4D millimeter wave radar intelligent yard management method based on electric scanning principle

Abstract

The application discloses a 4D millimeter wave radar intelligent yard management method based on an electric scanning principle, relates to the technical field of yard management, and comprises the following steps: capturing a point cloud image of stacking in the monitoring range of a 4D millimeter wave radar, carrying out noise filtering and point cloud registration on the captured point cloud image of stacking, and forming a preprocessed point cloud image; based on the preprocessed point cloud image, generating an instantaneous flow; determining the height difference of the left and right sides of each frame of stacking and a real-time stacking position, forming a stacking side alarm; based on the maximum load quantity of an edge intelligent terminal and the monitoring range of each 4D millimeter wave radar, forming load distribution of the edge intelligent terminal, and forming a radar side alarm; and based on the stacking side alarm and the radar side alarm, forming a visual management interface of the yard. The application realizes the identification and processing of the point cloud image based on the electric scanning function of the 4D millimeter wave radar, improves the safety and intelligence of yard management, and provides early warning protection for industrial storage.

Description

Technical Field

[0001] This invention relates to the field of silo management technology, specifically a 4D millimeter-wave radar intelligent inventory silo management method based on the principle of electronic scanning. Background Technology

[0002] Nowadays, various fields such as production, manufacturing, and processing use a large amount of bulk materials, production materials, processing materials, product raw materials, or fuels. The storage, management, and monitoring of these materials have become primary challenges. Currently, inventory management is often based on manual inventory checks, which involves first printing out the warehouse and material information; then manually measuring with a measuring tape (or using equipment); and finally using mathematical models to estimate the data.

[0003] However, with the development of technology, today's silos and storage yards suffer from problems such as diverse types, scattered stacking, irregular shapes, and blind spots for ground-level observation. Furthermore, the complex environment of silos and storage yards may present issues such as high dust levels, excessively high temperatures, and the risk of yard collapses endangering personnel safety. Manual inventory checks are no longer efficient enough. While emerging 3D radar systems can scan at high speeds, traditional mechanical scanning still suffers from "dynamic blurring" when dealing with extremely high-speed material feeding or the instantaneous collapse of large pieces of material. This means that the material has moved a considerable distance between two scans, and the system cannot accurately reconstruct the surface morphology within that timeframe, thus underestimating volume changes and leading to inaccuracies in instantaneous flow rate calculations. The aggregation, early warning, and privacy protection of intelligent inventory data are also significant challenges. Summary of the Invention

[0004] The purpose of this invention is to provide a 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning, so as to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a 4D millimeter-wave radar intelligent inventory warehouse management method based on the principle of electronic scanning, the method comprising:

[0006] Based on the location of the 4D millimeter-wave radar, the monitoring range of the 4D millimeter-wave radar is determined. Within the monitoring range of the 4D millimeter-wave radar, point cloud images of the stockpile are captured and fed back to the edge intelligent terminal. The edge intelligent terminal performs noise filtering and point cloud registration on the captured point cloud images of the stockpile to form a pre-processed point cloud image.

[0007] Based on the comparison of point clouds in consecutive frames of preprocessed point cloud images, the rate of change of the stockpile volume is calculated in real time, and the instantaneous flow rate is generated based on the time dimension.

[0008] Based on the preprocessed point cloud image, the height difference between the left and right sides of the material pile and the real-time material pile position are determined for each frame.

[0009] An alarm is generated on the stockpile side based on the difference between the instantaneous flow rate and the system set value, the height difference between the left and right sides of the stockpile and the system set height threshold, and the real-time stockpile level and the preset minimum safety limit.

[0010] Determine the maximum load capacity of the edge intelligent terminals, and based on the maximum load capacity of the edge intelligent terminals and the monitoring range of each 4D millimeter-wave radar inside the silo, form the load radar allocation of the edge intelligent terminals to form radar-side alarms.

[0011] A visual management interface for the silo is formed by combining alarms from the stack side and radar side.

[0012] According to the above technical solution, it also includes:

[0013] A 4D millimeter-wave radar mounting bracket is configured inside the silo. The mounting bracket includes a clamp bracket and a standard flange. The clamp bracket is fixed to the crossbar by several clamps. The standard flange is directly adapted to the DN250 flange hole.

