Light wave integrated three-dimensional scanning radar

Abstract

The invention provides a light wave integrated three-dimensional scanning radar. The light wave integrated three-dimensional scanning radar comprises a first measurement module, a second measurement module and a control module, the first measuring module is used for transmitting and receiving laser signals and scanning the inner wall of the container to obtain initial characteristic parameter information of the container; the second measurement module is used for transmitting and receiving microwave signals and measuring the material surface in the container with the first measurement module to obtain first and second material measurement information; and the control module is used for calculating three-dimensional feature information of the material surface according to the initial feature parameter information of the container and the first and second material measurement information. On one hand, the container is accurately modeled through the laser signal, the three-dimensional feature information of the material is calibrated or compensated, on the other hand, the scanning precision and the severe environment adaptability can be considered, and the three-dimensional feature information of the surface of the material is accurately measured.

Description

Technical Field

[0001] The present disclosure relates to the technical field of material scanning, and in particular to an integrated light wave three-dimensional scanning radar. Background Art

[0002] 3D scanning radars offer numerous advantages, including safety, high efficiency, vivid three-dimensional imaging, and 24-hour automatic, uninterrupted detection. Consequently, they have been widely adopted and applied in industrial manufacturing and other fields, such as surface scanning and monitoring of media, and inventory management. However, due to the limitations of their respective measurement principles, existing 3D scanning radars utilizing a single measurement principle face challenges in balancing scanning accuracy with adaptability to harsh environments (such as dust and smoke). Furthermore, if 3D scanning radars utilizing different measurement principles are independently installed on-site, this can lead to increased drilling requirements, installation costs, and hardware costs.

[0003] Furthermore, existing 3D scanning radars, which calculate the three-dimensional surface features of materials based on microwave signals, automatically reject or filter out unreliable point cloud data based on their credibility, declaring these unreliable point clouds invalid. The remaining point cloud data is then identified as reliable (valid) and used to calculate the three-dimensional surface features. As is well known, the inner walls of containers may become scarred or damaged after a period of use, causing changes in the container's dimensional information, which can affect the accuracy of the calculated three-dimensional surface features.

[0004] Therefore, this field urgently needs a technical solution that can solve the above technical problems. Summary of the Invention

[0005] The present disclosure provides an integrated light wave three-dimensional scanning radar, which is used to solve technical problems such as the existing 3D scanning radar cannot take into account both scanning accuracy and adaptability to harsh environments on the one hand, and on the other hand, the error in container size information affects the accuracy of the measured three-dimensional feature information of the material surface.

[0006] The present disclosure provides a light wave integrated three-dimensional scanning radar, comprising a first measurement module, a second measurement module and a control module;

[0007] The first measurement module is used to transmit and receive laser signals, perform multi-point scanning of the inner wall of the container along a set direction before the container is loaded, obtain and determine at least initial characteristic parameter information of the container and installation posture information of the first measurement module based on point cloud data corresponding to the inner wall of the container; and measure the surface of the material in the container to obtain first material measurement information;

[0008] The second measuring module is used to transmit and receive microwave signals, and to measure the surface of the material in the container to obtain second material measurement information;

[0009] The control module is used to calculate the three-dimensional feature information of the material surface based on the initial feature parameter information of the container, the installation posture information of the first measurement module, the first material measurement information and the second material measurement information.

[0010] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, the first measurement module is used to scan the inner wall of the container when the container is empty or in a non-feeding state to obtain characteristic information of material hanging on the inner wall of the container or information on the shape of the container wall;

[0011] The control module is used to determine valid material information and invalid material information in the container based on the characteristic information of the material hanging on the container wall and / or the morphological information of the container wall.

[0012] According to at least one embodiment of the optical wave integrated three-dimensional scanning radar of the present disclosure, the container wall morphology information includes at least the container wall deformation, and the control module is used to determine the quality information of the container wall according to the container wall deformation.

[0013] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, the control module is used to receive and model the container according to the initial characteristic parameter information of the container determined by the first measurement module, and obtain container model information.

[0014] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, the first measurement module is used to scan the inner wall of the container along a set direction according to a preset logic or a preset period to obtain real-time characteristic parameter information of the container;

[0015] The control module is used to receive the real-time characteristic parameter information of the container to compensate or calibrate the three-dimensional characteristic information of the material surface to obtain accurate three-dimensional characteristic information of the material surface.

[0016] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, the control module pre-stores a material level threshold value, and the material level threshold value is used to determine whether the point cloud data corresponding to the three-dimensional feature information of the material surface is valid point cloud data;

[0017] For point cloud data that exceeds the material level threshold, the control module will pre-eliminate the point cloud data as invalid point cloud data, and then use the eliminated point cloud data as valid point cloud data to calculate and obtain the three-dimensional feature information of the material surface.

