Compound detection modeling method and device based on millimeter wave radar and single-photon camera

Abstract

The application discloses a kind of composite detection modeling method and device based on millimeter wave radar and single-photon camera, the method includes: millimeter wave radar is placed on mobile mechanism, and mobile mechanism and millimeter wave radar are time matched;Mobile mechanism drives millimeter wave radar to scan target area, obtains mobile mechanism position data sequence and its corresponding time data sequence and millimeter wave radar linear scanning data sequence and its corresponding time data sequence;Determine the mobile mechanism position data sequence corresponding to millimeter wave radar time data sequence;With millimeter wave radar linear scanning data sequence fusion is discrete three-dimensional space coordinates, generates the three-dimensional data of target area;Based on single-photon camera, obtain the single-photon image of target area;Fusion target area three-dimensional data and single-photon image, obtain the three-dimensional model and texture feature of target area.The application can complete the three-dimensional modeling and texture feature acquisition of target area in dense fog state.

Description

Technical Field

[0001] This invention relates to the field of detection and modeling technology, specifically to a composite detection and modeling method and apparatus based on millimeter-wave radar and a single-photon camera. Background Technology

[0002] Petroleum coking workshops pose significant hazards, primarily including high humidity, dense fog, low visibility, and large quantities of toxic gases. The refining process generates substantial amounts of coke slag, requiring regular cleaning. Current methods primarily utilize overhead cranes with grab buckets to remove the slag. However, the extremely low visibility in coking workshops necessitates shutdowns until the fog dissipates, followed by manual operation of the overhead cranes to guide the grab buckets and remove the slag. This severely impacts production efficiency and endangers worker health. To liberate workers from these unhealthy working conditions while simultaneously enabling real-time slag removal without halting production, specialized sensors and modeling imaging methods are needed to detect and model the slag. Summary of the Invention

[0003] The purpose of this invention is to provide a composite detection and modeling method and device based on millimeter-wave radar and single-photon camera, so as to realize three-dimensional modeling and texture feature acquisition of target area under dense fog conditions.

[0004] The first aspect of the present invention provides a composite detection modeling method based on millimeter-wave radar and a single-photon camera, the method comprising: The millimeter-wave radar is placed on the moving mechanism, and the moving mechanism and the millimeter-wave radar are synchronized in time. The moving mechanism drives the millimeter-wave radar to scan the target area, acquiring the position data sequence of the moving mechanism and its corresponding time data sequence, and the linear scan data sequence of the millimeter-wave radar and its corresponding time sequence; The linear scan data sequence of the millimeter-wave radar is filtered to obtain the filtered linear scan data sequence of the millimeter-wave radar. Based on the mobile mechanism position data sequence and its corresponding time data sequence and the time data sequence corresponding to the millimeter-wave radar linear scan data sequence, the mobile mechanism position data corresponding to each element in the time data sequence corresponding to the millimeter-wave radar linear scan data sequence is determined, and the corresponding mobile mechanism position data sequence is obtained. The filtered millimeter-wave radar linear scan data sequence and the corresponding mobile mechanism position data sequence are fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area. Acquire single-photon images of the target area using a single-photon camera; By fusing the 3D data and single-photon image of the target region, a 3D model and texture features of the target region are obtained.

[0005] The above scheme includes time synchronization between the mobile mechanism and the millimeter-wave radar, including: The overhead crane and millimeter-wave radar are connected to a control terminal, which is set as a Network Time Protocol (NTP) time synchronization server. The overhead crane and millimeter-wave radar are used as NTP time synchronization clients, and the fixed IP address of the server is used as the standard time synchronization reference.

[0006] In the above scheme, the moving mechanism includes an overhead crane; the control terminal includes a PC.

[0007] In the above scheme, the moving mechanism drives the millimeter-wave radar to scan the target area, including: The mobile mechanism moves along a preset straight path, and the millimeter-wave radar performs angular scanning in a plane perpendicular to the direction of movement of the mobile mechanism, continuously acquiring linear scanning data sequences and their corresponding time data.

[0008] In the above scheme, the millimeter-wave radar linear scan data sequence is filtered to obtain the filtered millimeter-wave radar linear scan data sequence, including: The linear scan data sequence of millimeter-wave radar is filtered based on the least squares model, as follows: Let the millimeter-wave radar linear scan data sequence be... The elements are each Corresponding to a scanning angle ; Establish a cubic fitting curve function:

[0009] In the formula, , , and For coefficients; Solving for the coefficients, the final filtered millimeter-wave radar linear scan data sequence is represented as follows:

[0010] In the formula, This represents an element in the filtered millimeter-wave radar linear scan data sequence.

