A three-dimensional material measurement system with interference shielding function

Abstract

The present invention provides a three-dimensional material measurement system with interference shielding function. The three-dimensional material measurement system is installed on a container, and the container contains materials. The three-dimensional material measurement system includes at least one radar body and a processing and display module; each radar body is used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or interference; the processing and display module can at least determine the interference angle range that blocks the radar body signal, obtain reliable echo information based on the interference angle range, and at least parse the three-dimensional morphological view of the material based on the reliable echo information. The above-mentioned three-dimensional material measurement system can shield the interference of interference objects on the radar body signal without reducing the material holding capacity of the container, thereby making the three-dimensional morphological view of the material obtained by the system accurate and reliable, which is conducive to improving the detection accuracy of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of material detection, and in particular to a three-dimensional material measurement system with an interference shielding function. Background Art

[0002] For some containers that store or react solid materials, radar is needed to detect the height and three-dimensional shape of the solid material surface for inventory, material input and output control, and material distribution process guidance.

[0003] In order to make the container structure stable and strong, interference objects such as support structures are often added to the top of the container. The number and type of support structures will also vary depending on the container, such as I-beam type and complex steel structure type support structures. In order to avoid interference objects blocking the radar signal and generating interference signals, the radar generally needs to be installed downward to avoid interference caused by interference objects, but sinking will reduce the container's ability to hold solid materials and reduce the container's holding capacity. In addition, depending on the material or function of the container, the material feed port or distributor will be different. For example, the container for storing grain feeds from the center of the top of the container, but from the feed port at the center of the top of the container to the bottom of the container, there is a whole feeder or chute in the vertical direction, which will not only generate interference signals to the radar signal, but also cause a waste of radar detection time.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The main purpose of the present invention is to provide a three-dimensional material measurement system with interference shielding function, so as to at least solve the technical problem that interference objects in the container interfere with the signal emitted by the radar.

[0006] To achieve the above-mentioned object, according to one aspect of the present invention, a three-dimensional material measurement system with interference shielding function is provided, the three-dimensional material measurement system is installed on a container, and the container contains material; the three-dimensional material measurement system includes a processing display module and at least one radar body; each radar body is installed corresponding to a preset position in the container, and is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference; the processing display module is connected to each radar body, and is at least used to obtain the echo information of all radar bodies in each detection cycle, and analyze the material state according to the echo information of all radar bodies in each detection cycle; and, when the material in the container is in a low material level state or an empty state, compare the echo information at the corresponding angle in the first at least two detection cycles, and then judge the reliability of the echo information at the corresponding angle and determine the interference angle range; and, in at least one subsequent detection cycle, eliminate the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least analyze the three-dimensional morphological view of the material; wherein the echo information at least includes the echo signal and its corresponding angle.

[0007] Furthermore, the radar body is at least specifically used to send measurement signals and receive echo signals from the full angle range in each detection cycle; the processing and display module is at least specifically used to obtain the echo information of the radar body in the full angle range in each subsequent detection cycle, and automatically eliminate the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse out the three-dimensional morphological view of the material surface.

[0008] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. Accordingly, the processing and display module obtains the echo information of all radar bodies in each detection cycle, and parses the material state according to the echo information of all radar bodies in each detection cycle. When the material in the container is in a low material level state or an empty state, the processing and display module determines whether the echo information at the corresponding angle is reliable and determines the interference angle range corresponding to the interference object by comparing the echo information at the corresponding angle in the first at least two detection cycles. After the interference angle range is determined, the processing and display module can eliminate the echo information within the interference angle range in at least one subsequent detection cycle, obtain reliable echo information, and parse at least a three-dimensional morphological view of the material based on the reliable echo information.

[0009] It can be seen that after the present invention determines the interference angle corresponding to the interference object in the container within the scanning range of each radar body based on the scanning measurement of the radar body, the echo information formed by the scanning of each radar body within the interference angle range can be eliminated by processing the display module in at least one subsequent detection cycle, thereby obtaining reliable echo information corresponding to the material, and finally parsing at least the three-dimensional morphological view of the material based on the reliable echo information, solving the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the container material holding capacity. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the container material holding capacity, which is conducive to improving the detection accuracy of the three-dimensional material measurement system. According to another aspect of the present invention, a three-dimensional material measurement system with interference shielding function is provided, wherein the three-dimensional material measurement system is installed in a container, and the container contains material; the three-dimensional material measurement system comprises a processing display module and at least one radar body; each radar body is installed in a corresponding preset position in the container, and is used at least in each detection cycle to send a measurement signal from at least one angle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or interference; the processing display module is connected to each radar body, and is used at least in each detection cycle to obtain the echo information of all radar bodies, and receive the echo information of all radar bodies according to each detection cycle. and, when the material in the container is in a low material level state or an empty state, comparing the echo information at the corresponding angle in at least the first two detection cycles, and then judging the reliability of the echo information at the corresponding angle and determining the interference angle range; and, in at least one subsequent detection cycle, generating an interference rejection instruction and sending the interference rejection instruction to the radar body, so that the radar body does not send out measurement signals and receive echo signals within the interference angle range, and only sends out measurement signals and receives echo signals within the non-interference angle range; and, based on the reliable echo information of the radar body within the non-interference angle range, at least a three-dimensional morphological view of the material is parsed.

[0010] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. Accordingly, the processing and display module obtains the echo information of all radar bodies in each detection cycle, and parses the material state according to the echo information of all radar bodies in each detection cycle. When the material in the container is in a low material level state or an empty state, the processing and display module determines whether the echo information at the corresponding angle is reliable and determines the interference angle range corresponding to the interference object by comparing the echo information at the corresponding angle in the first at least two detection cycles. After the interference angle range is determined, the processing and display module sends the generated interference rejection instruction to the radar body, so that the radar body only sends out measurement signals and receives echo signals within the non-interference angle range in at least one subsequent detection cycle, and finally the processing and display module parses at least the three-dimensional morphological view of the material based on the reliable echo information of the radar body within the non-interference angle range.