[0018] According to at least one embodiment of the optical wave integrated three-dimensional scanning radar disclosed herein, the control module is further configured to analyze and compare the real-time characteristic parameter information of the container with a material level threshold. If it is determined that the real-time characteristic parameter information of the container exceeds the material level threshold, the control module will update and perform a secondary calculation on the point cloud data corresponding to the precise three-dimensional characteristic information of the material surface to obtain the updated precise three-dimensional characteristic information of the material surface.

[0019] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, the control module updates and recalculates the point cloud data corresponding to the precise three-dimensional feature information of the material surface based on the real-time feature parameter information of the container. The updated precise three-dimensional feature information of the material surface is obtained specifically including:

[0020] Acquire point cloud data corresponding to the precise three-dimensional feature information of the material surface corresponding to the current moment;

[0021] Based on the point cloud data corresponding to the precise three-dimensional feature information of the material surface, reverse tracing is performed to obtain all corresponding point cloud data including invalid point cloud data and valid point cloud data;

[0022] The control module performs secondary calculation based on all point cloud data including invalid point cloud data and valid point cloud data to obtain updated accurate three-dimensional feature information of the material surface.

[0023] According to the optical wave integrated three-dimensional scanning radar of at least one embodiment of the present disclosure, the control module is also used to remodel the container according to the real-time characteristic parameter information of the container, obtain new model information of the container, and update the level threshold based on the new model information of the container.

[0024] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, the control module controls the first measurement module to rescan the inner wall of the container based on the proportion and repeatability of the invalid point cloud data to obtain real-time characteristic parameter information of the container, remodels the container according to the real-time characteristic parameter information of the container to obtain new container model information, and updates the level threshold based on the new container model information.

[0025] According to at least one embodiment of the present disclosure, the optical wave integrated three-dimensional scanning radar further includes a driving mechanism for driving the first measurement module and the second measurement module to perform mechanical movement in at least one dimension;

[0026] The control module is connected to the first measurement module and the second measurement module respectively, and is at least used to generate a control signal and drive the driving mechanism to drive the first measurement module and the second measurement module to perform mechanical motion.

[0027] According to at least one embodiment of the present disclosure, the optical wave integrated three-dimensional scanning radar also includes a radar shell, the first measurement module, the second measurement module and the control module are accommodated in the cavity of the radar shell, and a laser protection cover is provided on the radar shell, and the laser protection cover is provided in the area on the outer surface of the radar shell that transmits and receives laser signals.

[0028] According to the optical wave integrated three-dimensional scanning radar of at least one embodiment of the present disclosure, the laser protection cover on the radar shell is hingedly connected to the radar shell, and the control module controls the laser protection cover to be in an open state or a closed state, at which time the first measurement module is in a working state or a non-working state.

[0029] According to at least one embodiment of the optical wave integrated three-dimensional scanning radar disclosed herein, an environmental sensor is provided on the outside of the radar housing for detecting environmental data information. The control module receives the environmental data information to determine whether the three-dimensional scanning radar is in a safe working environment, and controls the laser protection cover to be in an open state or a closed state according to the environmental data information.

[0030] According to at least one embodiment of the light wave integrated three-dimensional scanning radar of the present disclosure, a material flow detection switch is provided in the container, and the material flow detection switch is communicatively connected to the control module for detecting whether the container is currently in a material loading and unloading state or a non-material loading and unloading state;

[0031] When the control module receives information that the container is currently in a loading and unloading state, it controls the first measurement module to stop working or controls the laser protection cover to be in a closed state, and controls the second measurement module to work at the same time;

[0032] When the control module receives information indicating that the container is currently in a non-material loading and unloading state and that the environmental data information meets the safety working condition, it controls the first measurement module and / or the second measurement module to operate and controls the laser protection cover to be in an open state.

[0033] According to at least one embodiment of the optical wave integrated three-dimensional scanning radar disclosed herein, a cleaning device is provided on the radar housing for cleaning the area on the outer surface of the radar housing that transmits and receives laser signals.

[0034] According to at least one embodiment of the optical wave integrated three-dimensional scanning radar disclosed herein, the laser protection cover is at least configured as an infrared laser cover, and the laser protection cover is configured to be penetrated by the microwave signal while penetrating the laser signal.

