Optical wave integrated three-dimensional scanning radar

Abstract

The disclosure provides a kind of light wave integration three-dimensional scanning radar, including first, second measuring module and control module;First measuring module is used to emit and receive laser signal, the inner wall of container is scanned to obtain the initial characteristic parameter information of container;Second measuring module is used to emit and receive microwave signal, and the material surface in the container is measured with the first measuring module, obtains the first two material measurement information;Control module is used to calculate the three-dimensional characteristic information of material surface according to container initial characteristic parameter information, the first two material measurement information.This disclosure is accurate modeling to container by laser signal, calibrates or compensates three-dimensional characteristic information of material on the one hand, on the other hand, scanning accuracy and adaptability of harsh environment can be considered, accurate measurement of three-dimensional characteristic information of material surface is realized.

Description

Technical Field

[0001] This disclosure relates to the field of material scanning technology, specifically to an integrated optical-wave three-dimensional scanning radar. Background Technology

[0002] 3D scanning radar boasts numerous advantages, including safety, high efficiency, vivid 3D imaging, and 24 / 7 automatic continuous detection. Consequently, it has been widely adopted and applied in industrial manufacturing and other fields, such as media surface scanning monitoring and material inventory statistics. However, due to limitations imposed by their respective measurement principles, existing 3D scanning radars utilizing a single measurement principle face challenges in simultaneously achieving high scanning accuracy and adaptability to harsh environments (such as dust and smoke). Furthermore, the independent installation of 3D scanning radars with different measurement principles on-site increases the number of openings, installation costs, and hardware costs.

[0003] Furthermore, existing 3D scanning radars, which calculate the three-dimensional feature information of material surfaces based on microwave signals, automatically discard or filter some unreliable point cloud data based on reliability. These unreliable point cloud data are deemed invalid, and the remaining data (considered reliable and valid) is used to calculate the three-dimensional feature information of the material surface. As is well known, the inner wall of a container may develop scale buildup or damage after a period of use, causing changes in the container's dimensions and affecting the accuracy of the calculated three-dimensional feature information of the material surface.

[0004] Therefore, there is an urgent need in this field for a technical solution that can solve the above-mentioned technical problems. Summary of the Invention

[0005] This disclosure provides an integrated optical and wave 3D scanning radar, which addresses the technical problems of existing 3D scanning radars, such as the inability to balance scanning accuracy and adaptability to harsh environments, and the impact of errors in container size information on the accuracy of the measured 3D feature information of the material surface.

[0006] This disclosure provides an integrated optical and wave three-dimensional scanning radar, including a first measurement module, a second measurement module, and a control module;

[0007] The first measurement module is used to emit and receive laser signals, perform multi-point scanning of the inner wall of the container along a set direction before the container is fed, acquire and determine at least the initial feature parameter information of the container and the installation pose information of the first measurement module based on the point cloud data corresponding to the inner wall of the container; and measure the surface of the material inside the container to obtain the first material measurement information.

[0008] The second measurement module is used to transmit and receive microwave signals, and to measure the surface of the material inside 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 optical-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 when the container is not in a feeding state, so as to obtain the material hanging feature information of the inner wall of the container or the morphological information of the container wall.

[0011] The control module is used to determine the effective material information and invalid material information in the container based on the material hanging characteristics information on the inner wall of the container and / or the container wall morphology information.

[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 amount, and the control module is used to determine the container wall mass information based on the container wall deformation amount.

[0013] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, the control module is used to receive and model the container based on the initial feature 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 optical-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 cycle to obtain real-time characteristic parameter information of the container.

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

[0016] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, the control module pre-stores a 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.

[0017] For point cloud data exceeding the level threshold, the control module will pre-select the point cloud data as invalid point cloud data, and then use the selected point cloud data as valid point cloud data to calculate 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 of this disclosure, the control module is further used to analyze and compare the real-time feature parameter information of the container with the level threshold. If the real-time feature parameter information of the container is found to exceed the level threshold, the control module will update and perform secondary calculation on the point cloud data corresponding to the precise three-dimensional feature information of the material surface to obtain the updated precise three-dimensional feature information of the material surface.

