High-resolution three-dimensional scanning system based on synthetic aperture principle

Abstract

The utility model provides a high-resolution three-dimensional scanning system based on a synthetic aperture principle, the three-dimensional scanning system is mounted to a container, and the three-dimensional scanning system at least comprises a sinking structure, a driving mechanism and a radar main body; one end of the sinking structure is connected with the container, the other end of the sinking structure is connected with the radar main body, and the sinking structure is used for adjusting the position of the radar main body in the container; the driving mechanism is used for driving the sinking structure to rotate so as to drive the radar main body to rotate synchronously; and the radar main body is at least used for scanning the surface of the material in the container from a plurality of scanning angles in the process of synchronously rotating along with the sinking structure so as to obtain spatial information of the surface of the material in the container at each scanning angle. According to the invention, high-resolution scanning of the three-dimensional scanning system on the surface of the material can be realized, and the manufacturing cost and technical requirements of the system are low.

Description

Technical Field

[0001] The present disclosure relates to the field of three-dimensional scanning technology, and in particular, to a high-resolution three-dimensional scanning system based on the synthetic aperture principle. Background Art

[0002] Three-dimensional scanning radar has many advantages such as safety, high efficiency and environmental protection, so it has been widely promoted and applied in the three-dimensional scanning and detection process of materials. There are three ways for existing three-dimensional scanning radar to scan the surface of materials in containers: one is to drive the deflection of a single sensor through a purely mechanical structure to achieve signal transmission and reception at multiple angles; the second is to adjust the scanning direction of the radar by changing the signal phase based on the working principle of the phased array; the third is the combination of mechanical structure and phased array radar.

[0003] It is understandable that, limited by its own complex structure, the pure mechanical scanning radar described in the first method is difficult to achieve high-resolution scanning, but it is cheap. The second and third methods both use phased array radars, whose basic principle is to use a large number of controllable small antenna units to arrange into an antenna array surface, each small antenna unit is controlled by an independent phase shift switch, and the phase of each small antenna unit is controlled to synthesize beams with different phases. Phased array radars based on this principle can fundamentally solve the technical problem of low resolution of pure mechanical scanning radars, but the expensive production cost, high technical requirements, and extremely large power consumption are prohibitive.

[0004] It can be seen from this that the existing three-dimensional scanning radar has at least a technical problem of difficulty in balancing scanning resolution and manufacturing cost. Summary of the invention

[0005] The present disclosure provides a high-resolution three-dimensional scanning system based on the synthetic aperture principle, which is used to solve technical problems such as high cost of existing three-dimensional scanning systems and scanning resolution that cannot meet requirements.

[0006] In order to achieve the above-mentioned object, the present disclosure provides a high-resolution three-dimensional scanning system based on the principle of synthetic aperture, wherein the three-dimensional scanning system is installed on a container, and the three-dimensional scanning system at least includes a sinking structure, a driving mechanism and a radar body;

[0007] One end of the sinking structure is connected to the container, and the other end of the sinking structure is connected to the radar body, and the sinking structure is used to adjust the position of the radar body in the container;

[0008] The driving mechanism is used to drive the sinking structure to rotate, thereby driving the radar body to rotate synchronously;

[0009] The radar body is at least used to scan the surface of the material in the container from multiple scanning angles during the synchronous rotation with the sinking structure, so as to obtain spatial information of the surface of the material in the container at each of the scanning angles.

[0010] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the radar body emits at least one outgoing beam from at least one preset position during the synchronous rotation with the sinking structure, so that the outgoing beam reaches the material surface after at least one reflection from the inner wall of the container, and forms an echo signal after being reflected from the material surface, and the echo signal is received by the radar body after at least one reflection from the inner wall of the container, so that the radar body obtains the spatial information of the material surface in the container at each of the scanning angles;

[0011] The spatial information of the material surface is processed based on the synthetic aperture principle to obtain high-resolution three-dimensional morphological information of the material surface.