[0035] The present disclosure provides an integrated light wave three-dimensional scanning radar, comprising a first measuring module, a second measuring module and a control module; the first measuring module is used to transmit and receive laser signals, perform multi-point scanning on the inner wall of the container along a set direction before the container is fed, obtain and determine at least initial characteristic parameter information of the container and installation posture information of the first measuring module based on point cloud data corresponding to the inner wall of the container; and measure the surface of the material in the container during the feeding and unloading process to obtain first material measurement information; the second measuring module is used to transmit and receive microwave signals, and measure the surface of the material in the container during the feeding and unloading process to obtain second material measurement information; the control module is used to calculate three-dimensional characteristic information of the material surface based on the initial characteristic parameter information of the container, the installation posture information of the first measuring module, the first material measurement information and the second material measurement information. The present disclosure simultaneously arranges a first measurement module and a second measurement module inside the same scanning radar. The laser information emitted and received by the first measurement module can be used to model the container and determine the installation position of the scanning radar, and controls the laser measurement or microwave measurement according to whether the container is in the feeding and unloading state, thereby achieving, on the one hand, precise modeling of the container and calibration or compensation of the microwave signal through the laser signal, and on the other hand, taking into account both scanning accuracy and adaptability to harsh environments, and realizing accurate measurement of the three-dimensional feature information of the material surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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 detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0037] Figure 1 This is a schematic diagram of the structure of the integrated light wave three-dimensional scanning radar according to the embodiment of the present disclosure. Figure 1 ;

[0038] Figure 2 This is a schematic diagram of the structure of the integrated light wave three-dimensional scanning radar according to the embodiment of the present disclosure. Figure 2 .

[0039] Summary of reference numerals:

[0040] 1. First measurement module; 2. Second measurement module; 3. Control module;

[0041] 4. Driving mechanism; 5. Container; 6. Feed port;

[0042] 7. Discharge port; 8. Material. DETAILED DESCRIPTION

[0043] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0044] like Figure 1-2 As shown, the present disclosure provides an integrated light wave three-dimensional scanning radar, comprising a first measurement module 1, a second measurement module 2, and a control module 3. The first measurement module 1 is configured to transmit and receive laser signals, perform multi-point scanning of the inner wall of the container 5 along a set direction before feeding the container 5, obtain and determine at least initial characteristic parameter information of the container and installation position information of the first measurement module 1 based on point cloud data corresponding to the inner wall of the container; and measure the surface of the material in the container 5 to obtain first material measurement information; the second measurement module 2 is configured to transmit and receive microwave signals, and measure the surface of the material in the container 5 to obtain second material measurement information; and the control module 3 is configured to calculate three-dimensional characteristic information of the material surface based on the initial characteristic parameter information of the container, the installation position information of the first measurement module 1, the first material measurement information, and the second material measurement information.

[0045] The three-dimensional characteristic information of the material surface in the present disclosure can be the three-dimensional spatial information of material 8, the highest material level of material 8, the lowest material level of material 8, the average material level of material 8, the material mass value, the material volume value, the material density value, the material filling degree, the material density distribution, the material mass distribution and other information.

[0046] Container 5 can be a tank or silo capable of carrying material 8, or other similar equipment or components. Taking industrial production equipment as an example, container 5 in the present embodiment can be, but is not limited to, a reaction tank, storage silo, process tank, or other components of the production equipment. Furthermore, material 8 can be in a solid state or a solid-liquid mixture, preferably in a solid state.

[0047] The light wave integrated three-dimensional scanning radar disclosed in the present invention cooperates with the first measurement module 1 and the control module 3 to achieve accurate detection and modeling of the container 5 and the material 8 therein, so that the user can intuitively understand the three-dimensional information of the container 5 and the material 8 therein.

[0048] The first measurement module 1 in the present disclosure is a laser measurement module, which can scan the inner wall (inner side wall, top and bottom) of the container 5 before the container 5 is loaded or when the container is empty, so as to obtain the initial characteristic parameter information of the container and the installation posture information (installation coordinate point and installation angle) of the first measurement module 1. The control module 3 is used to receive and model the container 5 according to the initial characteristic parameter information of the container determined by the first measurement module 1, and obtain the container model information. Due to the high measurement accuracy of the laser signal, the first measurement module 1 is provided in the present disclosure, so that the container 5 can be modeled first when the container is empty, thereby facilitating the accurate calculation of the three-dimensional characteristic parameter information of the material surface during or after the loading and unloading process.

[0049] Specifically, the present disclosure can utilize the first measurement module 1, i.e., the laser measurement module, to scan the inner wall (inner sidewall, top, and bottom) of the container 5 when the container 5 is not being fed or is empty, thereby obtaining characteristic information of the material hanging on the inner wall of the container or information about the container wall shape; the container wall shape information includes at least the amount of container wall deformation. The control module 3 is configured to determine information about valid and invalid materials within the container based on the characteristic information about the material hanging on the inner wall of the container; and the control module 3 is configured to determine information about the quality of the container wall based on the amount of container wall deformation.

[0050] Among them, the control module 3 can obtain the initial shape information of the container (for example, whether there is any hanging material on the inner wall of the container or whether the inner wall of the container is deformed, etc.) by scanning the inner wall of the container 5 when the container is not in a feeding state or when the container is empty, thereby obtaining the valid material information in the container 5 (that is, the material newly entering through the container feed port) or the invalid material information (the hanging material information on the inner wall of the container, which is the material statically adhered to the inner wall of the container, rather than the new material entering through the feed port).