[0014] The 4D millimeter-wave radar is also equipped with an extension bracket. When the top of the silo is blocked by a load-bearing beam or a metal frame, the extension bracket can be adjusted to lower the 4D millimeter-wave radar.

[0015] According to the above technical solution, the edge intelligent terminal refers to the stockpile volume measurement host, which is responsible for reading the point cloud data of the 4D millimeter-wave radar in real time and performing noise filtering and point cloud registration.

[0016] Specifically, it includes:

[0017] The 4D millimeter-wave radar uses time-division multiplexing for electronic scanning, and transmits the same FMCW chirp signal in turn through several transmitting antennas of the 4D millimeter-wave radar.

[0018] All receiving modules are always in working order, simultaneously receiving all signals reflected back from the scene to form a virtual array. The number of antennas in the virtual array is the product of the number of transmitting antennas and the number of receiving modules.

[0019] The processor processes the data of the horizontally arranged antenna elements in the virtual array, simulates the scanning of the beam in the horizontal direction by applying different phase weights, and calculates the horizontal angle of each target point.

[0020] The processor performs the same processing on the data of the antenna elements arranged vertically in the virtual array. By applying another set of phase weights, it simulates the scanning of the beam in the vertical direction and calculates the vertical angle of each target point.

[0021] The spherical coordinates formed by the distance information, horizontal angle, and vertical angle of the target point are converted into three-dimensional coordinates in a Cartesian coordinate system, and the point cloud data is output.

[0022] According to the above technical solution, the noise filtering refers to filtering out sporadic points caused by dust and small insects in the warehouse, as well as filtering out point clouds reflected back from fixed facilities such as warehouse walls, supports, and conveyors.

[0023] The point cloud registration refers to the process of unifying the point clouds of a silo into the same coordinate system when several radars cover the silo from different angles, thus forming a complete three-dimensional view of the silo interior.

[0024] According to the above technical solution, the method of forming a stockpile-side alarm based on the difference between the instantaneous flow rate and the system set value, the height difference between the left and right sides of the stockpile and the system set height threshold, and the real-time stockpile level and the preset minimum safety limit includes:

[0025] An alarm is triggered if the difference between the instantaneous flow rate and the system set value is greater than the system's preset difference threshold; an alarm is triggered if the height difference between the left and right sides of the material pile in a certain frame is greater than the system's preset height threshold; and an alarm is triggered if the real-time material pile level is lower than the preset minimum safety limit.

[0026] According to the above technical solution, the maximum load number refers to the maximum number of 4D millimeter-wave radars simultaneously connected to the edge intelligent terminal; the load radar allocation of the edge intelligent terminal is formed based on the maximum load number of the edge intelligent terminal and the monitoring range of each 4D millimeter-wave radar inside the silo, and the radar-side alarm is formed including:

[0027] Determine the maximum number of edge smart terminals N to be used;

[0028] Determine the number M of 4D millimeter-wave radars installed inside the silo;

[0029] Identify any two 4D millimeter-wave radars whose monitoring ranges overlap. The overlapping area is denoted as ;

[0030] Constructing a load radar allocation model for edge intelligent terminals:

[0031] Determine the number K of edge smart terminals to be used: M

[0032] in, Representative parameter items; Representative to Rounding down, if If it is an integer, then ;otherwise, ;

[0033] Within the range of values ​​for K, choose any value for K and calculate the output value of the scheme under the current K value. :

[0034]

[0035] Where C represents the Cth edge intelligent terminal; The normalized value represents the number of intersections between the 4D millimeter-wave radars read by the Cth edge intelligent terminal. The number of intersections includes: if there is an overlap in the monitoring range between any two 4D millimeter-wave radars under the same edge intelligent terminal, the counter is incremented by one, and the final value of the counter is taken as the number of intersections of the edge intelligent terminal. The normalized value represents the distance fitting slope between the 4D millimeter-wave radars read by the Cth edge intelligent terminal. The distance fitting slope includes: calculating the straight-line distance between any two 4D millimeter-wave radars under the same edge intelligent terminal, arranging the obtained distances in ascending order, using the sequence number as the horizontal axis and the corresponding distance as the vertical axis to form a linear fitting line, and taking the slope value as the distance fitting slope of the edge intelligent terminal. , and represent the adjustment coefficients of the scheme, where, , .

