High precision 3D scanning system with feed monitoring function

Abstract

This invention discloses a high-precision 3D scanning system with feed monitoring function, comprising: at least one 3D scanning device installed on a container; the container having at least one feed inlet; the 3D scanning device being used to scan the surface of the material in the container along a first predetermined direction within a predetermined first predetermined angle range during non-feeding periods to measure material characteristic parameters; and to scan the material flow along a second predetermined direction within a second predetermined angle range during the feeding period to obtain material flow parameters. This invention performs material scanning in time periods, enabling the 3D scanning device to scan the material and measure its characteristic parameters during non-feeding periods; and to scan the material flow and obtain material flow parameters during the feeding period. This fully utilizes the measurement resources of the 3D scanning device, overcoming the waste of measurement resources in existing 3D scanning devices. Furthermore, by using different scanning methods for different time periods, the measurement scanning data of the material can be used more accurately.

Description

Technical Field

[0001] This invention relates to the field of material monitoring technology, and in particular to a high-precision 3D scanning system with feed monitoring function. Background Technology

[0002] Existing 3D scanning systems for monitoring material parameters within containers are mostly used to measure parameters such as the surface 3D morphology, volume, and mass of the material inside the container. However, when the container is in the feeding state, these parameters fluctuate, making the 3D scanning system's measurements inaccurate. Furthermore, the material flow within the container can obstruct the measurement signal of the 3D scanning system. Therefore, when existing 3D scanning systems measure relevant material parameters during the container feeding process, it is difficult to guarantee the accuracy of their output results. In addition, the feeding time for some large storage tanks and silos is usually long. If existing 3D scanning systems continue to measure the material continuously during the feeding period, it will result in a significant waste of measurement resources. Summary of the Invention

[0003] The purpose of this invention is at least to overcome the deficiencies in the above-mentioned background technology and to provide a high-precision 3D scanning system with feed monitoring function.

[0004] A high-precision 3D scanning system with feed monitoring function includes:

[0005] At least one scanning device is installed on a container; the container is provided with at least one feed inlet; one or more of the at least one scanning device are used to scan the surface of the material in the container in a corresponding first preset angle range along a corresponding first set direction during non-feeding periods to measure material characteristic parameters; and to scan the material flow in a corresponding second preset angle range along a corresponding second set direction during the feeding period to obtain material flow parameters.

[0006] Wherein, the first preset angle range is not less than the second preset angle range.

[0007] Optionally, one or more of the at least one scanning device are further configured to scan the material flow and a portion of the material below the corresponding feed inlet along the corresponding second set direction during the feeding period, so as to obtain the material flow parameters and the material level below the corresponding feed inlet.

[0008] Wherein, the third preset angle range is not greater than the first preset angle range.

[0009] Optionally, one or more of the at least one scanning device are further configured to determine the second preset angle range based on the relative positional relationship between their own installation position and the feed inlet, and then determine whether the current time period is the feeding period or the non-feeding period based on the measurement information of the second preset angle range.

[0010] Optionally, the material flow parameters include at least one of the following: material flow state, material flow velocity, material flow density, material flow rate, feeding time, feeding quality, feeding volume, distance between the material flow and the 3D scanning device, and feeding area.

[0011] Optionally, the material characteristic parameters include at least one of the following: the three-dimensional morphology of the material surface, the material volume, the material mass, the highest material level, the lowest material level, and the average material level.

[0012] Optionally, the non-feeding period includes the period when the container discharges material and the period when the container neither feeds nor discharges material.

[0013] Optionally, the scanning device includes at least one of 3D microwave scanning radar and 3D microwave multi-point radar.

[0014] Optionally, the scanning device includes a multi-angle measurement module and a processing module;

[0015] The multi-angle measurement module is at least configured to emit first measurement signals from multiple first angles during the non-feeding period and receive a first retroreflection signal formed by at least reflection of each first measurement signal from the material surface; and to emit second measurement signals from multiple second angles during the feeding period and receive a second retroreflection signal formed by at least reflection of each second measurement signal from the material flow.

[0016] The processing module, connected to the multi-angle measurement module, is at least used to acquire and parse material point cloud data from multiple first echo signals during the non-feeding period, and then obtain the material characteristic parameters based on the material point cloud data; and to acquire and parse the material flow parameters from multiple second echo signals during the feeding period.

[0017] Optionally, the multi-angle measurement module includes a signal transceiver unit and a motion unit;

[0018] The signal transceiver unit is disposed on the motion unit and is at least used to transmit the first measurement signal during the non-feeding period, so that the first measurement signal formed by the reflection of the first measurement signal on the material surface is received by the signal transceiver unit; and to transmit the second measurement signal during the feeding period, so that the second measurement signal formed by the reflection of the second measurement signal on the material flow is received by the signal transceiver unit.