[0011] In the above scheme, before filtering the millimeter-wave radar linear scanning data sequence based on the least squares model, a combination of median filtering and recursive average filtering is used to filter the millimeter-wave radar linear scanning data sequence.

[0012] In the above scheme, based on the mobile mechanism position data sequence and its corresponding time data sequence and the time data sequence corresponding to the millimeter-wave radar linear scan data sequence, the mobile mechanism position data corresponding to each element in the time data sequence corresponding to the millimeter-wave radar linear scan data sequence is determined, and the corresponding mobile mechanism position data sequence is obtained, including: Let the position data sequence of the moving mechanism and its corresponding time data sequence be respectively and The corresponding elements are respectively and , For element index; Determine the time data sequence corresponding to the linear scan data sequence of millimeter-wave radar. Each element Two elements of the time data sequence corresponding to the position data sequences of two adjacent moving mechanisms and Then, each element in the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar The corresponding mobile mechanism location data The calculation formula is:

[0013] And obtain the position data sequence of the moving mechanism corresponding to the time data sequence of the millimeter-wave radar linear scan data sequence. .

[0014] In the above scheme, the filtered millimeter-wave radar linear scan data sequence and the corresponding mobile mechanism position data sequence are fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area, including: The filtered millimeter-wave radar linear scan data sequence and the corresponding mobile mechanism position data sequence Merged into discrete three-dimensional spatial coordinates:

[0015] In the formula, Represents the three-dimensional data of the target region. , and Represents three-dimensional spatial coordinates; and The data represents the position data of the corresponding mobile mechanism, which is an n×1 dimensional data, where n is the length of the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar; This indicates the linear scanning resolution of the millimeter-wave radar; This represents the first [number] line in the filtered millimeter-wave radar linear scan data sequence. There are n elements, where m is the length of the millimeter-wave radar linear scan data sequence, and the millimeter-wave radar linear scan data sequence consists of n m×1 dimensional data.

[0016] In the above scheme, a trilinear interpolation algorithm is then used to fit the uniform lattice. Generate a preliminary 3D model of the target area:

[0017]

[0018]

[0019]

[0020]

[0021]

[0022]

[0023] in, This is a linear interpolation formula. The coordinates of the interpolation point. , and 3D data of the target area The coordinates of the two sides of the interpolation point.

[0024] Secondly, the present invention provides a composite detection modeling device based on millimeter-wave radar and a single-photon camera, wherein the device applies the composite detection modeling method based on millimeter-wave radar and a single-photon camera as described in any one of the first aspects, including: A moving mechanism is used to move along a preset straight path and acquire the position data sequence of the moving mechanism and its corresponding time data sequence; Millimeter-wave radar, mounted on a mobile mechanism, is used to scan the target area and acquire the linear scan data sequence of the millimeter-wave radar and its corresponding time data sequence; A single-photon camera is used to acquire single-photon images of a target area. The control unit, connected to the overhead crane and millimeter-wave radar, is used to synchronize the moving mechanism and the millimeter-wave radar. It then filters the linear scan data sequence of the millimeter-wave radar to obtain a filtered linear scan data sequence. Furthermore, based on the position data sequence of the moving mechanism and its corresponding time data sequence, and the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar, it determines the position data of the moving mechanism corresponding to each element in the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar, and obtains the corresponding position data sequence of the moving mechanism. The filtered linear scan data sequence of the millimeter-wave radar and the corresponding position data sequence of the moving mechanism are then fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area. Finally, the three-dimensional data of the target area and the single-photon image are fused to obtain the three-dimensional model and texture features of the target area.

[0025] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: This invention combines millimeter-wave radar with a single-photon camera, uses a moving mechanism to drive radar scanning to acquire three-dimensional data, and fuses single-photon images to achieve modeling. This solves the problem of the failure of traditional optical detection methods in low-visibility environments such as dense fog. It can achieve high-precision three-dimensional modeling of target areas under dense fog conditions. At the same time, the fusion of multi-sensor data improves the integrity and detail of the modeling, making it suitable for real-time detection needs in special scenarios such as oil refining workshops and ports.