[0051] If the material is transported to the destination and stored in a container, the first measuring module 1 can scan the inner wall of the container 5 and the material information in the container 5 before and after feeding to obtain the effective mass information and volume information of the transported material, which can then be compared with the known mass information and volume information of the transported material to determine whether the material is lost or stolen.

[0052] In addition, the control module 3 can judge the quality information of the container wall according to the deformation of the container wall, thereby analyzing and judging the shape or quality of the inner wall of the container. If the inner wall of the container has deformations such as bulges, depressions or collapses, it will affect the calculation accuracy of the three-dimensional characteristic information of the material in the container. For this reason, it is necessary to obtain the true shape of the container before feeding or when not feeding, and to obtain the true capacity of the container in combination with the container hanging situation, so as to obtain the valid material information and invalid material information in the container.

[0053] It should be noted that since both the first measurement module 1 and the second measurement module 2 are disposed inside the radar housing and their relative positions are fixed, after obtaining the installation posture information of the first measurement module 1, the control module 3 will calculate the installation posture information of the second measurement module 2 based on the installation posture information of the first measurement module 1 and the relative position of the two. Alternatively, if the first measurement module 1 and the second measurement module 2 are both disposed on the same circuit board, then after obtaining the installation posture information of the first measurement module 1, the installation posture information of the second measurement module 2 is also obtained. To this end, after obtaining the installation posture information of the first measurement module 1, the control module 3 (which may have stored the relative positions of the first measurement module 1 and the second measurement module 2 in advance) will calculate and obtain the installation posture information of the second measurement module 2. Furthermore, the three-dimensional characteristic information of the material surface can be calculated based on the initial characteristic parameter information of the container, the installation posture information of the first measurement module 1, the installation posture information of the second measurement module 2, the first material measurement information, and the second material measurement information.

[0054] In the present disclosure, the initial characteristic parameter information of the container can be obtained before feeding by using laser measurement signals, and the real-time characteristic parameter information of the container can be obtained according to preset logic or regular scanning during the feeding and unloading process, before and after feeding and unloading. In this way, the laser signal is used to model the container and regularly monitor the condition of the container wall. Not only is the measurement accuracy high, but it also eliminates the trouble of the existing container parameter information requiring the customer or a third party to provide design drawings or manual measurement, and solves the technical defect of low accuracy of modeling through microwave signals in the existing solution.

[0055] In the present disclosure, the first measurement module 1 is a laser measurement module that can emit and receive laser signals. In the present disclosure, the laser measurement module is used to collect the initial characteristic parameter information of the container 5 before feeding (the initial characteristic parameter information of the container when there is no material 8 in the container 5 or the container is empty). The initial characteristic parameter information of the container is mainly the geometric dimension information of the container 5. This initial characteristic parameter information of the container will be transmitted to the control module 3. After receiving the initial characteristic parameter information of the container, the control module 3 uses its own built-in algorithm to process and analyze it, usually involving multiple modeling technologies, to ensure that the generated model of the container 5 is not only geometrically accurate, but also reflects the behavioral characteristics of the container 5 under different working conditions. Of course, the modeling process is existing technology and will not be described in detail here.

[0056] Typically, in practical applications, the control module 3 pre-stores a material level threshold value, which is used to determine whether the point cloud data corresponding to the three-dimensional characteristic information of the material surface is valid point cloud data. For point cloud data (including material level information) that exceeds the material level threshold value, the control module 3 pre-deletes the point cloud data as invalid point cloud data and then uses the deleted point cloud data as valid point cloud data to calculate the three-dimensional characteristic information of the material surface.

[0057] The second measurement module 2 disclosed in the present invention is a microwave measurement module, which has limitations in measurement accuracy. For this reason, before processing the data, a level threshold is usually set based on the initial characteristic parameter information of the container, the measurement range of the scanning radar, and empirical values. By pre-setting the level threshold, it is convenient to perform preliminary data processing such as elimination and screening after obtaining the initial point cloud data, and then calculate the point cloud data after the preliminary data processing to obtain the required three-dimensional characteristic information of the material surface.

[0058] After the container 5 storing the material 8 has been used for a period of time, the container 5 may undergo a series of physical and chemical changes due to the influence of factors such as the external environment, internal chemical reactions, and mechanical stress. For example, long-term load-bearing or temperature fluctuations may cause the container 5 to undergo plastic deformation or permanent deformation. Specifically, the following situations may occur: 1) Deformation: The metal container 5 may produce tiny cracks due to thermal expansion and contraction; 2) Wear: The friction between the inner wall of the container 5 and the material 8 will cause the inner wall surface to gradually wear, especially when storing granular or powdered materials 8; 3) Corrosion: If there is a chemical reaction between the material of the container 5 and the material 8 (such as acid-base corrosion), the inner wall of the container 5 may be corroded, resulting in a reduction in thickness or a decrease in structural strength. 4) Material hanging: The characteristics of the material itself may adhere to the inner wall of the container, resulting in a material hanging phenomenon. The material in the material hanging phenomenon is a static, ineffective material. To this end, in order to ensure the accuracy of the three-dimensional feature information of the material surface measured by the three-dimensional scanning radar, the first measurement module 1 (laser measurement module) in the present disclosure can scan the inner wall of the container 5 along the set direction according to a preset logic or a preset period to obtain real-time feature parameter information of the container; the control module 3 is used to receive the real-time feature parameter information of the container and compensate or calibrate the three-dimensional feature information of the material surface to obtain accurate three-dimensional feature information of the material surface.