[0012] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the sinking structure is movably connected to the container via a rotating disk, and the driving mechanism is used to drive the rotating disk to rotate to drive the sinking structure to rotate, thereby driving the radar body to rotate synchronously.

[0013] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the sinking structure includes a fixed part and a movable part, one end of the fixed part is fixedly connected to the rotating disk, and the other end of the fixed part is movably connected to the movable part; one end of the movable part is movably connected to the rotating disk, and the other end of the movable part is movably connected to the fixed part; the radar body is provided on one end of the movable part that is movably connected to the fixed part.

[0014] According to at least one embodiment of the high-resolution three-dimensional scanning system based on the synthetic aperture principle of the present disclosure, the movable part includes a first movable part, a second movable part and a third movable part, the first movable part is movably arranged on the rotating disk, the second movable part is movably arranged between the first movable part and the third movable part, one end of the third movable part is movably connected to the second movable part, a preset position between the two ends of the third movable part is movably connected to an end of the fixed part away from the rotating disk, and the radar body is arranged at the other end of the third movable part.

[0015] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the fixed part is arranged in parallel and adjacent to the first movable part.

[0016] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, limiting members are provided on the outer sides of the fixed part and the first movable part.

[0017] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the radar body enters the container along with the sinking structure through the mounting hole opened on the container, and moves to different positions in the container along with the movable part of the sinking structure.

[0018] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the sinking structure adjusts the sinking depth of the radar body and the horizontal position in the container.

[0019] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, a through hole is opened on the rotating disk, and the movable part moves up and down in the through hole, thereby driving the radar body to move to different positions in the container; after the radar body moves to a preset position, the movable part is fixedly connected to the rotating disk.

[0020] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the sinking structure is movably connected to the fixing member via a rotating disk, and the fixing member is fixedly connected to the container.

[0021] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, a bearing member is provided between the rotating disk and the fixed member, and relative motion occurs between the rotating disk and the fixed member.

[0022] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the movement area of ​​the radar body is at least not smaller than the installation hole opened in the container.

[0023] The present disclosure provides a high-resolution three-dimensional scanning system based on the principle of synthetic aperture, the three-dimensional scanning system is installed on a container, the three-dimensional scanning system at least includes a sinking structure, a driving mechanism and a radar body; one end of the sinking structure is connected to the container, and the other end of the sinking structure is connected to the radar body, and the sinking structure is used to adjust the position of the radar body in the container; the driving mechanism is used to drive the sinking structure to rotate, thereby driving the radar body to rotate synchronously; the radar body is at least used to scan the surface of the material in the container from multiple scanning angles during the synchronous rotation with the sinking structure, so as to obtain the spatial information of the surface of the material in the container at each scanning angle. The high-resolution three-dimensional scanning system based on the principle of synthetic aperture of the present disclosure uses a sinking structure to adjust the sinking position of the radar body, and drives the radar body to perform mechanical movement along a set path during its own movement, and scans the surface of the material in the container from multiple scanning angles during the rotation process, so as to obtain the spatial information of the surface of the material in the container at each scanning angle.

[0024] It can be seen that when the radar body is driven by the sinking structure to perform mechanical movement along the set path, it will scan the surface of the material in the container at multiple preset points at multiple scanning angles; driven by the sinking structure, there will be relative movement between the radar body and the material surface. This relative movement will cause the echo signal received by the radar body to have a Doppler frequency shift. At the same time, for multiple scanning points on the surface of the material equidistant from the radar body, due to the difference in their spatial geometric relationship with the radar body, the Doppler frequency shift of the echo signal corresponding to each scanning point equidistant from the radar body is slightly different. Based on this frequency difference, the three-dimensional scanning system can identify and locate each scanning point, and can distinguish each scanning point equidistant from the radar body. The three-dimensional scanning system set up in this way can not only continuously scan the material surface and identify the specific location information of each scanning point during the process of the radar body following the sinking structure to perform mechanical movement, but also can convert a single radar body into an equivalent "giant radar" with an antenna aperture equal to the circumference of the set path, which is conducive to improving the resolution of the three-dimensional scanning system. In addition, compared with the expensive production costs, high technical requirements, huge power consumption and cooling requirements required by existing phased array radars, the disclosed embodiment can achieve high-resolution scanning of the material surface by a three-dimensional scanning system by adding a radar body with a sunken structure. The system has low manufacturing costs and technical requirements and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0026] Figure 1 The structure of a high-resolution three-dimensional scanning system based on the synthetic aperture principle provided by the present invention is shown in FIG. Figure 1 ;