[0026] Furthermore, by using the NTP time synchronization mechanism with the fixed IP of the control terminal as a reference, the time synchronization between the moving mechanism and the millimeter-wave radar is achieved, ensuring the consistency of the data of the two in the time dimension, avoiding spatial coordinate matching errors caused by time deviation, and improving the accuracy of three-dimensional data fusion.

[0027] Furthermore, a two-stage filtering process combining median filtering, recursive average filtering, and least squares model was adopted to effectively eliminate spike noise and clutter interference in millimeter-wave radar data. Attached Figure Description

[0028] Figure 1 A flowchart illustrating a composite detection modeling method based on millimeter-wave radar and single-photon camera provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a composite detection modeling device based on millimeter-wave radar and single-photon camera, provided as an embodiment of the present invention.

[0029] In the diagram: 1. Overhead crane trolley; 2. Millimeter-wave radar; 3. Single-photon camera; 4. Visible light camera; 5. Overhead crane beam; 6. Object under test; 7. Ground; 8. Overhead crane tool end. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments provided by this invention without inventive effort are within the scope of protection of this invention.

[0031] Obviously, the accompanying drawings described below are merely some examples or embodiments of the present invention. Those skilled in the art can apply the present invention to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, modifications to design, manufacturing, or production based on the technical content disclosed in this invention are merely conventional technical means and should not be construed as insufficient disclosure of the present invention.

[0032] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention may be combined with other embodiments without conflict.

[0033] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "a," "an," "an," "the," and similar words used in this invention do not indicate quantity limitation and may indicate singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this invention are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms "connected," "linked," "coupled," and similar words used in this invention are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "A plurality" used in this invention refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships may exist; for example, "A and / or B" can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects have an "or" relationship. The terms "first," "second," and "third" used in this invention are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0034] This invention provides a composite detection and modeling method and device based on millimeter-wave radar and single-photon camera, which is used in the fields of measurement, imaging and modeling technology in dense fog environments. It is particularly relevant to measurement and 3D modeling application scenarios in petroleum coking workshops and logistics ports, and can also be applied to intelligent guidance of port cranes in dense fog environments.

[0035] like Figure 1 and Figure 2 As shown in the figure, the composite detection modeling method based on millimeter-wave radar and single-photon camera provided by the embodiments of the present invention includes the following steps: 1. System initialization: The system connects to a turntable and a millimeter-wave radar on the turntable, activating the equipment's self-test and operational status. The millimeter-wave radar is mounted on a moving mechanism, which drives the radar to scan the target area. During scanning, the moving mechanism moves along a preset straight path, and the millimeter-wave radar performs angular scanning in a plane perpendicular to the moving direction of the mechanism, continuously acquiring linear scan data sequences and their corresponding time data. The moving mechanism can be an overhead crane; this embodiment uses an overhead crane as an example.

[0036] 2. Deploy NTP (Network Time Protocol): The overhead crane and millimeter-wave radar are connected to a control terminal. The control terminal (not limited to the PC terminal) is set up with NTP time synchronization service (server side). At the same time, the overhead crane and millimeter-wave radar are used as NTP time synchronization clients. The fixed IP address of the server terminal is used as the standard time synchronization reference to complete the time synchronization of the moving mechanism and the millimeter-wave radar.

[0037] Time synchronization between devices is not limited to the NTP synchronization scheme; it can be an absolute clock or a hardware / software self-synchronization method. After synchronization is completed, the moving mechanism drives the millimeter-wave radar to scan the target area, acquiring the moving mechanism's position data sequence and its corresponding time data sequence, as well as the millimeter-wave radar's linear scan data sequence and its corresponding time data sequence.

[0038] 3. Data preprocessing for overhead cranes and millimeter-wave radar: The control terminal receives and caches the latest data in real time. Overhead crane location data sequence within a time period and the corresponding time data series and millimeter-wave radar linear scan data sequences within the same time period. and corresponding time data series The data fusion process is as follows: (1) Median filtering + recursive average filtering is used to filter the raw data of millimeter-wave radar to eliminate spike signals and some clutter data; (2) For millimeter-wave radar linear scan data sequences Based on the least squares model for data sequences Perform filtering: set up The original dataset The elements are each Corresponding to a scanning angle ; First, establish the cubic fitting curve function:

[0039] In the formula, , , and For coefficients; The least squares error equation is established as follows:

[0040] in: ; ; ; .

[0041] Solve using the least squares rule. .

[0042] Final filtered The corrected dataset is Represented as:

[0043] In the formula, This represents an element in the filtered millimeter-wave radar linear scan data sequence.

