Fast scanning three-dimensional measuring radar

Abstract

The invention provides a rapid scanning three-dimensional measurement radar, and the radar comprises a plurality of feed source modules which are used for generating measurement signals; the antenna device comprises a plurality of receiving and transmitting antennas with a microwave beam convergence function, the receiving and transmitting antennas are used for transmitting the measurement signals generated by the feed source module to the target material, and the receiving and transmitting antennas receive the measurement signals reflected by the target material; the feed source module is also used for receiving a measurement signal reflected by the target material; and the driving device is used for integrally driving the antenna device and the feed source module, so that the antenna device rotates around an axis perpendicular to the horizontal plane and / or swings around an axis parallel to the horizontal plane.

Description

Technical Field

[0001] The present disclosure relates to the technical field of level measurement, and in particular to a fast scanning three-dimensional measurement radar. Background Art

[0002] Currently, many working conditions place high demands on the measurement reliability of radar level meters (i.e., scanning three-dimensional measurement radars). For example, some oil storage tanks have a relatively large surface area, and a small error in level measurement may lead to a large difference in the overall oil volume measurement results.

[0003] In the prior art, to improve measurement reliability, two or more radar level meters are generally installed directly to obtain multiple echo signals. Since the multiple radar level meters are installed in different positions, transmit different signals, or are installed at different angles, the echo signals received by each radar level meter will be different. The reliability of level measurement is improved by analyzing and comparing different echo signals. However, this solution often has a complex equipment structure and calculation process, and the equipment cost is relatively high. Summary of the Invention

[0004] The present disclosure provides a fast scanning three-dimensional measurement radar.

[0005] According to one aspect of the present disclosure, a fast scanning three-dimensional measurement radar is provided, comprising: A plurality of feed modules for generating measurement signals; An antenna device comprising a plurality of transceiver antennas with a microwave beam focusing function, the plurality of transceiver antennas being used to transmit the measurement signal generated by the feed module toward the target material, and the plurality of transceiver antennas being used to receive the measurement signal reflected back by the target material; the feed module being further used to receive the measurement signal reflected back by the target material; A driving device is used to drive the antenna device and the feed module as a whole, so that the antenna device rotates around an axis perpendicular to the horizontal plane and / or swings around an axis parallel to the horizontal plane.

[0006] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, each transceiver antenna with a microwave beam focusing function corresponds to multiple feed modules, so that each transceiver antenna can form microwave transceiver beams at multiple angles.

[0007] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the multiple transmitting and receiving antennas of the antenna device are symmetrically or asymmetrically distributed; The main beam directions of the transmitting and receiving antennas of the antenna device are located within the same elevation plane; Alternatively, the main beam direction of the transceiver antenna of the first part and the main beam direction of the transceiver antenna of the second part of the antenna device are not located in the same elevation plane.

[0008] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the projections of the angle formed between the main beam directions of any two adjacent transceiver antennas of the antenna device on the pitch plane are equal.

[0009] According to the fast-scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, when the antenna device performs rotational scanning, the spacing between adjacent circular point clouds in each circular point cloud projected by the antenna device on the horizontal plane is equal, and the spacing is the spacing between adjacent point cloud ring lines in the point cloud ring line projected in the main beam direction of each transceiver antenna on the horizontal plane.

[0010] According to at least one embodiment of the fast scanning three-dimensional measurement radar of the present disclosure, each angle formed between the main beam directions of any two adjacent transceiver antennas of the antenna device gradually decreases from the middle position of the antenna device to the two side positions; The intermediate position forms a maximum angle or two maximum angles.

[0011] According to the fast-scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, when the antenna device performs rotational scanning, the spacing between adjacent circular point clouds in each circular point cloud projected by the antenna device on the horizontal plane gradually decreases from the middle position to the two side positions. The spacing is the spacing between adjacent point cloud ring lines in the point cloud ring line projected in the main beam direction of each transceiver antenna on the horizontal plane.

[0012] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, main beam directions of any two adjacent transceiver antennas of the antenna device form an angle therebetween, and the angle is an acute angle.

[0013] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, a plurality of feed modules are arranged in a straight line.

[0014] According to at least one embodiment of the fast scanning three-dimensional measurement radar of the present disclosure, the driving device includes one or more of a first driving mechanism, a second driving mechanism, and a third driving mechanism; The first driving mechanism is used to drive the antenna device as a whole so that the antenna device can rotate around a first axis perpendicular to the horizontal plane, so that the antenna device can perform rotational scanning of the target material; The second driving mechanism is used to drive the antenna device as a whole so that the antenna device swings around a second axis parallel to the horizontal plane, so that the antenna device can perform swing scanning of the target material; The third driving mechanism is used to drive the antenna device as a whole so that the antenna device swings around a third axis parallel to the horizontal plane, so as to change the main beam direction of each transmitting and receiving antenna of the antenna device on the pitch plane.