[0027] Figure 2 The structure of a high-resolution three-dimensional scanning system based on the synthetic aperture principle provided by the present invention is shown in FIG. Figure 2 ;

[0028] Figure 3 The structure of a high-resolution three-dimensional scanning system based on the synthetic aperture principle provided by the present invention is shown in FIG. Figure 3 ;

[0029] Figure 4 It is a schematic diagram of an outgoing beam measurement path provided in an embodiment of the present disclosure.

[0030] Summary of reference numerals:

[0031] 1. Container; 2. Radar body; 3. Rotating disk;

[0032] 4. Fixing member; 5. First movable part; 6. Second movable part;

[0033] 7. The third movable part; 8. The fixed part. DETAILED DESCRIPTION

[0034] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0035] like Figure 1-3 As shown, the present disclosure provides a high-resolution three-dimensional scanning system based on the synthetic aperture principle, the three-dimensional scanning system is installed to a container 1, and the three-dimensional scanning system at least includes a sinking structure, a driving mechanism and a radar body 2; one end of the sinking structure is connected to the container 1, and the other end of the sinking structure is connected to the radar body 2, and the sinking structure is used to adjust the position of the radar body 2 in the container 1; the driving mechanism is used to drive the sinking structure to rotate, thereby driving the radar body 2 to rotate synchronously; the radar body 2 is at least used to scan the surface of the material in the container 1 from multiple scanning angles during the synchronous rotation with the sinking structure, so as to obtain spatial information of the surface of the material in the container 1 at each of the scanning angles.

[0036] The container 1 may be a storage tank, a silo, etc. The radar body 2 may be a 3D radar, such as a 3D scanning radar, a 3D multi-point radar, etc. The type of the signal received and sent by the radar body 2 (such as the type of the echo signal mentioned above) may be microwave, laser, etc.

[0037] According to the high-resolution three-dimensional scanning system based on the synthetic aperture principle of at least one embodiment of the present disclosure, the radar body 2 emits at least one outgoing beam from at least one preset position during the synchronous rotation with the sinking structure, so that the outgoing beam reaches the material surface after at least one reflection from the inner wall of the container 1, and forms an echo signal after being reflected from the material surface, and the echo signal is received by the radar body 2 after at least one reflection from the inner wall of the container 1, so that the radar body 2 obtains the spatial information of the material surface in the container 1 at each scanning angle. The spatial information of the material surface is processed based on the synthetic aperture principle to obtain high-resolution three-dimensional morphological information of the material surface.

[0038] The material stored in the container 1 may be in a solid, liquid, or solid-liquid mixed state. The solid state may be, for example, powder, granules, or material blocks. When the material is in a liquid state, the liquid surface is generally a plane, which is convenient for the three-dimensional scanning system to scan and obtain the three-dimensional morphological information of the material surface. However, when the material is in a solid state, it often presents a hill-like shape when stored. At this time, if a radar body 2 is installed on the top of the container 1 (normally, the middle of the top is the feed port, and the radar body 2 needs to be installed on the side of the top of the container 1 to avoid the feed port, so as to avoid the impact of the dynamic process of feeding on the echo signal), the material in the hill state will have a side facing away from the radar body 2 and will not be scanned by the radar body 2. At this time, the outgoing beam can be reflected by the inner wall of the container 1 to obtain the surface area of ​​the material that cannot be scanned. In addition, in general, the structure inside the container 1 is also relatively complex, and the inherent beam-column structure and stirring structure in the container 1 may hinder part of the outgoing beam emitted by the three-dimensional scanning system. At this time, the inner wall of the container 1 can also be used to reflect the outgoing beam, so that the outgoing beam reaches the surface area of ​​the material that was originally unable to reach due to the obstruction of the beam-column structure, stirring structure, etc. inherent in the container 1.