[0011] It can be seen that after the present invention determines the interference angle corresponding to the interference object in the container within the scanning range of each radar body based on the scanning measurement of the radar body, it controls each radar body to send measurement signals and receive echo signals only within the non-interference angle range in at least one subsequent detection cycle through the processing display module, and based on the reliable echo information of the radar body within the non-interference angle range, at least parses the three-dimensional morphological view of the material, which solves the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the container material holding capacity. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the container material holding capacity, which is conducive to improving the detection accuracy of the three-dimensional material measurement system. According to another aspect of the present invention, a three-dimensional material measurement system with interference shielding function is provided, the three-dimensional material measurement system is installed in a container, and the container contains materials; the three-dimensional material measurement system includes a processing display module and at least one radar body; each radar body is installed in a preset position in the container, and is used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference; the processing display module is connected to each radar body, and is used to determine the interference angle range according to the fixed position and preset position of the interference object; and, in each detection cycle, the echo information within the interference angle range is eliminated to obtain reliable echo information, and based on the reliable echo information, at least a three-dimensional morphological view of the material surface is analyzed. Wherein, the echo information at least includes the echo signal and its corresponding angle.

[0012] Furthermore, the processing and display module determines the interference angle range in at least the following manner: after the operator determines the interference angle range based on the fixed position and the preset position of the interference object, the operator completes parameter configuration of the interference angle range on the processing and display module.

[0013] Furthermore, the radar body is at least specifically used to send measurement signals and receive echo signals from the full angle range in each detection cycle; the processing and display module is at least specifically used to obtain the echo information of the radar body in the full angle range in each detection cycle, and automatically eliminate the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse out the three-dimensional morphological view of the material.

[0014] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; the processing and display module determines the interference angle range according to the fixed position of the interference object and the preset position of each radar body installed in the container, and in each detection cycle, the echo information within the interference angle range is eliminated to obtain reliable echo information, and finally at least a three-dimensional morphological view of the material surface is parsed based on the reliable echo information. In view of this, the present invention can solve the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the material holding capacity of the container. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the material holding capacity of the container, which is conducive to improving the detection accuracy of the three-dimensional material measurement system. According to another aspect of the present invention, a three-dimensional material measurement system with interference shielding function is provided, the three-dimensional material measurement system is installed in a container, and the container contains materials; the three-dimensional material measurement system includes a processing display module and at least one radar body; each radar body is installed in a preset position in the container, and is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; the processing display module is connected to each radar body, and is at least used to determine the interference angle range according to the fixed position and the preset position of the interference object; and, in each detection cycle, an interference rejection instruction is generated and sent to the radar body, so that the radar body does not send a measurement signal and receive an echo signal within the interference angle range, and only sends a measurement signal and receives an echo signal within the non-interference angle range; and, based on the reliable echo information of the radar body within the non-interference angle range, at least a three-dimensional morphological view of the material is parsed. Wherein, the echo information at least includes the echo signal and its corresponding angle.

[0015] Furthermore, the echo information includes at least one of echo waveform, echo amplitude, echo energy or echo resolution.

[0016] Furthermore, the measurement signal is at least one of a laser signal and an electromagnetic wave signal.

[0017] Furthermore, it also includes at least one mounting bracket; a first end surface of the mounting bracket is connected to the detection end of the radar body, and a second end surface of the mounting bracket is fixedly connected to a corresponding preset position in the container.

[0018] Furthermore, the radar body includes a multi-angle measurement unit and an angle control unit; the multi-angle measurement unit is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by the measurement signal at each angle being reflected at least once by the material and / or interference; the angle control unit is connected to the multi-angle measurement unit, and is at least used to control the multi-angle measurement unit to send measurement signals at multiple angles and receive echo signals at multiple angles under a preset motion logic.

[0019] Furthermore, the radar body includes a multi-angle measurement unit and an angle control unit; the multi-angle measurement unit is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by the measurement signal at each angle being reflected at least once by the material and / or interference object; the angle control unit is connected to the multi-angle measurement unit, and is at least used to generate a set motion logic according to an interference rejection instruction, so that the radar body does not send a measurement signal and receive an echo signal within the interference angle range, and only sends a measurement signal and receives an echo signal within the non-interference angle range.

[0020] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; the processing and display module determines the interference angle range according to the fixed position of the interference object and the preset position of each radar body installed in the container; after the interference angle range is determined, the processing and display module generates an interference rejection instruction in each detection cycle and sends it to the radar body, so that the radar body only sends out a measurement signal and receives an echo signal within the non-interference angle range; finally, the processing and display module analyzes at least the three-dimensional morphological view of the material based on the reliable echo information of the radar body within the non-interference angle range. Based on this, the present invention can solve the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the material holding capacity of the container. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the material holding capacity of the container, which is conducive to improving the detection accuracy of the three-dimensional material measurement system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 A schematic structural diagram of an installation assembly in a fifth embodiment of the present invention is shown;

[0023] Figure 2 A schematic structural diagram of an installation assembly in a sixth embodiment of the present invention is shown.

[0024] The above drawings include the following reference numerals:

[0025] 1. Radar body;

[0026] 2. First flange;

[0027] 3. Second flange;

[0028] 4. Mounting bracket; 41. First connecting portion; 42. Support portion; 43. Second connecting portion. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations 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.