[0015] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the transmitting and receiving antennas of the antenna device are distributed in a straight line or a curved line.

[0016] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the fast scanning three-dimensional measurement radar also includes a shell and a cover, the shell and the cover cooperate to form a receiving space, and the feed module and the antenna device are arranged in the receiving space.

[0017] According to at least one embodiment of the present disclosure, the fast scanning three-dimensional measurement radar further includes a control unit; The control unit calculates the number of configuration positions of the transceiver antennas on the elevation plane based on the value of the angle between the main beam directions of the adjacent transceiver antennas and the scanning angle range of the antenna device on the elevation plane; The control unit calculates the required number of scans based on the number of the transceiver antennas, the number of the feed modules, and the number of configuration positions of the transceiver antennas; The control unit transmits the required number of scans to the driving device, so that the driving device drives the antenna device based on the required number of scans.

[0018] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the control unit calculates the number of configuration positions of the transceiver antennas on the pitch plane based on the following formula: N=θ / θ0+1; Wherein, N is the number of configuration positions of the transmitting and receiving antennas, θ is the scanning angle range of the antenna device on the pitch plane, and θ0 is the value of the angle.

[0019] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the control unit calculates the required number of scans based on the following formula: n=Ceiling(N / MD); Among them, n is the required number of scans, M is the number of transmitting and receiving antennas of the antenna device, N is the number of configuration positions, and D is the number of feed modules.

[0020] According to the fast scanning three-dimensional measurement radar of at least one embodiment of the present disclosure, the control unit determines the number of repeated scanning positions based on the difference between the number of actual scanning positions of the transceiver antenna and the number of configured positions of the transceiver antenna; The number of actual scanning positions of the transceiver antenna is obtained by the following formula: N / =n×MD; Among them, N / is the number of actual scanning positions of the transceiver antenna, n is the required number of scans, M is the number of transceiver antennas of the antenna device, and D is the number of feed modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0022] Figure 1 It is a schematic diagram of the overall structure of a fast scanning three-dimensional measurement radar according to an embodiment of the present disclosure.

[0023] Figure 2 The diagram exemplarily shows a fast scanning three-dimensional measurement radar of the present disclosure performing a 3D scan on materials in a small cylindrical silo.

[0024] Figure 3 The diagram exemplarily shows a fast scanning three-dimensional measurement radar of the present disclosure performing a 3D scan on materials in a rectangular silo.

[0025] Figure 4 and Figure 5 The schematic diagram exemplarily shows the fast scanning three-dimensional measurement radar of the present disclosure performing a 3D scan on materials in a large cylindrical silo.

[0026] Figure 6 It is a schematic diagram of the cooperation between the feed module and the spherical convex lens according to one embodiment of the present disclosure.

[0027] Figure 7 and Figure 8 Schematic diagram of the configuration of the feed modules of the two embodiments of the present disclosure on the microwave transceiver chip.

[0028] Figure 9 A schematic diagram showing the configuration of multiple feed modules on a microwave transceiver chip according to another optional embodiment of the present disclosure is shown.

[0029] Figure 10 It is a structural schematic diagram of a single transceiver antenna and a feed module coordinated via a waveguide according to an embodiment of the present disclosure.

[0030] Figure 11 It shows an implementation manner in which the transmitting and receiving antennas are distributed in a straight line.

[0031] Figure 12 FIG. 1 is a schematic diagram of an antenna device according to an embodiment when viewed from the bottom.

[0032] Figures 13 to 16 Schematic diagram of the configuration of an antenna device for a fast scanning three-dimensional radar according to some further embodiments of the present disclosure. DETAILED DESCRIPTION

[0033] The present disclosure is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are intended only to illustrate the relevant content and are not intended to limit the present disclosure. It should also be noted that, for ease of description, only the portions relevant to the present disclosure are shown in the accompanying drawings.

[0034] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] Figure 1 It is a schematic diagram of the overall structure of a fast scanning three-dimensional measurement radar according to an embodiment of the present disclosure.

[0036] refer to Figure 1 The fast scanning three-dimensional measurement radar disclosed in the present invention comprises: A feed module 101 is used to generate a measurement signal; an antenna device, the antenna device includes multiple transceiver antennas 1021, the multiple transceiver antennas 1021 transmit the measurement signal generated by the feed module 101 to the target material, and the multiple transceiver antennas 1021 receive the measurement signal reflected back by the target material; the feed module 101 is also used to receive the measurement signal reflected back by the target material; a drive device 103, the drive device 103 is used to drive the antenna device and the feed module as a whole, so that the antenna device can rotate around an axis perpendicular to the horizontal plane and / or swing around an axis parallel to the horizontal plane.