[0019] The motion unit is at least configured to drive the signal transceiver unit to scan the material surface according to a first preset motion logic during the non-feeding period; and to drive the signal transceiver unit to scan the material flow within the second preset angle range along the second preset direction during the feeding period according to a second preset motion logic.

[0020] The processing module is connected to the signal transceiver unit and the motion unit, respectively, and is specifically used at least to control the motion unit to move according to the first preset motion logic or the second preset motion logic during the non-feeding period or the feeding period; and to generate a first control signal or a second control signal during the non-feeding period or the feeding period, respectively, so that the signal transceiver unit transmits the first measurement signal or the second measurement signal accordingly; and to acquire and parse the material point cloud data according to a plurality of first echo signals during the non-feeding period, and then obtain the material feature parameters based on the material point cloud data; and to acquire and parse the material flow parameters according to a plurality of second echo signals during the feeding period.

[0021] Optionally, the processing module includes a central control unit, an analog-to-digital conversion unit, a signal amplification unit, and a signal conversion unit;

[0022] The signal conversion unit is connected to the signal transceiver unit, the central control unit, and the signal amplification unit, respectively, and is at least used to generate the second measurement signal according to the second control signal issued by the central control unit during the feeding period and transmit it to the signal transceiver unit so that the signal transceiver unit transmits the second measurement signal during the feeding period; and to receive the second echo signal uploaded by the signal transceiver unit during the feeding period, generate a second mixing signal according to the second echo signal, and transmit the second mixing signal to the signal amplification unit.

[0023] The central control unit is connected to the signal amplification unit through the analog-to-digital conversion unit, and is at least used to obtain the characteristic information of the second echo signal based on the second mixing signal after amplification by the signal amplification unit and analog-to-digital conversion by the analog-to-digital conversion unit during the feeding period, and then to parse the material flow parameters.

[0024] Optionally, the signal conversion unit includes a mixer subunit and a local oscillator subunit;

[0025] The local oscillator subunit is connected to the mixing subunit and is used to transmit the generated local oscillator signal to the mixing subunit.

[0026] The mixing subunit is connected between the signal amplification unit and the signal transceiver unit, and is used to receive the second echo signal uploaded by the signal transceiver unit during the feeding period; and during the feeding period, to mix the local oscillator signal and the second echo signal to obtain the second mixed signal, and to transmit the second mixed signal to the signal amplification unit.

[0027] Optionally, the measurement signal emitted by the scanning device during the feeding period is at least a fixed frequency signal, and the central control unit performs a one-dimensional Fourier transform operation on the second mixed signal after amplification by the signal amplification unit and analog-to-digital conversion by the analog-to-digital conversion unit during the feeding period to obtain the characteristic information of the second echo signal, and then parse the material flow parameters.

[0028] Optionally, the measurement signal emitted by the scanning device during the feeding period is at least a continuously frequency modulated signal, and the central control unit performs a two-dimensional Fourier transform operation on the second mixed signal after amplification by the signal amplification unit and analog-to-digital conversion by the analog-to-digital conversion unit during the feeding period to obtain the feature information of the second echo signal, and then parse the material flow parameters.

[0029] Optionally, the 3D scanning system further includes a human-computer interaction device and a power supply device;

[0030] The human-computer interaction device is connected to at least each of the scanning devices that generate the material flow parameters, and is used at least to visualize the feed data of the container based on the material flow parameters;

[0031] The power supply device is connected to the human-computer interaction device and each of the scanning devices, respectively, and is used to access external power supply and convert the external power supply into multi-level working voltage to maintain the normal operation of the 3D scanning system.

[0032] In summary, the high-precision 3D scanning system with feed monitoring function provided by this invention includes one or more scanning devices that perform scanning operations in time periods. During non-feeding periods, the system scans the material and measures its characteristic parameters; during feeding periods, it scans the material flow and obtains its parameters. This effectively enhances the utilization of measurement resources in the 3D scanning system. Furthermore, addressing the problem that existing 3D scanning systems cannot guarantee measurement accuracy due to factors such as material fluctuations and material flow signal obstruction during the feeding process, this invention can calibrate and compensate for changes in material characteristic parameters during a feeding period using the material flow parameters measured by one or more scanning devices performing scanning operations in a time period, thereby improving the measurement accuracy of the 3D scanning system. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the layout of a high-precision 3D scanning system with feed monitoring function according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of a scanning device according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of a multi-angle measurement module according to an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the processing module in an embodiment of the present invention.

