Interactive material rapid scanning system

Abstract

The invention provides an interactive material rapid scanning system, comprising: a material shape change area acquisition module for acquiring a material shape change area; the material shape scanning module is used for executing corresponding scanning logic according to the material shape change area transmitted by the material shape change area acquisition module, and scanning according to the scanning logic to acquire material surface data information of the material shape change area and material surface data information of a material shape non-change area; and the data fusion module is used for carrying out data fusion on the material surface data information of the material shape change area and the material surface data information of the material shape non-change area so as to obtain current material surface form panoramic data information of the whole material shape area. According to the invention, targeted scanning can be carried out on the material shape change area, and the current material surface form panoramic data information is obtained in combination with the material shape non-change area, so that the scanning period of the scanning device for obtaining the three-dimensional material form can be greatly reduced, and the refreshing speed of the material surface form panoramic data information is also greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material scanning, and in particular to an interactive material rapid scanning system. Background Art

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

[0003] Most of the existing 3D scanning systems for monitoring material parameters in containers provide 24-hour real-time monitoring. Specifically, they perform real-time scanning of the entire material shape area. This scanning mode has a long scanning cycle and is slow to update when it is necessary to quickly obtain the material shape data after the 3D shape changes of the material during the loading and unloading process, which cannot meet market demand.

[0004] Therefore, there is a need in the art for a scanning system that can quickly scan the material surface. Summary of the invention

[0005] The present invention provides an interactive material rapid scanning system, which is used to solve the technical problems that the existing uninterrupted scanning of container input and output data will lead to a long scanning cycle of the existing three-dimensional scanning system and the inability to quickly and timely obtain the three-dimensional form of the material during the material state change process.

[0006] In order to achieve the above object, the present invention discloses an interactive material rapid scanning system, comprising:

[0007] A material shape change region acquisition module, used to acquire the material shape change region;

[0008] A material shape scanning module, used to execute corresponding scanning logic according to the material shape change area transmitted by the material shape change area acquisition module, and scan according to the scanning logic to obtain material surface data information of the material shape change area and material surface data information of the material shape non-change area;

[0009] The data fusion module is used to fuse the material surface data information of the material shape changing area with the material surface data information of the material shape non-changing area to obtain the current material surface morphology panoramic data information of the entire material shape area.

[0010] Further, the material shape changing area sends a change parameter through a material shape changing actuator and obtains it according to the change parameter;

[0011] Alternatively, the material shape change area is obtained by a material shape change detection device;

[0012] Alternatively, the material shape change area is obtained by directly obtaining or presetting;

[0013] Alternatively, the material shape change area is obtained by analyzing the material surface morphology panoramic data information of the entire material shape area obtained in the first N detection cycles; N≥2, N is a positive integer.

[0014] Furthermore, the material shape change regions obtained at different times are the same or different material shape regions.

[0015] Furthermore, the material shape scanning module includes:

[0016] a changed area imaging module, used to execute a first scanning logic corresponding to the material shape changed area, and scan the material shape changed area according to the first scanning logic to obtain material surface data information of the material shape changed area;

[0017] The non-changing area imaging module is used to execute the second scanning logic corresponding to the non-changing area of ​​the material shape, and scan the non-changing area of ​​the material shape according to the second scanning logic to obtain the material surface data information of the non-changing area of ​​the material shape; or to obtain the historical material surface data information corresponding to the non-changing area of ​​the material shape as the material surface data information of the non-changing area of ​​the material shape.

[0018] Further, the first scanning logic is the same as or different from the second scanning logic.

[0019] Furthermore, the entire material shape region includes a material shape change region and a material shape non-change region, the material shape change region for the nth time is recorded as C(n), the material shape non-change region for the nth time is recorded as B(n), and the entire material shape region for the nth time is recorded as A(n);

[0020] Wherein, n≥1, and n is a positive integer.

[0021] Furthermore, the material shape scanning module includes:

[0022] The changed area imaging module is used to execute a first scanning logic corresponding to the material shape changed area C(n), and scan the material shape changed area C(n) according to the first scanning logic to obtain material surface data information C(n)' of the material shape changed area;

[0023] The non-changing area imaging module is used to execute the second scanning logic corresponding to the material shape non-changing area B(n), and scan the material shape non-changing area B(n) according to the second scanning logic to obtain the material surface data information B(n)' of the material shape non-changing area.