[0036] According to the above technical solution, a threshold for the output value of the solution is set. Within the range of K, the output value of the solution is calculated for all values ​​of K. The solution output value that is lower than the threshold is taken and output to the next stage.

[0037] In the next phase, the comprehensive evaluation value of the calculation scheme will be determined. :

[0038]

[0039] in, , and represent the weight coefficients of the scheme, where, ; Representative output value The normalized value of the number of edge intelligent terminals in the corresponding scheme.

[0040] According to the above technical solution, the specific display of the radar-side alarm includes:

[0041] A data error was detected in a certain edge intelligent terminal based on feedback from a 4D millimeter-wave radar.

[0042] For the same area, the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or by the same edge intelligent terminal based on several 4D millimeter-wave radars may be different.

[0043] Based on the above technical solution, when an alarm is triggered on the radar side, the cause of the warning incident can be determined:

[0044] When an alarm is detected on the radar side, the problematic 4D millimeter-wave radar is identified.

[0045] If the data feedback from a certain edge intelligent terminal based on the 4D millimeter-wave radar is incorrect, then obtain the feedback data from other 4D millimeter-wave radars of the same edge intelligent terminal as the 4D millimeter-wave radar. If the data is normal, it is determined that the 4D millimeter-wave radar is faulty. If all of them are abnormal, it is marked as the third judgment.

[0046] If the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or the same edge intelligent terminal based on several 4D millimeter-wave radars are different for the same area, then other 4D millimeter-wave radars of the same edge intelligent terminal as the 4D millimeter-wave radar are marked, and the overlapping monitoring range data of the marked 4D millimeter-wave radar and the 4D millimeter-wave radar with overlapping monitoring ranges are obtained. If the overlapping monitoring range data are the same, it is judged that the 4D millimeter-wave radar is faulty. If they are all different, it is marked as the third judgment.

[0047] The third judgment refers to first checking the transmission fault of the edge intelligent terminal, and then determining the fault of the 4D millimeter-wave radar in the edge intelligent terminal.

[0048] Based on the above technical solution, a visual management interface is constructed to display all detailed data of the material stacking side alarm and the radar side alarm.

[0049] Compared with the prior art, the beneficial effects of the present invention are: the present invention uses 4D millimeter-wave radar,

[0050] Compared to traditional mechanical scanning radar, 4D millimeter-wave radar with electronic scanning (e-scanning) capability offers inertia-free, extremely fast scanning speeds, high data refresh rates, and true real-time performance. It also boasts superior reliability and long lifespan, eliminating the most vulnerable rotating mechanical components (such as motors, gears, and slip rings). Furthermore, it provides a stable point cloud coordinate system for subsequent analysis. Using 4D millimeter-wave radar for e-scanning point cloud image acquisition in a silo, the introduction of time and velocity vector sensing elevates monitoring capabilities from static "shape and volume" to dynamic "motion process," enabling a profound understanding of everything happening within the silo from macroscopic to microscopic levels. It achieves functions such as static target detection within a spatial range, point cloud data output, spatial scanning imaging, and volume and weight calculation output, unaffected by harsh environments such as rain, dust, and lighting conditions. Meanwhile, this application can intelligently allocate 4D millimeter-wave radar based on edge intelligent terminals, which can solve the hierarchical processing during faults and also achieve data privacy protection. In the face of network attacks, each edge intelligent terminal is independent of each other, and the monitoring range of the 4D millimeter-wave radar corresponding to each edge intelligent terminal is relatively dispersed. Even if one or two edge intelligent terminals are attacked, the fragmented monitoring data obtained is unlikely to affect the real data, thereby improving data security. Attached Figure Description

[0051] Figure 1 This is a schematic diagram illustrating the steps of the 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning of the present invention. Detailed Implementation

[0052] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Example: Figure 1 As shown, this invention provides a 4D millimeter-wave radar intelligent inventory warehouse management method based on the principle of electronic scanning. The method includes:

[0054] Based on the location of the 4D millimeter-wave radar, the monitoring range of the 4D millimeter-wave radar is determined. Within the monitoring range of the 4D millimeter-wave radar, point cloud images of the stockpile are captured and fed back to the edge intelligent terminal. The edge intelligent terminal performs noise filtering and point cloud registration on the captured point cloud images of the stockpile to form a pre-processed point cloud image.