[0032] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0033] Example 1

[0034] In an embodiment of the present application, a three-dimensional material measurement system with interference shielding function is provided, wherein the three-dimensional material measurement system is installed in a container, and the container contains materials, and the three-dimensional material measurement system includes a processing display module and at least one radar body. Each radar body is installed corresponding to a preset position in the container, and is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference. The processing display module is connected to each radar body, and is at least used to obtain the echo information of all radar bodies in each detection cycle, and analyze the material state according to the echo information of all radar bodies in each detection cycle, and, when the material in the container is in a low material level state or an empty state, compare the echo information at the corresponding angle in the first at least two detection cycles, and then judge the reliability of the echo information at the corresponding angle and determine the interference angle range, and, in at least one subsequent detection cycle, remove the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least analyze the three-dimensional morphological view of the material, wherein the echo information at least includes the echo signal and its corresponding angle. It should be noted that the processing and display module is connected to the radar body, and the processing and display module communicates with the radar body (it can be wired communication or wireless communication), and the processing and display module parses the material state according to the echo information transmitted by the radar body (in this case, the echo information can at least be obtained by the radar body according to the echo signal, or the measurement signal and the echo signal). Of course, in other embodiments, the echo information can also be obtained by the processing and display module at least according to the echo signal, or the measurement signal and the echo signal. The container can be, but not limited to, a silo, a storage tank, etc., the state of the material can be, for example, a solid state, a solid-liquid mixed state, etc., the interference can be a pipe, a ladder, a feed port, etc. in the container, the processing and display module can be, for example, set in an electric control box, a central control room on site, etc., and the processing and display module can include, but not limited to, a display screen, a processor, a server, a host, etc.

[0035] It is understandable that when the material in the container is in a low material level state or an emptying state (equivalent to the material state being a low material level state or an emptying state), there is less material in the container; compared with the state of the container being full or full, the number of reflections of the same measurement signal will be relatively reduced, that is, the transceiver path of the measurement signal and the echo signal is closer to the ideal transceiver path, which is conducive to obtaining more accurate echo information and determining the interference angle range. Exemplarily, the processing display module can compare the echo information at the corresponding angle in at least two previous detection cycles. If the echo information remains unchanged or changes within a preset threshold range (the reason for this setting is that the position of interference objects such as pipelines, ladders, and feed ports is relatively stable compared to the position of the container, and the echo signal formed by the reflection of the interference object will basically not change or change very little), it is determined that the echo information of the corresponding angle is unreliable (that is, the echo information of the corresponding angle corresponds to the echo signal formed by the reflection of the interference object), and the corresponding angle range is recorded as the interference angle range. The processing and display module removes the echo information within the interference angle range (equivalent to removing the echo information corresponding to the interference object) in at least one subsequent detection cycle, obtains reliable echo information (equivalent to the echo information corresponding to the material after eliminating the disturbance of the interference object), and then parses the three-dimensional morphological view of the material based on the reliable echo information, thereby obtaining a true three-dimensional morphological view of the material. In some embodiments, the processing and display module can also parse at least characteristic parameters of the material based on the reliable echo information, such as the highest material level, the lowest material level, the average material level, the material mass, the material volume, the container filling degree, etc.

[0036] It should be further explained that, in this embodiment, one radar body can be provided, or multiple radar bodies can be provided. Among them, multiple radar bodies are provided, and the multiple radar bodies can scan the material in the container in different areas, so as to perform a full-scale scanning of the material.

[0037] Specifically, the radar body is at least specifically used to send out at least a measurement signal and receive an echo signal from the full angle range in each detection cycle, and the processing and display module is at least specifically used to obtain the echo information of the radar body in the full angle range in each subsequent detection cycle, and automatically eliminate the echo information in the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse out the three-dimensional morphological view of the material surface. The radar body performs an all-round scan of the material in the container, and the processing and display module receives the echo information in the full angle range to make the three-dimensional morphological view of the material more accurate and reliable. It should be noted that the full angle range can include azimuth and elevation, and the range of azimuth can be, for example, 0° to 360°, and the range of pitch angle can be, for example, 0° to 180°.

[0038] As an alternative implementation, the full angle range can be adaptively adjusted according to the specific shape of the container (e.g., cylinder, prism, irregular shape, etc.) and the installation position of the radar body (i.e., the preset position, generally located at the top of the container). For example, for containers of regular shapes such as cylinders, the interference in the container is symmetrical or centrally symmetrical, and the radar body is set at the center of the top of the container, the radar body can reduce the scanning angle, for example, only scan 1 / 2 or 1 / 4 of the container, and then obtain the echo information of the full angle range through symmetry (e.g., axisymmetry, central symmetry, etc.).

[0039] Specifically, the echo information involved in this embodiment includes at least one of echo waveform, echo amplitude, echo energy or echo resolution.

[0040] Specifically, the measurement signal involved in this embodiment is at least one of a laser signal or an electromagnetic wave signal. Exemplarily, when the measurement signal and the echo signal are laser signals, the radar body is a laser radar; when the measurement signal and the echo signal are microwave signals, the radar body is a microwave radar. If there are multiple radar bodies, the multiple radar bodies may include both laser radars and microwave radars. Of course, the measurement signal may also be other types of signals, and the type of the radar body may be adaptively changed, which is not limited in this application.

[0041] Specifically, the three-dimensional material measurement system in this embodiment further includes at least one mounting bracket, a first end face of the mounting bracket is connected to the non-detection end of the radar body, and a second end face of the mounting bracket is fixedly connected to a corresponding preset position in the container. The mounting bracket is connected to the container to avoid damage to the radar body during the installation process.

[0042] Further, the radar body includes a multi-angle measurement unit and an angle control unit. The multi-angle measurement unit is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. The angle control unit is connected to the multi-angle measurement unit, and is at least used to control the multi-angle measurement unit to send measurement signals at multiple angles and receive echo signals at multiple angles under a preset motion logic. Specifically, the multi-angle measurement unit can be only responsible for sending and receiving signals. The multi-angle measurement unit can be composed of at least one sensor and a mechanical motion mechanism, or can be a phased array scanner, or can be composed of a phased array scanner and a mechanical motion mechanism. The angle control unit can be electrically connected to the multi-angle measurement unit and the processing and display module respectively. The angle control unit can be, for example, a single-chip microcomputer, a system on chip, etc. The angle control unit transmits the echo signal received by the multi-angle measurement unit to the processing and display module.

[0043] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. Accordingly, the processing and display module obtains the echo information of all radar bodies in each detection cycle, and parses the material state according to the echo information of all radar bodies in each detection cycle. When the material in the container is in a low material level state or an empty state, the processing and display module determines whether the echo information at the corresponding angle is reliable and determines the interference angle range corresponding to the interference object by comparing the echo information at the corresponding angle in the first at least two detection cycles. After the interference angle range is determined, the processing and display module can eliminate the echo information within the interference angle range in at least one subsequent detection cycle, obtain reliable echo information, and parse at least a three-dimensional morphological view of the material based on the reliable echo information.