[0024] Furthermore, the material shape scanning module includes:

[0025] The changed area imaging module is used to execute a first scanning logic corresponding to the material shape changed area C(n), and scan the material shape changed area C(n) according to the first scanning logic to obtain material surface data information C(n)' of the material shape changed area;

[0026] The non-changing area imaging module is used to obtain the historical material surface data information corresponding to the material shape non-changing area B(n) as the material shape non-changing area material surface data information B(n)'.

[0027] Furthermore, the historical material surface data information corresponding to the material shape non-changing area B(n) is the material surface data information formed by eliminating the material surface data information corresponding to the n-th material shape changing area C(n) from the n-1-th material surface morphology panoramic data information A(n-1)'.

[0028] Furthermore, the material shape changing actuator includes at least one of a feeding device, a discharging device, and a grasping device.

[0029] Furthermore, the material shape change detection device includes a microwave Doppler detection device, and the material flow condition is identified by the microwave Doppler detection device to at least obtain the material shape change area.

[0030] Furthermore, the material shape change detection device includes at least one scanning device, which scans the material flow within a corresponding preset angle range along a set direction during a material feeding and discharging period or monitors a preset monitoring area to at least obtain a material shape change area.

[0031] Furthermore, the change parameter includes at least one of the position, angle and coordinate information of the material shape changing actuator.

[0032] Furthermore, the scanning logic includes at least one of adjustment of scanning frequency, adjustment of scanning mode, and adjustment of scanning range.

[0033] Furthermore, the scanning device includes at least one of a 3D microwave radar, a 3D laser radar, and a binocular camera.

[0034] Furthermore, the feeding equipment includes a movable feeding trolley, a feeding machine or a feeding valve.

[0035] Furthermore, the discharging equipment includes an auger clearing device, a discharging machine or a discharging valve.

[0036] Furthermore, the material grabbing equipment includes a crane or a material grabbing machine.

[0037] Furthermore, the scanning device includes a mechanical motion module and a detection probe, and the detection probe is fixedly mounted on the mechanical motion module so that the mechanical motion module drives the detection probe to perform synchronous follow-up mechanical motion during the mechanical motion, thereby scanning the material surface at multiple angles to obtain material surface morphology data information.

[0038] The present invention discloses an interactive material rapid scanning system, comprising a material shape change area acquisition module and a material shape scanning module, the material shape change area acquisition module is used to acquire the material shape change area; it is used to execute corresponding scanning logic according to the material shape change area transmitted by the material shape change area acquisition module, and scan according to the scanning logic to acquire material surface data information of the material shape change area and material surface data information of the material shape non-changed area; a data fusion module is used to fuse the material surface data information of the material shape change area with the material surface data information of the material shape non-changed area to obtain the panoramic data information of the current material surface morphology of the entire material shape area. It can be seen that the present invention obtains the material shape change area through the change parameters sent by the material shape change actuator or detects the material flow information through the material shape change detection device or directly obtains or analyzes the panoramic data information of the material surface, etc. to obtain the material shape change area, and then executes the scanning logic corresponding to the material shape change area through the material shape scanning module to scan to obtain the material surface data information of the material shape change area and the material surface data information of the non-changing material shape area, and obtains the current material surface morphology panoramic data information of the entire material shape area through data fusion, so that the material shape change area can be scanned in a targeted manner, and the scanning device does not need to perform real-time panoramic scanning of the material surface, which can greatly reduce the scanning cycle of the scanning device to obtain the three-dimensional material morphology, and also greatly improve the refresh speed of the panoramic data information of the material surface morphology. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0040] Figure 1 It is a schematic diagram of the framework structure of an interactive material rapid scanning system disclosed in the present invention;

[0041] Figure 2 It is a schematic diagram of the framework structure of the material shape scanning module disclosed in the present invention;

[0042] Figure 3 This is a schematic diagram of the material shape scanning module in the present invention obtaining the panoramic data information of the material surface shape Figure 1 ;

[0043] Figure 4This is a schematic diagram of the material shape scanning module in the present invention obtaining the panoramic data information of the material surface shape Figure 2 ;

[0044] Figure 5 This is a schematic diagram of the structure of an interactive material rapid scanning system disclosed in the present invention. Figure 1 ;

[0045] Figure 6 This is a schematic diagram of the structure of an interactive material rapid scanning system disclosed in the present invention. Figure 2 .

