3D material level imaging radar device and method for silo

Abstract

The invention discloses a 3D material level imaging radar device for a silo and a measuring method in the field of microwave measurement, the 3D material level imaging radar device comprises a fixed seat and a plurality of radars, the radars are movably installed on the fixed seat through a connecting rod assembly, the radars carry out position switching, and the radars and measured material distance change in stages; the radar is used for emitting electromagnetic waves through fixed-point height mobile scanning and recycling the electromagnetic waves; the driving equipment is mounted on the fixed seat, and the driving equipment drives the connecting rod assembly and the fixed seat to move, so that the firing angle change of the radar and the circumferential rotation of the radar are realized; the calculation module is in signal connection with the plurality of radars; according to the radar level meter, the multiple radars are arranged, each radar can be indirectly connected with the driving equipment through the corresponding connecting point on the connecting rod assembly, at the moment, the rotation angle of the radar and the wireless wave emission angle can change regularly, the detection range and the measurement point position of the radar level meter can be widened, and the measurement blind area is reduced.

Description

Technical Field

[0001] The present application relates to the field of microwave measurement technology, and in particular to a 3D material level imaging radar device and a measurement method for a silo. Background Art

[0002] Classic single-point radar level meters for calculating the volume of bulk materials in silos usually cannot provide the necessary accuracy. In this case, due to the uneven surface profile of bulk materials and large height fluctuations (cones when loading, pits when unloading, etc.), certain errors are usually caused in the calculation. In view of this, designers need to design a device to measure the liquid level of bulk materials over a large range of multiple points to minimize the error range, so as to measure the level and volume of bulk materials more reliably and stably. Summary of the invention

[0003] The purpose of the present application is to provide a 3D material level imaging radar device and a measurement method for a silo, so as to solve the defects in the prior art that single-point radar has large errors and low precision when measuring irregular objects.

[0004] In order to achieve the above objectives, this application is implemented by adopting the following technical solutions: In a first aspect, a 3D material level imaging radar device for a silo comprises: Fixed seat, A plurality of radars, wherein the plurality of radars are movably mounted on the fixing seat through a connecting rod assembly, and the radars are switched in position, and the distance measurement with the measured material is changed in stages; The radar is used for fixed-point height movement scanning to transmit electromagnetic waves and recover the electromagnetic waves; A driving device, wherein the driving device is mounted on the fixing seat, and the driving device drives the connecting rod assembly and the fixing seat to move, thereby realizing the change of the shooting angle of the radar and the circumferential rotation of the radar; A calculation module, wherein the calculation module signal is connected to the plurality of radars, and the calculation module is used to calculate the volume and mass of the material being measured.

[0005] According to a further solution of the present application, the connecting rod assembly includes a driving block and multiple second connecting rods, the driving block is movably mounted on the driving device, the same end of the multiple second connecting rods is rotatably connected to the fixing seat, and the other end is correspondingly fixedly connected to the radar, a first connecting rod is rotatably mounted between the multiple second connecting rods and the driving block, and the driving device drives the driving block to move longitudinally to change the inclination angle of the radar.

[0006] In a further solution, the driving device includes a first driving body and a second driving body, the first driving body is arranged at the top of the fixed seat and is rotatably connected to the fixed seat to realize the circumferential rotation of the fixed seat, and the second driving body is fixed in the middle part of the fixed seat and is transmission connected to the driving block to realize the longitudinal movement of the driving block.

[0007] In a further solution, the second driving body includes a motor, which is fixed in the middle of the fixed seat, and the output shaft of the motor is arranged in the same direction as the driving block. A screw is fixed on the output shaft of the motor along the circumference of the output shaft, and the screw is threadedly matched with the threaded through hole in the center of the driving block.

[0008] According to a further solution of the present application, a plurality of radar circular arrays are mounted on the fixing base.

[0009] According to a further solution of the present application, the radar is a millimeter wave radar.

[0010] In a second aspect, the present application provides a measurement method based on the above-mentioned 3D material level imaging radar device for silos, which comprises the following steps: 1) Set up a base surface, place the material to be tested on the base surface, set the initial layout angle of each radar, each radar transmits wireless millimeter waves, and the corresponding radar receives and stores the corresponding echo information in the initial state; 2) Starting the driving device (400) to control each of the radars to rotate in a circle, and each circle changes by an angle of , each time the circular angle changes, each radar receives and stores the echo information corresponding to the angle change; 3) According to the initial arrangement angle of each radar, the driving device (400) is started to control each radar to synchronously change the transmission angle, and the change angle is , the angle change of each radar is the initial angle of the corresponding radar + ; 4) Keep changing the angles of each radar, and repeat 2) to 3) until the outermost radar completely scans the base surface, then the outermost radar stops, and the inner radar stops when the maximum scanning diameter of the inner radar coincides with the initial scanning diameter of its adjacent radar; 5) Calculate the spatial position of the scanning point on the surface of the material being measured at different angles; 6) Construct the surface model of the material being measured through the calculation module, and calculate the volume and mass of the material being measured.