[0059] The above-mentioned first measurement module 1 (laser measurement module) can transmit and receive laser signals to the container 5 along a set direction according to the preset logic (different scanning logics are pre-set) based on the type, material and internal material characteristics of the container 5. For example, for containers 5 made of high-reflectivity materials, low-power scanning may be used to reduce interference; while for low-reflectivity materials, the scanning power may need to be increased to ensure the accuracy of data acquisition. Alternatively, the first measurement module 1 can transmit and receive laser signals to the container 5 along a set direction according to a preset period. The preset period is a preset scanning period, which can be adjusted according to actual needs. For example, in a dynamic environment (such as a container 5 being stirred), a shorter scanning period may be required to capture real-time changes; in a static environment, the scanning period can be appropriately extended to save energy; or the inner wall of the container 5 (inner wall, top and bottom) can be scanned regularly at the same interval to measure the real-time characteristic parameter information of the container 5 itself.

[0060] When scanning the inner wall of the container 5 along a set direction according to a preset logic or a preset period to obtain real-time characteristic parameter information of the container, the container can be either filled with material or empty. When the container is filled with material, a preset logic can be set to scan the container size information of the area above the material to perform local container size calibration, for example, by controlling the scanning angle to scan the inner wall of the container. When the container is empty and has no material, the inner wall of the container is scanned according to the normal scanning logic (continuous scanning at the set maximum scanning angle).

[0061] After the material is loaded and unloaded, the inner wall of the container is scanned to obtain the real-time characteristic parameter information of the container. The control module 3 analyzes and compares the real-time characteristic parameter information of the container with the initial characteristic parameter information of the container. If the real-time characteristic parameter information of the container is locally reduced in size (locally bulges toward the inside of the container) compared to the initial characteristic parameter information of the container, it is determined that the local position in the container has abnormal phenomena such as hanging material, bulging, or scarring. At this time, the control module 3 will compensate or calibrate the three-dimensional characteristic information of the current material surface in combination with the real-time characteristic parameter information to obtain accurate three-dimensional characteristic information of the material surface, that is, to remove the point cloud data corresponding to the bulge of the local position as invalid point cloud data. Of course, it should be noted that the control module 3 can transmit the initial characteristic parameter information of the container, the container model information and the three-dimensional characteristic information of the material surface to the display terminal, and display them intuitively on the display terminal.

[0062] Alternatively, when material is stored in the container, if the inner wall of the container 5 is scanned to obtain real-time characteristic parameter information of the container, the control module 3 analyzes and compares the real-time characteristic parameter information with the initial characteristic parameter information of the container. Based on the stacking angle and the conditions of the feed port 6 and the discharge port 7, if the real-time characteristic parameter information of the container shows a "hill"-like protrusion on the local surface of the container inner wall compared to the initial characteristic parameter information of the container, then it is determined that an abnormal phenomenon such as material hanging, bulging, or scarring has occurred at that local location on the inner wall of the container. At this time, the control module 3 will compensate or calibrate the three-dimensional characteristic information of the current material surface in combination with the real-time characteristic parameter information to obtain accurate three-dimensional characteristic information of the material surface. Specifically, the control module 3 will remove the point cloud data corresponding to the location where the "hill"-like protrusion appears on the local surface as invalid point cloud data, and the remaining point cloud data will be regarded as valid point cloud data. The material corresponding to this portion of valid point cloud data is the valid material currently being fed or the valid material that can be discharged from the warehouse during the discharge process.

[0063] In the process of the first measuring module 1 emitting and receiving laser signals toward the container 5 along the set direction, the scanning direction includes but is not limited to all-round scanning along the vertical direction, horizontal direction and bottom of the inner wall of the container 5. This multi-directional scanning can fully cover the internal structure of the container 5 and avoid the existence of blind spots.

[0064] The optical wave integrated three-dimensional scanning radar disclosed in the present invention can use laser signals and microwave signals in a time-sharing manner. By combining microwave signals with laser signals, it can meet the measurement accuracy while meeting different working conditions.