[0046] Summary of reference numerals:

[0047] 100, scanning device 110, material shape change area acquisition module

[0048] 120. Material shape scanning module 121. Change area imaging module

[0049] 122. Non-changing area imaging module 130. Data fusion module

[0050] 200, Material 300, Material shape change actuator

[0051] 400. Container DETAILED DESCRIPTION

[0052] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0053] The present invention provides an interactive material rapid scanning system, such as Figure 1 As shown, the interactive material rapid scanning system includes a material shape change area acquisition module 110, a material shape scanning module 120 and a data fusion module 130, wherein the material shape change area acquisition module 110 is used to acquire the material shape change area; the material shape scanning module 120 is used to scan the material surface to form the three-dimensional shape of the material, the material shape scanning module 120 executes the corresponding scanning logic through the material shape change area transmitted by the material shape change area acquisition module 110, and scans the material in the container 400 according to the scanning logic to acquire the material surface data information of the material shape change area and the material surface data information of the material shape non-changing area; the data fusion module 130 is used to fuse the material surface data information of the material shape change area with the material surface data information of the material shape non-changing area to obtain the panoramic data information of the current material surface morphology of the entire material shape area.

[0054] In this embodiment, Figure 2 As shown, the material shape scanning module 120 includes:

[0055] The changed area imaging module 121 is used to execute a first scanning logic corresponding to the material shape changed area, and scan the material shape changed area according to the first scanning logic to obtain material surface data information of the material shape changed area;

[0056] The non-changing area imaging module 122 is used to execute a second scanning logic corresponding to the material shape non-changing area, and scan the material shape non-changing area according to the second scanning logic to obtain material surface data information of the material shape non-changing area; or, to obtain historical material surface data information corresponding to the material shape non-changing area as material surface data information of the material shape non-changing area.

[0057] Specifically, the material shape scanning module 120 can obtain material surface data information mainly through a scanning device. Specifically, the material shape scanning module 120 includes:

[0058] The changed area imaging module 121 is used to execute the first scanning logic corresponding to the material shape changed area through the scanning device 100 to scan the material shape changed area to obtain material surface data information of the material shape changed area;

[0059] The non-changing area imaging module 122 is used to execute the second scanning logic corresponding to the non-changing area of ​​the material shape through the scanning device 100 to scan the non-changing area of ​​the material shape to obtain material surface data information of the non-changing area of ​​the material shape; or to obtain historical material surface data information corresponding to the non-changing area of ​​the material shape as the material surface data information of the non-changing area of ​​the material shape.

[0060] It should be noted that the scanning device 100 may execute the same or different first scanning logic corresponding to the material shape changing area and the second scanning logic corresponding to the material shape non-changing area. Since the material shape changing area needs to know the changes of its material surface morphology in time, while the material surface morphology of the material shape non-changing area does not change or changes little or hardly changes, the first scanning logic (for example, scanning frequency) of the material shape changing area may be set higher than the second scanning logic (for example, scanning frequency) of the material shape non-changing area.

[0061] Specifically, the scanning device 100 can scan the area where the material shape changes every 10 seconds, and scan the area where the material shape does not change every 1 minute, so as to obtain material surface data information of the corresponding area.

[0062] Among them, the entire material shape area includes a material shape changing area and a material shape non-changing area, the n-th material shape changing area is recorded as C(n), the n-th material shape non-changing area is recorded as B(n), and the n-th entire material shape area is recorded as A(n); wherein n≥1, and n is a positive integer.

[0063] Among them, Figure 2 As shown, the material shape scanning module 120 includes:

[0064] The changed area imaging module 121 is used to execute the first scanning logic corresponding to the material shape changed area C(n) through the scanning device 100, and scan the material shape changed area C(n) according to the first scanning logic to obtain the material surface data information C(n)' of the material shape changed area;

[0065] The non-changing area imaging module 122 is used to execute the second scanning logic corresponding to the material shape non-changing area B(n) through the scanning device 100, and scan the material shape non-changing area B(n) according to the second scanning logic to obtain the material surface data information B(n)' of the material shape non-changing area.

[0066] At this time, the data fusion module 130 fuses the material surface data information C(n)' of the material shape changed area with the material surface data information B(n)' of the material shape non-changed area to obtain the current material surface morphology panoramic data information A(n)' of the entire material shape area.