[0055] Specifically, in this embodiment, the internal structure diagram of the silo can be provided by the responsible party, for example, by querying project completion data from the company's engineering department, equipment archives, or IT / automation department, or by obtaining detailed construction drawings from the final installation contractor.

[0056] In this embodiment, taking the obtained "Plan Layout Diagram of the Silo Radar Monitoring System" and "Radar Installation Point Diagram" as examples, the installation position and height of each radar are determined based on the legend symbols of the radar equipment. Simultaneously, radar technical parameters are acquired, including horizontal field of view (HFOV), vertical field of view (HFOV), maximum detection range, and closest detection range. Then, the monitoring range of each 4D millimeter-wave radar inside the silo is marked. For each radar point: First, the origin is determined: the installation point of the radar is used as the center of a sector. Based on the radar's horizontal field of view (HFOV), two rays are drawn from the origin. For example, if the HFOV is 120°, then the angle between the two rays is 120°. The length of the ray is taken as the "effective detection range." This distance needs to be determined based on the actual situation of the silo and is usually not the maximum detection range. The position of the highest point of the material pile must also be considered. Then, the vertical range is drawn: a model of the silo and radar is created using 3D design software (such as AutoCAD Plant 3D, SolidWorks, etc.), directly generating a 3D monitoring range volume. To address blind spots, all structures within the silo that might block radar waves (such as pillars, central cylinders, and mechanical devices) are marked with different colors. Additionally, the monitoring ranges of multiple radars may overlap. Overlapping areas are marked using different colors or shadow densities.

[0057] Also includes:

[0058] A 4D millimeter-wave radar mounting bracket is configured inside the silo. The mounting bracket includes a clamp bracket and a standard flange. The clamp bracket is fixed to the crossbar by several clamps. The standard flange is directly adapted to the DN250 flange hole.

[0059] The 4D millimeter-wave radar is also equipped with an extension bracket. When the top of the silo is blocked by a load-bearing beam or a metal frame, the extension bracket can be adjusted to lower the 4D millimeter-wave radar.

[0060] The edge intelligent terminal refers to the stockpile volume measurement host, which is responsible for reading the point cloud data of the 4D millimeter-wave radar in real time and performing noise filtering and point cloud registration.

[0061] Specifically, it includes:

[0062] The 4D millimeter-wave radar uses time-division multiplexing for electronic scanning, and transmits the same FMCW chirp signal in turn through several transmitting antennas of the 4D millimeter-wave radar.

[0063] All receiving modules are always in working order, simultaneously receiving all signals reflected back from the scene to form a virtual array. The number of antennas in the virtual array is the product of the number of transmitting antennas and the number of receiving modules.

[0064] The processor processes the data of the horizontally arranged antenna elements in the virtual array, simulates the scanning of the beam in the horizontal direction by applying different phase weights, and calculates the horizontal angle of each target point.

[0065] The processor performs the same processing on the data of the antenna elements arranged vertically in the virtual array. By applying another set of phase weights, it simulates the scanning of the beam in the vertical direction and calculates the vertical angle of each target point.

[0066] The spherical coordinates formed by the distance information, horizontal angle, and vertical angle of the target point are converted into three-dimensional coordinates in a Cartesian coordinate system, and the point cloud data is output.

[0067] The noise filtering refers to filtering out sporadic noise generated by dust and small insects inside the warehouse, as well as filtering out point clouds reflected back from fixed facilities such as warehouse walls, supports, and conveyors.

[0068] The point cloud registration refers to the process of unifying the point clouds of a silo into the same coordinate system when several radars cover the silo from different angles, thus forming a complete three-dimensional view of the silo interior.

[0069] The alarm on the stockpile side, based on the difference between the instantaneous flow rate and the system set value, the height difference between the left and right sides of the stockpile and the system set height threshold, and the real-time stockpile level and the preset minimum safety limit, includes:

[0070] An alarm is triggered if the difference between the instantaneous flow rate and the system set value is greater than the system's preset difference threshold; an alarm is triggered if the height difference between the left and right sides of the material pile in a certain frame is greater than the system's preset height threshold; and an alarm is triggered if the real-time material pile level is lower than the preset minimum safety limit.

