3D millimeter wave radar detection device and method

Abstract

The embodiment of the invention provides a 3D millimeter wave radar detection device and method, and the device comprises a rotating assembly which comprises a hollow rotating platform, a rotating disc, a first speed reducer, a first servo motor, and a conductive slip ring connected with the first servo motor; the swing assembly is arranged at the bottom of the rotating disc, and the swing assembly comprises a swing driving assembly and a swing table which are connected with each other; the 3D millimeter wave radar module is arranged on the swing table; a rotating assembly is arranged, power of a first servo motor is transmitted to a rotating disc through a conductive slip ring, so that a 3D millimeter-wave radar module arranged on a swing table is driven to rotate, multi-angle laser radar detection of the 3D millimeter-wave radar module is realized in combination with swing driving of a swing assembly on the 3D millimeter-wave radar module, and the information acquisition rate is improved; and the material surface change can be obtained immediately.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar detection, in particular to a 3D millimeter wave radar detection device and method. BACKGROUND

[0002] ‌The dust concentration in the coal bunker is high, the short-wavelength characteristics of the laser radar are easily scattered by the dust, leading to signal attenuation or even failure, and the optical elements of the laser radar are easily damaged in high-temperature or condensed environments, so the laser radar is not suitable for scenes with a large amount of dust. Single-point measurement can only obtain local data and cannot reflect the overall shape of the material surface (such as inclination, uneven accumulation, etc.), resulting in data deviation. Single-point measurement may misjudge the material level due to coal collapse, and the information collection rate is slow, which cannot obtain the changes of the material surface in real time. Moreover, if multi-point measurement is performed, multiple points need to be installed and wired, increasing the installation cost and work intensity. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a 3D millimeter wave radar detection device and method to solve the problem of slow information collection rate of the existing laser radar detection and the inability to obtain the changes of the material surface in real time.

[0004] In a first aspect, the embodiments of the present application provide a 3D millimeter wave radar detection device, comprising: A rotating assembly, comprising a hollow rotating platform, a rotating disc, a first speed reducer, a first servo motor, and a conductive slip ring connected with the first servo motor. The first speed reducer, the first servo motor, and the conductive slip ring are all arranged on the hollow rotating platform. The conductive slip ring passes through the center hole of the hollow rotating platform and is connected with the rotating disc. The rotating disc is connected with the hollow rotating platform. A swinging assembly arranged at the bottom of the rotating disc, comprising a swinging driving assembly and a swing table connected with each other. A 3D millimeter wave radar module arranged on the swing table.

[0005] In the above implementation process, the rotating assembly is provided, the power of the first servo motor is transmitted to the rotating disc through the conductive slip ring, so as to drive the 3D millimeter wave radar module arranged on the swing table to rotate. In combination with the swinging driving of the swinging assembly to the 3D millimeter wave radar module, the multi-angle laser radar detection of the 3D millimeter wave radar module is realized, the information collection rate is improved, and the changes of the material surface can be obtained in real time.

[0006] Further, it further comprises a shell, a dust cover, a sealing plate, and a fixed support. The fixed support is fixed on the shell by screws. The sealing plate is arranged at the top of the shell. The bottom of the shell is welded with a threaded ring. The dust cover is threadedly connected with the threaded ring.

[0007] The shell is provided with a cable waterproof joint, and an inner surface of the shell is provided with an electric control board; the rotating assembly is arranged in the shell, and the swing assembly and the 3D millimeter wave radar module are arranged in the dust cover.

[0008] In the implementation process, the shell is arranged to store the 3D millimeter wave radar detection assembly, and the dust cover is arranged to avoid dust accumulation of the 3D millimeter wave radar module.

[0009] Further, the rotating assembly further comprises a conductive slip ring fixing seat, a photoelectric switch and a photoelectric switch fixing seat; the conductive slip ring is fixed on the conductive slip ring fixing seat, the conductive slip ring fixing seat is fixed on the base of the hollow rotating platform, the base of the hollow rotating platform is fixed on the shell, and the rotating disc is connected to the rotatable platform of the hollow rotating platform. The photoelectric switch is arranged on the photoelectric switch fixing seat, and the photoelectric switch fixing seat is arranged on the hollow rotating platform. One end of the first speed reducer is connected to the first servo motor, and the other end of the first speed reducer is fixed on the hollow rotating platform through a screw.

[0010] In the implementation process, the rotating assembly is arranged to control and drive the 3D millimeter wave radar module to rotate.