[0067] It should be noted that after the material shape change actuator 300 sends a new change parameter, the material shape change area will change. For example, before the material shape change actuator 300 sends a new change parameter for the nth time, that is, the material shape change area for the n-1th time is C(n-1), and after the material shape change actuator 300 sends a new change parameter for the nth time, the current material shape change area will change to C(n). The acquisition of the panoramic data information of the material surface morphology is represented by the following formula:

[0068] like Figure 3 As shown, before the material shape changes, that is, when the material shape changes for the n-1th time:

[0069] C(n-1)'+B(n-1)'=A(n-1)';

[0070] like Figure 4 As shown, after the material shape changes in the area, that is, when the material shape changes for the nth time:

[0071] C(n)'+B(n)'=A(n)'.

[0072] In another embodiment, Figure 2 As shown, the material shape scanning module 120 includes:

[0073] The changed area imaging module 121 is used to execute the first scanning logic corresponding to the material shape changed area C(n) through the scanning device 100, and scan the material shape changed area C(n) according to the first scanning logic to obtain the material surface data information C(n)' of the material shape changed area;

[0074] The non-changed area imaging module 122 is used to obtain the historical material surface data information corresponding to the material shape non-changed area B(n) through the scanning device 100 as the material shape non-changed area material surface data information B(n)′.

[0075] At this time, the data fusion module 130 fuses the material surface data information C(n)' of the material shape changed area with the material surface data information B(n)' of the material shape non-changed area to obtain the current material surface morphology panoramic data information A(n)' of the entire material shape area.

[0076] Among them, the historical material surface data information corresponding to the material shape non-changing area B(n) is the material surface data information formed by eliminating the material surface data information corresponding to the nth material shape changing area C(n) from the n-1th material surface morphology panoramic data information A(n-1)'.

[0077] In order to distinguish the material surface data information corresponding to the n-th material shape change area and the n-1-th material shape change area, when the n-th material shape change area occurs, the material surface data information of the material shape change area is recorded as C(n)', the material surface data information of the material shape non-change area is recorded as B(n)', and the material surface morphology panoramic data information is recorded as A(n)'; when the n-1-th material shape change area occurs, the material surface data information of the material shape change area is recorded as C(n-1)', the material surface data information of the material shape non-change area is recorded as B(n-1)', and the material surface morphology panoramic data information is recorded as A(n-1)';

[0078] That is, C(n)'+B(n)'=A(n)';

[0079] C(n-1)'+B(n-1)'=A(n-1)';

[0080] Since the n-th material shape change area may be the same as or different from the n-1-th material shape change area, when the n-th material shape change area occurs, the historical material surface data information corresponding to the material shape non-changing area B(n) is: B(n)'=A(n-1)'-C(n)", where C(n)" is the material surface data information corresponding to the material shape change area C(n) (n-th material shape change area) obtained when the n-1-th material shape change area occurs. In other words, the current material surface morphology panoramic data information is recorded as A(n)', and the material surface data information of the current material shape change area is recorded as C(n)', combined with the material surface data information outside the current material shape change area C(n) when the n-1-th material shape change area occurs from the historical material surface morphology panoramic data information A(n-1)'.

[0081] It should be understood that since the material surface morphology of the material 200 in the area where the material shape does not change, changes slightly or hardly changes, the historical material surface data information corresponding to the area where the material shape does not change, obtained by the scanning device 100 before executing the scanning logic corresponding to the area where the material shape changes, can be used as the material surface data information of the area where the material shape does not change. At this time, the scanning device 100 does not need to scan the area where the material shape does not change again.

[0082] In the present invention, the material shape change area acquisition module 110 and the material shape scanning module 120 realize information linkage, and then execute the corresponding scanning logic on the material shape change area in a targeted manner, and combine the material surface morphology of the material shape non-changing area to obtain the current material surface morphology panoramic data information corresponding to the entire material shape area. This interactive material rapid scanning system changes the existing scanning mode of real-time panoramic scanning of the material 200 surface and does not distinguish between the material shape change area and the material shape non-changing area. By distinguishing between the material shape change area and the material shape non-changing area, the present invention can greatly reduce the scanning cycle of the scanning device 100 to obtain the three-dimensional material morphology, and also greatly improve the refresh speed of the panoramic data information of the material surface morphology.

[0083] The material shape change region in the present invention can be obtained by the following method:

[0084] The material shape changing actuator 300 sends a change parameter that can change the surface shape of the material in the container 400 and determines at least a material shape changing area according to the change parameter;

[0085] Alternatively, the material flow information is detected by a material shape change detection device to obtain at least a material shape change area;

[0086] Alternatively, the material shape change area is obtained by directly obtaining or presetting;

[0087] Alternatively, the material shape change area is obtained by analyzing the material surface morphology panoramic data information of the entire material shape area obtained in the first N detection cycles; N≥2, N is a positive integer.