[0071] In this application, regarding the material feeding warning of the silo, the system can also calculate the real-time, instantaneous feeding speed based on 4D millimeter-wave radar data, and then detect the feeding time and total amount. Based on the current total volume of material in the silo and the target volume, and based on the current average feeding speed, the remaining feeding time can be automatically estimated. If the feeding speed is detected to suddenly slow down or suddenly speed up within the time, the system can also immediately issue an alarm to remind the operator to intervene.

[0072] In this application, taking a specific silo as an example, a 4D millimeter-wave radar is installed above or to the side of the discharge port (unloading point), facing the material flow. Compared with traditional radar or lidar, the 4D millimeter-wave radar can simultaneously provide: 3D position information (x, y, z): accurately knowing the position of each detection point in space. Velocity information (v): through the Doppler effect, the radial instantaneous velocity of each detection point relative to the radar can be directly measured. Point cloud density: high-resolution 4D radar can generate very dense point clouds, outlining the surface morphology of the material.

[0073] 4D millimeter-wave radar generates multiple frames of point cloud data per second. Each frame contains tens of thousands of points, each with the following coordinates: [x, y, z, v], where (x, y, z) are the coordinates relative to the radar, and v is the instantaneous radial velocity of that point.

[0074] Define a "measuring gate," which is a virtual "measuring gate" or "measuring slice" set along the path of the falling material. This gate is a planar area perpendicular to the falling direction (Z-axis).

[0075] To extract the instantaneous velocity, the radar directly provides the radial velocity v of each point within the measuring gate. Since our measuring gate is perpendicular to the falling direction, and the material primarily moves downwards, this radial velocity v is very close to the component of the material's true falling velocity in the radar's line-of-sight direction. Through a simple geometric transformation (considering the radar's installation angle), we can calculate the instantaneous velocity component in the vertical direction (Z-axis) for each point, denoted as the instantaneous falling velocity of the material at that point at that moment.

[0076] Measuring the distribution of point clouds within a doorway can reflect the cross-sectional area of ​​the material. We can estimate the instantaneous cross-sectional area by calculating the projected area of ​​these point clouds on the XY plane. Finally, based on the material's density...

[0077] Calculate the instantaneous volumetric flow rate and convert it to the instantaneous mass flow rate.

[0078] In this embodiment, the maximum number of edge intelligent terminals is determined, and the load radar allocation of the edge intelligent terminals is formed based on the maximum number of edge intelligent terminals and the monitoring range of each 4D millimeter-wave radar inside the silo, thereby forming a radar-side alarm.

[0079] The maximum load capacity refers to the maximum number of 4D millimeter-wave radars that the edge intelligent terminal can connect to simultaneously; the load radar allocation of the edge intelligent terminal is formed based on the maximum load capacity of the edge intelligent terminal and the monitoring range of each 4D millimeter-wave radar inside the silo, and the radar-side alarm includes:

[0080] Determine the maximum number of edge smart terminals N to be used;

[0081] Determine the number M of 4D millimeter-wave radars installed inside the silo;

[0082] Identify any two 4D millimeter-wave radars whose monitoring ranges overlap. The overlapping area is denoted as ;

[0083] Constructing a load radar allocation model for edge intelligent terminals:

[0084] Determine the number K of edge smart terminals to be used: M

[0085] in, Representative parameter items; Representative to Rounding down, if If it is an integer, then ;otherwise, ;

[0086] Within the range of values ​​for K, choose any value for K and calculate the output value of the scheme under the current K value. :

[0087]

[0088] Where C represents the Cth edge intelligent terminal; The normalized value represents the number of intersections between the 4D millimeter-wave radars read by the Cth edge intelligent terminal. The number of intersections includes: if there is an overlap in the monitoring range between any two 4D millimeter-wave radars under the same edge intelligent terminal, the counter is incremented by one, and the final value of the counter is taken as the number of intersections of the edge intelligent terminal. The normalized value represents the distance fitting slope between the 4D millimeter-wave radars read by the Cth edge intelligent terminal. The distance fitting slope includes: calculating the straight-line distance between any two 4D millimeter-wave radars under the same edge intelligent terminal, arranging the obtained distances in ascending order, using the sequence number as the horizontal axis and the corresponding distance as the vertical axis to form a linear fitting line, and taking the slope value as the distance fitting slope of the edge intelligent terminal. , and represent the adjustment coefficients of the scheme, where, , .