[0011] Further, the rotating assembly further comprises a first micro switch; the swing driving assembly comprises a second servo motor, a second speed reducer, a motor fixing seat, a large gear, a small gear, a bearing seat, a second micro switch and a micro switch fixing seat. The micro switch fixing seat is arranged on the rotating disc, the first micro switch is arranged on the photoelectric switch fixing seat through a screw, the second micro switch is arranged on the photoelectric switch fixing seat through a screw, the bearing seat is arranged on the rotating disc, and the bearing seat contains a high-precision deep groove ball bearing. The two shaft ends of the swing table are concentric and are both mounted in the inner ring of the deep groove ball bearing of the bearing seat; the large gear is mounted on the shaft at one end of the swing table; the motor output end of the second servo motor is inserted into the power input end of the second speed reducer and is fixed; the second speed reducer is connected to the motor fixing seat through a screw; the motor fixing seat is fixed on the rotating disc; the small gear is mounted on the power output shaft of the second speed reducer through a screw; and the large gear is engaged with the small gear.

[0012] In the implementation process, the swing driving assembly is arranged to control and drive the 3D millimeter wave radar module to swing.

[0013] In a second aspect, the embodiments of the present application provide a 3D millimeter wave radar detection method, which is implemented based on the 3D millimeter wave radar detection device described above, and comprises the following steps: establishing an origin and a world coordinate system of the detected silo; calibrating a coordinate of the first set point in the world coordinate system; wherein the first set point is the center of the upper surface of the center hole of the fixed support; installing the device so that the initial position of the central axis OB of the 3D millimeter wave radar module is parallel to the z-axis of the world coordinate system, and the rotation axis OC of the hollow rotating platform is parallel to the z-axis of the world coordinate system; adjusting the device so that the initial position of the swing axis OA of the swing table is parallel to the x-axis of the world coordinate system; when the detected silo is empty, scanning the detected silo, comparing the calculated value with the standard value, and calibrating the 3D millimeter wave radar module.

[0014] Further, it further comprises: detecting and calculating the volume of the material in the measured silo; The detection and calculation of the volume of the material in the measured silo comprises: inputting the coordinates of the first set point, the length of the rotation axis of the hollow rotating platform, and the length of the central axis of the 3D millimeter wave radar module, and calculating the coordinates of the detection point; According to the set non-uniform step angle algorithm, the distance between the detection point and the 3D millimeter wave radar module is detected and recorded under different first and second angles; wherein the first angle is the angle of the axis OA rotating clockwise around the axis OA, and the second angle is the angle of the axis OB rotating clockwise around the axis OA; Using the support vector machine SVM algorithm to eliminate the distance data of the detection point from the 3D millimeter wave radar module that does not meet the set requirements; Using the non-uniform rational B-spline NURBS model to fit the surface of the distance data of the detection point from the 3D millimeter wave radar module; Using the integral method to calculate the volume of the fitted surface, and combining the density of the material, the mass of the material is calculated.

[0015] Further, the calculation of the coordinates of the detection point comprises: The coordinates of the detection point D are (x, y, z): ; Simplifying the coordinates of the detection point D in the world coordinate system is: ; ; ; wherein, is the length of the axis OC, is the length of the axis OB, is the length of the axis BD, is the first included angle, is the second included angle.

[0016] Further, the scanning is detected bin, comprising: Adopt the variable angle scanning mode to scan the detected bin; wherein the scanning angle of the center area is greater than the scanning angle of the edge area.

[0017] In a third aspect, the embodiments of the present application provide an electronic device, comprising: A processor, a memory and a bus, the processor is connected with the memory through the bus, the memory stores computer readable instructions, when the computer readable instructions are executed by the processor, the 3D millimeter wave radar detection method is realized.

[0018] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium stores computer programs, when the computer programs are executed by the server, the 3D millimeter wave radar detection method is realized. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application, it should be understood that the following drawings only show some embodiments of the present application, therefore should not be regarded as a limitation on the scope, for those skilled in the art, without paying creative labor, other related drawings can also be obtained according to these drawings.