[0037] In the present disclosure, an electromagnetic wave signal (eg, a microwave signal) may be used as a measurement signal.

[0038] Among them, the feed module 101 is preferably a microstrip feed. Figure 1 Five transmitting and receiving antennas 1021 are shown as an example.

[0039] The feed module 101 can be used as a part of the microwave transceiver chip, that is, it can be set on the microwave transceiver chip.

[0040] In some embodiments of the present disclosure, reference Figure 1 The number of the feed module 101 of the fast scanning three-dimensional measurement radar disclosed in the present invention is one, that is, one feed module 101 corresponds to multiple transceiver antennas 1021 (for example, three transceiver antennas 1021).

[0041] Among them, each transceiver antenna disclosed in the present invention is a transceiver antenna with a microwave beam focusing function.

[0042] In some embodiments of the present disclosure, there are multiple feed modules 101, and each transceiver antenna with microwave beam convergence function corresponds to multiple feed modules, so that each transceiver antenna can form microwave transceiver beams (microwave transmission beams and microwave echo beams) at multiple angles.

[0043] Through the above configuration, with the same number of transmitting and receiving antennas, the number of microwave transmitting and receiving beams is multiplied.

[0044] In some embodiments of the present disclosure, reference Figure 1 The fast scanning three-dimensional measurement radar disclosed in the present invention has multiple feed modules 101, and each transceiver antenna 1021 corresponds to multiple feed modules 101, so that the number of measurement signals transmitted to the target material by each transceiver antenna 1021 is the same as the number of feed modules 101 corresponding to each transceiver antenna 1021, so that the number of measurement signals transmitted to the target material is the sum of the number of measurement signals transmitted to the target material by each transceiver antenna.

[0045] Among them, the number of feed modules corresponding to different transceiver antennas 1021 can be the same or different.

[0046] In some embodiments of the present disclosure, the above-mentioned multiple feed modules are shared by each transceiver antenna 1021.

[0047] For example, the number of transceiver antennas 1021 of the fast scanning three-dimensional measurement radar disclosed in the present invention is 5, the number of feed modules 101 is 3, and each transceiver antenna 1021 corresponds to these 3 feed modules. The number of measurement signals transmitted to the target material by each transceiver antenna is 3. Then, the number of measurement signals transmitted to the target material is the product of the number of transceiver antennas 1021 (5) and the number of feed modules 101 corresponding to each transceiver antenna (3), that is, 15.

[0048] In some other embodiments of the present disclosure, the feed modules (multiple feed modules) corresponding to different transceiver antennas are not shared.

[0049] For example, the number of transceiver antennas 1021 of the fast scanning three-dimensional measurement radar disclosed in the present invention is 5, and each transceiver antenna 1021 is configured with corresponding 4 feed modules. The feed modules corresponding to different transceiver antennas are not shared, so the number of feed modules 101 is 20, and the number of measurement signals transmitted to the target material is the sum of the number of measurement signals transmitted to the target material by each transceiver antenna 1021 (4), that is, 20.

[0050] In light of the technical solution of the present disclosure, adjustments made by those skilled in the art to the form of the feed module 101 and the configuration thereof on the fast scanning three-dimensional measurement radar all fall within the scope of protection of the present disclosure.

[0051] The transceiver antenna 1021 disclosed in the present invention can be a combination of a horn antenna and a lens antenna. In light of the technical solution disclosed in the present invention, adjustments made by those skilled in the art to the specific type and structure of the transceiver antenna 1021 fall within the scope of protection of the present invention.

[0052] The antenna device disclosed herein, including multiple transceiver antennas 1021 , is driven as a whole by a driving device 103 , and can rotate around an axis perpendicular to a horizontal plane and swing around an axis parallel to a horizontal plane.

[0053] The fast scanning three-dimensional measurement radar disclosed in the present invention, through the above-mentioned structural configuration, can increase the scanning area per unit time when the fast scanning three-dimensional measurement radar scans the material surface, thereby saving the time required for 3D scanning of the entire material surface.

[0054] The driving device 103 of the present disclosure drives the feed module 101 while driving the antenna device as a whole. In some embodiments, the feed module 101 and the antenna device can be configured on a mounting structure or within a housing.

[0055] In some embodiments of the present disclosure, the driving device 103 drives the antenna device as a whole so that the antenna device can rotate around a first axis perpendicular to the horizontal plane to perform rotational scanning, thereby achieving all-round scanning of the target material (such as material in a small-sized cylindrical silo). Figure 2 The diagram exemplarily shows a fast scanning three-dimensional measurement radar of the present disclosure performing a 3D scan on materials in a small cylindrical silo.