[0019] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of this disclosure, the control module updates and performs secondary calculations on 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, and obtains the updated precise three-dimensional feature information of the material surface, specifically including:

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

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

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

[0023] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, the control module is further configured to remodel the container based on 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 optical-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 invalid point cloud data to obtain real-time characteristic parameter information of the container, and remodels the container based on 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.

[0025] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, a driving mechanism is further included, the driving mechanism being used to drive 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 control signals and drive the drive mechanism to work so as to drive the first measurement module and the second measurement module to perform mechanical motion.

[0027] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, it further includes a radar housing, wherein the first measurement module, the second measurement module and the control module are housed inside the cavity of the radar housing, and a laser protective cover is provided on the radar housing, wherein the laser protective cover is disposed on the outer surface of the radar housing in the area for emitting and receiving laser signals.

[0028] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, the laser protective cover on the radar housing is hinged to the radar housing, and the control module controls the laser protective cover to be in an open state or a closed-open 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 of the present disclosure, 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 protective cover to be in an open or closed state according to the environmental data information.

[0030] According to at least one embodiment of the optical wave integrated three-dimensional scanning radar of the present disclosure, a material flow detection switch is provided inside the container. The material flow detection switch is communicatively connected to the control module and is used to detect whether the container is currently in a material inlet / outlet state or a non-material inlet / outlet state.

[0031] When the control module receives that the container is currently in a feeding or discharging state, it will control the first measuring module to stop working or control the laser protective cover to be in a closed state, and at the same time control the second measuring module to work.

[0032] When the control module receives that the container is currently in a non-feeding / discharging state and the environmental data information meets the safe operating conditions, it will control the first measurement module and / or the second measurement module to work, and at the same time control the laser protective cover to be in the open state.

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

[0034] According to at least one embodiment of the optical-wave integrated three-dimensional scanning radar of the present disclosure, the laser protective cover is at least configured as an infrared laser cover, and the laser protective cover is configured to be penetrated by both laser signals and microwave signals.

[0035] This disclosure provides an integrated optical-wave three-dimensional scanning radar, including a first measurement module, a second measurement module, and a control module. 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 material feeding, acquire and determine at least the initial characteristic parameter information of the container and the installation pose information of the first measurement module based on the point cloud data corresponding to the inner wall of the container; and measure the surface of the material inside the container during the feeding and discharging process to obtain first material measurement information. The second measurement module is used to transmit and receive microwave signals, and measure the surface of the material inside the container during the feeding and discharging process to obtain second material measurement information. The control module is used to calculate the three-dimensional feature information of the material surface based on the initial characteristic parameter information of the container, the installation pose information of the first measurement module, the first material measurement information, and the second material measurement information. This disclosure achieves accurate measurement of the three-dimensional features of the material surface by simultaneously setting a first measurement module and a second measurement module inside the same scanning radar. The first measurement module transmits and receives laser information, which can be used to model the container and determine the installation position of the scanning radar. Furthermore, it controls laser measurement or microwave measurement according to whether the container is in the feeding or discharging state. This enables precise modeling of the container and calibration or compensation of the microwave signal through laser signal, while also taking into account both scanning accuracy and adaptability to harsh environments. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

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

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

[0039] Summary of attached image labels:

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

[0041] 4. Drive mechanism; 5. Container; 6. Feed inlet;

[0042] 7. Discharge port; 8. Material. Detailed Implementation

[0043] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

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

[0045] The three-dimensional feature information of the material surface in this disclosure may 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 holding material 8, or other similar instruments or components; taking industrial production equipment as an example, container 5 in this embodiment of the invention can be, but is not limited to, a reaction tank, storage silo, process silo, or other components in the production equipment. Furthermore, the state of material 8 can be solid or a solid-liquid mixture, preferably solid.

[0047] The optical-wave integrated three-dimensional scanning radar disclosed herein works in concert with the first measurement module 1 and the control module 3 to achieve accurate detection and modeling of the container 5 and its internal material 8, making it easy for users to intuitively understand the three-dimensional information of the container 5 and the material 8 inside the container 5.

[0048] The first measurement module 1 in this disclosure is a laser measurement module, which can scan the inner wall (inner sidewall, top, and bottom) of container 5 before it is fed in or when it is empty, to obtain the initial characteristic parameter information of the container and the installation posture information (installation coordinate points and installation angles) of the first measurement module 1. The control module 3 is used to receive and model container 5 according to the initial characteristic parameter information of the container determined by the first measurement module 1, and obtain container model information. Because laser signal measurement has high accuracy, the first measurement module 1 is provided in this disclosure to model container 5 when it is empty, thereby facilitating the accurate calculation of the three-dimensional characteristic parameter information of the material surface during or after feeding and discharging.