[0088] Specifically, in the present invention, the surface of the material 200 is divided into a material shape changing area and a material shape non-changing area. When the material shape changing area is obtained by the material shape changing actuator 300, the material shape changing actuator 300 is used to change the surface morphology of the material in the container 400. During the material 200 in the container 400, the material shape changing actuator 300 will assist the material 200 in feeding or discharging during the material feeding and discharging process. Specifically, the material 200 can be moved or grabbed at the feed port or the discharge port, thereby changing the material surface morphology of the material 200. For this purpose, the material shape changing actuator 300 can send the change parameters of the surface morphology of the material in the container 400 to the scanning device 100 and at least determine the material shape changing area based on the change parameters. Alternatively, the material shape change area is obtained by a material shape change detection device, which is used to detect material flow information. During the material 200 in the container 400, the material shape change detection device will detect the material flow data information of the material 200 feeding or discharging, thereby analyzing and determining the material shape change area according to the material flow data information. Alternatively, the material shape change area can be obtained by directly obtaining or presetting, for example, if the state of the discharge port, feed port or discharge valve is known, the location of the material shape change area can be directly understood, and the material shape change area can also be preset in the system, for example, which discharge port or feed port is preset to discharge the material, thereby obtaining the material shape change area; or, the material shape change area can be obtained by analyzing the material surface morphology panoramic data information of the entire material shape area obtained in the first N detection cycles, for example, through the material surface morphology panoramic data information obtained in the first 2 or 3 detection cycles, by analyzing and comparing the material change rules in the previous and next detection cycles to determine which area has changed the material shape, and then obtaining the material shape change area.

[0089] It needs to be explained that the material shape change actuator 300 in the present invention sends a change parameter to the scanning device 100 to obtain a current material shape change area corresponding to the change parameter, or detects the material flow data information through the material shape change detection device and determines the material shape change area based on the material flow data information analysis. At this time, the scanning device 100 will execute the corresponding scanning logic according to the material shape change area, and then scan the current material shape change area to obtain the material surface data information of the current material shape change area; at the same time, combined with the material shape change actuator 300 sending the change parameter to the scanning device 100 to obtain the material shape change area or the historical material shape and surface data information obtained before the material shape change detection device sends the material shape change area, or combined with the scanning device 100 to execute the second scanning logic corresponding to the material shape non-changing area to obtain the material shape non-changing area material surface data information; and then through the data fusion module 130, the current material shape change area material surface data information and the material shape non-changing area material surface data information are fused to obtain the current material surface morphology panoramic data information of the entire material shape area.

[0090] Furthermore, the scanning logics executed by the scanning device 100 in different material shape change areas are the same or different. Due to the differences in the size of the container, and the differences in the different feed ports or discharge ports, or the differences in the material shape change actuator 300, the material shape state of the material will be greatly affected. Therefore, different material shape change areas will exist according to different situations. In practical applications, the corresponding scanning logic can be adjusted according to the actual situation, such as performing material surface scanning with different scanning logics in the material shape change area, the material shape change area, and the vicinity of the material shape change area, or adjusting the relevant scanning logic according to information such as the rate of feeding and discharging of the material shape change area, which may specifically include one or more of the adjustment of the scanning frequency, the adjustment of the scanning mode, and the adjustment of the scanning range.

[0091] The adjustment of the scanning frequency specifically includes: scanning with a scanning period of 20 seconds as the refresh frequency, or scanning with a scanning period of 15 seconds as the refresh frequency, or refreshing scanning with a scanning period of other values;

[0092] The adjustment of scanning mode specifically includes: normal mode scanning, area scanning, refined scanning, fast scanning, fast repeated scanning and other modes;

[0093] The adjustment of the scanning range specifically includes: scanning the material shape change area, scanning the material shape change area and 10% area near the material shape change area, scanning the material shape change area and 20% area near the material shape change area, scanning the material shape change area and 30% area near the material shape change area, etc.

[0094] In a further embodiment of the present invention, the material shape change actuator 300 or the material shape change detection device or the different material shape change areas directly obtained, obtained by default or obtained through analysis are the same or different material shape areas.

