Dustproof 3D laser scanning radar

Abstract

The utility model discloses a dustproof 3D laser scanning radar which at least comprises a main body shell, a scanning main body and a dustproof module. A light-transmitting pasting part in the dustproof module at least clings to and covers the signal emitting area of the main body shell; a pasting and covering adjusting mechanism in the dustproof module is at least used for replacing or cleaning the light-transmitting pasting and covering part and then reusing the light-transmitting pasting and covering part when the characteristic parameters of the light-transmitting pasting and covering part reach preset conditions. According to the 3D laser scanning radar, on one hand, the situation that too many attachments adhere to the signal emitting area of the main body shell, so that the laser signal receiving and transmitting process of the scanning main body is influenced can be prevented, the influence degree of the attachments on the 3D laser scanning radar is reduced, and normal measurement work of the 3D laser scanning radar is maintained; and on the other hand, the light-transmitting pasting part can be operated through the pasting adjusting mechanism fixed to the non-signal-emitting area of the main body shell, the field staff do not need to climb a ladder to climb high to clean the 3D laser scanning radar at regular intervals, and the working intensity of the field staff is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial measurement, in particular to a dustproof 3D laser scanning radar. Background Art

[0002] Compared with 3D microwave scanning radar, 3D laser scanning radar has higher measurement accuracy. At present, more and more industrial fields use 3D laser scanning radar to measure the level value and three-dimensional shape of materials in containers.

[0003] However, under normal working conditions, a lot of dust will be generated during the loading and unloading process of the container. Therefore, the surface of the existing 3D laser scanning radar (such as the outer cover) will generate dust after a period of accumulation. The more dust adheres to the outer cover, the greater the attenuation of the measured signal. After the dust adheres to a certain extent, the 3D laser scanning radar cannot detect it. This requires on-site staff to clean the outer cover regularly, which consumes a lot of manpower and material resources and poses a safety hazard, because in some cases on-site staff are required to climb up a ladder to complete the cleaning work. Utility Model Content

[0004] The purpose of the present utility model is at least to overcome the defects in the above-mentioned background technology and to provide a wirelessly powered 3D scanning radar, which is at least used to reduce the impact of dust on the 3D laser scanning radar and reduce the workload of on-site staff.

[0005] A dustproof 3D laser scanning radar, comprising at least a main body shell, a scanning body and a dustproof module;

[0006] The main body shell is provided with a signal emitting area;

[0007] The scanning body is wrapped by the body shell and is used to generate at least a plurality of angles of measuring laser signals, so that the plurality of angles of measuring laser signals are emitted from the signal emission area to detect the three-dimensional shape of the material surface;

[0008] The dustproof module is composed of at least a light-transmitting covering portion and a covering adjustment mechanism; the light-transmitting covering portion at least closely adheres to and covers the signal emitting area; the covering adjustment mechanism is fixed in the non-signal emitting area of ​​the main shell, and is used to replace or clean the light-transmitting covering portion for reuse at least when the characteristic parameters of the light-transmitting covering portion reach preset conditions.

[0009] Optionally, the main housing includes at least a shell and a cover;

[0010] One end of the shell is fixedly connected to the container for installation on the container, and the other end of the shell is fixedly connected to the cover body. The shell and the cover body enclose a closed space, and the scanning body is installed in the closed space;

[0011] The signal emission area is at least located on the cover body, so that at least the measuring laser signals of multiple angles generated by the scanning body are emitted from the signal emission area, and multiple reflected laser signals correspondingly formed after the multiple measuring laser signals are reflected by the material in the container are received by the scanning body through the signal emission area, so as to detect the three-dimensional shape of the material surface.

[0012] Optionally, the main housing includes at least a shell and a cover;

[0013] The cover body is movably arranged at one end of the shell, and the other end of the shell is fixedly connected to the container for being mounted on the container; the shell and the cover body enclose a non-enclosed space;

[0014] The signal emitting area is at least located on the cover body, and the cover body is hollowed out in the signal emitting area so that the main shell partially wraps the scanning body, and the measuring laser signals of multiple angles generated by the scanning body are emitted from the signal emitting area, and multiple reflected laser signals correspondingly formed after the multiple measuring laser signals are reflected by the material in the container are received by the scanning body through the signal emitting area to detect the three-dimensional shape of the material surface.