[0049] Specifically, this disclosure allows the first measurement module 1, i.e., the laser measurement module, to scan the inner wall (inner sidewall, top, and bottom) of container 5 when it is not being fed or when the container is empty, to obtain material adhesion characteristic information or container wall morphology information; the container wall morphology information includes at least the container wall deformation amount. The control module 3 is used to determine the effective and ineffective material information within the container based on the material adhesion characteristic information; the control module 3 is also used to determine the container wall mass information based on the container wall deformation amount.

[0050] The control module 3 can obtain the initial shape information of the container by scanning the inner wall of the container 5 when the container is not in the feeding state or when the container is empty (such as whether there is material hanging on the inner wall of the container or whether the inner wall of the container is deformed). In this way, it can obtain the effective material information (i.e. the material newly entering through the container inlet) or invalid material information (material hanging on the inner wall of the container, which is material statically adhering to the inner wall of the container, rather than new material entering through the inlet).

[0051] If the material is transported to its destination and stored in a container, the effective mass and volume information of the transported material can be obtained by scanning the inner wall of the container 5 and the material information inside the container 5 before and after feeding. This information can then be compared with the known mass and volume information of the transported material to determine whether the material has been lost or stolen.

[0052] Furthermore, the control module 3 can determine the quality information of the container wall based on the deformation of the container wall. This allows for the analysis and judgment of the shape or quality of the container's inner wall. If the container's inner wall has deformations such as protrusions, depressions, or collapses, it will affect the calculation accuracy of the three-dimensional feature information of the material inside the container. Therefore, it is necessary to obtain the true shape of the container before feeding or when not feeding, and to combine this with the container's material hanging situation to obtain the true capacity of the container. This allows for the acquisition of effective and ineffective material information inside the container.

[0053] It should be noted that since both the first measurement module 1 and the second measurement module 2 are located inside the radar housing, and their relative positions are fixed, after acquiring the installation pose information of the first measurement module 1, the control module 3 will calculate the installation pose information of the second measurement module 2 based on the installation pose information of the first measurement module 1 and their relative positions. Alternatively, if both the first measurement module 1 and the second measurement module 2 are located on the same circuit board, then acquiring the installation pose information of the first measurement module 1 will also acquire the installation pose information of the second measurement module 2. Therefore, after acquiring the installation pose information of the first measurement module 1, the control module 3 (which may have pre-stored the relative positions of the first measurement module 1 and the second measurement module 2) will calculate and obtain the installation pose information of the second measurement module 2. Then, based on the initial feature parameter information of the container, the installation pose information of the first measurement module 1, the installation pose information of the second measurement module 2, the first material measurement information, and the second material measurement information, the three-dimensional feature information of the material surface can be calculated.

[0054] This disclosure allows for the acquisition of initial characteristic parameters of the container before feeding using laser measurement signals, as well as real-time characteristic parameters of the container during feeding and discharging, and before and after feeding and discharging, by scanning according to preset logic or periodically. This enables container modeling using laser signals and periodic monitoring of the container wall condition. It not only provides high measurement accuracy but also eliminates the hassle of obtaining design drawings or manual measurement from customers or third parties for existing container parameter information. Furthermore, it solves the technical defect of low accuracy in existing solutions that use microwave signals for modeling.

[0055] In this disclosure, the first measurement module 1 is a laser measurement module, capable of emitting and receiving laser signals. This module collects the initial characteristic parameters of the container 5 before feeding (initial characteristic parameters of the container 5 when there is no material 8 or the container is empty). These initial characteristic parameters mainly consist of the geometric dimensions of the container 5. This information is transmitted to the control module 3. Upon receiving the initial characteristic parameters, the control module 3 processes and analyzes them using its built-in algorithms, typically involving multiple modeling techniques. This ensures that the generated container 5 model is not only geometrically accurate but also reflects the behavioral characteristics of the container 5 under different operating conditions. The modeling process is existing technology and will not be detailed here.