[0044] It can be seen that after the present invention determines the interference angle corresponding to the interference object in the container within the scanning range of each radar body based on the scanning measurement of the radar body, the echo information formed by the scanning of each radar body within the interference angle range can be eliminated by processing the display module in at least one subsequent detection cycle, thereby obtaining reliable echo information corresponding to the material, and finally parsing at least the three-dimensional morphological view of the material based on the reliable echo information, solving the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the container material holding capacity. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the container material holding capacity, which is conducive to improving the detection accuracy of the three-dimensional material measurement system.

[0045] Example 2

[0046] Another specific embodiment of the present application provides a three-dimensional material measurement system with interference shielding function, the three-dimensional material measurement system is installed in a container, and the container contains materials; the three-dimensional material measurement system includes a processing display module and at least one radar body. Each radar body is installed in a corresponding preset position in the container, and is used at least to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or interference. The processing and display module is connected to each radar body, and is at least used to obtain the echo information of all radar bodies in each detection cycle, and parse the material status according to the echo information of all radar bodies in each detection cycle, and when the material in the container is in a low material level state or an empty state, compare the echo information at the corresponding angle in the first at least two detection cycles, and then judge the reliability of the echo information at the corresponding angle and determine the interference angle range, and, in at least one subsequent detection cycle, generate an interference rejection instruction and send the interference rejection instruction to the radar body, so that the radar body does not send measurement signals and receive echo signals within the interference angle range, and only sends measurement signals and receives echo signals within the non-interference angle range, and, based on the reliable echo information of the radar body within the non-interference angle range, at least parse the three-dimensional morphological view of the material.

[0047] It should be noted that the processing and display module is connected to the radar body, and the processing and display module communicates with the radar body (it can be wired communication or wireless communication), and the processing and display module parses the material state according to the echo information transmitted by the radar body (in this case, the echo information can at least be obtained by the radar body according to the echo signal, or the measurement signal and the echo signal). Of course, in other embodiments, the echo information can also be obtained by the processing and display module at least according to the echo signal, or the measurement signal and the echo signal. The container can be, but not limited to, a silo, a storage tank, etc., the state of the material can be, for example, a solid state, a solid-liquid mixed state, etc., the interference can be a pipe, a ladder, a feed port, etc. in the container, the processing and display module can be, for example, set in an electric control box, a central control room on site, etc., and the processing and display module can include, but not limited to, a display screen, a processor, a server, a host, etc.

[0048] It is understandable that when the material in the container is in a low material level state or an emptying state (equivalent to the material state being a low material level state or an emptying state), there is less material in the container; compared with the state of the container being full or full, the number of reflections of the same measurement signal will be relatively reduced, that is, the transceiver path of the measurement signal and the echo signal is closer to the ideal transceiver path, which is conducive to obtaining more accurate echo information and determining the interference angle range. Exemplarily, the processing display module can compare the echo information at the corresponding angle in at least two previous detection cycles. If the echo information remains unchanged or changes within a preset threshold range (the reason for this setting is that the position of interference objects such as pipelines, ladders, and feed ports is relatively stable compared to the position of the container, and the echo signal formed by the reflection of the interference object will basically not change or change very little), it is determined that the echo information of the corresponding angle is unreliable (that is, the echo information of the corresponding angle corresponds to the echo signal formed by the reflection of the interference object), and the corresponding angle range is recorded as the interference angle range. The processing and display module sends the interference rejection instruction (the interference rejection instruction can be, for example, an AC signal) to the radar body within at least one subsequent detection cycle, so that the radar body does not send measurement signals and receive echo signals within the interference angle range (equivalent to avoiding interference objects to send and receive signals), and only sends measurement signals and receives echo signals within the non-interference angle range, that is, the echo information received by the processing and display module is reliable echo information (equivalent to the echo information corresponding to the material after eliminating the disturbance of the interference object), and then parses the three-dimensional morphological view of the material based on the reliable echo information, thereby obtaining a true three-dimensional morphological view of the material. In some embodiments, the processing and display module can also parse at least the characteristic parameters of the material based on the reliable echo information, such as the highest material level, the lowest material level, the average material level, the material mass, the material volume, the container filling degree, etc.

[0049] It should be further explained that, in this embodiment, one radar body can be provided, or multiple radar bodies can be provided. Among them, multiple radar bodies are provided, and the multiple radar bodies can scan the material in the container in different areas, so as to perform a full-scale scanning of the material.

[0050] As an alternative implementation, the full angle range can be adaptively adjusted according to the specific shape of the container (e.g., cylinder, prism, irregular shape, etc.) and the installation position of the radar body (i.e., the preset position, generally located at the top of the container). For example, for containers of regular shapes such as cylinders, the interference in the container is symmetrical or centrally symmetrical, and the radar body is set at the center of the top of the container, the radar body can reduce the scanning angle, for example, only scan 1 / 2 or 1 / 4 of the container, and then obtain the echo information of the full angle range through symmetry (e.g., axisymmetry, central symmetry) and other methods.

[0051] Specifically, the echo information involved in this embodiment includes at least one of echo waveform, echo amplitude, echo energy or echo resolution.

[0052] Specifically, the measurement signal involved in this embodiment is at least one of a laser signal or an electromagnetic wave signal. Exemplarily, when the measurement signal and the echo signal are laser signals, the radar body is a laser radar; when the measurement signal and the echo signal are microwave signals, the radar body is a microwave radar. If there are multiple radar bodies, the multiple radar bodies may include both laser radars and microwave radars. Of course, the measurement signal may also be other types of signals, and the type of the radar body may be adaptively changed, which is not limited in this application.

[0053] Specifically, the three-dimensional material measurement system in this embodiment further includes at least one mounting bracket, a first end face of the mounting bracket is connected to the non-detection end of the radar body, and a second end face of the mounting bracket is fixedly connected to a corresponding preset position in the container. The mounting bracket is connected to the container to avoid damage to the radar body during the installation process.