[0037] Figure 5 This is a schematic diagram of a signal conversion unit according to an embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of a scanning device according to another embodiment of the present invention.

[0039] Figure 7 This is a schematic diagram of the layout of a high-precision 3D scanning system with feed monitoring function, according to another embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0041] Please see Figure 1 As shown, the high-precision 3D scanning system with feeding monitoring function provided in this embodiment of the invention includes: at least one scanning device 20, installed on a container 10; the container is provided with at least one feed inlet 110; one or more of the at least one scanning device 20 are used to scan the surface of the material in the container 10 within a corresponding first preset angle range along a corresponding first set direction during non-feeding periods to measure material characteristic parameters; and to scan the material flow 30 within a corresponding second preset angle range along a corresponding second set direction during the feeding period to obtain material flow parameters;

[0042] The first preset angle range is not less than the second preset angle range.

[0043] The container can be a silo, storage tank, etc., and the material is preferably a solid material.

[0044] Optionally, the material flow parameters include at least one of the following: material flow state, material flow velocity, material flow density, material flow rate, feeding time, feeding mass, feeding volume, distance between the material flow and the 3D scanning device, and feeding area. Specifically, the material flow state can refer to the presence or absence of material flow, etc.

[0045] Optionally, the material characteristic parameters include at least one of the following: the three-dimensional morphology of the material surface, the material volume, the material mass, the highest material level, the lowest material level, and the average material level.

[0046] In this invention, a non-feeding period can refer to a period in which the container only discharges material without feeding, or a period in which the container neither feeds nor discharges material. Correspondingly, a feeding period can include a period in which the container only feeds material without discharging, or a period in which the container both feeds and discharges material. In some embodiments, optionally, one or more of at least one scanning device are further configured to determine a second preset angle range based on the relative positional relationship between their installation position and the inlet, and then determine whether the current period is a feeding period or a non-feeding period based on the measurement information of the second preset angle range. The measurement information can refer to distance information. If the distance information of the second preset angle range determined by the scanning device remains constant or changes very little, it indicates that the current period is a non-feeding period; conversely, if the distance information of the second preset angle range determined by the scanning device is constantly changing, it indicates that the current period is a feeding period.

[0047] For different second set directions and / or second preset angle ranges, the scanning device can perform fixed-point scanning (i.e., the second set direction is fixed and the second preset angle range is a single angle) or multi-point scanning (e.g., the second set direction and the second preset angle range are both variable) on the material flow during the feeding period.

[0048] The high-precision 3D scanning system with feed monitoring function provided in this application includes one or more scanning devices among at least one scanning device that perform scanning work in time periods; during non-feeding periods, the material is scanned and material characteristic parameters are measured, and during feeding periods, the material flow is scanned and material flow parameters are obtained; thus effectively enhancing the utilization of measurement resources of the 3D scanning system.

[0049] To address the issue that existing 3D scanning systems are limited by factors such as material fluctuations and signal obstruction during the feeding process, which prevent them from guaranteeing measurement accuracy, this invention uses one or more scanning devices that perform scanning operations in time periods to measure material flow parameters during a certain feeding period. Based on the material flow parameters, the changes in material characteristic parameters during the feeding period can be determined, which helps to improve the measurement accuracy of the 3D scanning system.

[0050] Furthermore, if the 3D scanning system comprises multiple scanning devices, including both time-segmented and non-time-segmented scanning devices (i.e., those that continuously measure the material surface regardless of container loading / unloading status), then these two types of scanning devices constitute a redundant design. On one hand, the 3D scanning system can determine the changes in material characteristic parameters during a specific feeding period based on the material flow parameters measured by the time-segmented scanning devices (e.g., if the container only involves feeding, the feeding volume can be calculated given the flow rate and feeding duration; if the container involves loading and unloading, the discharge parameters can be obtained from the container discharge system based on the flow parameters, ultimately determining the changes in material characteristic parameters). On the other hand, the 3D scanning system can also directly measure the changes in material characteristic parameters during the corresponding feeding period using non-time-segmented scanning devices. The changes in material characteristic parameters obtained through these two methods can be mutually calibrated and compensated, further improving the measurement accuracy of the 3D scanning system.

[0051] In this application, the scanning device may be, for example, a 3D microwave scanning radar, a 3D microwave multi-point radar, or other types of 3D radar, without specific limitation.