[0056] In other embodiments of the present disclosure, the driving device 103 drives the antenna device as a whole, so that the antenna device can swing around a second axis parallel to the horizontal plane to perform a swinging scan of the target material (for example, the material in the rectangular silo), that is, a full-range scan of the target material is achieved only by swinging scanning, wherein the swinging can be a single swinging scan from one end to the other end of the rectangular silo, or a reciprocating swinging scan starting from the middle position of the rectangular silo. Figure 3 The diagram exemplarily shows a fast scanning 3D measurement radar of the present disclosure performing a 3D scan of materials in a rectangular silo, wherein the second axis is along the horizontal direction of the paper.

[0057] In some embodiments, the relative position of the fast scanning three-dimensional measurement radar and the target material is configured so that the above-mentioned second axis is perpendicular to the long side of the rectangular silo, and the overall scanning range of each transceiver antenna 1021 can cover the short side of the rectangular silo, that is, the arrangement direction of each transceiver antenna 1021 is parallel to the short side of the rectangular silo.

[0058] Figure 4 and Figure 5 The schematic diagram exemplarily shows the fast scanning three-dimensional measurement radar of the present disclosure performing a 3D scan on materials in a large cylindrical silo.

[0059] refer to Figure 4 and Figure 5 In some other embodiments of the present disclosure, for example, when scanning materials in a large cylindrical silo, the driving device 103 first drives the antenna device as a whole so that the antenna device can swing around a third axis parallel to the horizontal plane to change the main beam direction of each transceiver antenna 1021 of the antenna device on the pitch plane, that is, to change the coverage area of ​​the measurement signal emitted by the antenna device to the target material on the target material (defined by Figure 4 The state is driven to Figure 5 The antenna assembly is then driven as a whole to rotate about a first axis perpendicular to the horizontal plane for rotational scanning, with oscillation without scanning and rotational scanning performed alternately to achieve omnidirectional scanning. The third axis is perpendicular to the second axis.

[0060] It should be noted that Figures 2 to 5 The silo shapes shown are exemplary and should not be understood as limiting the scanning scenarios of the fast scanning three-dimensional measurement radar disclosed herein. The fast scanning three-dimensional measurement radar disclosed herein can achieve 3D scanning of materials in silos of other shapes, such as elliptical cylindrical shapes.

[0061] In a preferred embodiment of the present disclosure, a spherical convex lens (composed of two spheres, thick in the middle and thin at the edges) 107 is configured between the feed module 101 of the present disclosure and the antenna device to transmit measurement signals between the feed module 101 and the antenna device. The design of the spherical convex lens 107 can improve the transmission efficiency of the measurement signal.

[0062] Figure 6 Schematic diagram of the cooperation between the feed module and the spherical convex lens 107 according to one embodiment of the present disclosure.

[0063] refer to Figure 6 In some embodiments of the present disclosure, there is one feed module 101, which is used to generate a measurement signal. In this embodiment, the feed module 101 is positioned at the center of the spherical convex lens 107. The spherical convex lens 107 can be mounted on the microwave transceiver chip 100 via a mounting structure or directly.

[0064] Figure 7 and Figure 8 The configuration diagram of the feed source modules of the two embodiments of the present disclosure on the microwave transceiver chip 100 is shown in FIG. Figure 1 The view from the bottom up.

[0065] refer to Figure 7 and Figure 8 In some embodiments of the present disclosure, there are multiple feed modules 101, and the feed modules 101 are used to generate measurement signals.

[0066] Figure 7 and Figure 8 Four feed modules 101 are shown as examples, wherein: Figure 7 The feed modules are arranged in a straight line. Figure 8 The four feed modules 101 are arranged at the four endpoints of a square or a rectangle.

[0067] In a preferred embodiment of the present disclosure, the feed modules are arranged in a straight line, and the main beam direction of each transceiver antenna is in the same plane as the straight line. With this structural design, measurement signals can be simultaneously transmitted to each transceiver antenna 1021 via multiple feed modules 101. The use of spherical convex lens 107 can expand the overall scanning range of the antenna device. Each feed module 101 transmits a measurement signal to each transceiver antenna 1021.

[0068] Preferably, the plurality of feed modules 101 are arranged on a straight line, and more preferably, the feed modules 101 are arranged on a straight line at equal intervals.

[0069] Figure 9 A schematic diagram showing the configuration of multiple feed modules 101 on a microwave transceiver chip according to another optional embodiment of the present disclosure is shown.

[0070] Inspired by the technical solution of the present disclosure, adjustments made by those skilled in the art to the specific number of multiple feed modules 101 and their configuration on the microwave transceiver chip all fall within the scope of protection of the present disclosure.

[0071] Figure 10 It is a structural diagram of a single transceiver antenna 1021 and a feed module 101 coordinated via a waveguide 106 according to an embodiment of the present disclosure.