[0020] Figure 1 is a rotating component structure schematic diagram of a 3D millimeter wave radar detection device provided by the embodiments of the present application; Figure 2 is a swing component structure schematic diagram of a 3D millimeter wave radar detection device provided by the embodiments of the present application; Figure 3 is a shell structure schematic diagram of a 3D millimeter wave radar detection device provided by the embodiments of the present application; Figure 4 is an electric control board structure schematic diagram of a 3D millimeter wave radar detection device provided by the embodiments of the present application; Figure 5 is a bottom structure schematic diagram of a 3D millimeter wave radar detection device provided by the embodiments of the present application; Figure 6 is a flow schematic diagram of a 3D millimeter wave radar detection method provided by the embodiments of the present application; Figure 7 is a coordinate system schematic diagram of a 3D millimeter wave radar detection method provided by an embodiment of the present application; Figure 8 is an equi-angle detection point distribution schematic diagram of a 3D millimeter wave radar detection method provided by an embodiment of the present application; Figure 9 is a non-uniform angle detection point distribution schematic diagram of a 3D millimeter wave radar detection method provided by an embodiment of the present application; Figure 10 is a structural schematic diagram of an electronic device provided by an embodiment of the present application; Among them, 1, the first servo motor; 2, the first speed reducer; 3, the hollow rotating platform; 4, the conductive slip ring fixing seat; 5, the rotating disc; 6, the conductive slip ring; 7, the photoelectric switch; 8, the photoelectric switch fixing seat; 9, the micro switch fixing seat; 10, the first micro switch; 11, the bearing seat; 12, the swing table; 13, the second micro switch; 14, the 3D laser radar module; 15, the second servo motor; 16, the second speed reducer; 17, the large gear; 18, the small gear; 19, the motor fixing seat; 20, the fixed support; 21, the sealing plate; 22, the shell; 23, the dust cover; 24, the cable waterproof joint; 25, the electric control board. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0022] It should be noted that: similar labels and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used for differentiation description, and cannot be understood as indicating or implying relative importance.

[0023] Please refer to Figures 1 to 5 , Figure 1 is a rotating assembly structural schematic diagram of a 3D millimeter wave radar detection device provided by an embodiment of the present application. The 3D millimeter wave radar detection device comprises: The rotating assembly comprises a hollow rotating platform 3, a rotating disc 5, a first speed reducer 2, a first servo motor 1 and a conductive slip ring 6 connected with the first servo motor 1. The first speed reducer 2, the first servo motor 1 and the conductive slip ring 6 are all arranged on the hollow rotating platform 3. The conductive slip ring passes through the center hole of the hollow rotating platform 3 and is connected with the rotating disc 5. The rotating disc 5 is connected with the hollow rotating platform 3.

[0024] A swing assembly is arranged at the bottom of the rotating disc 5, and the swing assembly comprises a swing driving assembly and a swing table 12 connected with each other.

[0025] A 3D millimeter wave radar module 14 is arranged on the swing table 12.

[0026] In the above, the embodiment of the application is provided with a rotating assembly, and the power of the first servo motor 1 is transmitted to the rotating disc 5 through the conductive slip ring 6, so as to drive the 3D millimeter wave radar module 14 arranged on the swing table 12 to rotate, and the swing driving of the 3D millimeter wave radar module 14 by the swing assembly is combined, so as to realize the multi-angle laser radar detection of the 3D millimeter wave radar module 14, improve the information acquisition rate, and the surface change of the material can be acquired in real time.

[0027] Optionally, the first speed reducer 2 is a 90-degree angle speed reducer, the first servo motor 1 is fixed on one end of the 90-degree angle speed reducer through bolts, and the other end of the 90-degree angle speed reducer is fixed on the power input end of the hollow rotating platform 3 through screws.

[0028] In some embodiments, please refer to Figure 3 and Figure 4 Further comprising a shell 22, a dust cover 23, a sealing plate 21 and a fixing support 20, the fixing support 20 is fixed on the shell 22 through screws, the sealing plate 21 is arranged at the top of the shell 22, a threaded ring is welded at the bottom of the shell 22, and the dust cover 23 is threadedly connected with the threaded ring; a cable waterproof joint 24 is arranged on the shell 22, and an electric control board 25 is arranged on the inner surface of the shell 22; the rotating assembly is arranged in the shell 22, and the swing assembly and the 3D millimeter wave radar module 14 are arranged in the dust cover 23; thus, the shell 22 is arranged to facilitate the storage of the 3D millimeter wave radar detection assembly, and the dust cover 23 is arranged to avoid dust accumulation of the 3D millimeter wave radar module 14.

[0029] Optionally, the cable waterproof joint 24 is a stainless steel cable waterproof joint 24. The outer surface of the dust cover 23 is coated with a layer of self-cleaning nano coating.