[0065] In a further embodiment of the present disclosure, due to the wear or damage of the inner wall of the container 5 caused by long-term use, corresponding pits or holes may appear on the inner wall of the container 5, and material 8 may exist in the pits or holes. At this time, the boundary of the container 5 will extend outward compared to the initial state. In other words, the size of some parts inside the container 5 becomes larger. At this time, whether it is a microwave signal or a laser signal, there will be corresponding errors when measuring the level information of the material 8. In order to ensure the accuracy of the calculation of the level information of the material 8, it is necessary to update the initial characteristic parameter information of the container.

[0066] To this end, the real-time characteristic parameter information of the container can be first measured by the first measurement module 1 (laser measurement module) through the laser signal, and then the real-time characteristic parameter information of the container (mainly the geometric dimension information of the container) is analyzed and compared with the level threshold pre-stored by the control module 3. If it is analyzed that the real-time characteristic parameter information of the container exceeds the level threshold, it means that the inner wall of the container 5 is deformed or damaged. At this time, the control module 3 updates and recalculates the point cloud data corresponding to the precise three-dimensional characteristic information of the material surface to obtain the updated precise three-dimensional characteristic information of the material surface.

[0067] Specifically, the control module 3 updates and recalculates the point cloud data corresponding to the precise three-dimensional feature information of the material surface, and obtains the updated precise three-dimensional feature information of the material surface, which specifically includes:

[0068] Acquire point cloud data corresponding to the precise three-dimensional feature information of the material surface corresponding to the current moment;

[0069] Based on the point cloud data corresponding to the precise three-dimensional feature information of the material surface, reverse tracing is performed to obtain all corresponding point cloud data including invalid point cloud data and valid point cloud data;

[0070] The control module 3 performs secondary calculation based on all point cloud data including invalid point cloud data and valid point cloud data to obtain updated accurate three-dimensional feature information of the material surface.

[0071] In the present disclosure, based on the accuracy of laser measurement, the real-time characteristic parameter information of the container is first measured, and based on the real-time characteristic parameter information of the container and the material level threshold value pre-stored by the control module 3, it is analyzed and judged whether there is damage or pits inside the container 5. If damage or pits are present, the three-dimensional characteristic information of the material surface needs to be updated. Specifically, it is necessary to obtain the point cloud data information (valid point cloud data) corresponding to the three-dimensional characteristic information of the current material surface during calculation, and then reversely trace back to obtain all the original point cloud data information (invalid point cloud data and valid point cloud data) corresponding to the point cloud data information (valid point cloud data) during calculation, and use all the original point cloud data information as the updated point cloud data information required for secondary calculation. At this time, all the original point cloud data information is used as the basic data for secondary calculation to obtain the updated accurate three-dimensional characteristic information of the material surface.

[0072] Alternatively, in another embodiment of the present disclosure, the control module 3 is further configured to remodel the container 5 according to the real-time characteristic parameter information of the container, obtain new model information of the container, and update the level threshold based on the new model information of the container.

[0073] In this embodiment, the control module 3 receives real-time characteristic information from the first measurement module 1 scanning the container 5 according to a preset logic or preset period, remodels the container based on the real-time characteristic parameter information, and then updates the pre-stored material level threshold according to the new model information of the remodeled container. Because the container 5 may undergo abnormal phenomena such as deformation, scarring, or material hanging after a period of use, in order to obtain accurate three-dimensional characteristic information of the material surface, it is necessary to update the above-mentioned material level threshold. This is used to calibrate or compensate the first material measurement information or the second material measurement information obtained by the first measurement module 1 or the second measurement module 2. As a result, the three-dimensional characteristic information of the material surface calculated by the control module 3 is more accurate and more consistent with the current model of the container 5.

[0074] In another embodiment of the present disclosure, the control module 3 controls the first measurement module 1 to rescan the inner wall of the container based on the proportion and repeatability of the invalid point cloud data to obtain real-time characteristic parameter information of the container, and remodels the container 5 according to the real-time characteristic parameter information of the container to obtain new container model information, and updates the level threshold based on the new container model information.

[0075] In this embodiment, the control module 3 receives initial point cloud data that has been analyzed and compared with a pre-stored level threshold, and then undergoes preliminary data processing such as elimination and screening of invalid point cloud data. Based on the proportion of invalid point cloud data compared to the initial point cloud data and the degree of repetition, the control module 3 controls whether the first measurement module 1 should rescan the inner wall of the container 5 to obtain real-time characteristic parameter information of the container. For example, if there are 40 invalid point cloud data points and 500 initial point cloud data points, and the invalid point cloud data accounts for 8% of the initial point cloud data points, this percentage far exceeds the 2% threshold set by the control module 3 during data processing. This indicates that the invalid point cloud data accounts for a large proportion, and analysis is required to determine whether the container 5 has deformed or other abnormalities. Specifically, the control module 3 controls the first measurement module 1 to rescan the inner wall of the container 5 to obtain the current real-time characteristic parameter information of the container. It should be noted that the level threshold in the control module 3 is pre-set based on the size information of the container 5 and is used to screen and eliminate invalid point cloud data. For example, if there is interference or echo anomalies in the container 5, the pre-set level threshold is required to perform preliminary data processing on the initial point cloud data. Of course, the proportion threshold corresponding to the proportion of invalid point cloud data can also be stored at the same time. After preliminary data processing, the proportion of invalid point cloud data that has been eliminated or filtered out can be further analyzed and compared with the proportion threshold. If an abnormal proportion is found, it means that the level threshold needs to be updated or container 5 is abnormal. At this time, it is necessary to obtain the real-time characteristic parameter information of the container and then update the level threshold.