[0072] Figure 10 In the embodiment, the number of the feed module 101 may be 1. Preferably, Figure 10 The number of feed modules 101 corresponding to a single transceiver antenna 1021 is multiple, for example, Figure 7 、 Figure 8 、 Figure 9 As for the number and configuration (i.e., arrangement) of the feed modules, adjustments made by those skilled in the art on the number and configuration (i.e., arrangement) of the multiple feed modules 101 corresponding to a single transceiver antenna 1021, inspired by the technical solution of the present disclosure, fall within the protection scope of the present disclosure.

[0073] Continue to refer Figure 1 In a preferred embodiment of the present disclosure, an angle is formed between the main beam directions (i.e., the central axes) of any two adjacent transceiver antennas of the antenna device, and the angle is an acute angle.

[0074] Preferably, the emitting end of the transceiver antenna disclosed in the present invention is a convex lens (i.e., a lens antenna), which emits the measurement signal in a divergent form. Therefore, the present invention forms an angle between the main beam directions (i.e., the central axis) of two adjacent transceiver antennas, thereby minimizing the number of transceiver antennas while increasing the overall scanning range of the antenna device, thereby simplifying the structure of the fast scanning three-dimensional measurement radar.

[0075] In some embodiments of the present disclosure, the driving device 103 described above in the present disclosure includes one or more of a first driving mechanism, a second driving mechanism, and a third driving mechanism. Preferably, the driving device 103 of the present disclosure includes a first driving mechanism, a second driving mechanism, and a third driving mechanism.

[0076] The first driving mechanism is used to drive the antenna device as a whole so that the antenna device can rotate around a first axis perpendicular to the horizontal plane, so that the antenna device can perform rotational scanning of the target material.

[0077] The second driving mechanism is used to drive the antenna device as a whole so that the antenna device swings around a second axis parallel to the horizontal plane, so that the antenna device can perform swing scanning of the target material (such as the material in the rectangular silo).

[0078] The third driving mechanism is used to drive the antenna device as a whole so that the antenna device swings around a third axis parallel to the horizontal plane to change the main beam direction of each transceiver antenna 1021 of the antenna device on the pitch plane, that is, to change the coverage area of ​​the measurement signal emitted by the antenna device to the target material on the target material (given by Figure 4 The state is driven to Figure 5 status).

[0079] After the swing, if the antenna device performs a rotational scan, the coverage area of ​​the circular point cloud projected by the same transceiver antenna on the surface of the target material is different from the coverage area before the swing, thereby achieving a change in the coverage area of ​​the measurement signal emitted by the entire antenna device on the target material, thereby enabling more comprehensive coverage of the target physical surface area.

[0080] Each drive mechanism disclosed herein may be a drive motor-based drive mechanism, which may be driven by a rotational motion output by the drive motor. This disclosure does not specifically limit the structure, type, etc. of each drive mechanism. Selection and adjustment of the structure, type, etc. of each drive mechanism by those skilled in the art, inspired by the technical solutions disclosed herein, fall within the scope of protection of this disclosure.

[0081] In some embodiments of the present disclosure, the transceiver antennas 1021 of the antenna device of the fast scanning three-dimensional measurement radar of the present disclosure are symmetrically distributed.

[0082] refer to Figure 1 , the five transmitting and receiving antennas shown are distributed symmetrically on the left and right.

[0083] In some embodiments of the present disclosure, the main beam directions of the transceiver antennas 1021 of the antenna device of the present disclosure are located within the same elevation plane.

[0084] Continue to refer Figure 1 , the main beam directions of each transceiver antenna 1021 are located in the same elevation plane (paper surface).

[0085] In other embodiments of the present disclosure, the main beam directions of the transceiver antennas of the first portion of the antenna assembly and the main beam directions of the transceiver antennas of the second portion are not located within the same elevation plane. Instead, the main beam directions of the transceiver antennas of the first portion are located within a first elevation plane, while the main beam directions of the transceiver antennas of the second portion are located within a second elevation plane, with the first elevation plane being parallel to the second elevation plane. In other words, the transceiver antennas may be arranged in a staggered manner.

[0086] For example, the antenna device includes five transceiver antennas 1021 (of course it can also be an even number, such as 6), the main beam directions of the first, third, and fifth transceiver antennas are located within the first elevation plane, and the main beam directions of the second and fourth transceiver antennas are located within the second elevation plane.

[0087] The pitch plane is a plane perpendicular to the third axis described above.

[0088] Regarding the fast scanning three-dimensional measurement radars of the above-mentioned various embodiments, in other embodiments of the present disclosure, the transceiver antennas 1021 of the antenna device of the present disclosure are asymmetrically distributed.

[0089] Figure 12 This is a schematic diagram of an antenna device according to an embodiment when viewed from the bottom. Figure 12 , the main beam directions of the four transmitting and receiving antennas 1021 shown as an example are not located in the same elevation plane.