[0011] Further solutions of this application; The calculation formula for the spatial position of the scanning point on the surface of the material being measured is as follows: ; ; ; Where d is the distance between each radar and the scanning point on the surface of the material being measured; α is the deflection angle of each radar scan; η is the azimuth angle of the radar axial deflection; L is the height of each radar from the ground; The volume and mass of the measured material are calculated as follows; The material is subdivided into a number of small cylinders, and the sum of the heights of each point detected by the radar needs to be calculated; ; ; volume: ; quality: ; in is the height and height of each radar scanning point; h n The height of each radar scanning point on the surface of the material being measured from the base surface; S is the bottom surface area of ​​the material being measured; ρ is the material density.

[0012] The beneficial effects of this application are: In the present application, multiple radars are arranged, and each radar can be indirectly connected to the driving device through each connection point on the connecting rod assembly. At this time, the rotation angle of the radar and the radio wave emission angle can change regularly, which can improve the detection range and measurement point position of the radar level meter, reduce the measurement blind area, and provide a more effective means for level detection; the device measures the distance and direction of multiple echoes, collects echoes at different distances and directions, and constructs a surface model of the measured material, thereby calculating the volume and mass of the measured material, greatly improving the measurement accuracy of the device.

[0013] The connecting rod assembly is a combination structure of a driving block and multiple second connecting rods and a first connecting rod. The motor drives the driving block to switch its position while controlling the movement of multiple second connecting rods and multiple first connecting rods, thereby efficiently completing the quick adjustment of various radar shooting angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the initial position structure of each radar in the 3D material level imaging radar device of Example 1 of the present application; Figure 2 This is a schematic diagram of the structure after the angle adjustment of each radar in the 3D material level imaging radar device in Example 1 of the present application; Figure 3 This is a schematic diagram of the scanning area structure of each radar in the 3D material level imaging radar device in Example 1 of the present application; Figure 4 This is a schematic diagram of the internal structure of a 3D material level imaging radar device according to Embodiment 1 of the present application (the device is inverted); Figure 5 This is a bottom view of a 3D material level imaging radar device according to Embodiment 1 of the present application; Figure 6 This is a flow chart of the measurement method of Example 2 of the present application.

[0015] Among them: 100, radar one; 200, radar two; 300, radar three; 400, driving device; 1, fixing seat; 2, motor; 3, motor fixing bracket; 4, first connecting rod; 5, driving block; 6, second connecting rod. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.

[0017] Embodiment 1 like Figures 1 to 3 As shown, the present embodiment discloses a 3D material level imaging radar device for a silo, which includes a fixed seat 1, three radars, namely, radar one 100, radar two 200 and radar three 300, a driving device 400 and a computing module, wherein the three radars are movably mounted on the fixed seat 1 through a connecting rod assembly, the radar is subjected to force to switch positions, and the distance measurement with the measured material is staged. Usually, the radar angle is gradually adjusted from the inside to the outside, and each radar can move at a fixed height to scan and emit electromagnetic waves and recover reflected electromagnetic waves. The driving device 400 is mounted on the fixed seat 1, the driving device 400 can rotate the fixed seat 1, and can also control the connecting rod assembly separately, thereby adjusting the radar's shooting angle, realizing the radar's shooting angle change and the radar's circumferential rotation, and the computing module connects each radar with an electrical signal, usually using wires or directly using wireless signals; the computing module is used to calculate the volume and mass of the measured material. It should be noted here that the three radars in this embodiment all use millimeter wave radars.

[0018] When in use, the initial emission angles of the three radars are set, and the radars receive the corresponding reflected electromagnetic waves. The emission angles of the radars are changed in sequence by driving the device 400, and the entire fixed seat 1 (three radars) is driven to rotate circumferentially. Each change in position and angle of the radar will receive different reflected waves. Finally, the calculation module calculates and integrates the volume and mass of the material being measured through the received data. This device can scan irregular materials being measured, and multi-point measurement makes the measurement accuracy high.