[0015] Optionally, the main housing includes at least a shell and a cover;

[0016] One end of the shell is fixedly connected to the cover body, and the other end of the shell is fixedly connected to the container for being mounted on the container;

[0017] The signal emission area is at least located on the cover body, and the cover body is hollowed out in the signal emission area so that the main shell encloses a non-enclosed space and partially wraps the scanning body, and the measuring laser signals of multiple angles generated by the scanning body are emitted from the signal emission area, and the multiple reflected laser signals correspondingly formed after the multiple measuring laser signals are reflected by the material in the container are received by the scanning body through the signal emission area to detect the three-dimensional shape of the material surface.

[0018] Optionally, the characteristic parameter of the light-transmitting covering portion includes at least one of the service life of the light-transmitting covering portion, the quality of the light-transmitting covering portion, or the transmittance of the light-transmitting covering portion.

[0019] Optionally, the light-transmitting covering portion is a multi-layer stacked structure;

[0020] The covering adjustment mechanism is specifically used to tear off an exposed layer of the light-transmitting covering portion when the characteristic parameter of the light-transmitting covering portion meets the preset condition, so as to replace the light-transmitting covering portion.

[0021] Optionally, the covering adjustment mechanism at least comprises an active winding unit and a tightening and releasing unit, and the active winding unit and the tightening and releasing unit are respectively installed at two ends of the covering adjustment mechanism and are located on different sides of the main body shell;

[0022] The light-transmitting covering portion is integrally formed, and two ends of the light-transmitting covering portion are respectively fixed to the active winding unit and the tightening and releasing unit;

[0023] When the characteristic parameter of the light-transmitting covering portion reaches the preset condition, the tightening and releasing unit tightens after releasing the light-transmitting covering portion of preset length and which has not been used; while the tightening and releasing unit releases the light-transmitting covering portion, the active winding unit winds up the light-transmitting covering portion of preset length and which has been used from the opposite side of the tightening and releasing unit, thereby realizing the replacement of the light-transmitting covering portion.

[0024] Optionally, the covering adjustment mechanism further includes a cleaning unit;

[0025] The cleaning unit is at least used to remove attachments adhered to the light-transmitting covering portion during the process in which the active winding unit is winding the light-transmitting covering portion of the preset length that has been used, so as to clean and reuse the light-transmitting covering portion.

[0026] Optionally, the scanning body includes a mechanical motion structure and a radar sensor;

[0027] The mechanical motion structure is connected to the housing and is used to form mechanical motion in at least one dimension;

[0028] The radar sensor is mounted on the mechanical motion structure, and is used to generate and transmit the measuring laser signal and receive the reflected laser signal, and to perform synchronous mechanical motion with the mechanical motion structure to perform multi-angle scanning on the three-dimensional shape of the material surface.

[0029] Optionally, the scanning body comprises at least a mechanical motion structure and a radar sensor having a protective shell;

[0030] The mechanical motion structure is installed in the non-enclosed space, one end of the mechanical motion structure is fixedly connected to the shell, and the other end of the mechanical motion structure is fixedly connected to the cover body;

[0031] The radar sensor is fixedly connected to the mechanical motion structure or the cover so as to follow the mechanical motion structure and the cover to perform synchronous mechanical motion when the mechanical motion structure performs mechanical motion in at least one dimension;

[0032] Part or all of the radar sensor is exposed at the hollowed-out signal emitting area;

[0033] The radar sensor is used at least to generate the measuring laser signals at multiple angles in one or more dimensions and emit the measuring laser signals from the signal emission area; and to receive multiple reflected laser signals to detect the three-dimensional shape of the material surface.

[0034] Optionally, the scanning body comprises at least a radar sensor having a protective shell;

[0035] The radar sensor is fixedly connected to the main body housing, and part or all of the radar sensor is exposed at the hollowed-out signal emitting area;

[0036] The radar sensor is at least used to generate the measuring laser signals at multiple angles in multiple dimensions and emit the measuring laser signals from the signal emission area; and receive multiple reflected laser signals to detect the three-dimensional shape of the material surface based on the measuring laser signals and the reflected laser signals.