[0056] In practical applications, the control module 3 typically stores a level threshold in advance. This level threshold 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 (containing level information) exceeding the level threshold, the control module 3 will pre-select it as invalid point cloud data and then use the selected point cloud data as valid point cloud data to calculate the three-dimensional feature information of the material surface.

[0057] The second measurement module 2 of this disclosure is a microwave measurement module, which has limitations in measurement accuracy. Therefore, before processing the data, the level threshold is usually set according to the initial characteristic parameter information of the container, the measurement range of the scanning radar, and empirical values. By presetting the level threshold, it is convenient to perform preliminary data processing such as rejection and screening after acquiring the initial point cloud data. Then, the point cloud data after preliminary data processing is calculated to obtain the required three-dimensional feature information of the material surface.

[0058] After the container 5 storing material 8 has been used for a period of time, due to the influence of external environment, internal chemical reactions, and mechanical stress, the container 5 may undergo a series of physical and chemical changes. For example, long-term load-bearing or temperature fluctuations may cause plastic deformation or permanent deformation of the container 5. Specifically, the following situations may occur: 1) Deformation: The metal container 5 may develop micro-cracks due to thermal expansion and contraction; 2) Wear: Friction between the inner wall of the container 5 and the material 8 will cause the inner wall surface to wear gradually, especially when storing granular or powdery materials 8; 3) Corrosion: If there is a chemical reaction between the material of the container 5 and the material 8 (such as acid and alkali corrosion), the inner wall of the container 5 may be corroded, resulting in thinning or a decrease in structural strength; 4) Material adhering: The properties of the material itself may cause it to adhere to the inner wall of the container, resulting in material adhering. The material in the adhering phenomenon is static, non-effective material. 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 this disclosure can scan the inner wall of the container 5 along a set direction according to a preset logic or preset cycle 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 to 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 aforementioned first measurement module 1 (laser measurement module) can emit and receive laser signals to container 5 along a set direction according to preset logic (different scanning logics are pre-set) based on the type, material, and internal material characteristics of container 5. For example, for container 5 made of high reflectivity material, low-power scanning may be used to reduce interference; while for low reflectivity material, it may be necessary to increase the scanning power to ensure the accuracy of data acquisition. Alternatively, the first measurement module 1 can emit and receive laser signals to container 5 along a set direction according to a preset cycle. The preset cycle is a preset scanning cycle, which can be adjusted according to actual needs. For example, in a dynamic environment (such as container 5 being stirred), a shorter scanning cycle may be needed to capture real-time changes; while in a static environment, the scanning cycle can be appropriately extended to save energy; or the inner wall (inner side wall, top, and bottom) of container 5 can be scanned periodically at the same intervals to measure the real-time characteristic parameter information of container 5 itself.

[0060] When the inner wall of container 5 is scanned along a set direction according to a preset logic or preset cycle to obtain real-time characteristic parameter information of the container, the container may contain material or be empty. When the container contains 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, the inner wall of the container is scanned according to normal scanning logic (continuous scanning at the set maximum scanning angle).

[0061] After material loading and unloading are completed, the inner wall of the container is scanned to obtain real-time characteristic parameter information. The control module 3 analyzes and compares this real-time characteristic parameter information with the initial characteristic parameter information. If the real-time characteristic parameter information shows a localized decrease in size (a localized bulge towards the inside of the container) compared to the initial characteristic parameter information, it is determined that an abnormal phenomenon such as material buildup, bulging, or scaling has occurred at that localized location within the container. At this time, the control module 3 will compensate or calibrate the three-dimensional characteristic information of the current material surface based on the real-time characteristic parameter information to obtain accurate three-dimensional characteristic information of the material surface, that is, the point cloud data corresponding to the bulging area is discarded 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 for intuitive display.

[0062] Alternatively, when the container contains material, if the inner wall of the container 5 is scanned to obtain real-time characteristic parameter information, the control module 3 analyzes and compares this real-time characteristic parameter information with the initial characteristic parameter information of the container. Based on the stacking angle and the conditions of the inlet 6 and outlet 7, if the real-time characteristic parameter information shows a "hill"-like protrusion on a local surface of the container's inner wall compared to the initial characteristic parameter information, it is determined that there is an abnormal phenomenon such as material hanging, bulging, or scaling at that local location on the inner wall of the container. At this time, the control module 3 will combine the real-time characteristic parameter information to compensate or calibrate the three-dimensional characteristic information of the current material surface to obtain accurate three-dimensional characteristic information of the material surface. Specifically, the control module 3 will discard 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 part of valid point cloud data is the valid material currently being fed or the valid material that can be discharged from the container during the discharge process.