[0054] Further, the radar body includes a multi-angle measurement unit and an angle control unit. The multi-angle measurement unit is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. The angle control unit is connected to the multi-angle measurement unit, and is at least used to generate a set motion logic according to the interference rejection instruction, so that the radar body does not send a measurement signal and receive an echo signal within the interference angle range, and only sends a measurement signal and receives an echo signal within the non-interference angle range. Specifically, the multi-angle measurement unit can be only responsible for sending and receiving signals, and the multi-angle measurement unit can be composed of at least one sensor and a mechanical motion mechanism, or can be a phased array scanner, or can be composed of a phased array scanner and a mechanical motion mechanism. The angle control unit can be electrically connected to the multi-angle measurement unit and the processing and display module respectively, and the angle control unit can be, for example, a single-chip microcomputer, a system on a chip, etc. The angle control unit transmits the echo signal received by the multi-angle measurement unit to the processing and display module.

[0055] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. Accordingly, the processing and display module obtains the echo information of all radar bodies in each detection cycle, and parses the material state according to the echo information of all radar bodies in each detection cycle. When the material in the container is in a low material level state or an empty state, the processing and display module determines whether the echo information at the corresponding angle is reliable and determines the interference angle range corresponding to the interference object by comparing the echo information at the corresponding angle in the first at least two detection cycles. After the interference angle range is determined, the processing and display module sends the generated interference rejection instruction to the radar body, so that the radar body only sends out measurement signals and receives echo signals within the non-interference angle range in at least one subsequent detection cycle, and finally the processing and display module parses at least the three-dimensional morphological view of the material based on the reliable echo information of the radar body within the non-interference angle range.

[0056] It can be seen that after the present invention determines the interference angle corresponding to the interference object in the container within the scanning range of each radar body based on the scanning measurement of the radar body, it controls each radar body to send measurement signals and receive echo signals only within the non-interference angle range in at least one subsequent detection cycle through the processing display module, and based on the reliable echo information of the radar body within the non-interference angle range, at least parses the three-dimensional morphological view of the material, which solves the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the container material holding capacity. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the container material holding capacity, which is conducive to improving the detection accuracy of the three-dimensional material measurement system.

[0057] Example 3

[0058] In another specific embodiment of the present application, a three-dimensional material measurement system with interference shielding function is provided. The three-dimensional material measurement system is installed in a container, and the container contains materials. The three-dimensional material measurement system includes at least one radar body and a processing and display module. Each radar body is installed corresponding to a preset position in the container, and is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference. The processing and display module is connected to each radar body, and is at least used to determine the interference angle range according to the fixed position and preset position of the interference object, and, in each detection cycle, eliminate the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse out a three-dimensional morphological view of the material surface. Among them, the echo information at least includes the echo signal and its corresponding angle.

[0059] It should be noted that the processing and display module is connected to the radar body, and the processing and display module communicates with the radar body (it can be wired communication or wireless communication), and the processing and display module parses the material state according to the echo information transmitted by the radar body (in this case, the echo information can at least be obtained by the radar body according to the echo signal, or the measurement signal and the echo signal). Of course, in other embodiments, the echo information can also be obtained by the processing and display module at least according to the echo signal, or the measurement signal and the echo signal. The container can be, but not limited to, a silo, a storage tank, etc., the state of the material can be, for example, a solid state, a solid-liquid mixed state, etc., the interference can be a pipe, a ladder, a feed port, etc. in the container, the processing and display module can be, for example, set in an electric control box, a central control room on site, etc., and the processing and display module can include, but not limited to, a display screen, a processor, a server, a host, etc.

[0060] The processing and display module determines the interference angle range according to the fixed position and the preset position of the interference object, that is, the processing and display module has determined the interference angle range before receiving the echo information. The processing and display module can eliminate the echo information within the interference angle range (equivalent to eliminating the echo information corresponding to the interference object) in each detection cycle, obtain reliable echo information (equivalent to the echo information corresponding to the material after eliminating the disturbance of the interference object), and then parse the three-dimensional morphological view of the material based on the reliable echo information, so as to obtain the real three-dimensional morphological view of the material. In some embodiments, the processing and display module can also parse at least the characteristic parameters of the material based on the reliable echo information, such as the highest material level, the lowest material level, the average material level, the material mass, the material volume, the container filling degree, etc.

[0061] Furthermore, the processing and display module determines the interference angle range in the following manner: after the operator determines the interference angle range based on the fixed position and the preset position of the interference object, the operator completes the parameter configuration of the interference angle range on the processing and display module.

[0062] It should be noted that the fixed position of the interference object and the preset position of the radar body can be obtained according to the construction drawings. Specifically, the interference angle range includes the azimuth range and the elevation range. The azimuth of the interference object is determined by a coordinate measuring machine, and then the elevation range of the interference object is calculated. Exemplarily, the distance between the edge of the interference object and the observation axis of the radar body is L1, and the distance between the edge of the interference object and the observation point of the radar body is L2. According to the formula The value of α is calculated, the pitch angle corresponding to the inner edge of the interference object is α1, and the pitch angle corresponding to the outer edge of the interference object is α2, and the pitch angle range is (α1, α2).

[0063] Specifically, the radar body is at least specifically used to send measurement signals and receive echo signals from the full angle range in each detection cycle, and the processing and display module is at least specifically used to obtain the echo information of the radar body in the full angle range in each detection cycle, and automatically eliminate the echo information in the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse out the three-dimensional morphological view of the material surface. The radar body performs an all-round scan of the material in the container, and the processing and display module receives the echo information in the full angle range to make the three-dimensional morphological view of the material more accurate and reliable. It should be noted that the full angle range can at least include azimuth and pitch angle, the azimuth range is, for example, 0 to 360°, and the pitch range is, for example, 0 to 180°.