[0030] In some embodiments, please refer to Figure 1The rotating assembly further comprises a conductive slip ring fixing seat 4, a photoelectric switch 7 and a photoelectric switch fixing seat 8; the conductive slip ring 6 is fixed on the conductive slip ring fixing seat 4, the conductive slip ring fixing seat 4 is fixed on the base of the hollow rotating platform 3, the base of the hollow rotating platform 3 is fixed on the shell 22, and the rotating disc 5 is connected to the rotatable platform of the hollow rotating platform 3; the photoelectric switch 7 is arranged on the photoelectric switch fixing seat 8, and the photoelectric switch fixing seat 8 is arranged on the hollow rotating platform 3; one end of the first speed reducer 2 is connected to the first servo motor 1, and the other end of the first speed reducer 2 is fixed on the hollow rotating platform 3 through a screw; thus, the rotating assembly is arranged to control and drive the 3D millimeter wave radar module 14 to rotate.

[0031] Specifically, the conductive slip ring fixing seat 4 is a T-shaped component, the T-shaped component of the conductive slip ring fixing seat 4 is connected to the conductive slip ring 6 through a screw, and the bottom of the conductive slip ring fixing seat 4 is arranged on the central control rotating platform, so that the conductive slip ring 6 is fixed. Thus, the conductive slip ring 6 transmits the power of the first servo motor 1 to the rotating disc 5.

[0032] Specifically, the photoelectric switch 7 is used to detect whether the material exists in the measured material bin.

[0033] In some embodiments, referring to Figure 2 and Figure 5 , the rotating assembly further comprises a first micro switch 10; the swing driving assembly comprises a second servo motor 15, a second speed reducer 16, a motor fixing seat 19, a large gear 17, a small gear 18, a bearing seat 11, a second micro switch 13 and a micro switch fixing seat 9.

[0034] The micro switch fixing seat 9 is arranged on the rotating disc 5, the first micro switch 10 is arranged on the photoelectric switch fixing seat 8 through a screw, the second micro switch 13 is arranged on the photoelectric switch fixing seat 8 through a screw, the bearing seat 11 is arranged on the rotating disc 5, and the bearing seat 11 contains a high-precision deep groove ball bearing; the two shaft ends of the swing table 12 are concentric and are both mounted in the inner ring of the deep groove ball bearing of the bearing seat 11; the large gear 17 is mounted on the shaft at one end of the swing table 12; the motor output end of the second servo motor 15 is inserted into the power input end of the second speed reducer 16 and is fixed; the second speed reducer 16 is connected to the motor fixing seat 19 through a screw; the motor fixing seat 19 is fixed on the rotating disc 5; the small gear 18 is mounted on the power output shaft of the second speed reducer 16 through a screw; the large gear 17 is engaged with the small gear 18; thus, the swing driving is arranged to control and drive the 3D millimeter wave radar module 14 to swing.

[0035] Specifically, the first micro switch 10 is connected to the first servo motor 1 through a circuit for controlling the opening and closing of the first servo motor 1; the second micro switch 13 is connected to the second servo motor 15 through a circuit for controlling the opening and closing of the second servo motor 15.

[0036] Specifically, a key groove is processed on the shaft of one end of the swing table 12, a standard key is installed therein for torque transmission, an elastic shaft collar is used to limit the axial displacement of the large gear 17, the motor output end of the second servo motor 15 is inserted into the power input end of the second reducer 16 and fixed, the second reducer 16 is fixed on the motor fixing seat 19 through a screw, the motor fixing seat 19 is fixed on the rotating disc 5, the pinion 18 is fixed on the power output shaft of the reducer through a screw, and the large gear 17 is in gear engagement with the pinion 18 to transmit torque.

[0037] Specifically, an electric control panel 25 is arranged on the inner surface of the shell 22, the electric control panel 25 is fixed on the inner surface of the shell 22 through a welding stud, and is used to control the photoelectric switch 7, the first micro switch, the second micro switch, the first servo motor 1, the second servo motor 15, the first reducer 2 and the second reducer 16.

[0038] As described above, the embodiment of the application uses an integrated servo motor control structure to improve the stability of the mechanical structure and reduce the overall size of the device; the internal integrated edge computing capability enables it to directly output the coordinate information of the material surface, reduces the data transmission volume, reduces the network data transmission requirement, and solves the problem of unstable network data transmission.