[0089] For overlapping areas, such as a circular silo with a diameter of 60 meters and a height of 30 meters, two 4D millimeter-wave radars are installed at a height of 15 meters at the 3 o'clock and 9 o'clock positions on the silo wall.

[0090] Radar parameters: HFOV=120°, VFOV=±15°, Max Range=200m. Marking steps: On the plan, draw 120° sectors centered on each radar (typically, the radar faces the center of the silo, so the centerline of the sector points to the center). The radius of the sector is set to 30 meters (because the distance to the opposite wall is 30 meters), but the actual detection boundary is an arc (because the opposite wall is circular). The overlapping area of ​​two sectors is the shared coverage area.

[0091] Set a threshold for the output value of the scheme. Calculate the output value of the scheme for all values ​​of K within the range of K. Take the scheme output value that is lower than the threshold and output it to the next stage.

[0092] In the next phase, the comprehensive evaluation value of the calculation scheme will be determined. :

[0093]

[0094] in, , and represent the weight coefficients of the scheme, where, ; Representative output value The normalized value of the number of edge intelligent terminals in the corresponding scheme.

[0095] In the scheme selection of this application, the overlap of monitoring range between any two 4D millimeter-wave radars under the same edge intelligent terminal is minimized as much as possible. This allows for effective analysis of whether the fault is caused by a 4D millimeter-wave radar during a failure. By assigning 4D millimeter-wave radars with overlapping monitoring ranges to different edge intelligent terminals, the faulty 4D millimeter-wave radar can be quickly identified when the edge intelligent terminal is determined to be functioning correctly. On the other hand, the actual distance between 4D millimeter-wave radars under the same edge intelligent terminal is maximized as much as possible. This limits the silo monitoring range provided by a single edge intelligent terminal, making it highly fragmented and difficult to piece together. When external attacks steal data from a particular edge intelligent terminal, the data obtained is also highly fragmented due to the independence of the edge intelligent terminals, making it difficult to piece together a complete silo data set, thereby enhancing privacy.

[0096] Set a threshold for the output value of the scheme. Calculate the output value of the scheme for all values ​​of K within the range of K. Take the scheme output value that is lower than the threshold and output it to the next stage.

[0097] In the next phase, the comprehensive evaluation value of the calculation scheme will be determined. :

[0098]

[0099] in, , and represent the weight coefficients of the scheme, where, ; Representative output value The normalized value of the number of edge intelligent terminals in the corresponding scheme.

[0100] The warning situations include:

[0101] A data error was detected in a certain edge intelligent terminal based on feedback from a 4D millimeter-wave radar.

[0102] For the same area, the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or by the same edge intelligent terminal based on several 4D millimeter-wave radars may be different.

[0103] The specific display of the radar-side alarm includes:

[0104] A data error was detected in a certain edge intelligent terminal based on feedback from a 4D millimeter-wave radar.

[0105] For the same area, the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or by the same edge intelligent terminal based on several 4D millimeter-wave radars may be different.

[0106] When an alarm is triggered on the radar side, determine the cause of the warning incident:

[0107] When an alarm is detected on the radar side, the problematic 4D millimeter-wave radar is identified.

[0108] If the data feedback from a certain edge intelligent terminal based on the 4D millimeter-wave radar is incorrect, then obtain the feedback data from other 4D millimeter-wave radars of the same edge intelligent terminal as the 4D millimeter-wave radar. If the data is normal, it is determined that the 4D millimeter-wave radar is faulty. If all of them are abnormal, it is marked as the third judgment.