[0064] As an alternative implementation, the full angle range can be adaptively adjusted according to the specific shape of the container (e.g., cylinder, prism, irregular shape, etc.) and the installation position of the radar body (i.e., the preset position, generally located at the top of the container). For example, for containers of regular shapes such as cylinders, the interference in the container is symmetrical or centrally symmetrical, and the radar body is set at the center of the top of the container, the radar body can reduce the scanning angle, for example, only scan 1 / 2 or 1 / 4 of the container, and then obtain the echo information of the full angle range through symmetry (e.g., axisymmetry, central symmetry, etc.).

[0065] Specifically, the echo information involved in this embodiment includes at least one of echo waveform, echo amplitude, echo energy or echo resolution.

[0066] Specifically, the measurement signal involved in this embodiment is at least one of a laser signal or an electromagnetic wave signal. Exemplarily, when the measurement signal and the echo signal are laser signals, the radar body is a laser radar; when the measurement signal and the echo signal are microwave signals, the radar body is a microwave radar. If there are multiple radar bodies, the multiple radar bodies may include both laser radars and microwave radars. Of course, the measurement signal may also be other types of signals, and the type of the radar body may be adaptively changed, which is not limited in this application.

[0067] Specifically, the three-dimensional material measurement system in this embodiment further includes at least one mounting bracket, a first end face of the mounting bracket is connected to the non-detection end of the radar body, and a second end face of the mounting bracket is fixedly connected to a corresponding preset position in the container. The mounting bracket is connected to the container to avoid damage to the radar body during the installation process.

[0068] Further, the radar body includes a multi-angle measurement unit and an angle control unit. The multi-angle measurement unit is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. The angle control unit is connected to the multi-angle measurement unit, and is at least used to control the multi-angle measurement unit to send measurement signals at multiple angles and receive echo signals at multiple angles under a preset motion logic. Specifically, the multi-angle measurement unit can be only responsible for sending and receiving signals. The multi-angle measurement unit can be composed of at least one sensor and a mechanical motion mechanism, or can be a phased array scanner, or can be composed of a phased array scanner and a mechanical motion mechanism. The angle control unit can be electrically connected to the multi-angle measurement unit and the processing and display module respectively. The angle control unit can be, for example, a single-chip microcomputer, a system on chip, etc. The angle control unit transmits the echo signal received by the multi-angle measurement unit to the processing and display module.

[0069] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; the processing and display module determines the interference angle range according to the fixed position of the interference object and the preset position of each radar body installed in the container, and in each detection cycle, the echo information within the interference angle range is eliminated to obtain reliable echo information, and finally at least a three-dimensional morphological view of the material surface is parsed based on the reliable echo information. In view of this, the present invention can solve the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the material holding capacity of the container. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the material holding capacity of the container, which is conducive to improving the detection accuracy of the three-dimensional material measurement system.

[0070] Example 4

[0071] In another specific embodiment of the present application, a three-dimensional material measurement system with interference shielding function is provided, the three-dimensional material measurement system is installed in a container, the container contains materials, and the three-dimensional material measurement system includes a processing display module and at least one radar body. Each radar body is installed corresponding to a preset position in the container, and is at least used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference. The processing display module is connected to each radar body, and is at least used to determine the interference angle range according to the fixed position and preset position of the interference object, and, in each detection cycle, generate an interference rejection instruction and send the interference rejection instruction to the radar body, so that the radar body does not send a measurement signal and receive an echo signal within the interference angle range, and only sends a measurement signal and receives an echo signal within the non-interference angle range, and, based on the reliable echo information of the radar body within the non-interference angle range, at least parse the three-dimensional morphological view of the material. Wherein, the echo information at least includes the echo signal and its corresponding angle.

[0072] It should be noted that the processing and display module is connected to the radar body, and the processing and display module communicates with the radar body (it can be wired communication or wireless communication), and the processing and display module parses the material state according to the echo information transmitted by the radar body (in this case, the echo information can at least be obtained by the radar body according to the echo signal, or the measurement signal and the echo signal). Of course, in other embodiments, the echo information can also be obtained by the processing and display module at least according to the echo signal, or the measurement signal and the echo signal. The container can be, but not limited to, a silo, a storage tank, etc., the state of the material can be, for example, a solid state, a solid-liquid mixed state, etc., the interference can be a pipe, a ladder, a feed port, etc. in the container, the processing and display module can be, for example, set in an electric control box, a central control room on site, etc., and the processing and display module can include, but not limited to, a display screen, a processor, a server, a host, etc.

[0073] The processing and display module determines the interference angle range according to the fixed position and the preset position of the interference object, and sends the interference removal instruction (the interference removal instruction can be, for example, an AC signal) to the radar body, so that the radar body does not send measurement signals and receive echo signals within the interference angle range (equivalent to avoiding interference objects to send and receive signals), and only sends measurement signals and receives echo signals within the non-interference angle range, that is, the echo information received by the processing and display module is reliable echo information (equivalent to the echo information corresponding to the material after eliminating the disturbance of the interference object), and then parses the three-dimensional morphological view of the material based on the reliable echo information, thereby obtaining a true three-dimensional morphological view of the material. In some embodiments, the processing and display module can also parse at least the characteristic parameters of the material based on the reliable echo information, such as the highest material level, the lowest material level, the average material level, the material mass, the material volume, the container filling degree, etc.

[0074] It should be further explained that, in this embodiment, one radar body can be provided, or multiple radar bodies can be provided. Among them, multiple radar bodies are provided, and the multiple radar bodies can scan the material in the container in different areas, so as to perform a full-scale scanning of the material.

[0075] As an alternative implementation, the full angle range can be adaptively adjusted according to the specific shape of the container (e.g., cylinder, prism, irregular shape, etc.) and the installation position of the radar body (i.e., the preset position, generally located at the top of the container). For example, for containers of regular shapes such as cylinders, the interference in the container is symmetrical or centrally symmetrical, and the radar body is set at the center of the top of the container, the radar body can reduce the scanning angle, for example, only scan 1 / 2 or 1 / 4 of the container, and then obtain the echo information of the full angle range through symmetry (e.g., axisymmetry, central symmetry) and other methods.

[0076] Specifically, the echo information involved in this embodiment includes at least one of echo waveform, echo amplitude, echo energy or echo resolution.