[0044] It should be noted that the overhead crane position data sequence and the corresponding time data series Both are one-dimensional data sequences, while millimeter-wave radar linear scan data sequences It consists of multiple one-dimensional data sequences, each corresponding to one linear array scan. The number of data sequences and their corresponding time sequences are also specified. The number of elements is consistent. In other words, after multiple line scans, the millimeter-wave radar linear scan data sequence becomes a matrix, with the size of the matrix corresponding to the number of line scans and the number of points in each line scan.

[0045] In this embodiment, the millimeter-wave radar performs n line scans, obtaining m line scan points each time.

[0046] (3) Based on the filtered millimeter-wave radar position data sequence The corresponding time series and crane position data sequence Corresponding time data sequence The time series was fitted using a linear interpolation algorithm. The sequence of crane positions corresponding to each element in the data. : Find the time series Each element The two closest overhead crane times and Then the crane position sequence The formula for calculating each element in the formula is:

[0047] This yields the position data sequence of the moving mechanism corresponding to the time data sequence of the millimeter-wave radar linear scan data sequence. .

[0048] 4. Three-dimensional data processing: (1) The millimeter-wave radar data sequence (m×n dimensional matrix, each column corresponds to one scan data) And the corresponding overhead crane position data sequence n×1 dimensional matrix is ​​fused into a discrete three-dimensional spatial coordinate sequence. Generate 3D data of the target area:

[0049] in: Represents the three-dimensional data of the target region. , and Represents three-dimensional spatial coordinates. is the longitudinal sampling point index for the laser linear array scan, and m is the length of the millimeter-wave radar linear scan data sequence; is the resolution index for the direction of crane movement, and n is the length of the time data sequence corresponding to the millimeter-wave radar linear scan data sequence. These are the real-time position coordinates of the overhead crane during each line scan. This refers to the spatial resolution parameters within the line scan plane of the millimeter-wave radar.

[0050] In this embodiment, the crane's movement direction is the Y-axis, and the millimeter-wave radar's linear scanning direction is the X-axis. It can be considered a constant. Of course, coordinate axes can also be established in other directions.

[0051] (2) The uniform lattice is fitted using a trilinear interpolation algorithm. Generate a preliminary 3D model of the target area in real time. Interpolation process:

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058] in, This is a linear interpolation formula. The coordinates of the interpolation point. , and 3D data of the target area The coordinates of the two sides of the interpolation point.

[0059] The purpose of interpolation is to make the three-dimensional data of the target area consistent with the resolution of the single-photon camera.

[0060] (3) Update position data in real time through linear module motion controller. and 3D model The sampling frequency is adaptively matched with the module's movement speed.

[0061] 5. Single-photon camera + 3D data to determine a precise 3D model of the target: (1) Adjust the pulse width parameter of the single-photon camera according to the average height of the scene so that the camera meets the imaging requirements within a certain height range; (2) Based on the three-dimensional data, dynamically adjust the gate leading edge parameters of the single-photon camera so that the single-photon camera can always clearly image the target; (3) Combine the 3D data with the single-photon camera image to complete the data fusion and modeling, and obtain the accurate 3D model and texture features of the target. Among them, the texture features are obtained from the single-photon image.

[0062] A single-photon camera can also be mounted on an overhead crane and move with the crane along with the millimeter-wave radar on the crane, simultaneously acquiring single-photon images and 3D data of the same target area for subsequent data fusion.

[0063] In summary, this invention provides a data fusion method for overhead cranes and millimeter-wave radar, solving the problem of acquiring three-dimensional data of the working area in dense fog conditions. In addition, it provides a dual-band composite detection and three-dimensional modeling method using millimeter-wave radar and a single-photon camera, which has better imaging and data acquisition effects in dense fog working environments.

[0064] The present invention also provides a composite detection modeling device based on millimeter-wave radar and a single-photon camera. This device applies the above-described method embodiments and includes: A moving mechanism is used to move along a preset straight path and acquire the position data sequence of the moving mechanism and its corresponding time data sequence; Millimeter-wave radar, mounted on a mobile mechanism, is used to scan the target area and acquire the linear scan data sequence of the millimeter-wave radar and its corresponding time data sequence; A single-photon camera is used to acquire single-photon images of a target area. The control unit, connected to the overhead crane and millimeter-wave radar, is used to synchronize the moving mechanism and the millimeter-wave radar. It then filters the linear scan data sequence of the millimeter-wave radar to obtain a filtered linear scan data sequence. Furthermore, based on the position data sequence of the moving mechanism and its corresponding time data sequence, and the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar, it determines the position data of the moving mechanism corresponding to each element in the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar, and obtains the corresponding position data sequence of the moving mechanism. The filtered linear scan data sequence of the millimeter-wave radar and the corresponding position data sequence of the moving mechanism are then fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area. Finally, the three-dimensional data of the target area and the single-photon image are fused to obtain the three-dimensional model and texture features of the target area.