[0063] In the process of the first measurement module 1 transmitting and receiving laser signals to the container 5 along the set direction, the scanning direction includes, but is not limited to, the vertical direction, the horizontal direction and the bottom 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 herein can use laser signals and microwave signals in a time-division manner. By combining microwave signals and laser signals, it can meet both different working conditions and measurement accuracy requirements.

[0065] In a further embodiment of this disclosure, the inner wall of container 5 may wear or be damaged after prolonged use. At this time, pits or holes will appear on the inner wall of container 5. Material 8 will be present in these pits or holes. At this time, the boundary of container 5 will extend outward compared to the initial state. In other words, the size of some parts inside container 5 will increase. At this time, there will be errors when measuring the material 8 level information by microwave signal or laser signal. In order to ensure the accuracy of the material 8 level information calculation, the initial characteristic parameter information of container needs to be updated.

[0066] Therefore, the first measurement module 1 (laser measurement module) can first measure the real-time characteristic parameter information of the container through laser signal, and then analyze and compare the real-time characteristic parameter information of the container (mainly the geometric dimension information of the container) with the level threshold pre-stored by the control module 3. If the real-time characteristic parameter information of the container exceeds the level threshold, it indicates that the inner wall of the container 5 has been 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 performs secondary calculations on the point cloud data corresponding to the precise three-dimensional feature information of the material surface to obtain the updated precise three-dimensional feature information of the material surface, including:

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

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

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

[0071] In this disclosure, the real-time characteristic parameters of the container are first measured based on the accuracy of laser measurement. Then, based on these real-time characteristic parameters and the pre-stored level threshold in the control module 3, the system analyzes and determines whether damage or dents have occurred inside the container 5. If damage or dents are found, the three-dimensional characteristic information of the material surface needs to be updated. Specifically, this involves acquiring the point cloud data (valid point cloud data) corresponding to the current three-dimensional characteristic information of the material surface, and then tracing back to acquire all original point cloud data (invalid and valid point cloud data) corresponding to the point cloud data (valid point cloud data). This original point cloud data is used as the updated point cloud data required for secondary calculations. Finally, a secondary calculation is performed using this original point cloud data as the base data to obtain the updated, accurate three-dimensional characteristic information of the material surface.

[0072] Alternatively, in another embodiment of this 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 feature information from the first measurement module 1 scanning the container 5 according to a preset logic or preset cycle, and remodels the container based on the real-time feature parameter information. Then, it updates the pre-stored level threshold based on the new container model information after remodeling. Since the container 5 may experience abnormal phenomena such as deformation, scaling, or material buildup after a period of use, the aforementioned level threshold needs to be updated to obtain accurate three-dimensional feature information of the material surface. This updates the data for data calibration or compensation of the first or second material measurement information obtained by the first or second measurement module 1 or the second measurement module 2. As a result, the three-dimensional feature information of the material surface calculated by the control module 3 will be more accurate and better fit the current container 5 model.

[0074] In another embodiment of this 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 invalid point cloud data to obtain real-time feature parameter information of the container, and remodels the container 5 according to the real-time feature 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.