[0039] As can be understood, the millimeter wave radar has a longer wavelength and can penetrate dust, steam and other media to maintain stable measurement. The 3D millimeter wave radar generates a three-dimensional model of the coal pile (such as shape, volume, and mass) through multi-angle scanning, solves the problem of local data distortion caused by the inclination and uneven accumulation of the coal pile in single-point measurement, can identify the collapse area and correct the overall volume data. The wide beam coverage capability of the millimeter wave radar can bypass obstacles such as supports and conveyors in the coal bunker, while the narrow beam of the laser radar is easily blocked to form a blind area.

[0040] A single 3D millimeter wave radar can replace multiple single-point sensors, reducing the installation point and wiring cost; the laser radar needs to be cleaned regularly (coal dust adhesion leads to reduced accuracy), while the millimeter wave radar antenna does not need to be cleaned.

[0041] In summary, through 3D millimeter wave radar scanning, a 3D contour model of the material is generated, breaking through the limitations of traditional single-point or linear measurement, accurately reflecting the real distribution of the material, identifying the position of obstacles (such as supports and mixers) in the container, and avoiding measurement interference. Through accurate inventory control, material waste is reduced, the risk of manual climbing inspection is avoided, and industrial safety standards are met.

[0042] In a second aspect, based on the above embodiments, Figure 6 A flowchart of a 3D millimeter wave radar detection method provided by the embodiments of the present application is shown in FIG. 1. Figure 6 and Figure 7 The 3D millimeter wave radar detection method provided by the embodiments specifically includes the following steps. 100, establishing the origin and world coordinate system of the detected silo.

[0043] 200, calibrating the coordinates of the first set point in the world coordinate system; wherein the first set point is the center of the upper surface of the center hole of the fixed support.

[0044] 300, installing the device so that the initial position of the central axis OB of the 3D millimeter wave radar module is parallel to the z-axis of the world coordinate system, and the rotation axis OC of the hollow rotating platform is parallel to the z-axis of the world coordinate system.

[0045] 400, debugging the device so that the initial position of the swing axis OA of the swing table is parallel to the x-axis of the world coordinate system.

[0046] 500, when the detected silo is empty, scanning the detected silo, comparing the calculated value with the standard value, and calibrating the 3D millimeter wave radar module.

[0047] Please refer to Figure 7 , C is the center of the upper surface of the center hole of the fixed support, o-xyz is the world coordinate system, straight line OC is the rotation axis of the hollow rotating platform, axis OC is parallel to the z-axis of the world coordinate system, straight line OA is the swing axis of the swing table, straight line OB is the central axis of the 3D millimeter wave radar module, and B is the measurement origin of the 3D millimeter wave radar module, the initial position of axis OA is parallel to the x-axis of the world coordinate system, the initial position of axis OB is parallel to the z-axis of the world coordinate system, D is the target point of detection, the length of OC is , the length of OB is , the length of BD is , assuming that during the movement, axis OA rotates clockwise by α around axis OC, and axis OB rotates clockwise by β around axis OA, the coordinates of C in the world coordinate system are (x, y, z). , , , and the coordinates of D in the world coordinate system are (x, y, z).

[0048] In some embodiments, it further includes detecting and calculating the volume of the material in the measured silo.

[0049] The detection and calculation of the volume of the material in the measured silo includes: Input the coordinates of the first set point, the length of the rotation axis of the hollow rotating platform, and the length of the central axis of the 3D millimeter wave radar module to calculate the coordinates of the detection point; According to the set non-uniform step angle algorithm, the distance between the detection point and the 3D millimeter-wave radar module is detected and recorded under different first and second angles. The first angle is the angle of axis OA rotating clockwise around axis OA, and the second angle is the angle of axis OB rotating clockwise around axis OA. Use the support vector machine (SVM) algorithm to eliminate the distance data of detection points from the 3D millimeter-wave radar module that do not meet the set requirements; The non-uniform rational B-spline (NURBS) model is used to perform surface fitting on the distance data between the detection point and the 3D millimeter-wave radar module. The volume of the fitting surface is calculated using the integration method, and the mass of the material is calculated based on the density of the material.

[0050] Optionally, calculating the coordinates of the detection points includes: The coordinates of the detection point D are (x, y, z): ; By simplifying, we can get the coordinates of the detection point D in the world coordinate system: ; ; ; in, is the length of the axis OC, is the length of the axis OB, is the length of axis BD, is the first angle, is the second angle.