[0052] The first set direction and the first preset angle, as well as the range of the second set direction and the second preset angle, can all be selected adaptably according to the actual application conditions of the scanning device. The first set direction and the second set direction can be regular (e.g., vertical, horizontal, circular, etc.) or irregular changing directions (e.g., "Z", "S", "8" shape, etc.). The preset angle range can also be changed accordingly depending on the set direction; it can be understood that when the set direction and the preset angle range remain unchanged, the scanning device can perform fixed-point detection of materials or material flow at a certain fixed angle (i.e., the aforementioned fixed-point scanning).

[0053] For example, see Figure 1 As shown, Figure 1 An embodiment is shown where the second preset direction is vertically downward and the second preset angle range α is 15° for material flow scanning. Of course, the scanning device can also be installed non-vertically, for example, at a predetermined angle to the top surface of the container, or in other ways. The preset direction and preset angle range can be adjusted as needed and are not limited to this embodiment. Figure 1 The situation or circumstances shown. For the same scanning device, the first set direction and the second set direction (and / or the first preset angle range and the second preset angle range) can be the same or different; for different scanning devices, since the installation positions of each scanning device are not exactly the same, the set direction and preset angle range corresponding to each scanning device are mostly different.

[0054] In one implementation, see Figure 7 Optionally, one or more of the at least one scanning device are further configured to scan the material flow 30 and a portion of the material 40 below the corresponding feed inlet within a corresponding third preset angle range β along the corresponding second preset direction during the feeding period, in order to obtain material flow parameters and the material level below the corresponding feed inlet; wherein, the third preset angle range is not greater than the first preset angle range. This is because, under normal circumstances, the material level below the feed inlet tends to remain at a higher level compared to the material in the area not below the feed inlet. Once the scanning device detects that the material level below the feed inlet has risen to a fixed threshold, the scanning device can send a full-tank or full-feed alarm signal to the central control room or the feeding control system, or directly shut down the feeding control system to stop the container from feeding. It is understood that the third preset angle range and the second preset angle range may be equal or unequal. Similarly, optionally, one or more of the at least one scanning device are further configured to determine the third preset angle range based on the relative positional relationship between its installation position and the feed inlet, and then, based on the measurement information of the third preset angle range, determine whether the current period is a feeding period or a non-feeding period.

[0055] In some embodiments, see Figure 2 As shown, the scanning device includes a multi-angle measurement module and a processing module;

[0056] A multi-angle measurement module is configured to emit first measurement signals from multiple first angles during non-feeding periods and receive a first retroreflection signal formed by reflection of each first measurement signal at least by the material surface; and to emit second measurement signals from multiple second angles during feeding periods and receive a second retroreflection signal formed by reflection of each second measurement signal at least by the material flow.

[0057] The processing module, connected to the multi-angle measurement module, is used at least to acquire and parse material point cloud data based on multiple first echo signals during non-feeding periods, and then obtain material characteristic parameters based on the material point cloud data; and to acquire and parse material flow parameters based on multiple second echo signals during the feeding period.

[0058] The measurement signal can be a microwave signal, and the frequency of the measurement signal can be fixed frequency or continuously frequency modulated.

[0059] It is known that the processing module may include a hardware processor, such as an MCU processing device, and a corresponding algorithm software program, which can process the obtained signals and calculate and process them according to the built-in algorithm to obtain the corresponding measurement data (i.e., material point cloud data, material characteristic parameters and material flow parameters).

[0060] The specific structure of a multi-angle measurement module can vary. For example, a multi-angle measurement module can consist of at least one sensor and a mechanical motion mechanism, or it can be a phased array scanner, or it can be a phased array scanner and a mechanical motion mechanism.

[0061] Taking a multi-angle measurement module consisting of sensors and mechanical motion structures as an example, see some embodiments. Figure 3 As shown, the multi-angle measurement module includes a signal transceiver unit and a motion unit (i.e., the aforementioned mechanical motion mechanism).

[0062] A signal transceiver unit is mounted on a motion unit and is driven by the motion unit to move along a preset trajectory. It is used at least to transmit a first measurement signal during non-feeding periods so that the first measurement signal is received by the signal transceiver unit as a first retroreflection signal formed by reflection of the first measurement signal on the material surface; and to transmit a second measurement signal during feeding periods so that the second measurement signal is received by the signal transceiver unit as a second retroreflection signal formed by reflection of the second measurement signal on the material flow.

[0063] The motion unit is at least configured to drive the signal transceiver unit to move along a first preset trajectory according to a first preset motion logic during non-feeding periods, and scan the material surface within a first preset angle range along a first set direction; and to drive the signal transceiver unit to move along a second preset trajectory according to a second preset motion logic during feeding periods, and scan the material flow within a second preset angle range along a second set direction.