[0039] It should be noted that, by way of example, Figure 4 is a schematic diagram of an outgoing beam measurement path provided by an embodiment of the present disclosure, see Figure 4When the radar body 2 reaches the preset point a during the mechanical movement along the set path, the radar body 2 cannot measure the back area a1 of the hill-shaped material. At this time, the emitted beam a11 emitted by the radar body 2 can be reflected by the inner wall of the container 1 to form a reflected beam a12, and the reflected beam a12 can reach the ax point of the back area a1. The emitted beam a13 emitted by the radar body 2 can be reflected by the inner wall of the container 1 to form a reflected beam a14, and the reflected beam a14 can reach the ay point of the back area a1. The above-mentioned reflected beams pass through the inner wall of the container 1 in the opposite direction of their own emission and converge at a point, which is the beam emission point of the equivalent radar body a'. The reflected beams a12 and a14 are equivalent to part of the emitted beams directly emitted by the equivalent radar body a'.

[0040] Similarly, when the radar body 2 reaches the preset point b during the process of performing mechanical movement along the set path, the radar body 2 cannot measure the back area b1 of the hill-shaped material. At this time, the transmitted beam b11 emitted by the radar body 2 can be reflected by the inner wall of the container 1 to form a reflected beam b12, and the reflected beam b12 can reach the bx point of the back area b1. The transmitted beam b13 emitted by the radar body 2 can be reflected by the inner wall of the container 1 to form a reflected beam b14, and the reflected beam b14 can reach the by point of the back area b1. The above-mentioned reflected beams pass through the inner wall of the container 1 in the opposite direction of their own emission and converge at a point, which is the beam emission point of the equivalent radar body b'. The reflected beams b12 and b14 are equivalent to part of the emitted beams directly emitted by the equivalent radar body b'.

[0041] Therefore, in the three-dimensional scanning system provided by the embodiment of the present disclosure, when the radar body 2 reaches multiple preset points during the process of mechanical movement along the set path, the reflected beams formed by the reflection of different outgoing beams on the inner wall of the container 1 are equivalent to multiple equivalent radar bodies performing scanning measurements on the material surface. Because the radar body 2 is constantly moving along the set path, the equivalent radar body will also move along the equivalent set path, that is, there is a relative movement between the equivalent radar body and the material surface. This relative movement is equivalent to causing the echo signal received by the equivalent radar body to have a Doppler frequency shift. At the same time, for multiple scanning points on the material surface that are equidistant from the equivalent radar body, due to the difference in their spatial geometric relationship with the equivalent radar body, the Doppler frequency shift of the echo signal corresponding to each scanning point that is equidistant from the equivalent radar body is slightly different. Based on this frequency difference, the three-dimensional scanning system can identify and locate each scanning point, and can distinguish each scanning point that is equidistant from the equivalent radar body. Of course, the actual reception of the echo signal is still the radar body 2, not the equivalent radar body.

[0042] Specifically, during the movement of the equivalent radar body, the Doppler frequency in the echo signal corresponding to the scanning point on the material surface whose distance from the equivalent radar body is gradually shortened will gradually increase, and the Doppler frequency in the echo signal corresponding to the scanning point on the material surface whose distance from the equivalent radar body is gradually increasing will gradually decrease, while the Doppler frequency in the echo signal corresponding to the scanning point on the material surface facing the equivalent radar body will basically not change. In this way, the equivalent radar body can know whether each scanning point on the material surface is in the front, center or back in a radar beam by comparing the Doppler frequency shift in the echo signal corresponding to each scanning point on the material surface, which is equivalent to dividing the radar beam into multiple lobes, thereby significantly improving the detection resolution of the three-dimensional scanning system and ensuring the detection accuracy.