[0090] For the fast scanning three-dimensional measurement radar of each of the above-mentioned embodiments, preferably, the projections of the angle formed between the main beam directions (central axes) of any two adjacent transceiver antennas 1021 of the antenna device on the pitch plane (for example, the first pitch plane or the second pitch plane) are equal.

[0091] refer to Figure 1 The elevation plane can be the paper plane shown in the figure. It can be seen that the projections of the angles formed between the main beam directions of each transmitting and receiving antenna on the elevation plane are equal. Figure 1 The main beam directions of the transmitting and receiving antennas of the antenna arrangement shown are located in the same elevation plane.

[0092] More preferably, the number of the transceiver antennas 1021 of the antenna device is odd, so that the transceiver antenna located in the middle position can perform rotational scanning on the middle area of ​​the target material.

[0093] In other embodiments of the present disclosure, when the antenna device performs rotational scanning, the spacing between adjacent circular point clouds in each circular point cloud projected by the antenna device on the horizontal plane is equal, and the spacing is the spacing between adjacent point cloud ring lines in the point cloud ring line projected in the main beam direction of each transceiver antenna on the horizontal plane.

[0094] For the fast scanning three-dimensional measurement radar of each of the above embodiments, preferably, the beam angles of the transceiver antennas 1021 of the antenna device are the same.

[0095] Taking into account that the central area of ​​the target material is more easily scanned by the antenna device and the edge area is not easy to scan, in a preferred embodiment of the present disclosure, the angles between adjacent transceiver antennas of the antenna device are specially configured: the angles formed between the main beam directions (central axes) of any two adjacent transceiver antennas 1021 of the antenna device gradually decrease from the middle position to the two side positions of the antenna device; the middle position forms a maximum angle (when the number of transceiver antennas is odd) or two maximum angles (when the number of transceiver antennas is even).

[0096] In other embodiments of the present disclosure, when the antenna device performs rotational scanning, the spacing between adjacent circular point clouds in each circular point cloud projected by the antenna device on the horizontal plane gradually decreases from the middle position of the antenna device to the two side positions, and the spacing is the spacing between adjacent point cloud ring lines in the point cloud ring line projected in the main beam direction of each transceiver antenna on the horizontal plane.

[0097] Through the above special configuration, the edge area of ​​the target material can also be better scanned.

[0098] As described above, the transceiver antennas 1021 of the antenna device are distributed in a straight line or a curve.

[0099] Figure 1 It shows the implementation method of each transmitting and receiving antenna being distributed in a curve. Figure 11 It shows an implementation manner in which the transmitting and receiving antennas are distributed in a straight line.

[0100] refer to Figure 1 The fast scanning three-dimensional measurement radar disclosed in the present invention may further include a shell 104 and a cover 105 , wherein the shell 104 and the cover 105 cooperate to form a receiving space, and the feed module 101 and the antenna device are arranged in the receiving space.

[0101] In some embodiments of the present disclosure, preferably, the transceiver antenna 1021 of the antenna device is a detachable antenna, so that the number of the transceiver antennas 1021 included in the antenna device can be adjusted.

[0102] In some embodiments of the present disclosure, preferably, the feed module 101 is a detachable feed module, so that the number of the feed modules 101 can be adjusted.

[0103] Figures 13 to 16 Schematic diagram of the configuration of an antenna device for a fast scanning three-dimensional radar according to some further embodiments of the present disclosure.

[0104] refer to Figure 13 (Bottom view), multiple transceiver antennas 1021 can be staggered in space, each transceiver antenna 1021 is symmetrically arranged at the same height, and the multiple transceiver antennas 1021 are evenly distributed.

[0105] refer to Figure 14 (bottom view), multiple transceiver antennas 1021 can be staggered in space, and each transceiver antenna 1021 can be asymmetrically arranged at the same height. Figure 16 As shown, the multiple transmitting and receiving antennas 1021 may be unevenly distributed.

[0106] refer to Figure 15 (Side view), multiple transceiver antennas 1021 can also be configured at different heights and staggered. Based on this configuration, the space occupied by the multiple transceiver antennas in the space enclosed by the shell 104 and the cover 105 can be reduced, thereby reducing the size of the shell 104 and the cover 105.

[0107] Based on the above approach, by staggering the plurality of transmitting and receiving antennas in space, the volume of the radar housing can be reduced while improving the scanning efficiency.

[0108] Those skilled in the art will find that Figures 12 to 16 Inspired by this, any adjustment or change to the staggered manner of multiple transmitting and receiving antennas falls within the scope of protection of this disclosure.

[0109] The fast scanning three-dimensional measurement radar disclosed in the present invention may further include a control unit.

[0110] The control unit may be in the form of an integrated circuit chip, and may be disposed on a circuit board with the microwave transceiver chip 100 described above, or may not be disposed on a circuit board with the microwave transceiver chip 100 .