[0109] If the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or the same edge intelligent terminal based on several 4D millimeter-wave radars are different for the same area, then other 4D millimeter-wave radars of the same edge intelligent terminal as the 4D millimeter-wave radar are marked, and the overlapping monitoring range data of the marked 4D millimeter-wave radar and the 4D millimeter-wave radar with overlapping monitoring ranges are obtained. If the overlapping monitoring range data are the same, it is judged that the 4D millimeter-wave radar is faulty. If they are all different, it is marked as the third judgment.

[0110] The third judgment refers to first checking the transmission fault of the edge intelligent terminal, and then determining the fault of the 4D millimeter-wave radar in the edge intelligent terminal.

[0111] In this embodiment, a visual management interface is also constructed to display all detailed data of the material stacking alarm and the radar alarm respectively.

[0112] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0113] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0114] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the platforms, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0115] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0117] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0120] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning, characterized in that: The method includes: Based on the location of the 4D millimeter-wave radar, the monitoring range of the 4D millimeter-wave radar is determined. Within the monitoring range of the 4D millimeter-wave radar, point cloud images of the stockpile are captured and fed back to the edge intelligent terminal. The edge intelligent terminal performs noise filtering and point cloud registration on the captured point cloud images of the stockpile to form a pre-processed point cloud image. Based on the comparison of point clouds in consecutive frames of preprocessed point cloud images, the rate of change of the stockpile volume is calculated in real time, and the instantaneous flow rate is generated based on the time dimension. Based on the preprocessed point cloud image, the height difference between the left and right sides of the material pile and the real-time material pile position are determined for each frame. An alarm is generated on the stockpile side based on the difference between the instantaneous flow rate and the system set value, the height difference between the left and right sides of the stockpile and the system set height threshold, and the real-time stockpile level and the preset minimum safety limit. Determine the maximum load capacity of the edge intelligent terminals, and based on the maximum load capacity of the edge intelligent terminals and the monitoring range of each 4D millimeter-wave radar inside the silo, form the load radar allocation of the edge intelligent terminals to form radar-side alarms. A visual management interface for the silo is formed by combining alarms from the stockpile side and radar side. The maximum load capacity refers to the maximum number of 4D millimeter-wave radars that the edge intelligent terminal can connect to simultaneously; the load radar allocation of the edge intelligent terminal is formed based on the maximum load capacity of the edge intelligent terminal and the monitoring range of each 4D millimeter-wave radar inside the silo, and the radar-side alarm includes: Determine the maximum number of edge smart terminals N to be used; Determine the number M of 4D millimeter-wave radars installed inside the silo; Identify any two 4D millimeter-wave radars whose monitoring ranges overlap. The overlapping area is denoted as ; Constructing a load radar allocation model for edge intelligent terminals: Determine the number K of edge smart terminals to be used: M in, Representative parameter items; Representative to Rounding down, if If it is an integer, then ;otherwise, ; Within the range of values ​​for K, choose any value for K and calculate the output value of the scheme under the current K value. : Where C represents the Cth edge intelligent terminal; The normalized value represents the number of intersections between the 4D millimeter-wave radars read by the Cth edge intelligent terminal. The number of intersections includes: if there is an overlap in the monitoring range between any two 4D millimeter-wave radars under the same edge intelligent terminal, the counter is incremented by one, and the final value of the counter is taken as the number of intersections of the edge intelligent terminal. The normalized value represents the distance fitting slope between the 4D millimeter-wave radars read by the Cth edge intelligent terminal. The distance fitting slope includes: calculating the straight-line distance between any two 4D millimeter-wave radars under the same edge intelligent terminal, arranging the obtained distances in ascending order, using the sequence number as the horizontal axis and the corresponding distance as the vertical axis to form a linear fitting line, and taking the slope value as the distance fitting slope of the edge intelligent terminal. , and represent the adjustment coefficients of the scheme, where, , .

2. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 1, characterized in that: Also includes: A 4D millimeter-wave radar mounting bracket is configured inside the silo. The mounting bracket includes a clamp bracket and a standard flange. The clamp bracket is fixed to the crossbar by several clamps. The standard flange is directly compatible with DN250 flange holes; The 4D millimeter-wave radar is also equipped with an extension bracket. When the top of the silo is blocked by a load-bearing beam or a metal frame, the extension bracket can be adjusted to lower the 4D millimeter-wave radar.

3. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 1, characterized in that: The edge intelligent terminal refers to the stockpile volume measurement host, which is responsible for reading the point cloud data of the 4D millimeter-wave radar in real time and performing noise filtering and point cloud registration. Specifically, it includes: The 4D millimeter-wave radar uses time-division multiplexing for electronic scanning, and transmits the same FMCW chirp signal in turn through several transmitting antennas of the 4D millimeter-wave radar. All receiving modules are always in working order, simultaneously receiving all signals reflected back from the scene to form a virtual array. The number of antennas in the virtual array is the product of the number of transmitting antennas and the number of receiving modules. The processor processes the data of the horizontally arranged antenna elements in the virtual array, simulates the scanning of the beam in the horizontal direction by applying different phase weights, and calculates the horizontal angle of each target point. The processor performs the same processing on the data of the antenna elements arranged vertically in the virtual array. By applying another set of phase weights, it simulates the scanning of the beam in the vertical direction and calculates the vertical angle of each target point. The spherical coordinates formed by the distance information, horizontal angle, and vertical angle of the target point are converted into three-dimensional coordinates in a Cartesian coordinate system, and the point cloud data is output.

4. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 1, characterized in that: The noise filtering refers to filtering out sporadic noise caused by dust and small insects inside the warehouse, as well as filtering out point clouds reflected back from the warehouse walls, supports, and conveyors. The point cloud registration refers to the process of unifying the point clouds of a silo into the same coordinate system when several radars cover the silo from different angles, thus forming a complete three-dimensional view of the silo interior.

5. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 1, characterized in that: The alarm on the stockpile side, based on the difference between the instantaneous flow rate and the system set value, the height difference between the left and right sides of the stockpile and the system set height threshold, and the real-time stockpile level and the preset minimum safety limit, includes: An alarm is triggered if the difference between the instantaneous flow rate and the system set value is greater than the system's preset difference threshold; an alarm is triggered if the height difference between the left and right sides of the material pile in a certain frame is greater than the system's preset height threshold; and an alarm is triggered if the real-time material pile level is lower than the preset minimum safety limit.

6. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 1, characterized in that: Set a threshold for the output value of the scheme. Calculate the output value of the scheme for all values ​​of K within the range of K. Take the scheme output value that is lower than the threshold and output it to the next stage. In the next phase, the comprehensive evaluation value of the calculation scheme will be determined. : in, , and represent the weight coefficients of the scheme, where, ; Representative output value The normalized value of the number of edge intelligent terminals in the corresponding scheme.

7. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 6, characterized in that: The specific display of the radar-side alarm includes: A data error was detected in a certain edge intelligent terminal based on feedback from a 4D millimeter-wave radar. For the same area, the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or by the same edge intelligent terminal based on several 4D millimeter-wave radars may be different.

8. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 7, characterized in that: When an alarm is triggered on the radar side, determine the cause of the warning incident: When an alarm is detected on the radar side, the problematic 4D millimeter-wave radar is identified. If the data feedback from a certain edge intelligent terminal based on the 4D millimeter-wave radar is incorrect, then obtain the feedback data from other 4D millimeter-wave radars of the same edge intelligent terminal as the 4D millimeter-wave radar. If the data is normal, it is determined that the 4D millimeter-wave radar is faulty. If all of them are abnormal, it is marked as the third judgment. If the data fed back by several edge intelligent terminals based on 4D millimeter-wave radar or the same edge intelligent terminal based on several 4D millimeter-wave radars are different for the same area, then other 4D millimeter-wave radars of the same edge intelligent terminal as the 4D millimeter-wave radar are marked, and the overlapping monitoring range data of the marked 4D millimeter-wave radar and the 4D millimeter-wave radar with overlapping monitoring ranges are obtained. If the overlapping monitoring range data are the same, it is judged that the 4D millimeter-wave radar is faulty. If they are all different, it is marked as the third judgment. The third judgment refers to first checking the transmission fault of the edge intelligent terminal, and then determining the fault of the 4D millimeter-wave radar in the edge intelligent terminal.

9. The 4D millimeter-wave radar intelligent inventory and silo management method based on the principle of electronic scanning as described in claim 1, characterized in that: A visual management interface was built to display all detailed data on both the material stacking alarm and the radar alarm.

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