[0095] The data fusion module 130 in the present invention is used to fuse the material surface data information of the material shape changing area with the material surface data information of the material shape non-changing area to obtain the panoramic data information of the current material surface morphology of the entire material shape area. Among them, it needs to be explained that in order to obtain more complete and accurate panoramic data information of the material surface morphology, the material surface data information completely corresponding to the material shape changing area can be obtained, or the material surface data information corresponding to a certain range of the material shape changing area can be obtained, so that there may be an overlapping area between the material shape changing area and the material shape non-changing area, or there may be no overlapping area. When there is an overlapping area between the material shape changing area and the material shape non-changing area, the scanning device can average, weighted average, and select the valid measurement data corresponding to the overlapping area according to the credibility to obtain the material surface data information in the overlapping area; when there is no overlapping area between the material shape changing area and the material shape non-changing area, the scanning device directly integrates the valid measurement data to obtain the panoramic data information of the current material surface morphology of the entire material shape area.

[0096] In a further embodiment of the present invention, the material shape changing actuator 300 includes at least one of a discharging device, a feeding device, and a grasping device. Correspondingly, the material shape changing actuator 300 sends a change parameter to the scanning device 100, including at least one of the position, angle, and coordinate information of the material shape changing actuator 300. Preferably, the scanning device 100 includes at least one of a 3D microwave radar, a 3D laser radar, and a binocular camera.

[0097] Among them, when the material shape changing actuator 300 obtains the changing parameters sent by itself that can change the material shape, it will obtain the material shape changing area corresponding to the changing parameters. After the material shape changing actuator 300 sends new changing parameters, it will obtain the corresponding new material shape changing area. The material shape changing areas obtained by the material shape changing actuator 300 before and after sending the changing parameters are different areas; or a material shape changing area C(t) is obtained at time t, and a new material shape changing area C(t′) is obtained at time t′, and the material shape change area C(t) and the material shape change area C(t′) can be the same material shape change area or different material shape change areas.

[0098] Specifically, the feeding equipment includes a movable feeding trolley, a feeding machine or a feeding valve, etc., and there is no specific limitation on this. Any equipment that can change the surface of the material 200 in the container 400 will suffice.

[0099] If the material shape changing actuator 300 is a movable feeding trolley or feeding machine, if multiple feeding ports are provided in the container 400, a movable feeding trolley or feeding machine is provided at each feeding port, and the operation of the movable feeding trolley or feeding machine at one of the feeding ports is taken as an example for explanation, the movable feeding trolley or feeding machine at a certain feeding port sends its own real-time position to determine the material shape changing position, and then all materials 200 in the area where the material shape changing position is located are quickly and repeatedly scanned to obtain the material shape data information corresponding to the material shape changing position, and then combined with the material shape data information at other feeding ports, the two are data fused to obtain the current panoramic data information of the material surface morphology.

[0100] At least one 3D microwave radar, 3D laser radar or binocular camera can be installed in the container 400 according to parameter information such as the size of the container 400 and the material loading and unloading conditions. By setting one or more 3D microwave radars, 3D laser radars or binocular cameras, a panoramic scan of the surface of the material 200 can be performed. If multiple scanning devices 100 are provided, it is preferably necessary to set the scanning directions of the multiple scanning devices 100 to be synchronized. This can greatly reduce the difficulty of data processing and improve data processing efficiency and refresh efficiency.

[0101] Specifically, the discharging equipment includes auger clearing equipment, discharging machine or discharging valve and the like, and there is no specific limitation on this, as long as the equipment can change the material surface in the container 400.

[0102] If the material shape changing actuator 300 is a discharge valve, such as Figure 5 As shown, the valve number of the valve switch state that has changed is sent to the scanning device 100. At this time, the scanning device 100 changes the scanning frequency according to the received valve number information to quickly and repeatedly scan the material 200 at the current valve mouth (material shape change area), and at the same time combines the material surface data information corresponding to other valves other than the current valve (material shape non-change area), and fuses the material surface data information of the material surface change around the current valve with the material surface data information of the material surface that has not changed outside the current valve, and outputs the updated material surface morphology panoramic data information.

[0103] Specifically, the material grabbing equipment includes a crane or a material grabbing machine, such as Figure 6 As shown, the material grabbing device is used to grab the material 200 by a moving part such as a gripper, thereby changing the surface morphology of the material. At this time, the position coordinates of the gripper of the material grabber can be sent to the scanning device 100 to obtain the position of the material shape change of the material to be grabbed.