[0037] Optionally, the mechanical motion structure includes a horizontal motion structure and / or a pitch motion structure, and the radar sensor is connected to the horizontal motion structure and / or the pitch motion structure so that when the pitch motion structure performs a pitch mechanical movement and / or when the horizontal motion structure performs a horizontal mechanical movement, the radar sensor is driven to perform a synchronous pitch mechanical movement and / or horizontal mechanical movement.

[0038] Optionally, it also includes:

[0039] A driving module is connected to the horizontal motion structure and / or the pitch motion structure, and is used to drive the horizontal motion structure and / or the pitch motion structure to perform mechanical motion in the horizontal and / or pitch directions.

[0040] Optionally, it also includes:

[0041] A main control circuit board is connected to the driving module and the radar sensor, and is used to control the driving module to drive the mechanical motion structure to perform mechanical motion in at least one dimension according to a preset motion logic; and to obtain and parse the spatial level information of the material based on the measurement laser signal, the reflected laser signal and the motion angle of the mechanical motion structure, and then obtain at least one of the three-dimensional shape, mass, volume and material level of the material surface.

[0042] The technical solution provided by the embodiment of the utility model is to wrap the scanning body with a main body shell provided with a signal emission area, and the scanning body is configured to generate measurement laser signals at multiple angles, and to emit measurement laser signals at multiple angles from the signal emission area to detect the three-dimensional shape of the material surface. Since the light-transmitting covering part in the dustproof module is closely attached to and covers the signal emission area of ​​the main body shell, after the 3D laser scanning radar has worked for a period of time, the surface of the light-transmitting covering part will be affected by factors such as the container feeding and unloading process and will adhere to the attachments. As the attachments gradually increase, until the characteristic parameters of the light-transmitting covering part reach the preset conditions, the covering adjustment mechanism fixed in the non-signal emission area of ​​the main body shell replaces or cleans the light-transmitting covering part for reuse.

[0043] It can be seen that, on the one hand, the configuration as in the embodiment of the utility model can prevent the signal emitting area of ​​the main shell from affecting the laser signal receiving and sending process of the scanning body due to excessive adhesion of attachments, thereby reducing the influence of the attachments on the 3D laser scanning radar, and facilitating the maintenance of the normal measurement work of the 3D laser scanning radar; on the other hand, the embodiment of the utility model can operate the light-transmitting covering part through the covering adjustment mechanism fixed in the non-signal emitting area of ​​the main shell, eliminating the need for on-site staff to regularly climb ladders to clean the 3D laser scanning radar, thereby reducing the work intensity of on-site staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic structural diagram of a dustproof 3D laser scanning radar provided by an embodiment of the utility model;

[0045] Figure 2 It is a structural schematic diagram of another dustproof 3D laser scanning radar provided by an embodiment of the utility model;

[0046] Figure 3 This is a schematic structural diagram of another dustproof 3D laser scanning radar provided by an embodiment of the utility model;

[0047] Figure 4 This is a schematic structural diagram of another dustproof 3D laser scanning radar provided by an embodiment of the utility model;

[0048] Figure 5 It is a structural schematic diagram of a driving module and a mechanical motion structure provided by an embodiment of the utility model;

[0049] Figure 6 This is a schematic structural diagram of another dustproof 3D laser scanning radar provided by an embodiment of the utility model;

[0050] Figure 7 This is a schematic structural diagram of another dustproof 3D laser scanning radar provided by an embodiment of the utility model;

[0051] Figure 8 It is a structural schematic diagram of another dust-proof 3D laser scanning radar provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments.