[0065] like Figure 2 As shown, the overhead crane, acting as a mobile mechanism, can move along a preset straight path along the overhead crane beam 5. Positioning of the overhead crane can be achieved through one or a combination of various methods such as wheel encoders, laser ranging, RFID, and code strips, providing a spatial position reference for 3D modeling. Below the overhead crane trolley 1 is an overhead crane tool end 8, which can be various tools such as hooks, grabs, magnetic cranes, and crushing mechanisms. These tools are used to perform operations such as grabbing and transporting the object to be measured 6 under the guidance of the 3D model, and their position is linked with the 3D model to achieve precise operation. The object to be measured 6 is placed on the ground 7. The object to be measured 6 refers to the object to be detected and modeled within the target area (such as coke slag in an oil coking plant), and is the common detection target of the millimeter-wave radar 2 and the single-photon camera 3. The visible light camera 4, as an optional auxiliary sensor, can be used in combination with the millimeter-wave radar 2 and the single-photon camera 3 to supplement optical image information in environments with good visibility, enhancing the multimodal data fusion effect.

[0066] The aforementioned components work together to form three-dimensional point cloud data through the movement of the overhead crane and the scanning of the millimeter-wave radar 2. Combined with the image information of the single-photon camera 3, they complete the high-precision modeling of the object under test 6 in a dense fog environment, which is suitable for intelligent operation guidance in complex scenarios such as oil refining workshops and ports.

[0067] In summary, this invention combines millimeter-wave radar with a single-photon camera, utilizes a moving mechanism to drive radar scanning to acquire 3D data, and fuses single-photon images to achieve modeling. This solves the problem of the failure of traditional optical detection methods in low-visibility environments such as dense fog, enabling high-precision 3D modeling of target areas under dense fog conditions. At the same time, the fusion of multi-sensor data improves the integrity and detail of the modeling, making it suitable for real-time detection needs in special scenarios such as oil refining workshops and ports.

[0068] It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. In addition, depending on the implementation needs, the various steps / components described in this invention can be broken down into more steps / components, or two or more steps / components or parts of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0069] It will be readily understood by those skilled in the art that the above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A composite detection modeling method based on millimeter-wave radar and single-photon camera, characterized in that, The method includes: The millimeter-wave radar is placed on the moving mechanism, and the moving mechanism and the millimeter-wave radar are synchronized in time. The moving mechanism drives the millimeter-wave radar to scan the target area, acquiring the position data sequence of the moving mechanism and its corresponding time data sequence, and the linear scan data sequence of the millimeter-wave radar and its corresponding time sequence; The linear scan data sequence of the millimeter-wave radar is filtered to obtain the filtered linear scan data sequence of the millimeter-wave radar. Based on the mobile mechanism position data sequence and its corresponding time data sequence and the time data sequence corresponding to the millimeter-wave radar linear scan data sequence, the mobile mechanism position data corresponding to each element in the time data sequence corresponding to the millimeter-wave radar linear scan data sequence is determined, and the corresponding mobile mechanism position data sequence is obtained. The filtered millimeter-wave radar linear scan data sequence and the corresponding mobile mechanism position data sequence are fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area. Acquire single-photon images of the target area using a single-photon camera; By fusing the 3D data and single-photon image of the target region, a 3D model and texture features of the target region are obtained.

2. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 1, characterized in that, Time synchronization of the mobile mechanism and millimeter-wave radar includes: The overhead crane and millimeter-wave radar are connected to a control terminal, which is set as a Network Time Protocol (NTP) time synchronization server. The overhead crane and millimeter-wave radar are used as NTP time synchronization clients, and the fixed IP address of the server is used as the standard time synchronization reference.

3. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 2, characterized in that, The moving mechanism includes the overhead crane; the control terminal includes the PC.

4. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 1, characterized in that, The moving mechanism drives the millimeter-wave radar to scan the target area, including: The mobile mechanism moves along a preset straight path, and the millimeter-wave radar performs angular scanning in a plane perpendicular to the direction of movement of the mobile mechanism, continuously acquiring linear scanning data sequences and their corresponding time data.

5. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 4, characterized in that, The millimeter-wave radar linear scan data sequence is filtered to obtain the filtered millimeter-wave radar linear scan data sequence, including: The linear scan data sequence of millimeter-wave radar is filtered based on the least squares model, as follows: Let the millimeter-wave radar linear scan data sequence be... The elements are Each Corresponding to a scanning angle ; Establish a cubic fitting curve function: In the formula, , , and For coefficients; Solving for the coefficients, the final filtered millimeter-wave radar linear scan data sequence is represented as follows: In the formula, This represents an element in the filtered millimeter-wave radar linear scan data sequence.

6. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 5, characterized in that, Before filtering the millimeter-wave radar linear scanning data sequence based on the least squares model, a combination of median filtering and recursive average filtering is used to filter the millimeter-wave radar linear scanning data sequence.

7. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 1, characterized in that, Based on the mobile mechanism position data sequence and its corresponding time data sequence, and the time data sequence corresponding to the millimeter-wave radar linear scan data sequence, the mobile mechanism position data corresponding to each element in the time data sequence corresponding to the millimeter-wave radar linear scan data sequence is determined, and the corresponding mobile mechanism position data sequence is obtained, including: Let the position data sequence of the moving mechanism and its corresponding time data sequence be respectively and The corresponding elements are respectively and , For element index; Determine the time data sequence corresponding to the linear scan data sequence of millimeter-wave radar. Each element Two elements of the time data sequence corresponding to the position data sequences of two adjacent moving mechanisms and Then, each element in the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar The corresponding mobile mechanism location data The calculation formula is: And obtain the position data sequence of the moving mechanism corresponding to the time data sequence of the millimeter-wave radar linear scan data sequence. .

8. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 1, characterized in that, The filtered millimeter-wave radar linear scan data sequence and the corresponding mobile mechanism position data sequence are fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area, including: The filtered millimeter-wave radar linear scan data sequence and the corresponding mobile mechanism position data sequence Merged into discrete three-dimensional spatial coordinates: In the formula, Represents the three-dimensional data of the target region. , and Represents three-dimensional spatial coordinates; and The data represents the position data of the corresponding mobile mechanism, which is an n×1 dimensional data, where n is the length of the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar; This indicates the linear scanning resolution of the millimeter-wave radar; This represents the first [number] line in the filtered millimeter-wave radar linear scan data sequence. There are n elements, where m is the length of the millimeter-wave radar linear scan data sequence, and the millimeter-wave radar linear scan data sequence consists of n m×1 dimensional data.

9. The composite detection modeling method based on millimeter-wave radar and single-photon camera according to claim 8, characterized in that, Then, a trilinear interpolation algorithm is used to fit the uniform lattice. Generate a preliminary 3D model of the target area: in, This is a linear interpolation formula. The coordinates of the interpolation point. , and 3D data of the target area The coordinates of the two sides of the interpolation point.

10. A composite detection modeling device based on millimeter-wave radar and a single-photon camera, characterized in that, The device employs the composite detection modeling method based on millimeter-wave radar and single-photon camera as described in any one of claims 1 to 9, including: A moving mechanism is used to move along a preset straight path and acquire the position data sequence of the moving mechanism and its corresponding time data sequence; Millimeter-wave radar, mounted on a mobile mechanism, is used to scan the target area and acquire the linear scan data sequence of the millimeter-wave radar and its corresponding time data sequence; A single-photon camera is used to acquire single-photon images of a target area. The control unit, connected to the overhead crane and millimeter-wave radar, is used to synchronize the moving mechanism and the millimeter-wave radar. It then filters the linear scan data sequence of the millimeter-wave radar to obtain a filtered linear scan data sequence. Furthermore, based on the position data sequence of the moving mechanism and its corresponding time data sequence, and the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar, it determines the position data of the moving mechanism corresponding to each element in the time data sequence corresponding to the linear scan data sequence of the millimeter-wave radar, and obtains the corresponding position data sequence of the moving mechanism. The filtered linear scan data sequence of the millimeter-wave radar and the corresponding position data sequence of the moving mechanism are then fused into discrete three-dimensional spatial coordinates to generate three-dimensional data of the target area. Finally, the three-dimensional data of the target area and the single-photon image are fused to obtain the three-dimensional model and texture features of the target area.

Images