[0076] Specifically, the control module 3 scans the container 5 according to a preset logic or preset period to obtain real-time characteristic information, remodels the container based on the real-time characteristic parameter information, and then updates the pre-stored material level threshold according to the new model information of the remodeled container. Because the container 5 may deform or scar after a period of use, the above-mentioned material level threshold needs to be updated to obtain accurate three-dimensional characteristic information of the material surface. This is used to calibrate or compensate the material measurement information obtained by the first measurement module 1 or the second measurement module 2. As a result, the three-dimensional characteristic information of the material surface calculated by the control module 3 is more accurate and more consistent with the current model of the container 5.

[0077] According to at least one embodiment of the present disclosure, a light wave integrated three-dimensional scanning radar, such as Figure 2 As shown, it also includes a driving mechanism 4, which is used to drive the first measuring module 1 and the second measuring module 2 to perform mechanical movement in at least one dimension; the control module 3 is connected to the first measuring module 1 and the second measuring module 2, respectively, and is at least used to generate a control signal and drive the driving mechanism 4 to work so as to drive the first measuring module 1 and the second measuring module 2 to perform mechanical movement.

[0078] The mechanical motion in at least one dimension can be horizontal motion, vertical motion, or both. Specifically, the mechanical motion can be controlled and adjusted based on the size of the container 5. For example, horizontal rotation and / or pitching motion can be performed.

[0079] The control module 3 in the present disclosure may be a single chip microcomputer, a system on chip, or the like.

[0080] The optical wave integrated three-dimensional scanning radar disclosed in the present invention also includes a radar shell, wherein the first measurement module 1, the second measurement module 2 and the control module 3 are accommodated inside the cavity of the radar shell, and a laser protection cover is provided on the radar shell, and the laser protection cover is provided in the area on the outer surface of the radar shell that transmits and receives laser signals.

[0081] Since the laser signal is greatly affected in harsh measurement conditions and reliable measurement cannot be achieved, microwave signals are needed to scan and measure the material 8 in the container 5 under harsh measurement conditions. For example, during the loading and unloading process, especially when solid powdered materials 8 are poured into the container 5, the level of the material 8 in the container 5 and the three-dimensional shape of the material surface will fluctuate constantly and generate dust. Under such harsh measurement conditions, the laser signal received and sent by the first measurement module 1 is easily blocked by dust, making it difficult to achieve reliable measurement. However, the second measurement module 2 operating based on the microwave measurement principle is almost unaffected by dust. At this time, the control module 3 can control the first measurement module to stop working while controlling the second measurement module 2 to operate normally, thereby achieving time-sharing operation of the first measurement module 1 and the second measurement module 2. However, under safe measurement conditions, the control module 3 can control the first measurement module 1 to operate normally, or control the second measurement module 2 to operate normally, preferably controlling the first measurement module 1 to operate, thereby achieving time-sharing and coordinated operation of laser signal measurement and microwave signal measurement, thereby achieving normal measurement of the material 8 under harsh measurement conditions while taking into account measurement accuracy.

[0082] The present disclosure provides an integrated light wave three-dimensional scanning radar, including a first measuring module 1, a second measuring module 2 and a control module 3; the first measuring module 1 is used to transmit and receive laser signals, and perform multi-point scanning on the inner wall of the container 5 along a set direction before the container 5 is fed, and obtain and determine at least the initial characteristic parameter information of the container and the installation posture information of the first measuring module 1 based on the point cloud data corresponding to the inner wall of the container; and measure the material surface in the container 5 in a time-sharing manner during the feeding and unloading process to obtain first material measurement information; the second measuring module 2 is used to transmit and receive microwave signals, and measure the material surface in the container 5 in a time-sharing manner during the feeding and unloading process to obtain second material measurement information; the control module 3 is used to calculate the three-dimensional characteristic information of the material surface based on the initial characteristic parameter information of the container, the installation posture information of the first measuring module 1, the first material measurement information and the second material measurement information. The present disclosure simultaneously arranges a first measurement module 1 and a second measurement module 2 inside the same scanning radar. The laser information emitted and received by the first measurement module 1 can be used to model the container 5 and determine the installation position of the scanning radar, and controls the laser measurement or microwave measurement according to whether it is in the feeding and unloading state, thereby achieving, on the one hand, accurate modeling of the container 5 and calibration or compensation of the microwave signal through the laser signal, and on the other hand, taking into account both scanning accuracy and adaptability to harsh environments, thereby achieving accurate measurement of the three-dimensional characteristic information of the material surface.