[0019] Reference Figure 4 and Figure 5In this embodiment, radar one 100, radar two 200 and radar three 300 are arranged in a circular array on the fixed seat 1, but the revelation angle of each radar is different. Radar one 100, radar two 200 and radar three 300 are responsible for the inner circle, middle circle and outer circle of the scanning area respectively.

[0020] The driving device 400 in this embodiment is composed of a first driving body and a second driving body. The first driving body can drive the entire fixed seat 1 to rotate circumferentially to realize scanning of the scanning area of ​​each radar. The first driving body here can be a driving motor or a rotating cylinder. The first driving body is fixed to the top of the fixed seat 1. The output shaft of the driving motor or the rotating cylinder is fixedly connected to the center position of the top of the fixed seat 1. At this time, the first driving body is started to rotate each radar; The second driving part is used to drive the connecting rod assembly to deform so as to adjust the shooting angles of the three radars.

[0021] Continue to observe the attached Figure 4 The connecting rod assembly in this embodiment includes a driving block 5, three second connecting rods 6 and three first connecting rods. The three second connecting rods 6 and the three first connecting rods 4 are matched and arranged. One end of the three second connecting rods 6 corresponds to fixing three radars, and the other end is rotatably connected to the edge of the fixing seat 1 through a hinge seat. The three second connecting rods 6 are arranged equidistantly, and the three first connecting rods 4 are correspondingly rotatably installed between the second connecting rod 6 and the driving block 5. Hinge seats are set at corresponding positions of the second connecting rod 6 and the driving block 5, so that both ends of the first connecting rod 4 can move. The second driving body in this embodiment controls the longitudinal movement of the driving block 5 to realize the synchronous movement of the corresponding second connecting rod 6 and the first connecting rod 4, and synchronously adjusts the shooting angle of radars in different directions. Such a design can reduce the measurement error of the device and improve the measurement efficiency.

[0022] Normally, the second driving part has a relatively simple design, including a motor 2 and a screw, wherein the motor 2 is vertically fixed at the center of a side of the fixing seat 1 away from the first driving body by a motor fixing bracket 3, that is, the output shaft of the motor 2 is arranged in the same direction as the driving block 5, and the screw is fixed axially along the output shaft of the motor 2. According to the design of the second driving part, a threaded through hole needs to be opened in the middle of the driving block 5 in this embodiment, and the screw is threadedly matched with the threaded through hole, so that the adjustment accuracy achieved is relatively high and the adjustment process is relatively stable.

[0023] Embodiment 2 This embodiment provides a testing method for a 3D material level imaging radar device for a silo based on the first embodiment described above, which includes the following steps: 1) Set the initial layout angles of radar 1 100, radar 2 200 and radar 3 300. The initial position of radar 100 is parallel to the median vertical plane. The initial angle of radar 100 is 0, and the initial position of radar 200 is at an angle of , the initial angle of radar 200 is , the initial position of radar 300 and the angle between the mid-vertical plane is , record the initial angle of radar 300 ; Each radar transmits wireless millimeter waves, and the corresponding radar receives and stores the corresponding echo information in the initial state; 2) Start the driving device to control each of the radars to rotate in a circle, and the angle of each circle change is ,After each circular angle change, each radar receives and stores the echo information corresponding to the angle adjustment; 3) According to the initial arrangement angle of each radar, the driving device is started to control each radar to change the transmission angle synchronously, and the change angle is , the angle change of each radar is the initial angle of the corresponding radar + ; That is, the angular range of the radar is 100 degrees. , the angular range of radar 200 is , the angular range of radar three 300 is ,in , to ensure the radar coverage is continuous, the angular coverage is ; 4) Keep changing the angles of each radar, and repeat 2) to 3); until the outermost radar moves one circle and completely scans the base surface, the outermost radar stops, and when the maximum scanning diameter of the inner radar coincides with the initial scanning diameter of its adjacent radar, the inner radar stops; 5) Calculate the position and distance of the material under test at different angles; the calculation formula for the spatial position (position and distance) of the scanning point of the material under test is as follows; ; ; ; Where d is the distance between each radar and the scanning point; α is the deflection angle of each radar scanning; η is the azimuth angle of the radar axial deflection; L is the height of each radar from the ground; 6) Build a surface model of the material to be tested through the calculation module, and calculate the volume and mass of the material to be tested; the material is subdivided into several small cylinders, and the sum of the heights of each point detected by the radar needs to be calculated, and then multiplied by the surface area of ​​the bottom of the material to calculate the volume of the material; ; ; volume: ; quality: ; in is the height and height of each radar scanning point;h n The height of each scanning point on the surface of the material being measured from the base surface; S is the bottom surface area of ​​the material being measured; ρ is the material density.