[0077] Specifically, the measurement signal involved in this embodiment is at least one of a laser signal or an electromagnetic wave signal. Exemplarily, when the measurement signal and the echo signal are laser signals, the radar body is a laser radar; when the measurement signal and the echo signal are microwave signals, the radar body is a microwave radar. If there are multiple radar bodies, the multiple radar bodies may include both laser radars and microwave radars. Of course, the measurement signal may also be other types of signals, and the type of the radar body may be adaptively changed, which is not limited in this application.

[0078] Specifically, the three-dimensional material measurement system in this embodiment further includes at least one mounting bracket, a first end face of the mounting bracket is connected to the detection end of the radar body, and a second end face of the mounting bracket is fixedly connected to a corresponding preset position in the container. The mounting bracket is connected to the container to avoid damage to the radar body during the installation process.

[0079] Further, the radar body includes a multi-angle measurement unit and an angle control unit. The multi-angle measurement unit is used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object. The angle control unit is connected to the multi-angle measurement unit, and is at least used to generate a set motion logic according to the interference rejection instruction, so that the radar body does not send a measurement signal and receive an echo signal within the interference angle range, and only sends a measurement signal and receives an echo signal within the non-interference angle range. Specifically, the multi-angle measurement unit can be only responsible for sending and receiving signals, and the multi-angle measurement unit can be composed of at least one sensor and a mechanical motion mechanism, or can be a phased array scanner, or can be composed of a phased array scanner and a mechanical motion mechanism. The angle control unit can be electrically connected to the multi-angle measurement unit and the processing and display module respectively, and the angle control unit can be, for example, a single-chip microcomputer, a system on chip, etc. The angle control unit transmits the echo signal received by the multi-angle measurement unit to the processing and display module.

[0080] In summary, in the present invention, each radar body sends out a measurement signal from at least one angle in each detection cycle, and receives an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; the processing and display module determines the interference angle range according to the fixed position of the interference object and the preset position of each radar body installed in the container; after the interference angle range is determined, the processing and display module generates an interference rejection instruction in each detection cycle and sends it to the radar body, so that the radar body only sends out a measurement signal and receives an echo signal within the non-interference angle range; finally, the processing and display module analyzes at least the three-dimensional morphological view of the material based on the reliable echo information of the radar body within the non-interference angle range. Based on this, the present invention can solve the problem that the existing 3D scanning radar needs to be installed downward to avoid the influence of interference objects in the container, but the downward installation will reduce the material holding capacity of the container. As the present application is set up in this way, the influence of interference objects in the container on the measurement of the radar body can be effectively eliminated without reducing the material holding capacity of the container, which is conducive to improving the detection accuracy of the three-dimensional material measurement system.

[0081] Example 5

[0082] In an embodiment of the present application, a mounting assembly of a radar body 1 is provided, and the radar body 1 is connected to the top of a container through the mounting assembly.

[0083] like Figure 1 As shown, the mounting assembly includes a first flange 2, on which a first mounting hole and a second mounting hole are provided. The first mounting hole and the second mounting hole are both distributed on the end surface of the first flange 2 and are both through holes.

[0084] Specifically, the non-detection end of the radar body 1 is provided with a radar mounting hole, and the non-detection end of the radar body 1 is fitted with the first end surface of the first flange 2. After the radar mounting hole is aligned with the first mounting hole, the bolt passes through the first mounting hole and the radar mounting hole in sequence to achieve the connection between the first flange 2 and the radar body 1. It should be noted that the number of radar mounting holes is not limited and can be adaptively adjusted according to actual working conditions.

[0085] Specifically, the radar body 1 is located inside the container, and the first flange 2 is located outside the container. A silo top mounting hole is provided on the top of the container, and the first end face of the first flange 2 is fitted with the top of the container. After the second mounting hole and the silo top mounting hole are aligned, the bolts pass through the second mounting hole and the silo top mounting hole in sequence to achieve the connection between the first flange 2 and the top of the container, and then achieve the connection between the radar body 1 and the top of the container.

[0086] As an alternative embodiment, the first flange 2 is located inside the container, the second end surface of the first flange 2 is fitted and connected to the top of the container, and the first end surface of the first flange 2 is fitted and connected to the radar body 1 .

[0087] Example 6

[0088] In an embodiment of the present application, a mounting assembly of a radar body 1 is provided, and the radar body 1 is connected to the top of a container through the mounting assembly.

[0089] like Figure 2 As shown, the mounting assembly includes: a second flange 3 and a mounting bracket 4. The second flange 3 is provided with a third mounting hole and a fourth mounting hole, which are both distributed on the end surface of the second flange 3 and are through holes. The mounting bracket 4 includes a first connecting portion 41, a supporting portion 42 and a second connecting portion 43, wherein the first connecting portion 41 and the second connecting portion 43 are formed at two opposite ends of the supporting portion 42, and the mounting bracket 4 is connected to the end surface of the second flange 3 through the first connecting portion 41, wherein the supporting portion 42 is a rod-shaped structure, and the first connecting portion 41 and the second connecting portion 43 are both flange structures.

[0090] Specifically, the mounting bracket 4 is connected to the first end surface of the second flange 3 by the first connecting portion 41, and the mounting bracket 4 is adjusted so that the mounting hole on the first connecting portion 41 is aligned with the fourth mounting hole, and the bolts are sequentially passed through the fourth mounting hole and the mounting hole on the first connecting portion to achieve the connection between the second flange 3 and the mounting bracket 4. The mounting bracket 4 is connected to the radar body 1 through the second connecting portion 43, and the non-detection end of the radar body 1 is provided with a radar mounting hole, so that the radar mounting hole is aligned with the mounting hole on the second connecting portion 43, and the bolts are sequentially passed through the mounting hole on the second connecting portion 43 and the radar mounting hole to achieve the connection between the mounting bracket 4 and the radar body 1. It should be noted that the number of radar mounting holes is not limited, and can be adaptively adjusted according to actual working conditions.