[0111] In some embodiments, the control unit may be in the form of a microcontroller unit (MCU).

[0112] The control unit may perform a corresponding calculation process or a control process based on a program written in the control unit.

[0113] When scanning the material in a large cylindrical silo as described above, refer to Figure 4 and Figure 5 The driving device 103 first drives the antenna device as a whole so that the antenna device can swing around a third axis parallel to the horizontal plane (perpendicular to the paper surface) to change the main beam direction of each transceiver antenna 1021 of the antenna device on the pitch plane (paper surface), that is, to change the coverage area of ​​the measurement signal emitted by the antenna device to the target material on the target material (given by Figure 4 The state is driven to Figure 5 The antenna assembly is then driven to rotate about a first axis perpendicular to the horizontal plane for rotary scanning. Rotary scanning and oscillation are performed alternately to achieve omnidirectional scanning. Multiple rotary scans can achieve omnidirectional scanning of target materials in large silos.

[0114] In the above process, it is necessary to determine the number of rotation scans.

[0115] Preferably, the present disclosure determines the number of rotation scans through the following process: The control unit calculates the number (N) of configuration positions of the transceiver antennas 1021 on the pitch plane based on the value of the angle between the main beam directions of each adjacent transceiver antenna (i.e., θ0, preferably, the angle between the main beam directions of two adjacent transceiver antennas 1021 is equal) and the scanning angle range of the antenna device on the pitch plane (θ, set based on the size of the material surface).

[0116] The control unit calculates the required number of scans (n) based on the number (M) of the transceiver antennas 1021 , the number (D) of the feed modules 101 , and the number (N) of the configuration positions of the transceiver antennas 1021 .

[0117] The control unit transmits the required number of scans (n) to the driving device 103 , so that the driving device 103 drives the antenna device based on the required number of scans (n), so that the rotation scanning and the oscillation of the antenna device are performed alternately.

[0118] In some embodiments of the present disclosure, the control unit calculates the number (N) of configuration positions of the transceiver antennas 1021 on the elevation plane based on the following formula: N=θ / θ0+1.

[0119] In some embodiments of the present disclosure, the control unit calculates the required number of scans (n) based on the following formula: n=Ceiling(N / MD), where Ceiling() is rounded upwards.

[0120] In some embodiments of the present disclosure, the control unit is based on the number of actual scanning positions (N) of the transceiver antenna. / ) and the number (N) of configuration positions of the transceiver antenna 1021 determine the number of repeated scanning positions.

[0121] The number of actual scanning positions of the transceiver antenna is obtained by the following formula: N / =n×MD.

[0122] Among them, the repeated scanning position is a high-precision area.

[0123] For example, the antenna device disclosed in the present invention includes 3 transceiver antennas and 1 feed module. Based on the size of the material surface, the configuration positions of the transceiver antennas (the configuration positions are distributed on the pitch plane, that is, point positions) are determined to be 10. Based on the above formula, the required number of scans, that is, the number of rotation scans, can be calculated to be 4 times.

[0124] For example, the 10 point positions are marked as 1, 2, 3, 4, 5, 6, 7, 8, 9, and 0 respectively.

[0125] The three transmitting and receiving antennas can be configured at "123", "345", "567" and "890" respectively. Points 3 and 5 are repeated scanning positions, and the corresponding scanning areas are high-precision areas.

[0126] The three transmitting and receiving antennas can also be configured at "123", "456", "789", "890" respectively, or at "123", "456", "567", "890", and so on.

[0127] Based on the measurement signals emitted by the fast scanning three-dimensional measurement radar disclosed in the present invention and the reflected signals of the received measurement signals, the level of the target material in the silo can be measured, and the three-dimensional shape of the surface of the target material can also be obtained.

[0128] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" means that the specific features, structures, or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, or characteristics described may be combined in a suitable manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0129] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0130] Those skilled in the art will appreciate that the above embodiments are merely intended to clearly illustrate the present disclosure and are not intended to limit the scope of the present disclosure. Other changes or modifications may be made based on the above disclosure, and such changes or modifications are still within the scope of the present disclosure.

Claims

1. A fast scanning three-dimensional measurement radar, characterized in that: include: A plurality of feed modules for generating measurement signals; An antenna device comprising a plurality of transceiver antennas with a microwave beam focusing function, the plurality of transceiver antennas being used to transmit the measurement signal generated by the feed module toward the target material, and the plurality of transceiver antennas being used to receive the measurement signal reflected back by the target material; the feed module being further used to receive the measurement signal reflected back by the target material; as well as A driving device is used to drive the antenna device and the feed module as a whole, so that the antenna device rotates around an axis perpendicular to the horizontal plane and / or swings around an axis parallel to the horizontal plane.