[0043] The three-dimensional scanning system configured in this way can not only scan the material surface on the back side of the "hill" and identify the specific position information of each scanning point on the back side of the "hill" during the process of the radar body 2 following the mechanical movement of the sinking structure, but also convert the single radar body 2 into another "giant radar" with an antenna aperture equal to the circumference of the equivalent set path, further improving the resolution of the three-dimensional scanning system.

[0044] According to at least one embodiment of the present disclosure, a high-resolution three-dimensional scanning system based on the synthetic aperture principle is provided. Figure 1-3 As shown, the sinking structure is movably connected to the container 1 through the rotating disk 3, and the driving mechanism is used to drive the rotating disk 3 to rotate to drive the sinking structure to rotate, thereby driving the radar body 2 to rotate synchronously. The sinking structure is movably connected to the fixing member 4 through the rotating disk 3, and the fixing member 4 is fixedly connected to the container 1. A bearing member is provided between the rotating disk 3 and the fixing member 4, and relative motion occurs between the rotating disk 3 and the fixing member 4.

[0045] That is to say, the sinking structure is movably connected to the fixing member 4 through the rotating disk 3, the fixing member 4 is fixedly connected to the mounting hole opened on the container 1, and the output shaft of the driving mechanism is directly or indirectly connected to the rotating disk 3 to drive the rotating disk 3 to rotate, thereby driving the radar body 2 to rotate synchronously.

[0046] There are many ways to fix the fixing member 4 and the mounting hole on the container 1, such as welding, riveting, gluing, interference fit connection, flange connection, etc.

[0047] Continue to see Figure 1-3, exemplarily, the sinking structure includes a fixed part 8 and a movable part, one end of the fixed part 8 is fixedly connected to the rotating disk 3, and the other end of the fixed part 8 is connected to the movable part; one end of the movable part is movably connected to the rotating disk 3, and the other end of the movable part is movably connected to the fixed part 8; the radar body 2 is arranged on the end of the movable part movably connected to the fixed part 8. Specifically, the movable part includes a first movable part 5, a second movable part 6 and a third movable part 7, the first movable part 5 is movably arranged on the rotating disk 3, the second movable part 6 is movably arranged between the first movable part 5 and the third movable part 7, one end of the third movable part 7 is movably connected to the second movable part 6, a preset position between the two ends of the third movable part 7 (such as the middle position, or around the middle position) is movably connected to one end of the fixed part 8 away from the rotating disk 3, and the radar body 2 is arranged on the other end of the third movable part 7.

[0048] The sinking structure in the present disclosure adopts a combination of a fixed part 8 and a movable part, and the movable part can move up and down in the container 1 relative to the fixed part 8, thereby driving the radar body 2 set at the end of the movable part to change the sinking depth and horizontal position in the container 1. The sinking depth and horizontal position of the radar body 2 in the container 1 can be specifically adjusted according to the specific conditions of different containers 1. After adjusting to a suitable sinking depth or horizontal position, the movable part needs to be fixed and does not move up and down.

[0049] like Figure 3 It can be seen that the movable part and at least a part of the fixed part 8 are arranged in parallel, and one end of the movable part is movably connected to the fixed part 8. The radar body 2 at the end of the movable part will move up and down with the movable part to change the sinking depth and horizontal position in the container 1. In order to avoid the shaking of the movable part during the movement, the fixed part 8 and the movable part can be arranged in parallel and adjacent structures, specifically, the fixed part 8 and the first movable part 5 on the movable part are arranged in parallel and adjacent; and limiting members are arranged on the outer sides of the fixed part 8 and the first movable part 5.

[0050] Normally, the three-dimensional scanning system is installed at the top of the container 1. In the actual application process, the radar body 2 in the present disclosure rotates synchronously with the sinking structure under the action of the driving structure and has a certain rotation radius. This method is to convert a single radar body 2 into a "giant radar" with an antenna aperture equal to the circumference of the set path (circular motion trajectory) to improve the resolution of the three-dimensional scanning system. Specifically, during the rotation of the radar body 2 in the container 1, it is a circular motion with the straight line in the vertical direction of the fixing part 8 as the axis and the distance between the radar body 2 and the fixing part 8 as the radius. The spatial area covered by the circular motion is the motion area of ​​the radar body 2, and the motion area is greater than or equal to the mounting hole opened on the top of the container 1.