[0064] The processing module is connected to the signal transceiver unit and the motion unit respectively, and is at least used to control the motion unit to move according to the first preset motion logic or the second preset motion logic during the non-feeding period or the feeding period respectively; and to generate the first control signal or the second control signal during the non-feeding period or the feeding period respectively, so that the signal transceiver unit transmits the first measurement signal or the second measurement signal respectively; and to acquire and parse the material point cloud data according to the multiple first echo signals during the non-feeding period, and then obtain the material characteristic parameters based on the material point cloud data; and to acquire and parse the output flow parameters according to the multiple second echo signals during the feeding period.

[0065] The signal transceiver unit can be any type of microwave sensor, such as a horn antenna type microwave sensor or a microstrip antenna type microwave sensor. The motion unit can perform motion in one or more dimensions, such as horizontal, vertical, and pitch. Furthermore, the preset trajectory, preset motion logic, set direction, and preset angle range are associated and can be selected adaptively according to the actual application conditions of the scanning system; this embodiment of the invention does not limit this selection. The first control signal and the second control signal can be transmitted wirelessly or via wired means; the specific type of the control signal is related to the communication principle between the processing module and the signal transceiver unit, and for example, it can be a level signal. Material point cloud data can refer to a dataset that can characterize the spatial midpoints of the material surface; if the number of material point clouds is large enough, the combination of numerous material point cloud data can form the material surface, and the processing module can obtain material characteristic parameters based on this.

[0066] It is understandable that the purpose of the processing module can be specifically defined as follows:

[0067] On the one hand, the processing module controls the motion unit to move according to the first preset motion logic at least during the non-feeding period; and generates a first control signal during the non-feeding period so that the signal transceiver unit can transmit a first measurement signal; and after acquiring multiple first echo signals during the non-feeding period, it parses the material point cloud data based on the multiple first echo signals, and then obtains material characteristic parameters based on the material point cloud data.

[0068] On the other hand, the processing module also controls the motion unit to move according to the second preset motion logic during the feeding period; generates a second control signal during the feeding period to enable the signal transceiver unit to transmit a second measurement signal; and acquires and parses the discharge flow parameters based on a plurality of second echo signals during the feeding period.

[0069] In some embodiments, see Figure 4 As shown, the processing module includes a central control unit, an analog-to-digital conversion unit, a signal amplification unit, and a signal conversion unit;

[0070] The signal conversion unit is connected to the signal transceiver unit, the central control unit, and the signal amplification unit, respectively. It is at least used to generate a second measurement signal based on the second control signal issued by the central control unit during the feeding period and transmit it to the signal transceiver unit so that the signal transceiver unit can transmit the second measurement signal during the feeding period; and to receive the second echo signal uploaded by the signal transceiver unit during the feeding period, generate a second mixing signal based on the second echo signal, and transmit the second mixing signal to the signal amplification unit.

[0071] The central control unit is connected to the signal amplification unit through the analog-to-digital conversion unit. It is used at least during the feeding period to obtain the characteristic information of the second echo signal based on the second mixed signal after amplification by the signal amplification unit and analog-to-digital conversion by the analog-to-digital conversion unit, and then to analyze the discharge flow parameters.

[0072] The signal amplification unit is used to amplify the second mixing signal at least; the analog-to-digital conversion unit is used to convert the amplified second mixing signal before uploading it to the central control unit; the central control unit can be a system-on-a-chip, a microcontroller, a DSP processor, etc.; the analog-to-digital conversion unit can use any type of AD conversion circuit; the signal amplification unit can be any type of signal amplification circuit; the control signals issued by the central control unit can at least include signal frequency information, signal amplitude information, and signal width information.

[0073] For example, the analog-to-digital conversion unit can sample the second mixing signal to generate a second sampled signal. Specifically, the analog-to-digital conversion unit can acquire the second mixing signal and convert the signal type of the second mixing signal from an analog signal to a discrete digital signal, which is the second sampled signal.

[0074] In some embodiments, see Figure 5 As shown, the signal conversion unit includes a mixer subunit and a local oscillator subunit;

[0075] The local oscillator unit, connected to the mixer unit, is used to transmit the generated local oscillator signal to the mixer unit;

[0076] The mixing subunit is connected between the signal amplification unit and the signal transceiver unit. It is used to receive the second echo signal uploaded by the signal transceiver unit during the feeding period; and during the feeding period, it mixes the local oscillator signal and the second echo signal to obtain a second mixed signal, and transmits the second mixed signal to the signal amplification unit.