[0091] Specifically, the mounting bracket 4 is located in the container, and the second flange 3 is located outside the container. A silo top mounting hole is provided on the top of the container, and the first end face of the second flange 3 is fitted with the top of the container. After the third mounting hole and the silo top mounting hole are aligned, the bolts pass through the third mounting hole and the silo top mounting hole in sequence to achieve the connection between the second flange 3 and the top of the container, and then achieve the connection between the radar body 1 and the top of the container.

[0092] As an alternative embodiment, the second flange 3 is located inside the container, the second end surface of the second flange 3 is fitted and connected to the top of the container, and the first end surface of the second flange 3 is fitted and connected to the mounting bracket.

[0093] In the embodiment of the present application, the radar body 1 is installed by the second flange 3 and the mounting bracket 4. This installation method is suitable for the case where the top of the container is relatively thick. For example, the thickness of the top of the container exceeds the height of the radar body itself, and the measurement signal emitted by the radar body in a larger pitch direction is easily blocked. By setting the mounting bracket, the radar body is kept away from the top of the container to avoid the signal being blocked.

[0094] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0095] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present invention.

[0096] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A three-dimensional material measurement system with interference shielding function, characterized in that: The three-dimensional material measurement system is installed on a container, and the container contains materials; The three-dimensional material measurement system includes a processing display module and at least one radar body; Each radar body is correspondingly installed at a preset position in the container, and is used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; The processing and display module is connected to each of the radar bodies, and is at least used to obtain the echo information of all the radar bodies in each of the detection cycles, and parse the material status according to the echo information of all the radar bodies in each of the detection cycles; and, when the material in the container is in a low material level state or an empty state, compare the echo information at the corresponding angle in at least two previous detection cycles, and then judge the reliability of the echo information at the corresponding angle and determine the interference angle range; and, in at least one subsequent detection cycle, eliminate the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse the three-dimensional morphological view of the material; Wherein, the echo information at least includes the echo signal and its corresponding angle; If the echo information remains unchanged or changes within a preset threshold range, it is determined that the echo information of the corresponding angle is unreliable, and the corresponding angle range is recorded as the interference angle range.

2. The three-dimensional material measurement system according to claim 1, characterized in that: The radar body is at least specifically used to send the measurement signal and receive the echo signal from a full angle range in each detection cycle; The processing and display module is at least specifically used to obtain the echo information of the radar body in the full angle range in each subsequent detection cycle, and automatically eliminate the echo information within the interference angle range to obtain reliable echo information, and based on the reliable echo information, at least parse out a three-dimensional morphological view of the material surface.

3. The three-dimensional material measurement system according to claim 1 or 2, characterized in that: The radar body includes a multi-angle measurement unit and an angle control unit; The multi-angle measurement unit is used at least to send the measurement signal from at least one angle in each detection cycle, and receive the echo signal formed by the measurement signal at each angle being reflected at least once by the material and / or the interference object; The angle control unit is connected to the multi-angle measurement unit, and is at least used to control the multi-angle measurement unit to send the measurement signal at multiple angles and receive the echo signal at multiple angles under a preset motion logic.

4. The three-dimensional material measurement system according to claim 1 or 2, characterized in that: The echo information includes at least one of echo amplitude and echo energy.

5. The three-dimensional material measurement system according to claim 1 or 2, characterized in that: The measurement signal is at least one of a laser signal and an electromagnetic wave signal.

6. The three-dimensional material measurement system according to claim 1 or 2, characterized in that: The three-dimensional material measurement system further includes at least one mounting bracket; The first end surface of the mounting bracket is connected to the detection end of the radar body, and the second end surface of the mounting bracket is fixedly connected to the corresponding preset position in the container.

7. A three-dimensional material measurement system with interference shielding function, characterized in that: The three-dimensional material measurement system is installed on a container, and the container contains materials; The three-dimensional material measurement system includes a processing display module and at least one radar body; Each radar body is correspondingly installed at a preset position in the container, and is used to send a measurement signal from at least one angle in each detection cycle, and receive an echo signal formed by at least one reflection of the measurement signal at each angle by the material and / or the interference object; The processing and display module is connected to each of the radar bodies, and is at least used to obtain the echo information of all the radar bodies in each of the detection cycles, and parse the material status according to the echo information of all the radar bodies in each of the detection cycles; and, when the material in the container is in a low material level state or an empty state, compare the echo information at the corresponding angle in the first at least two detection cycles, and then judge the reliability of the echo information at the corresponding angle and determine the interference angle range; and, in at least one subsequent detection cycle, generate an interference rejection instruction and send the interference rejection instruction to the radar body, so that the radar body does not send the measurement signal and receive the echo signal within the interference angle range, and only sends the measurement signal and receives the echo signal within the non-interference angle range; and, based on the reliable echo information of the radar body within the non-interference angle range, at least parse the three-dimensional morphological view of the material; If the echo information remains unchanged or changes within a preset threshold range, it is determined that the echo information of the corresponding angle is unreliable, and the corresponding angle range is recorded as the interference angle range.

8. The three-dimensional material measurement system according to claim 7, characterized in that: The radar body includes a multi-angle measurement unit and an angle control unit; The multi-angle measurement unit is used at least to send the measurement signal from at least one angle in each detection cycle, and receive the echo signal formed by the measurement signal at each angle being reflected at least once by the material and / or the interference object; The angle control unit is connected to the multi-angle measurement unit and is at least used to generate and set motion logic according to the interference rejection instruction so that the radar body does not send out the measurement signal and receive the echo signal within the interference angle range, and only sends out the measurement signal and receives the echo signal within the non-interference angle range.

9. The three-dimensional material measurement system according to claim 7, characterized in that: The echo information includes at least one of echo amplitude and echo energy.

10. The three-dimensional material measurement system according to claim 7, characterized in that: The measurement signal is at least one of a laser signal and an electromagnetic wave signal.

11. The three-dimensional material measurement system according to claim 7, characterized in that: The three-dimensional material measurement system further includes at least one mounting bracket; The first end surface of the mounting bracket is connected to the detection end of the radar body, and the second end surface of the mounting bracket is fixedly connected to the corresponding preset position in the container.

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