Claims

1. A 3D material level imaging radar device for silos, characterized in that: include: Fixed seat (1), A plurality of radars, wherein the plurality of radars are movably mounted on the fixing seat (1) via a connecting rod assembly, and the radars are subjected to force to switch positions, and the distance measurement with the measured material changes in stages; The radar is used to transmit electromagnetic waves at a fixed altitude and recover the electromagnetic waves; A driving device (400), the driving device (400) being mounted on the fixing seat (1), the driving device (400) driving the connecting rod assembly and the fixing seat (1) to move, thereby achieving a change in the firing angle of the radar and a circumferential rotation of the radar; A calculation module, wherein the calculation module signal is connected to the plurality of radars, and the calculation module is used to calculate the volume and mass of the material being measured.

2. The 3D material level imaging radar device for silos according to claim 1, characterized in that: The connecting rod assembly comprises a driving block (5) and a plurality of second connecting rods (6); the driving block (5) is movably mounted on the driving device (400); the same-direction ends of the plurality of second connecting rods (6) are rotatably connected to the fixing seat (1); the other ends are correspondingly fixedly connected to the radar; a first connecting rod (4) is rotatably mounted between the plurality of second connecting rods (6) and the driving block (5); the driving device (400) drives the driving block (5) to move longitudinally, so that the inclination angle of the radar changes.

3. The 3D material level imaging radar device for silos according to claim 2, characterized in that: The driving device (400) comprises a first driving body and a second driving body, wherein the first driving body is arranged at the top of the fixed seat (1) and is rotatably connected to the fixed seat (1) to achieve circumferential rotation of the fixed seat (1), and the second driving body is fixed to the middle part of the fixed seat (1) and is transmission-connected to the driving block (5) to achieve longitudinal movement of the driving block (5).

4. The 3D material level imaging radar device for silos according to claim 3, characterized in that: The second driving body comprises a motor (2), the motor (2) being fixed in the middle of the fixing seat (1), and the output shaft of the motor (2) being arranged in the same direction as the driving block (5), a screw being fixed on the output shaft of the motor (2) along the circumference of the output shaft, and the screw being threadably matched with the threaded through hole at the center of the driving block (5).

5. The 3D material level imaging radar device for silos according to claim 1, characterized in that: A plurality of radar circular arrays are mounted on the fixing base (1).

6. The 3D material level imaging radar device for silos according to claim 1, characterized in that: The radar is a millimeter wave radar.

7. A measurement method based on the 3D material level imaging radar device for silos according to any one of claims 1 to 6, characterized in that: include: 1) Set up a base surface, place the material to be tested on the base surface, set the initial layout angle of each radar, each radar transmits wireless millimeter waves, and the corresponding radar receives and stores the corresponding echo information in the initial state; 2) Starting the driving device (400) to control each of the radars to rotate in a circle, and each circle changes by an angle of , each time the angle of the circle changes, each radar receives and stores the echo information corresponding to the angle change; 3) According to the initial arrangement angle of each radar, the driving device (400) is started to control each radar to synchronously change the transmission angle, and the change angle is , the angle change of each radar is the initial angle of the corresponding radar + ; 4) Keep changing the angles of each radar, repeating 2) to 3) until the outermost radar moves one circle and completely scans the base surface, then the outermost radar stops, and the inner radar stops when the maximum scanning diameter of the inner radar coincides with the initial scanning diameter of its adjacent radar; 5) Calculate the spatial position of the scanning point on the surface of the material being measured at different angles; 6) Construct the surface model of the material being measured through the calculation module, and calculate the volume and mass of the material being measured.

8. The measuring method according to claim 7, characterized in that: The calculation formula for the spatial position of the scanning point on the surface of the material being measured is as follows: ; ; ; Where d is the distance between each radar and the scanning point on the surface of the material being measured; α is the deflection angle of each radar scan; η is the azimuth angle of the radar axial deflection; L is the height of each radar from the ground; The volume and mass of the measured material are calculated as follows; The material is subdivided into a number of small cylinders, and the sum of the heights of each point detected by the radar needs to be calculated; ； ； volume: ; quality : in is the height and height of each radar scanning point; h n The height of each scanning point on the surface of the material being measured from the base surface; S is the bottom surface area of ​​the material being measured; ρ is the material density.

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