[0053] Figure 1 This is a schematic diagram of the structure of a dustproof 3D laser scanning radar provided by an embodiment of the utility model. Figure 2 It is a schematic diagram of the structure of another dustproof 3D laser scanning radar provided by an embodiment of the utility model. Figure 6 This is a schematic diagram of the structure of another dust-proof 3D laser scanning radar provided by an embodiment of the utility model. Figure 7 This is a schematic diagram of the structure of another dust-proof 3D laser scanning radar provided by an embodiment of the utility model. Figure 8 This is a schematic diagram of the structure of another dust-proof 3D laser scanning radar provided by the embodiment of the utility model. Figure 1-Figure 2 and Figure 6-Figure 8 The dustproof 3D laser scanning radar at least includes a main body shell 100, a scanning body 200 and a dustproof module 300; the main body shell 100 is provided with a signal emission area; the scanning body 200 is wrapped by the main body shell 100 (can be fully wrapped or partially wrapped), and is at least used to generate measurement laser signals at multiple angles, so that the measurement laser signals at multiple angles are emitted from the signal emission area to detect the three-dimensional shape of the material surface; the dustproof module 300 is at least composed of a light-transmitting covering portion 310 and a covering adjustment mechanism 320; the light-transmitting covering portion 310 at least closely adheres to and covers the signal emission area (for example, Figure 1 , Figure 2 and Figure 8 The portion of the main housing 100 corresponding to ∠a); the covering adjustment mechanism 320 is fixed to the non-signal emission area of ​​the main housing 100 (for example, Figure 1 , Figure 2 and Figure 8 In the figure, the part of the main body shell 100 not corresponding to ∠a) is at least used to replace or clean the light-transmitting covering part 310 and reuse it when the characteristic parameter of the light-transmitting covering part 310 reaches a preset condition.

[0054] The signal emission area may at least refer to the emission area of ​​the measuring laser signal on the main housing 100; the material of the main housing 100 in the signal emission area may be any laser-transmissive material, such as glass, polymethyl methacrylate (PMMA) sheet, etc. Correspondingly, the non-signal emission area may at least refer to the area on the main housing 100 where no measuring laser signal is emitted; the main housing 100 in the non-signal emission area may be completely transparent, partially transparent or completely opaque, and its material may be, for example, glass, ceramic, plastic, stainless steel, aluminum alloy, etc.

[0055] It can be seen that the light-transmitting covering portion 310 is light-transmitting and can be in the form of, but not limited to, a flexible film, a flexible plate, etc.; the covering adjustment mechanism 320 can be any device mechanism (such as an electrically controlled mechanical mechanism) that can replace or clean the light-transmitting covering portion 310 and reuse it.

[0056] Exemplarily, the specific working principle of the dustproof module 300 can be as follows: since the light-transmitting covering portion 310 is tightly attached to and covers the signal emitting area of ​​the main shell 100, after the 3D laser scanning radar has worked for a period of time, the surface of the light-transmitting covering portion 310 will be affected by factors such as the material loading and unloading process of the container (such as a silo, a storage tank, etc.) and will be adhered with attachments (such as dust, powder). As the attachments gradually increase, until the characteristic parameters of the light-transmitting covering portion 310 reach the preset conditions, the covering adjustment mechanism 320 fixed in the non-signal emitting area of ​​the main shell 100 replaces or cleans the light-transmitting covering portion 310 for reuse.

[0057] It is understandable that there may be multiple characteristic parameters and preset conditions for the light-transmitting covering portion 310. In some embodiments, optionally, the characteristic parameters of the light-transmitting covering portion 310 include at least one of the service life of the light-transmitting covering portion 310, the quality of the light-transmitting covering portion 310, or the transmittance of the light-transmitting covering portion 310. Specifically, for certain working conditions where the material feeding and discharging time and process are relatively fixed, the attachments on the surface of the light-transmitting covering portion 310 may reach the processing upper limit after each fixed number of material feeding and discharging processes or each set use time. The attachments that reach the processing upper limit will cause the measurement laser signal to be severely attenuated and the 3D laser scanning radar cannot detect the three-dimensional morphology of the material surface. The light-transmitting covering portion 310 needs to be replaced or cleaned before reuse. In addition, because the more attachments adhered to the light-transmitting covering portion 310, the heavier the weight of the light-transmitting covering portion 310, and the worse the light transmittance, the covering adjustment mechanism 320 can replace or clean the light-transmitting covering portion 310 and reuse it when the mass of the light-transmitting covering portion 310 is not less than the preset mass or the transmittance of the light-transmitting covering portion 310 is not greater than the preset transmittance.

[0058] In summary, the embodiment of the utility model wraps the scanning body with a main body shell provided with a signal emission area, and the scanning body is configured to generate measurement laser signals at multiple angles, and emit the measurement laser signals at multiple angles from the signal emission area to detect the three-dimensional shape of the material surface. Since the light-transmitting covering part in the dustproof module is closely attached to and covers the signal emission area of ​​the main body shell, after the 3D laser scanning radar has worked for a period of time, the surface of the light-transmitting covering part will be affected by factors such as the container loading and unloading process and will adhere to the attachments. As the attachments gradually increase, until the characteristic parameters of the light-transmitting covering part reach the preset conditions, the covering adjustment mechanism fixed in the non-signal emission area of ​​the main body shell replaces or cleans the light-transmitting covering part for reuse.