[0104] In a further embodiment of the present invention, the material shape change detection device comprises a microwave Doppler detection device, and the material flow condition is identified by the microwave Doppler detection device to obtain the material shape change area.

[0105] Specifically, the microwave Doppler detection device comprises:

[0106] A microwave transmitting module, wherein the microwave transmitting module is used to generate and transmit a microwave initial signal;

[0107] A microwave receiving module, wherein the microwave receiving module is used to receive a microwave echo signal;

[0108] A mixing circuit, wherein the mixing circuit is used to mix the microwave echo signal transmitted by the microwave receiving module with the microwave initial signal generated by the microwave transmitting module to obtain a mixed signal; and

[0109] A Doppler signal generating module is used to receive the mixing signal output by the mixing circuit and generate a mixing signal spectrum, so that the microwave Doppler material flow detection device can identify the material flow condition based on the mixing signal spectrum.

[0110] If it is detected that the material is in a flowing state, such as during the feeding and discharging process, the scanning device needs to scan the corresponding position of the feeding and discharging port or the valve (the area where the material shape changes) to obtain the material surface data information.

[0111] Among them, the Doppler signal generation module is composed of an MCU processor and an AD sampling module. The AD sampling module samples the mixing signal transmitted by the mixing circuit to obtain sampling data. The MCU processor calculates the sampling data provided by the AD sampling module to obtain the mixing signal spectrum and material flow information, and outputs the mixing signal spectrum and material flow information obtained by the MCU processor.

[0112] In another embodiment of the present invention, the above-mentioned material shape change detection device may include at least one scanning device, which scans the material flow within a corresponding preset angle range along a set direction during the material feeding and discharging period or monitors a preset monitoring area to at least obtain the material shape change area.

[0113] In this embodiment, one or more of the at least one scanning device is at least used to scan the material surface in the container within the corresponding first preset angle range along the corresponding first set direction during the non-feeding and discharging period to measure the material characteristic parameters; and, during the feeding period, scan the material flow within the corresponding second preset angle range along the corresponding second set direction to obtain the material flow parameters; or, the scanning device obtains the material characteristic parameters by monitoring the preset monitoring area. Wherein, the first preset angle range is not less than the second preset angle range. Optionally, one or more of the at least one scanning device is at least also used to scan the material flow within the corresponding third preset angle range and part of the material below the corresponding feed port along the corresponding second set direction during the feeding and discharging period to obtain the material flow parameters and the material level below the corresponding feed port; wherein, the third preset angle range is not greater than the first preset angle range. Optionally, one or more of the at least one scanning device is at least also used to determine the second preset angle range according to the relative position relationship between its own installation position and the feed port, and then judge whether the current period is the feeding and discharging period or the non-feeding and discharging period based on the measurement information of the second preset angle range.

[0114] Optionally, the material flow parameters include at least one of 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. Specifically, the material flow state may refer to whether there is a material flow, etc.

[0115] Optionally, the material characteristic parameters include at least one of the three-dimensional shape of the material surface, the material volume, the material mass, the highest material level, the lowest material level and the average material level.

[0116] The material shape change detection device is used to detect the material inlet and outlet areas corresponding to the material flow state, i.e., the material shape change area, and then the material shape change area is scanned by at least one scanning device to obtain material surface data information of the material shape change area; and then the material surface data information of the non-material shape change area is combined to perform data fusion to obtain the current material surface morphology panoramic data information of the entire material shape area.

[0117] Since the surface of the material 200 in the container 400 is in a dynamically changing state, in order to be able to scan the surface of the material 200 in real time and comprehensively, the scanning device 100 in the present invention includes a mechanical motion module and a detection probe, and the detection probe is fixedly mounted on the mechanical motion module so that the mechanical motion module drives the detection probe to perform synchronous follow-up mechanical motion during the mechanical motion, thereby scanning the surface of the material in the container from multiple angles to obtain the surface morphology of the material in the container.

[0118] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments; within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0119] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0120] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An interactive material rapid scanning system, characterized in that: include: A material shape change region acquisition module, used to acquire the material shape change region; A material shape scanning module, used to execute corresponding scanning logic according to the material shape change area transmitted by the material shape change area acquisition module, and scan according to the scanning logic to obtain material surface data information of the material shape change area and material surface data information of the material shape non-change area; The data fusion module is used to fuse the material surface data information of the material shape changing area with the material surface data information of the material shape non-changing area to obtain the current material surface morphology panoramic data information of the entire material shape area.