[0051] Optionally, scanning the inspected silo includes: The silo to be inspected is scanned by means of variable angle scanning; the scanning angle of the center area is greater than that of the edge area. Figure 8 and Figure 9 , Figure 8 The diagram of the distribution of detection points at equal angles is shown. Figure 9 The diagram shows the distribution of non-uniform angle detection points. If the equi-angle scanning method is used, the distribution of scanning points on the surface of the three-dimensional material will be as follows Figure 8 As shown, the edge area will be relatively sparse; the embodiment of the present application adopts a variable angle scanning method, please refer to Figure 9The scanning angle of the central region is large, and the scanning angle of the edge region is small, so that the scanning angle is more uniform without increasing the scanning time, and the volume estimation of the whole material is more accurate.

[0052] For example, the step angle is: ; Wherein, Δ is the step angle (usually used in stepper motors or mechanical transmission systems, indicating the rotation angle of each step); e is a natural constant (approximately equal to 2.71828); β is a certain parameter (representing the damping coefficient, attenuation factor or other physical quantity); N is a natural constant (an integer parameter such as the number of gear teeth, the number of subdivision steps of a stepper motor).

[0053] The distribution diagrams of the detection points generated by the two methods are shown in Figure 8 and Figure 9 As can be seen from the figures, the non-uniform step angle is more uniformly distributed on the periphery, and the middle distribution is not too dense, causing time waste. This method can save time and increase the accuracy of measurement as much as possible.

[0054] Optionally, the support vector machine SVM algorithm is used to eliminate the detection point distance 3D millimeter wave radar module distance data that does not meet the set requirements, including: using the support vector machine SVM algorithm to eliminate obvious deviation data (abnormal values).

[0055] It can be understood that a variant of the support vector machine, One-Class SVM (OCSVM), is designed for unsupervised anomaly detection. The core idea is to learn the boundary of normal data and regard data deviating from the boundary as abnormal; through the kernel function, the data is mapped to a high-dimensional space, and a hyperplane containing most of the normal data is constructed.

[0056] Specifically, first, data preprocessing: standardize the features to eliminate the influence of dimension difference on distance calculation; delete or fill missing values (such as mean interpolation). Then train and predict the model. Visualize and verify the data: observe the abnormal value distribution through scatter plot or box plot; through One-Class SVM, the deviating points in the data can be effectively identified, and the accuracy can be further improved by combining statistical methods and parameter optimization. In practical application, the precision and recall rate should be balanced according to the data characteristics and business needs, and the reasonableness of the results should be verified through visualization.

[0057] Optionally, the non-uniform rational B-spline (NURBS) model is used to fit the distance data of the detection point distance 3D millimeter wave radar module, including three core parts: mathematical representation, fitting process and optimization control.

[0058] Specifically, the NURBS is mathematically represented; then a point cloud fitting process is performed: denoising and thinning, filtering abnormal points and reducing the point cloud density, such as through statistical filtering or voxel grid sampling, determining the normal direction of the surface (such as [0, 0, 1]), providing a reference for parameterization. Project the point cloud to the two-dimensional parameter domain, establish the mapping relationship between the parameters and the spatial points; automatically set the number of control points in the U / V direction according to the point cloud density, generate the initial NURBS surface. Optimize the control point position and weight by minimizing the sum of the squares of the distances from the point cloud to the surface; dynamically insert nodes according to the curvature change to improve the local fitting accuracy (such as increasing the node density in high curvature areas).

[0059] Finally, optimization and verification are performed. Continuity control: by constraining the node vectors and basis function orders of adjacent surface patches, the smoothness of the surface is ensured; a fast algorithm is used to avoid self-intersection of the surface, ensuring the geometric validity. Accuracy evaluation: residual analysis: calculate the maximum deviation, root mean square error (RMSE) and determination coefficient (R²).

[0060] The core of NURBS point cloud fitting is to establish a high-precision mapping between the parameter domain and the physical space through the coordinated adjustment of control points, weights and node vectors. Its advantages lie in mathematical flexibility, support for non-uniform nodes and rational fractions f(x,y) and industrial-level precision (which can reach micron-level error). In practical applications, parameterization strategies should be selected in combination with data characteristics, and tools such as fast self-intersection detection and residual analysis should be used to ensure the reliability of the results.