[0077] It is known that if the local oscillator signal is a continuously frequency modulated (CFM) signal, then the frequency of the local oscillator signal can, but is not limited to, change linearly with time, i.e., linear frequency modulation. It is understood that there is a frequency difference between the local oscillator signal and the second echo signal. Based on this, the second mixer signal refers to a signal that can characterize the frequency difference between the local oscillator signal and the second echo signal. Generally, the frequency of the mixer signal is relatively low, therefore the sampling rate requirement for the analog-to-digital converter unit is relatively low, which helps to reduce the hardware cost of the scanning system.

[0078] In some embodiments, the measurement signal (i.e. the second measurement signal) emitted by the scanning device during the feeding period is at least a fixed-frequency signal (at which time the local oscillator signal is also a fixed-frequency signal). When a fixed-frequency signal is used, the central control unit performs a one-dimensional Fourier transform operation on the second mixed signal after it has been amplified by the signal amplification unit and converted by the analog-to-digital conversion unit at least during the feeding period to obtain the characteristic information of the second echo signal, and then analyzes the discharge flow parameters.

[0079] Since the material flow is continuous during the feeding period, the second measurement signal is reflected by the material flow to form a second retroreflection signal. Under the Doppler effect, there is a difference frequency between the second retroreflection signal and the fixed-frequency second measurement signal. The scanning device can obtain the characteristic information of the second retroreflection signal by performing a one-dimensional Fourier transform operation on the second mixed signal after it has been amplified by the signal amplification unit and converted by the analog-to-digital conversion unit. Thus, it can at least analyze the material flow state and material flow velocity.

[0080] In some embodiments, the measurement signal emitted by the scanning device during the feeding period is at least a continuously frequency modulated signal; when using a continuously frequency modulated signal, the central control unit performs a two-dimensional Fourier transform operation on the second mixed signal after amplification by the signal amplification unit and analog-to-digital conversion by the analog-to-digital conversion unit at least during the feeding period, so as to obtain the characteristic information of the second echo signal and then analyze the discharge flow parameters.

[0081] Because the material flow is continuous during the feeding period, a frequency difference exists between the continuously modulated frequency signal and the reflected signal formed by the material flow under the Doppler effect. The scanning device performs a one-dimensional Fourier transform operation in the first direction on the second mixed signal after amplification by the signal amplification unit and analog-to-digital conversion by the analog-to-digital conversion unit to obtain multiple echo curves. Then, performing a one-dimensional Fourier transform in the second direction on the obtained echo curves yields the velocity information of the echo curves. Based on this, the scanning device can determine the material flow state, the distance between the material flow and the scanning device, and the material flow velocity.

[0082] Based on the obtained material flow velocity, the scanning device can also estimate the material flow density or material flow cross-sectional area based on the intensity (e.g., amplitude) of the second echo signal. At this point, the material flow rate can be roughly obtained based on the material flow velocity and material flow cross-sectional area. Then, the feed quality can be determined based on the material flow rate and feeding time. Finally, the feed volume can be calculated based on the feed quality and material flow density.

[0083] In some embodiments, see Figure 6As shown, the 3D scanning system also includes a human-machine interface device and a power supply device. The human-machine interface device is connected to at least each scanning device that generates material flow parameters, and is used to visualize the container's feeding data based on the material flow parameters. For example, an image of the tank is displayed on the display device of the human-machine interface module (e.g., a CRT display, LCD display, or LED display). During feeding, the display shows that the material flow is being injected into the tank. Next to the tank image, the duration of each feeding, real-time material flow rate, real-time material flow rate, single feeding mass, and single feeding volume can be displayed. Of course, the human-machine interface device can also be connected to a container discharge system (e.g., a belt scale system), and during container discharge, parameters such as discharge duration, discharge rate, discharge flow rate, and discharge volume are also displayed.

[0084] The power supply device is connected to the human-machine interface device and each scanning device respectively, and is used to access external power supply (external power supply can be, for example, mains power) and convert the external power supply into multiple operating voltages (multiple operating voltages can be used to ensure the steady-state operation of the aforementioned central control unit, analog-to-digital conversion unit, signal amplification unit and signal conversion unit, etc. For example, multiple operating voltages can include multiple voltage levels such as 3.3V, 5V, ±12V, ±15V or 24V) to maintain the normal operation of the 3D scanning system.

[0085] The power supply device can also be an AC power supply module or a battery module, whichever is not limited. The human-machine interaction device can include a control host and a display connected to the control host. The control host is a server or computer with data processing, image processing and computing functions. It has built-in corresponding processing programs to realize the data processing function, image processing function and the function of visually displaying the feeding and / or discharging data of the container of the present invention. It is also equipped with external input devices so that the user can input control parameters or instructions to realize the control of the device.