[0051] It should be noted that, during the installation of the three-dimensional scanning system, in order to minimize the negative impact of the installation hole of the three-dimensional scanning system on the sealing performance, service life, etc. of the container 1 itself, the installation hole needs to be as small as possible while meeting the installation requirements of the three-dimensional scanning system. Therefore, it is necessary to design the structure of the three-dimensional scanning system into a new structure that meets the requirements for entering the installation hole. Only in this way can the final installation be achieved, and the movement area formed by the rotation of the radar body 2 driven by the sinking structure is greater than or equal to the installation hole of the three-dimensional scanning system.

[0052] When the radar body 2 in the present disclosure is installed, it enters the container 1 through the installation hole opened on the top of the container 1 through the sinking structure, and moves to different positions in the container 1 along with the movable part of the sinking structure. Figure 3 As shown, when entering the container 1, the movable part forms a straight line from top to bottom. At this time, the sinking structure has the smallest size in the lateral direction and can smoothly enter the installation hole opened at the top of the container 1. Figure 1 and 2 As shown, after entering the installation hole, the radar body 2 moves in the horizontal direction (lateral direction) as the movable part moves up and down, and the horizontal position and the depth of sinking in the container 1 can be actually adjusted according to needs.

[0053] According to the high-resolution three-dimensional scanning system based on the principle of synthetic aperture of at least one embodiment of the present disclosure, a through hole is opened on the rotating disk 3, and the movable part moves up and down in the through hole, thereby driving the radar body 2 to move to different positions in the container 1; after the radar body 2 moves to a preset position, the movable part is fixedly connected to the rotating disk 3. The preset position is a position where the three-dimensional material form can be obtained to the maximum extent, or it can be a position to avoid obstacles in the container 1.

[0054] The movable part of the present disclosure may be provided with a plurality of limit grooves, which are used to limit the movement of the radar body 2 after it moves to a preset position by inserting a protrusion provided on the rotating disk 3 into the limit groove. Furthermore, a clamp structure may be fixedly provided on the rotating disk 3, and the movable part may be limited and fixed after the radar body 2 moves to a preset position, so that it cannot move up and down.

[0055] The present disclosure provides a high-resolution three-dimensional scanning system based on the principle of synthetic aperture, the three-dimensional scanning system is installed on a container 1, and the three-dimensional scanning system at least includes a sinking structure, a driving mechanism and a radar body 2; one end of the sinking structure is connected to the container 1, and the other end of the sinking structure is connected to the radar body 2, and the sinking structure is used to adjust the position of the radar body 2 in the container 1; the driving mechanism is used to drive the sinking structure to rotate, thereby driving the radar body 2 to rotate synchronously; the radar body 2 is at least used to scan the surface of the material in the container 1 from multiple scanning angles during the synchronous rotation with the sinking structure, so as to obtain the spatial information of the surface of the material in the container 1 at each of the scanning angles. The high-resolution three-dimensional scanning system based on the principle of synthetic aperture of the present disclosure uses a sinking structure to adjust the sinking position of the radar body 2 in the container 1, and drives the radar body 2 to perform mechanical movement along a set path during its own movement, and scans the surface of the material in the container 1 from multiple scanning angles during the rotation process, so as to obtain the spatial information of the surface of the material in the container 1 at each of the scanning angles.