[0075] In this embodiment, the control module 3 receives invalid point cloud data from the initial point cloud data after preliminary data processing such as elimination and filtering, which is compared with the pre-stored level threshold analysis. Based on the proportion and repetition of the invalid point cloud data compared to the initial point cloud data, the control module 3 controls whether the first measurement module 1 rescans 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, the invalid point cloud data accounts for 8% of the initial point cloud data. This proportion far exceeds the 2% proportion threshold set by the control module 3 during data processing. This indicates that the proportion of invalid point cloud data is large, and it is necessary to analyze whether the container 5 has deformed or other abnormalities. Specifically, the control module 3 needs to control the first measurement module 1 to rescan the inner wall of the container 5 to obtain the real-time characteristic parameter information of the container at the current moment. 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 filter and eliminate invalid point cloud data. For example, if there are interfering objects or abnormal echoes in the container 5, the level threshold needs to be pre-set to perform preliminary data processing on the initial point cloud data. Alternatively, the proportional threshold corresponding to the proportion of invalid point cloud data can be stored at the same time. After preliminary data processing, the proportion of invalid point cloud data that has been removed or filtered out can be further analyzed and compared with the proportional threshold. If an abnormal proportion is found, it means that the level threshold needs to be updated or the 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 cycle to obtain real-time feature information, and remodels it based on the real-time feature parameter information of the container. Then, it updates the pre-stored level threshold according to the new model information of the remodeled container. Since the container 5 may deform or scale after a period of use, the above-mentioned level threshold needs to be updated in order to obtain accurate three-dimensional feature information of the material surface. This is to perform data calibration or compensation on the material measurement information obtained by the first measurement module 1 or the second measurement module 2. As a result, the three-dimensional feature information of the material surface calculated by the control module 3 will be more accurate and more consistent with the current container 5 model.

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

[0078] The mechanical motion in at least one of the aforementioned dimensions can be a horizontal mechanical motion, or a vertical mechanical motion; or a combination of both horizontal and vertical mechanical motion. Specifically, it can be controlled and adjusted according to the dimensions of container 5. For example, it can perform horizontal rotation and / or pitching / swinging.

[0079] The control module 3 in this disclosure can be a microcontroller, a system-on-a-chip, etc.

[0080] The optical-wave integrated three-dimensional scanning radar disclosed herein also includes a radar housing. The first measurement module 1, the second measurement module 2, and the control module 3 are housed inside the cavity of the radar housing. A laser protective cover is provided on the radar housing, and the laser protective cover is located on the outer surface of the radar housing in the area for emitting and receiving laser signals.

[0081] Because laser signals are significantly affected by harsh measurement conditions, making reliable measurement impossible, microwave signals are used to scan and measure the material 8 inside container 5 under such conditions. For example, during material feeding and discharging, especially when solid powdery materials 8 are poured into container 5, the level of material 8 and the three-dimensional morphology of the material surface fluctuate constantly and generate dust. Under such harsh conditions, the laser signals transmitted and received by the first measurement module 1 are easily blocked by dust, making reliable measurement difficult. However, the second measurement module 2, which operates based on the microwave measurement principle, is almost unaffected by dust. At this time, the control module 3 can control the first module to stop working while simultaneously controlling the second measurement module 2 to work normally, thus enabling the first measurement module 1 and the second measurement module 2 to work in a time-sharing manner. However, under safe measurement conditions, the control module 3 can control the first measurement module 1 to work normally or control the second measurement module 2 to work, preferably controlling the first measurement module 1 to work. This achieves time-sharing and collaborative work between laser signal measurement and microwave signal measurement, thus enabling normal measurement of material 8 under harsh conditions while maintaining measurement accuracy.

[0082] This disclosure provides an integrated optical-wave three-dimensional scanning radar, including a first measurement module 1, a second measurement module 2, and a control module 3. The first measurement module 1 is used to transmit and receive laser signals, and to perform multi-point scanning of the inner wall of the container 5 along a set direction before material feeding into the container 5, to acquire and determine at least the initial characteristic parameter information of the container and the installation pose information of the first measurement module 1 based on the point cloud data corresponding to the inner wall of the container; and to measure the material surface inside the container 5 in a time-division manner during the feeding and discharging process to obtain first material measurement information. The second measurement module 2 is used to transmit and receive microwave signals, and to measure the material surface inside the container 5 in a time-division manner during the feeding and discharging process to obtain second material measurement information. The control module 3 is used to calculate the three-dimensional feature information of the material surface based on the initial characteristic parameter information of the container, the installation pose information of the first measurement module 1, the first material measurement information, and the second material measurement information. This disclosure achieves accurate measurement of the three-dimensional features of the material surface by simultaneously setting up a first measurement module 1 and a second measurement module 2 inside the same scanning radar. The first measurement module 1 transmits and receives laser information, which can be used to model the container 5 and determine the installation position of the scanning radar. Furthermore, it controls laser measurement or microwave measurement according to whether the container is in the feeding or discharging state. This achieves both accurate modeling of the container 5 and calibration or compensation of the microwave signal through laser signal, and also takes into account scanning accuracy and adaptability to harsh environments.