[0059] It can be seen that, on the one hand, the configuration as in the embodiment of the utility model can prevent the signal emitting area of ​​the main shell from affecting the laser signal receiving and sending process of the scanning body due to excessive adhesion of attachments, thereby reducing the influence of the attachments on the 3D laser scanning radar, and facilitating the maintenance of the normal measurement work of the 3D laser scanning radar; on the other hand, the embodiment of the utility model can operate the light-transmitting covering part through the covering adjustment mechanism fixed in the non-signal emitting area of ​​the main shell, eliminating the need for on-site staff to regularly climb ladders to clean the 3D laser scanning radar, thereby reducing the work intensity of on-site staff.

[0060] It should be noted that, continue to refer to Figure 1 and Figure 2 Optionally, the main shell 100 includes at least a shell 110 and a cover 120; one end of the shell 110 is fixedly connected to the container for installation on the container, and the other end of the shell 110 is fixedly connected to the cover 120, the shell 110 and the cover 120 form a closed space, and the scanning body 200 is installed in the closed space; the signal emission area is at least located on the cover 120, so that at least the measurement laser signals of multiple angles generated by the scanning body 200 are emitted from the signal emission area, and the multiple reflected laser signals corresponding to the multiple measurement laser signals are formed after being reflected by the material in the container are received by the scanning body 200 through the signal emission area, so as to detect the three-dimensional shape of the material surface.

[0061] The material of the housing 110 may be stainless steel, ceramic, etc. The material of the cover body 120 in the signal emission area may be any laser-transmissive material, such as glass, PMMA sheet, etc. Correspondingly, the cover body 120 in the non-signal emission area may be completely transparent, partially transparent, or completely opaque, and its material may be, for example, glass, ceramic, plastic, stainless steel, aluminum alloy, etc.

[0062] It should also be noted that, see Figure 6 and Figure 7Optionally, the main housing 100 includes at least a shell 110 and a cover 120; the cover 120 is movably disposed at one end of the shell 110, and the other end of the shell 110 is fixedly connected to the container for installation on the container ( Figure 6 and Figure 7 The shell 110 and the cover 120 form a non-enclosed space; the signal emission area is at least located on the cover 120, and the cover 120 is hollowed out in the signal emission area so that the main shell 100 partially wraps the scanning body, and the measurement laser signals of multiple angles generated by the scanning body are emitted from the signal emission area, and the multiple reflected laser signals corresponding to the multiple measurement laser signals are formed after being reflected by the material in the container are received by the scanning body through the signal emission area to detect the three-dimensional shape of the material surface.

[0063] Optionally, the scanning body at least includes a mechanical motion structure 210 and a radar sensor 220 with a protective shell; the mechanical motion structure 210 is installed in a non-enclosed space, one end of the mechanical motion structure 210 is fixedly connected to the shell 110, and the other end of the mechanical motion structure 210 is fixedly connected to the cover 120; the radar sensor 220 is fixedly connected to the mechanical motion structure 210 or the cover 220, so that when the mechanical motion structure 210 performs mechanical motion in at least one dimension, the radar sensor 220 follows the mechanical motion structure 210 and the cover 120 to perform synchronous follow-up mechanical motion; part or all of the radar sensor 220 is exposed at the hollow signal emission area ( Figure 6 and Figure 7 The radar sensor 220 is exemplarily shown as being partially exposed in a hollowed-out signal emission area); the radar sensor 220 is at least used to generate measurement laser signals at multiple angles in one or more dimensions, and emit the measurement laser signals from the signal emission area; and receive multiple reflected laser signals to detect the three-dimensional shape of the material surface.