[0061] Optionally, the volume of the fitted surface is calculated using the integral method, and the mass of the material is calculated by combining the density of the material, including: using the mathematical expression f(x,y) of the NURBS surface that has been obtained, using the integral: The volume enclosed by the surface can be obtained.

[0062] The above, the application embodiment solves the problem of inaccurate scanning of the edge area in the multi-angle scanning process of the 3D radar, and solves the problem of inaccurate scanning of the edge area in the multi-angle scanning process of the 3D radar. In addition, by optimizing the design, the shape parameters of the focusing lens of the 3D millimeter wave radar are modified, so that the focusing of the millimeter wave radar is better, and a farther distance can be detected, meeting the use of large-scale silos.

[0063] The above steps are not strictly executed in the order described by the number, and should be understood as a whole scheme.

[0064] The 3D millimeter wave radar detection device provided by the application embodiment can be used to execute the 3D millimeter wave radar detection method provided by the above-mentioned embodiment, and has the corresponding functions and beneficial effects.

[0065] In a third aspect, the embodiments of the present application further provide an electronic device, which can integrate the 3D millimeter wave radar detection apparatus provided by the embodiments of the present application. Figure 10 is a structural schematic diagram of an electronic device provided by the embodiments of the present application. Referring to Figure 10 The electronic device includes an input apparatus 73, an output apparatus 74, a memory 72, and one or more processors 71; the memory 72 is configured to store one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 71 implement the 3D millimeter wave radar detection method provided by the above-described embodiments. The input apparatus 73, the output apparatus 74, the memory 72, and the processor 71 can be connected by a bus or other means, Figure 10 for example, by a bus connection in the above description.

[0066] The processor 71 executes various function applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 72, that is, implements the above-described 3D millimeter wave radar detection method.

[0067] The electronic device provided above can be used to execute the 3D millimeter wave radar detection method provided by the above-described embodiments, and has the corresponding functions and beneficial effects.

[0068] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which includes a stored computer program; wherein when the computer program runs, the computer readable storage medium controls the device where the computer readable storage medium is located to execute the 3D millimeter wave radar detection method described above and can achieve the same beneficial effects.

[0069] Of course, the storage medium provided by the embodiments of the present application includes computer executable instructions, which are not limited to the 3D millimeter wave radar detection method described above, but can also execute the related operations in the 3D millimeter wave radar detection method provided by any embodiments of the present application.

[0070] In a fifth aspect, the embodiments of the present application further provide a computer program product. The methods described in the embodiments of the present application can be implemented by software, hardware, firmware, or any combination thereof, in whole or in part. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM (Open Application Model), or other programmable devices.

[0071] The computer program or instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, e.g., from a website, computer, server, or datacenter to another website, computer, server, or datacenter via a wired or wireless arrangement. The computer readable storage medium can be any available medium or data storage device that can be accessed by a computer. By way of example, and not limitation, such computer readable media can comprise a random access memory (RAM), a read-only memory (ROM), an optical disc, a hard disk, a solid state drive, etc. The computer readable storage medium can be a computer readable storage medium that is external to the computer or a data storage device, such as a server, data center, etc., that can include one or more of the available media.

[0072] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other means. The apparatus embodiments described above are only illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0073] In addition, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0074] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for making an electronic device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0075] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0076] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0077] It should be noted that, in the present document, the relationship terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A 3D millimeter wave radar detection device, characterized in that: include: A rotating assembly includes a hollow rotating platform, a rotating disk, a first reducer, a first servo motor, and a conductive slip ring connected to the first servo motor, wherein the first reducer, the first servo motor, and the conductive slip ring are all arranged on the hollow rotating platform, the conductive slip ring passes through the center hole of the hollow rotating platform and is connected to the rotating disk, and the rotating disk is connected to the hollow rotating platform; A swing assembly is provided at the bottom of the rotating disc, and the swing assembly includes a swing drive assembly and a swing platform connected to each other; The 3D millimeter-wave radar module is arranged on the platform.

2. The 3D millimeter wave radar detection device according to claim 1, characterized in that: The device further comprises a housing, a dust cover, a sealing plate and a fixing bracket, wherein the fixing bracket is fixed to the housing by screws, the sealing plate is arranged on the top of the housing, a threaded ring is welded to the bottom of the housing, and the dust cover is threadedly connected to the ring; The outer shell is provided with a cable waterproof connector, and the inner surface of the outer shell is provided with an electric control board; the rotating component is provided in the outer shell, and the swinging component and the 3D millimeter wave radar module are provided in the dust cover.