2. The interactive material rapid scanning system according to claim 1, characterized in that: The material shape changing area sends a change parameter through a material shape changing actuator and obtains the change parameter according to the change parameter; Alternatively, the material shape change area is obtained by a material shape change detection device; Alternatively, the material shape change area is obtained by directly obtaining or presetting; Alternatively, the material shape change area is obtained by analyzing the material surface morphology panoramic data information of the entire material shape area obtained in the first N detection cycles; N≥2, N is a positive integer; Preferably, the material shape change regions obtained at different times are the same or different material shape regions; Preferably, the scanning logic includes at least one of the following: adjustment of scanning frequency, adjustment of scanning mode, and adjustment of scanning range.

3. The interactive material rapid scanning system according to claim 1, characterized in that: The material shape scanning module comprises: a changed area imaging module, used to execute a first scanning logic corresponding to the material shape changed area, and scan the material shape changed area according to the first scanning logic to obtain material surface data information of the material shape changed area; a non-changed area imaging module, used to execute a second scanning logic corresponding to the non-changed area of ​​the material shape, and scan the non-changed area of ​​the material shape according to the second scanning logic to obtain material surface data information of the non-changed area of ​​the material shape; or used to obtain historical material surface data information corresponding to the non-changed area of ​​the material shape as material surface data information of the non-changed area of ​​the material shape; Preferably, the first scanning logic is the same as or different from the second scanning logic.

4. The interactive material rapid scanning system according to claim 3, characterized in that: The entire material shape area includes a shape-changing area and a shape-non-changing area. The shape-changing area for the nth time is recorded as C(n), the shape-non-changing area for the nth time is recorded as B(n), and the entire material shape area for the nth time is recorded as A(n); Wherein, n≥1, and n is a positive integer.

5. The interactive material rapid scanning system according to claim 4, characterized in that: The material shape scanning module comprises: The changed area imaging module is used to execute a first scanning logic corresponding to the material shape changed area C(n), and scan the material shape changed area C(n) according to the first scanning logic to obtain material surface data information C(n)' of the material shape changed area; The non-changing area imaging module is used to execute the second scanning logic corresponding to the material shape non-changing area B(n), and scan the material shape non-changing area B(n) according to the second scanning logic to obtain the material surface data information B(n)' of the material shape non-changing area.

6. The interactive material rapid scanning system according to claim 4, characterized in that: The material shape scanning module comprises: The changed area imaging module is used to execute a first scanning logic corresponding to the material shape changed area C(n), and scan the material shape changed area C(n) according to the first scanning logic to obtain material surface data information C(n)' of the material shape changed area; The non-changing area imaging module is used to obtain the historical material surface data information corresponding to the material shape non-changing area B(n) as the material shape non-changing area material surface data information B(n)'; Preferably, the historical material surface data information corresponding to the material shape non-changing area B(n) is the material surface data information formed by eliminating the material surface data information corresponding to the n-th material shape changing area C(n) from the n-1-th material surface morphology panoramic data information A(n-1)'.

7. The interactive material rapid scanning system according to claim 1 or 2, characterized in that: The material shape changing actuator includes at least one of a feeding device, a discharging device, and a grasping device; Preferably, the feeding equipment comprises a movable feeding trolley, a feeding machine or a feeding valve; Preferably, the discharging equipment includes an auger clearing device, a discharging machine or a discharging valve; Preferably, the material grabbing equipment includes a crane or a material grabbing machine; Preferably, the change parameter includes at least one of the position, angle and coordinate information of the material shape changing actuator.

8. The interactive material rapid scanning system according to claim 1 or 2, characterized in that: The material shape change detection device comprises a microwave Doppler detection device, through which the material flow condition is identified to at least obtain the material shape change area.

9. The interactive material rapid scanning system according to claim 1 or 2, characterized in that: The material shape change detection device includes at least one scanning device, which scans the material flow within a corresponding preset angle range along a set direction during the material feeding and discharging period or monitors a preset monitoring area to at least obtain a material shape change area; Preferably, the scanning device includes at least one of a 3D microwave radar, a 3D laser radar, and a binocular camera.

10. The interactive material rapid scanning system according to claim 12, characterized in that: The scanning device includes a mechanical motion module and a detection probe, wherein the detection probe is fixedly mounted on the mechanical motion module. The mechanical motion module drives the detection probe to perform synchronous mechanical motion during mechanical motion, thereby performing multi-angle scanning on the material surface to obtain material surface morphology data information.

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