[0064] It should also be noted that, see Figure 8 Optionally, the main housing 100 includes at least a shell 110 and a cover 120; one end of the shell 110 is fixedly connected to the cover 120, and the other end of the shell 110 is fixedly connected to the container for installation on the container ( Figure 8 The signal emitting area is at least located on the cover body 120, and the cover body 120 is hollowed out in the signal emitting area, so that the main shell 100 encloses a non-enclosed space and partially wraps the scanning body, and the measurement laser signals of multiple angles generated by the scanning body are emitted from the signal emitting area, and the multiple reflected laser signals corresponding to the multiple measurement laser signals reflected by the material in the container are received by the scanning body through the signal emitting area to detect the three-dimensional shape of the material surface.

[0065] Optionally, the scanning body includes at least a radar sensor 220 having a protective shell; the radar sensor 220 is fixedly connected to the main body shell 100, and part or all of the radar sensor 220 is exposed at a hollow signal output area; the radar sensor 220 is at least used to generate measurement laser signals at multiple angles in multiple dimensions, and emit the measurement laser signals from the signal output area; and receive multiple reflected laser signals to detect the three-dimensional morphology of the material surface based on the measurement laser signals and the reflected laser signals.

[0066] On the basis of the above-mentioned embodiment, the specific structure of the light-transmitting covering portion and the covering adjustment mechanism is described below, but it does not constitute a limitation to the embodiment of the utility model.

[0067] In a specific embodiment, Figure 3 3D laser scanning radar is a schematic diagram of a dustproof type provided by an embodiment of the present invention. Figure 3 As shown, optionally, the light-transmitting covering portion 310 is a multi-layer stacked structure; the covering adjustment mechanism 320 is specifically used to, when the characteristic parameters of the light-transmitting covering portion 310 reach a preset condition, adjust the exposed layer (that is, Figure 3 The light-transmitting covering part 310 (the layer farthest from the cover body 120) is torn off to replace the light-transmitting covering part 310. The light-transmitting covering part 310 is similar to adhesive tape, and the covering adjustment mechanism 320 can be, for example, a mechanical claw; when the use time of the light-transmitting covering part 310 reaches the set use time, or the mass of the light-transmitting covering part 310 is not less than the preset mass, or the light transmittance of the light-transmitting covering part 310 is not greater than the preset light transmittance, it means that there are too many attachments on the light-transmitting covering part 310, and the covering adjustment mechanism 320 tears off the exposed layer of the light-transmitting covering part 310 to replace the light-transmitting covering part 310.

[0068] In another specific embodiment, optionally, the covering adjustment mechanism at least includes an active winding unit and a tightening and releasing unit, which are respectively installed at the two ends of the covering adjustment mechanism and are located on non-same sides of the main shell; the light-transmitting covering part is integrally formed, and the two ends of the light-transmitting covering part are respectively fixed to the active winding unit and the tightening and releasing unit; when the characteristic parameters of the light-transmitting covering part meet the preset conditions, the tightening and releasing unit tightens after releasing the light-transmitting covering part of preset length and unused; while the tightening and releasing unit releases the light-transmitting covering part, the active winding unit winds up the light-transmitting covering part of preset length and used from the opposite side of the tightening and releasing unit, so as to replace the light-transmitting covering part. Among them, the active winding unit and the tightening and releasing unit can be, for example, a roller structure. The preset length is related to the shape and size of the main shell, the range of the signal emission area, the actual installation orientation of the active winding unit and the tightening and releasing unit, etc., and can be adaptively adjusted according to the actual working conditions and structural design of the 3D laser scanning radar, and the embodiment of the utility model does not limit this.

[0069] In another specific embodiment, optionally, the covering adjustment mechanism at least includes an active winding unit and a tightening and releasing unit, which are respectively installed at the two ends of the covering adjustment mechanism and located on different sides of the main shell; the light-transmitting covering portion is integrally formed, and the two ends of the light-transmitting covering portion are respectively fixed to the active winding unit and the tightening and releasing unit; when the characteristic parameters of the light-transmitting covering portion meet the preset conditions, the tightening and releasing unit tightens after releasing the light-transmitting covering portion of preset length and not in use; while the tightening and releasing unit releases the light-transmitting covering portion, the active winding unit winds up the light-transmitting covering portion of preset length and that has been used from the opposite side of the tightening and releasing unit, thereby replacing the light-transmitting covering portion. The covering adjustment mechanism also includes a cleaning unit; the cleaning unit is at least used to remove attachments adhered to the light-transmitting covering portion during the process of the active winding unit winding up the light-transmitting covering portion of preset length and that has been used, so as to realize the cleaning and reuse of the light-transmitting covering portion. Among them, the working principles of the cleaning unit can be various, such as vibration, air blowing, liquid washing, push scraping, etc.; specifically, the vibration cleaning unit can use a vibration sensor, the air blowing cleaning unit can be composed of an air source, an air duct, a jet head, etc., the liquid washing cleaning unit can include a liquid source, a liquid duct, a liquid spray head, etc., and the push scraping cleaning unit can be composed of a push scraper and a pushing structure.