[0083] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

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

[0085] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A light-wave integrated three-dimensional scanning radar, characterized in that, It includes a first measurement module, a second measurement module, and a control module; The first measurement module is used to emit and receive laser signals, perform multi-point scanning on the inner wall of the container, acquire and determine at least the initial characteristic parameter information of the container based on the point cloud data corresponding to the inner wall of the container, and measure the material surface inside the container to obtain the first material measurement information. The second measurement module is used to transmit and receive microwave signals, and to measure the surface of the material inside the container to obtain second material measurement information; The control module is used to acquire and calculate the three-dimensional feature information of the material surface based on the initial feature parameter information of the container, the first material measurement information and the second material measurement information. The first measurement module is used to scan the inner wall of the container when the container is empty or when the container is not in a feeding state, so as to obtain real-time characteristic parameter information of the container, specifically to obtain the material hanging characteristic information of the inner wall of the container or the morphological information of the container wall. The control module is used to obtain the true shape and / or capacity of the container based on the material hanging feature information on the inner wall of the container and / or the container wall morphology information, thereby determining the effective and ineffective material information inside the container; and to receive the real-time feature parameter information of the container to compensate or calibrate the three-dimensional feature information of the material surface to obtain the accurate three-dimensional feature information of the material surface; and to determine whether the point cloud data corresponding to the three-dimensional feature information of the material surface is valid point cloud data by pre-storing a level threshold; and to analyze and compare the real-time feature parameter information of the container with the level threshold. If the real-time feature parameter information of the container exceeds the level threshold, the control module will update and recalculate the point cloud data corresponding to the accurate three-dimensional feature information of the material surface to obtain the updated accurate three-dimensional feature information of the material surface.

2. The integrated optical-wave 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 container wall mass information based on the container wall deformation amount.

3. The integrated optical-wave three-dimensional scanning radar according to claim 1, characterized in that, The control module is used to receive and model the container based on the initial feature parameter information of the container determined by the first measurement module, and obtain container model information.

4. The integrated optical-wave 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 preset cycle to obtain real-time characteristic parameter information of the container.

5. The integrated optical-wave three-dimensional scanning radar according to claim 4, characterized in that, For point cloud data exceeding the level threshold, the control module will pre-select the point cloud data as invalid point cloud data, and then use the selected point cloud data as valid point cloud data for calculation to obtain the three-dimensional feature information of the material surface.

6. The integrated optical-wave three-dimensional scanning radar according to claim 1, characterized in that, The control module updates and performs secondary calculations on the point cloud data corresponding to the precise three-dimensional feature information of the material surface to obtain the updated precise three-dimensional feature information of the material surface, specifically including: Obtain point cloud data corresponding to the precise three-dimensional feature information of the material surface at the current moment; Based on the precise three-dimensional feature information of the material surface, reverse tracing is performed to obtain all point cloud data, including both invalid and valid point cloud data. The control module performs secondary calculations based on all point cloud data, including both invalid and valid point cloud data, to obtain the updated precise three-dimensional feature information of the material surface.

7. The integrated optical-wave three-dimensional scanning radar according to claim 5, characterized in that, The control module is also used to remodel the container based on 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.

8. The integrated optical-wave three-dimensional scanning radar according to claim 5, characterized in that, The control module controls the first measurement module to rescan the inner wall of the container based on the proportion and repeatability of invalid point cloud data, so as to obtain real-time characteristic parameter information of the container, and remodel the container according to the real-time characteristic parameter information of the container to obtain new container model information, and update the level threshold based on the new container model information.

9. The integrated optical-wave three-dimensional scanning radar according to claim 1, characterized in that, It also includes a drive mechanism, which is used to drive the first measurement module and the second measurement module to perform mechanical movement in at least one dimension; The control module is connected to the first measurement module and the second measurement module respectively, and is at least used to generate control signals and drive the drive mechanism to work so as to drive the first measurement module and the second measurement module to perform mechanical motion.

10. The integrated optical-wave three-dimensional scanning radar according to claim 1, characterized in that, It also includes a radar housing, in which the first measurement module, the second measurement module, and the control module are housed within the cavity of the radar housing. A laser protective cover is provided on the radar housing, and the laser protective cover is located on the outer surface of the radar housing in the area for emitting and receiving laser signals.

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