scanning system includes a three-dimensional scanning radar 10 and a server 40; the three-dimensional scanning radar 10 is installed to the container 20 to measure the three-dimensional shape of the surface of the material 30 in the container 20; before measuring the three-dimensional shape of the surface of the material 30, the three-dimensional scanning radar 10 scans the inner wall of the container 20 within a preset angle range along a set direction to obtain point cloud data of the inner wall; the server 40 establishes a communication connection with the three-dimensional scanning radar 10, and is used to receive and determine at least the installation posture information of the three-dimensional scanning radar 10 based on the point cloud data uploaded by the three-dimensional scanning radar 10.

[0106] The installation posture information at least includes the coordinates of the precise installation point of the three-dimensional scanning radar 10, or the installation angle deviation of the three-dimensional scanning radar 10. The server can be a CISC architecture server, a RISC architecture server, a VLIW architecture server, and the like.

[0107] Before measuring the three-dimensional morphology of the surface of the material, the embodiment of the present invention uses a three-dimensional scanning radar to perform multi-point scanning on the inner wall of the container within a preset angle range along a set direction to obtain point cloud data of the inner wall corresponding to the preset angle range and upload it to the server. The server receives and determines at least the installation posture information of the three-dimensional scanning radar based on the point cloud data uploaded by the three-dimensional scanning radar (that is, the server can at least determine the coordinate point of the precise installation point of the three-dimensional scanning radar, or one of the installation angle deviations of the three-dimensional scanning radar). As set up in this way in the present application, 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 coordinate point of the precise installation point of the three-dimensional scanning radar can be directly confirmed by the three-dimensional scanning system, which effectively overcomes the existing method of manually measuring the distance between the center of the container or each side of the container and the three-dimensional scanning radar on site, and then obtaining the installation coordinate point of the three-dimensional scanning radar, which has high execution difficulty and large manual measurement errors, thereby resulting in inaccurate installation coordinate points, 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. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the unequal installation surface of the container, and the three-dimensional scanning radar is installed non-vertically downward and has a certain angle deviation, the present application can also confirm the installation angle deviation of the three-dimensional scanning radar through the three-dimensional scanning system, which is beneficial to improve 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.

[0108] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0109] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional scanning radar with a self-determination function of installation posture, characterized in that: The three-dimensional scanning radar is installed on the container to measure the three-dimensional shape of the surface of the material in the container; Before measuring the three-dimensional shape of the surface of the material, the three-dimensional scanning radar performs multi-point scanning on the inner wall of the container within a preset angle range along a set direction to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall corresponding to the preset angle range; The installation posture information includes at least one of the coordinate point of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar; The three-dimensional scanning radar includes a multi-angle measurement module and a processing module; The multi-angle measurement module is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple echo signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container; The processing module receives a plurality of the reflected signals to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data; The multi-angle measurement module includes a signal transceiver module and a motion module; The signal transceiver module is arranged on the motion module and is used to transmit the measurement signal, so that the reflection signal formed by the measurement signal being reflected by the inner wall at least once is received by the signal transceiver module; The motion module is used to drive the signal transceiver module to scan the inner wall within the preset angle range along the set direction according to the preset motion logic; 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; and generate a detection control signal so that the signal transceiver module transmits the measurement signal based on the detection control signal; and, when the motion module drives the signal transceiver module to scan the inner wall, receives each of the reflected signals uploaded by the signal transceiver module to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data; The three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by: Set a preset plane; The three-dimensional scanning radar takes the precise installation point as the origin, takes 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 the point cloud data in the initial two-dimensional coordinate system; The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates; The three-dimensional scanning radar determines the relative position of the precise installation point and the center point of the preset plane according to the center coordinates and the origin; According to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed, the coordinate point of the precise installation point of the three-dimensional scanning radar is parsed.

2. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 1, characterized in that: The measurement signal is one of a microwave signal and a laser signal.

3. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 1, characterized in that: The three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by: Set a preset plane; The three-dimensional scanning radar takes the precise installation point as the first origin, takes 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 the point cloud data in the initial two-dimensional coordinate system; The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates; The three-dimensional scanning radar 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 according to the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin; According to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar, the coordinate points of the precise installation points of the three-dimensional scanning radar are parsed; The standard two-dimensional coordinate system is configured to be used at least for a process in which the three-dimensional scanning radar measures the three-dimensional surface morphology of the material in the container.

4. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 3, characterized in that: The three-dimensional scanning radar determines the installation angle deviation of the three-dimensional scanning radar in the following manner: The three-dimensional scanning radar determines the main axis direction of the figure surrounded by the point cloud according to all the projection conversion coordinates in the standard two-dimensional coordinate system, and then analyzes the deflection direction of the three-dimensional scanning radar compared to the preset plane according to the angle difference between the main axis direction and the preset direction; The three-dimensional scanning radar performs axial projection on the point cloud data on the radar axial plane to obtain an angle between the central axis of the axial projection and the normal of the preset plane; The three-dimensional scanning radar determines an azimuth angle between the three-dimensional scanning radar and the preset plane according to a deflection direction of the three-dimensional scanning radar compared to the preset plane and an angle between a central axis of the axial projection and a normal to the preset plane; According to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar, the installation angle deviation of the three-dimensional scanning radar is analyzed.

5. A three-dimensional scanning radar with a self-determination function of installation posture according to claim 1 or 3, characterized in that: The relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar includes at least one of the following: the preset plane is the actual installation surface of the three-dimensional scanning radar, the preset plane is parallel to the actual installation surface of the three-dimensional scanning radar, and the preset plane and the actual installation surface of the three-dimensional scanning radar are at a known angle.

6. A three-dimensional scanning radar with a self-determination function of installation posture according to claim 1 or 3, characterized in that: The preset direction is the installation direction of the three-dimensional scanning radar.

7. A three-dimensional scanning radar with a self-determination function of installation posture according to claim 1 or 3, characterized in that: The three-dimensional scanning radar has an azimuth measurement function, and the preset direction is the azimuth direction measured by the three-dimensional scanning radar.

8. A three-dimensional scanning system with a self-determination function of installation posture, characterized in that: The three-dimensional scanning system includes a three-dimensional scanning radar and a server; The three-dimensional scanning radar is installed on the container to measure the three-dimensional shape of the surface of the material in the container; Before measuring the three-dimensional shape of the surface of the material, the three-dimensional scanning radar scans the inner wall of the container within a preset angle range along a set direction to obtain point cloud data of the inner wall; The server establishes a communication connection with the three-dimensional scanning radar, and is used to receive and determine at least the installation posture information of the three-dimensional scanning radar according to the point cloud data uploaded by the three-dimensional scanning radar; The installation posture information includes at least one of the coordinate point of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar; The three-dimensional scanning radar includes a multi-angle measurement module and a processing module; The multi-angle measurement module is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple echo signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container; The processing module receives a plurality of the reflected signals to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data; The multi-angle measurement module includes a signal transceiver module and a motion module; The signal transceiver module is arranged on the motion module and is used to transmit the measurement signal, so that the reflection signal formed by the measurement signal being reflected by the inner wall at least once is received by the signal transceiver module; The motion module is used to drive the signal transceiver module to scan the inner wall within the preset angle range along the set direction according to the preset motion logic; 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; and generate a detection control signal so that the signal transceiver module transmits the measurement signal based on the detection control signal; and, when the motion module drives the signal transceiver module to scan the inner wall, receives each of the reflected signals uploaded by the signal transceiver module to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data; The three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by: Set a preset plane; The three-dimensional scanning radar takes the precise installation point as the origin, takes 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 the point cloud data in the initial two-dimensional coordinate system; The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system according to all the projection coordinates; The three-dimensional scanning radar determines the relative position of the precise installation point and the center point of the preset plane according to the center coordinates and the origin; According to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed, the coordinate point of the precise installation point of the three-dimensional scanning radar is parsed.

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