[0083] 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, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0084] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0085] In addition, the 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. A light wave integrated three-dimensional scanning radar, characterized in that: It includes a first measuring module, a second measuring module and a control module; The first measurement module is used to transmit and receive laser signals, perform multi-point scanning on the inner wall of the container, obtain and determine at least initial characteristic parameter information of the container based on point cloud data corresponding to the inner wall of the container, and measure the surface of the material in the container to obtain first material measurement information; The second measuring module is used to transmit and receive microwave signals, and to measure the surface of the material in the container to obtain second material measurement information; The control module is used to obtain and calculate the three-dimensional characteristic information of the material surface based on the initial characteristic parameter information of the container, the first material measurement information and the second material measurement information.

2. The light wave integrated three-dimensional scanning radar according to claim 1, characterized in that: The first measurement module is used to scan the inner wall of the container when the container is empty or in a non-feeding state to obtain characteristic information of material hanging on the inner wall of the container or morphological information of the container wall; The control module is used to determine valid material information and invalid material information in the container based on the characteristic information of the material hanging on the container wall and / or the morphological information of the container wall.

3. The light wave integrated three-dimensional scanning radar according to claim 1, characterized in that: The container wall morphology information includes at least the container wall deformation amount, and the control module is used to determine the quality information of the container wall according to the container wall deformation amount.

4. The light wave integrated three-dimensional scanning radar according to claim 1, characterized in that: The control module is used to receive and model the container according to the initial characteristic parameter information of the container determined by the first measurement module, and obtain container model information.

5. The light wave integrated three-dimensional scanning radar according to claim 1, characterized in that: The first measurement module is used to scan the inner wall of the container along a set direction according to a preset logic or a preset period to obtain real-time characteristic parameter information of the container; The control module is used to receive the real-time characteristic parameter information of the container to compensate or calibrate the three-dimensional characteristic information of the material surface to obtain accurate three-dimensional characteristic information of the material surface.

6. The light wave integrated three-dimensional scanning radar according to claim 5, characterized in that: The control module pre-stores a material level threshold, which is used to determine whether the point cloud data corresponding to the three-dimensional feature information of the material surface is valid point cloud data; For point cloud data exceeding the material level threshold, the control module will pre-eliminate the point cloud data as invalid point cloud data, and then use the eliminated point cloud data as valid point cloud data for calculation to obtain the three-dimensional feature information of the material surface.

7. The light wave integrated three-dimensional scanning radar according to claim 6, characterized in that: The control module is also used to analyze and compare the real-time characteristic parameter information of the container with the level threshold. If it is analyzed that the real-time characteristic parameter information of the container exceeds the level threshold, the control module will update and recalculate the point cloud data corresponding to the precise three-dimensional characteristic information of the material surface to obtain the updated precise three-dimensional characteristic information of the material surface.

8. The light wave integrated three-dimensional scanning radar according to claim 7, characterized in that: The control module updates and recalculates the point cloud data corresponding to the precise three-dimensional feature information of the material surface, and obtains the updated precise three-dimensional feature information of the material surface, specifically including: Acquire point cloud data corresponding to the precise three-dimensional feature information of the material surface corresponding to the current moment; Based on the point cloud data corresponding to the precise three-dimensional feature information of the material surface, reverse tracing is performed to obtain all corresponding point cloud data including invalid point cloud data and valid point cloud data; The control module performs secondary calculation based on all point cloud data including invalid point cloud data and valid point cloud data to obtain updated accurate three-dimensional feature information of the material surface.

9. The light wave integrated three-dimensional scanning radar according to claim 6, characterized in that: The control module is further configured to remodel the container according to the real-time characteristic parameter information of the container, obtain new model information of the container, and update the level threshold based on the new model information of the container; Alternatively, the control module controls the first measurement module to rescan the inner wall of the container based on the proportion and repeatability of the invalid point cloud data to obtain real-time characteristic parameter information of the container, and remodels the container according to the real-time characteristic parameter information of the container to obtain new model information of the container, and updates the level threshold based on the new model information of the container.

10. The light wave integrated three-dimensional scanning radar according to claim 1, characterized in that: Also included is a driving mechanism, the driving mechanism being configured to drive the first measuring module and the second measuring module to perform mechanical motion in at least one dimension; The control module is connected to the first measuring module and the second measuring module respectively, and is at least used to generate a control signal and drive the driving mechanism to drive the first measuring module and the second measuring module to perform mechanical motion; Alternatively, it also includes a radar shell, wherein the first measurement module, the second measurement module and the control module are accommodated inside the cavity of the radar shell, and a laser protection cover is provided on the radar shell, and the laser protection cover is provided in the area on the outer surface of the radar shell that transmits and receives laser signals.

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