[0086] In summary, the high-precision 3D scanning system with feed monitoring function provided in this application includes one or more scanning devices among at least one scanning device that perform scanning work in time periods; during non-feeding periods, the material is scanned and material characteristic parameters are measured, and during feeding periods, the material flow is scanned and material flow parameters are obtained; thus effectively enhancing the utilization of measurement resources of the 3D scanning system.

[0087] To address the issue that existing 3D scanning systems are limited by factors such as material fluctuations and signal obstruction during the feeding process, which prevent them from guaranteeing measurement accuracy, this invention uses one or more scanning devices that perform scanning operations in time periods to measure material flow parameters during a certain feeding period. Based on the material flow parameters, the changes in material characteristic parameters during the feeding period can be determined, which helps to improve the measurement accuracy of the 3D scanning system.

[0088] Furthermore, if the 3D scanning system comprises multiple scanning devices, including both time-segmented and non-time-segmented scanning devices (i.e., those that continuously measure the material surface regardless of container loading / unloading status), then these two types of scanning devices constitute a redundant design. On one hand, the 3D scanning system can determine the changes in material characteristic parameters during a specific feeding period based on the material flow parameters measured by the time-segmented scanning devices (e.g., if the container only involves feeding, the feeding volume can be calculated given the flow rate and feeding duration; if the container involves loading and unloading, the discharge parameters can be obtained from the container discharge system based on the flow parameters, ultimately determining the changes in material characteristic parameters). On the other hand, the 3D scanning system can also directly measure the changes in material characteristic parameters during the corresponding feeding period using non-time-segmented scanning devices. The changes in material characteristic parameters obtained through these two methods can be mutually calibrated and compensated, further improving the measurement accuracy of the 3D scanning system.

[0089] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A high-precision 3D scanning system with feed monitoring function, characterized in that, The application comprises: at least one scanning device installed on the container; the container is provided with at least one feeding port, one or more of the at least one scanning device is used to scan the material surface in the container in a corresponding first preset angle range along a corresponding first set direction at least during a non-feeding period to measure material characteristic parameters; and scan the material flow in a corresponding second preset angle range along a corresponding second set direction during a feeding period to obtain material flow parameters; the material characteristic parameters during the feeding period are calibrated and compensated by the material flow parameters measured by one or more scanning devices performing scanning work during a period; wherein the first preset angle range is not less than the second preset angle range; one or more of the at least one scanning device is used to scan the material flow in a corresponding third preset angle range along the corresponding second set direction and the part of the material below the corresponding feeding port during the feeding period to obtain the material flow parameters and the material level below the corresponding feeding port; wherein the third preset angle range is not greater than the first preset angle range.

2. The high-precision 3D scanning system with a feed monitoring function according to claim 1, characterized in that, one or more of the at least one scanning device is used to determine the second preset angle range according to the relative position relationship between the installation position and the feeding port, and then judge whether the current period is the feeding period or the non-feeding period based on the measurement information of the second preset angle range.

3. The high-precision 3D scanning system with a feed monitoring function according to claim 1, characterized in that, The material flow parameters at least include one of the material flow state, the material flow speed, the material flow density, the material flow volume, the feeding time length, the feeding quality, the feeding volume, the distance between the material flow and the 3D scanning device and the feeding area.

4. The high-precision 3D scanning system with a feed monitoring function according to claim 1, characterized in that, The material characteristic parameters at least include one of the three-dimensional form of the material surface, the material volume, the material quality, the highest material level, the lowest material level and the average material level. 5.The high-precision 3D scanning system with a feed monitoring function according to claim 1, wherein, The non-feeding period includes the period of discharging the container and the period of neither feeding nor discharging the container.

6. The high-precision 3D scanning system with a feed monitoring function according to claim 1, characterized in that, The scanning device at least includes one of the 3D microwave scanning radar and the 3D microwave multi-point radar. 7.The high-precision 3D scanning system with a feed monitoring function according to claim 1, wherein, The scanning device comprises a multi-angle measurement module and a processing module; the multi-angle measurement module is used to emit first measurement signals from a plurality of first angles during the non-feeding period and receive first back reflection signals formed by reflecting each first measurement signal at least on the material surface; and emit second measurement signals from a plurality of second angles during the feeding period and receive second back reflection signals formed by reflecting each second measurement signal at least on the material flow; the processing module connected with the multi-angle measurement module is used to obtain and analyze material point cloud data from a plurality of first back reflection signals during the non-feeding period based on the material point cloud data to obtain the material characteristic parameters; and obtain and analyze the material flow parameters from a plurality of second back reflection signals during the feeding period.