2. The fast scanning three-dimensional measurement radar according to claim 1, characterized in that: Each transceiver antenna with microwave beam convergence function corresponds to multiple feed modules, so that each transceiver antenna can form microwave transceiver beams at multiple angles.

3. The fast scanning three-dimensional measurement radar according to claim 1, characterized in that: The multiple transmitting and receiving antennas of the antenna device are distributed symmetrically or asymmetrically; The main beam directions of the transmitting and receiving antennas of the antenna device are located within the same elevation plane; Alternatively, the main beam direction of the transceiver antenna of the first part and the main beam direction of the transceiver antenna of the second part of the antenna device are not located in the same elevation plane.

4. The fast scanning three-dimensional measurement radar according to claim 3, characterized in that: The projections of the angle formed between the main beam directions of any two adjacent transceiver antennas of the antenna device on the elevation plane are equal.

5. The fast scanning three-dimensional measurement radar according to claim 4, characterized in that: When the antenna device performs rotational scanning, the spacing between adjacent circular point clouds in each circular point cloud projected by the antenna device on the horizontal plane is equal, and the spacing is the spacing between adjacent point cloud ring lines in the point cloud ring line projected in the main beam direction of each transceiver antenna on the horizontal plane.

6. The fast scanning three-dimensional measurement radar according to claim 3, characterized in that: Each included angle formed between the main beam directions of any two adjacent transmitting and receiving antennas of the antenna device gradually decreases from the middle position of the antenna device to the two side positions; The intermediate position forms a maximum angle or two maximum angles.

7. The fast scanning three-dimensional measurement radar according to claim 6, characterized in that: When the antenna device performs rotational scanning, the spacing between adjacent circular point clouds in each circular point cloud projected by the antenna device on the horizontal plane gradually decreases from the middle position to the two side positions. The spacing is the spacing between adjacent point cloud ring lines in the point cloud ring line projected in the main beam direction of each transceiver antenna on the horizontal plane.

8. The fast scanning three-dimensional measurement radar according to claim 3, characterized in that: The main beam directions of any two adjacent transceiver antennas of the antenna device form an angle therebetween, and the angle is an acute angle.

9. The fast scanning three-dimensional measurement radar according to claim 2 or 3, characterized in that: The plurality of feed modules are arranged in a straight line.

10. The fast scanning three-dimensional measurement radar according to any one of claims 1 to 9, characterized in that: The driving device includes one or more of a first driving mechanism, a second driving mechanism, and a third driving mechanism; The first driving mechanism is used to drive the antenna device as a whole so that the antenna device can rotate around a first axis perpendicular to the horizontal plane, so that the antenna device can perform rotational scanning of the target material; The second driving mechanism is used to drive the antenna device as a whole so that the antenna device swings around a second axis parallel to the horizontal plane, so that the antenna device can perform swing scanning of the target material; The third driving mechanism is used to drive the antenna device as a whole so that the antenna device swings around a third axis parallel to the horizontal plane, so as to change the main beam direction of each transmitting and receiving antenna of the antenna device on the pitch plane; Optionally, the transmitting and receiving antennas of the antenna device are distributed in a straight line, or in a curved line; Optionally, the rapid scanning three-dimensional measurement radar further includes a shell and a cover, the shell and the cover cooperate to form a receiving space, and the feed module and the antenna device are arranged in the receiving space; Optionally, the fast scanning three-dimensional measurement radar further includes a control unit; The control unit calculates the number of configuration positions of the transceiver antennas on the elevation plane based on the value of the angle between the main beam directions of the adjacent transceiver antennas and the scanning angle range of the antenna device on the elevation plane; The control unit calculates the required number of scans based on the number of the transceiver antennas, the number of the feed modules, and the number of configuration positions of the transceiver antennas; The control unit transmits the required number of scans to the driving device, so that the driving device drives the antenna device based on the required number of scans; Optionally, the control unit calculates the number of configuration positions of the transceiver antennas on the elevation plane based on the following formula: N=θ / θ0+1; Wherein, N is the number of configuration positions of the transmitting and receiving antennas, θ is the scanning angle range of the antenna device on the pitch plane, and θ0 is the value of the angle; Optionally, the control unit calculates the required number of scans based on the following formula: n=Ceiling(N / MD); Wherein, n is the required number of scans, M is the number of transceiver antennas of the antenna device, N is the number of configuration positions, and D is the number of feed modules; Optionally, the control unit determines the number of repeated scanning positions based on a difference between the number of actual scanning positions of the transceiver antenna and the number of configured positions of the transceiver antenna; The number of actual scanning positions of the transceiver antenna is obtained by the following formula: N / =n×MD; Among them, N / is the number of actual scanning positions of the transceiver antenna, n is the required number of scans, M is the number of transceiver antennas of the antenna device, and D is the number of feed modules.

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