[0056] It can be seen that when the radar body 2 is driven by the sinking structure to perform mechanical movement along the set path, it will scan the surface of the material in the container 1 at multiple preset points at multiple scanning angles; driven by the sinking structure, there will be relative movement between the radar body 2 and the material surface. This relative movement will cause the echo signal received by the radar body 2 to have a Doppler frequency shift. At the same time, for multiple scanning points on the material surface that are equidistant from the radar body 2, due to the difference in their spatial geometric relationship with the radar body 2, the Doppler frequency shift of the echo signal corresponding to each scanning point equidistant from the radar body 2 is slightly different. Based on this frequency difference, the three-dimensional scanning system can identify and locate each scanning point, and can distinguish each scanning point equidistant from the radar body 2. The three-dimensional scanning system set up in this way can not only continuously scan the material surface and identify the specific position information of each scanning point during the process of the radar body 2 following the sinking structure to perform mechanical movement, but also can convert a single radar body 2 into an equivalent "giant radar" with an antenna aperture equal to the circumference of the set path, thereby facilitating the improvement of the resolution of the three-dimensional scanning system. In addition, compared with the expensive production costs, high technical requirements, huge power consumption and cooling requirements required by existing phased array radars, the disclosed embodiment can achieve high-resolution scanning of the material surface by a three-dimensional scanning system by adding a radar body 2 with a sunken structure. The system has low manufacturing costs and technical requirements and strong applicability.

[0057] The above described in detail the preferred embodiments of the present disclosure in combination with the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0058] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0059] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A high-resolution three-dimensional scanning system based on the synthetic aperture principle, characterized in that: The three-dimensional scanning system is installed on the container, and the three-dimensional scanning system at least includes a sinking structure, a driving mechanism and a radar body; One end of the sinking structure is movably connected to the container via a rotating disk, and the other end of the sinking structure is connected to the radar body, and the sinking structure is used to adjust the position of the radar body in the container; The driving mechanism is used to drive the rotating disk to rotate so as to drive the sinking structure to rotate, thereby driving the radar body to rotate synchronously; The radar body is at least used to scan the surface of the material in the container from multiple scanning angles during the synchronous rotation with the sinking structure, so as to obtain spatial information of the surface of the material in the container at each of the scanning angles; The sinking structure includes a fixed part and a movable part, one end of the fixed part is fixedly connected to the rotating disk, and the other end of the fixed part is connected to the movable part; one end of the movable part is movably connected to the rotating disk, and the other end of the movable part is movably connected to the fixed part; the radar body is arranged on one end of the movable part movably connected to the fixed part; The movable part moves up and down in the container relative to the fixed part, thereby driving the radar body arranged at the end of the movable part to change the sinking depth and horizontal position in the container.

2. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to claim 1, characterized in that: The radar body emits at least one outgoing beam from at least one preset position during synchronous rotation with the sinking structure, so that the outgoing beam reaches the material surface after being reflected by the inner wall of the container at least once, and forms an echo signal after being reflected by the material surface, and the echo signal is received by the radar body after being reflected by the inner wall of the container at least once, so that the radar body obtains spatial information of the material surface in the container at each of the scanning angles; The spatial information of the material surface is processed based on the synthetic aperture principle to obtain high-resolution three-dimensional morphological information of the material surface.

3. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to claim 1, characterized in that: The movable part includes a first movable part, a second movable part and a third movable part, the first movable part is movably arranged on the rotating disk, the second movable part is movably arranged between the first movable part and the third movable part, one end of the third movable part is movably connected to the second movable part, a preset position between the two ends of the third movable part is movably connected to an end of the fixed part away from the rotating disk, and the radar body is arranged at the other end of the third movable part.

4. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to claim 3, characterized in that: The fixed portion is arranged parallel to and adjacent to the first movable portion.

5. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to claim 4, characterized in that: Limiting members are arranged outside the fixing portion and the first movable portion.

6. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to claim 1, characterized in that: The radar body enters the container along with the sinking structure through the mounting hole provided on the container, and moves to different positions in the container along with the movable part of the sinking structure.

7. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to claim 1, characterized in that: A through hole is provided on the rotating disk, and the movable part moves up and down in the through hole, thereby driving the radar body to move to different positions in the container; after the radar body moves to a preset position, the movable part is fixedly connected to the rotating disk.

8. The high-resolution three-dimensional scanning system based on the synthetic aperture principle according to any one of claims 1 to 7, characterized in that: The movement area of ​​the radar body is at least not smaller than the mounting hole provided in the container.

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