3. The 3D millimeter wave radar detection device according to claim 2, characterized in that: The rotating assembly further includes a conductive slip ring fixing seat, a photoelectric switch and a photoelectric switch fixing seat; the conductive slip ring is fixed to the conductive slip ring fixing seat, the conductive slip ring fixing seat is fixed to the base of the hollow rotating platform, the base of the hollow rotating platform is fixed to the housing, and the rotating disc is connected to the rotatable platform of the hollow rotating platform; The photoelectric switch is arranged on the photoelectric switch fixing seat, and the photoelectric switch fixing seat is arranged on the hollow rotating platform; One end of the first reducer is connected to the first servo motor, and the other end of the first reducer is fixed to the hollow rotating platform by screws.

4. The 3D millimeter wave radar detection device according to claim 2, characterized in that: The rotating assembly further includes a first micro switch; the swing driving assembly includes a second servo motor, a second reducer, a motor fixing seat, a large gear, a small gear, a bearing seat, a second micro switch and a micro switch fixing seat; The micro switch fixing seat is arranged on the rotating disc, the first micro switch is arranged on the photoelectric switch fixing seat by screws, the second micro switch is arranged on the photoelectric switch fixing seat by screws, the bearing seat is arranged on the rotating disc, and the bearing seat contains a high-precision deep groove ball bearing; The shaft ends on both sides of the swing table are concentric and are both installed in the inner ring of the deep groove ball bearing of the bearing seat; the large gear is installed on the shaft at one end of the swing table; the motor output end of the second servo motor is inserted into the power input end of the second reducer and fixed; the second reducer is connected to the motor fixing seat by screws; the motor fixing seat is fixed on the rotating disc; the small gear is installed on the power output shaft of the second reducer by screws; the large gear is meshed with the small gear.

5. A 3D millimeter wave radar detection method, characterized in that: The 3D millimeter wave radar detection device according to any one of claims 1 to 4 is implemented, comprising: Establish the origin and world coordinate system of the inspected silo; Calibrate the coordinates of a first set point in a world coordinate system; wherein the first set point is the center of the upper surface of the central hole of the fixing bracket; The installation device makes the initial position of the central axis OB of the 3D millimeter wave radar module parallel to the z-axis of the world coordinate system, and makes the rotation axis OC of the hollow rotating platform parallel to the z-axis of the world coordinate system; The debugging device makes the initial position of the swing axis OA of the swing table parallel to the x-axis of the world coordinate system; When the silo being inspected is empty, scan the silo, compare the calculated value with the standard value, and calibrate the 3D millimeter-wave radar module.

6. The 3D millimeter wave radar detection method according to claim 5, characterized in that: Also includes: Detect and calculate the volume of the material in the tested granary; The detecting and calculating the volume of the material in the detected granary includes: Input the coordinates of the first set point, the length of the rotation axis of the hollow rotating platform, and the length of the central axis of the 3D millimeter wave radar module to calculate the coordinates of the detection point; According to the set non-uniform step angle algorithm, the distance between the detection point and the 3D millimeter-wave radar module is detected and recorded under different first and second angles. The first angle is the angle of axis OA rotating clockwise around axis OA, and the second angle is the angle of axis OB rotating clockwise around axis OA. Use the support vector machine (SVM) algorithm to eliminate the distance data of detection points from the 3D millimeter-wave radar module that do not meet the set requirements; The non-uniform rational B-spline (NURBS) model is used to perform surface fitting on the distance data between the detection point and the 3D millimeter-wave radar module. The volume of the fitting surface is calculated using the integration method, and the mass of the material is calculated based on the density of the material.

7. The 3D millimeter wave radar detection method according to claim 6, characterized in that: The calculating the coordinates of the detection points includes: The coordinates of the detection point D are (x, y, z): ； By simplifying, we can get the coordinates of the detection point D in the world coordinate system: ； ； ； in, is the length of the axis OC, is the length of the axis OB, is the length of axis BD, is the first angle, is the second angle.

8. The 3D millimeter wave radar detection method according to claim 5, characterized in that: The scanning of the inspected silo includes: The inspected silo is scanned using a variable angle scanning method; the scanning angle of the central area is greater than the scanning angle of the edge area.

9. An electronic device, characterized in that: include: A processor, a memory, and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the 3D millimeter-wave radar detection method according to any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a server, implements the 3D millimeter-wave radar detection method according to any one of claims 5 to 8.

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