8. The high-precision 3D scanning system with a feed monitoring function according to claim 7, characterized in that, The multi-angle measurement module comprises a signal transceiver unit and a motion unit; The signal transceiver unit is arranged on the motion unit, and is used for at least transmitting the first measurement signal during the non-feeding period, so that the first back reflection signal formed by at least reflecting the first measurement signal on the material surface is received by the signal transceiver unit; and transmitting the second measurement signal during the feeding period, so that the second back reflection signal formed by at least reflecting the second measurement signal on the material flow is received by the signal transceiver unit; The motion unit is used for at least driving the signal transceiver unit to scan the material surface according to a first preset motion logic during the non-feeding period, and driving the signal transceiver unit to scan the material flow in the second preset angle range along the second preset direction according to a second preset motion logic during the feeding period. The processing module is connected with the signal transceiver unit and the motion unit respectively, and is used for at least controlling the motion unit to move according to the first preset motion logic or the second preset motion logic during the non-feeding period or the feeding period respectively; and generating a first control signal or a second control signal during the non-feeding period or the feeding period respectively, so that the signal transceiver unit transmits the first measurement signal or the second measurement signal correspondingly; and acquiring and analyzing the material point cloud data according to a plurality of the first back reflection signals during the non-feeding period, and then obtaining the material characteristic parameter based on the material point cloud data; and acquiring and analyzing the material flow parameter according to a plurality of the second back reflection signals during the feeding period.

9. The high-precision 3D scanning system with a feed monitoring function according to claim 8, characterized in that, The processing module comprises a central control unit, an analog-digital conversion unit, a signal amplification unit and a signal conversion unit; The signal conversion unit is connected with the signal transceiver unit, the central control unit and the signal amplification unit respectively, and is used for at least generating the second measurement signal based on the second control signal issued by the central control unit during the feeding period, and transmitting the second measurement signal to the signal transceiver unit, so that the signal transceiver unit transmits the second measurement signal during the feeding period; and receiving the second back reflection signal uploaded by the signal transceiver unit during the feeding period, generating a second mixed frequency signal based on the second back reflection signal, and then transmitting the second mixed frequency signal to the signal amplification unit; The central control unit is connected with the signal amplification unit through the analog-digital conversion unit, and is used for at least obtaining the characteristic information of the second back reflection signal based on the second mixed frequency signal which is amplified by the signal amplification unit and is subjected to analog-digital conversion by the analog-digital conversion unit during the feeding period, and then analyzing the material flow parameter.

10. The high-precision 3D scanning system with a feed monitoring function according to claim 9, characterized in that, The signal conversion unit comprises a mixed frequency sub-unit and a local oscillator sub-unit; The local oscillator sub-unit is connected with the mixed frequency sub-unit, and is used for transmitting a generated local oscillator signal to the mixed frequency sub-unit; The mixed frequency sub-unit is connected between the signal amplification unit and the signal transceiver unit, and is used for receiving the second back reflection signal uploaded by the signal transceiver unit during the feeding period. And, mixing the local signal and the second backscattering signal to obtain the second mixed signal during the feeding period, and transmitting the second mixed signal to the signal amplification unit. 11.The high-precision 3D scanning system with a feed monitoring function according to claim 9, wherein, The measurement signal emitted by the scanning device during the feeding period is at least a fixed frequency signal, the central control unit performs one-dimensional Fourier transform operation on the second mixed signal which is amplified by the signal amplification unit and is subjected to analog-digital conversion by the analog-digital conversion unit, to obtain the characteristic information of the second backscattering signal, and then analyzes the flow parameter.

12. The high-precision 3D scanning system with a feed monitoring function according to claim 9, characterized in that, The measurement signal emitted by the scanning device during the feeding period is at least a continuous frequency modulation signal, the central control unit performs two-dimensional Fourier transform operation on the second mixed signal which is amplified by the signal amplification unit and is subjected to analog-digital conversion by the analog-digital conversion unit, to obtain the characteristic information of the second backscattering signal, and then analyzes the flow parameter.

13. The high-precision 3D scanning system with a feed monitoring function according to claim 1, characterized in that, The 3D scanning system further comprises a human-computer interaction device and a power supply device; The human-computer interaction device is connected with each scanning device which generates the flow parameter, and is used for at least visually displaying the feeding data of the container according to the flow parameter; The power supply device is connected with the human-computer interaction device and each scanning device, and is used for at least accessing external power supply and converting the external power supply into multi-stage working voltage, to maintain the normal working of the 3D scanning system.

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