[0070] Based on the above embodiments, continue to refer to Figure 1 and Figure 2Optionally, the scanning body 200 includes a mechanical motion structure 210 and a radar sensor 220; the mechanical motion structure 210 is connected to the shell 110 and is used to form mechanical motion in at least one dimension; the radar sensor 220 is installed on the mechanical motion structure 210, and is used to generate and transmit scanning signals and receive echo signals, and follow the mechanical motion structure 210 to perform synchronous mechanical motion to perform multi-angle scanning on the three-dimensional morphology of the material surface.

[0071] Optionally, the mechanical motion structure 210 includes a horizontal motion structure 211 and / or a pitch motion structure 212, and the radar sensor 220 is connected to the horizontal motion structure 211 and / or the pitch motion structure 212 so that when the pitch motion structure 212 performs a pitch mechanical movement and / or when the horizontal motion structure 211 performs a horizontal mechanical movement, the radar sensor 220 is driven to perform a synchronous pitch mechanical movement and / or horizontal mechanical movement.

[0072] Among them, the radar sensor 220 is connected to the horizontal motion structure 211 and / or the pitch motion structure 212, so that when the pitch motion structure 212 performs the pitch mechanical movement and / or the horizontal motion structure 211 performs the horizontal mechanical movement, it drives the radar sensor 220 to perform the synchronous pitch mechanical movement and / or the horizontal mechanical movement. It means that the radar sensor 220 is connected to the horizontal motion structure 211 and / or the pitch motion structure 212, so that when the pitch motion structure 212 performs the pitch mechanical movement, it drives the radar sensor 220 to perform the synchronous pitch mechanical movement, and / or when the horizontal motion structure 211 performs the horizontal mechanical movement, it drives the radar sensor 220 to perform the synchronous horizontal mechanical movement.

[0073] Based on the above embodiments, Figure 4 This is a schematic diagram of the structure of another dust-proof 3D laser scanning radar provided by the embodiment of the utility model. Figure 4 Optionally, it also includes a driving module 400, which is connected to the horizontal motion structure 211 and / or the pitch motion structure 212, and is used to drive the horizontal motion structure 211 and / or the pitch motion structure 212 to perform mechanical motion in the horizontal and / or pitch directions.

[0074] Optionally, the driving module 400 includes a horizontal driving unit 410 and / or a pitch driving unit 420; the pitch driving unit 420 is connected to the pitch motion structure 212 to drive the pitch motion structure 212 to rotate in the pitch direction, thereby at least driving the radar sensor 220 to perform a synchronous follow-up pitch mechanical movement; and / or the horizontal driving unit 410 is connected to the horizontal motion structure 211 to drive the horizontal motion structure 211 to rotate in the horizontal direction, thereby at least driving the radar sensor 220 to perform a synchronous follow-up horizontal mechanical movement.

[0075] Optionally, a main control circuit board ( Figure 4 ), connected to the drive module 400 and the radar sensor 220, and used to control the drive module 400 to drive the mechanical motion structure 210 to perform mechanical motion in at least one dimension according to a preset motion logic; and to obtain and parse the spatial level information of the material based on the measurement laser signal, the reflected laser signal and the motion angle of the mechanical motion structure, and then obtain at least one of the three-dimensional shape, mass, volume and level of the material surface.

[0076] The preset motion logic may be, but is not limited to, in the form of a pulse signal. In addition, the main control circuit board may utilize any calculation method, logic circuit, etc. to analyze the spatial position information of the material according to the measurement laser signal, the reflected laser signal, and the motion angle of the mechanical motion structure, and then obtain at least one of the three-dimensional shape, mass, volume, and material level of the material surface, and the embodiment of the utility model is not limited to this.

[0077] Continue to see Figure 4 , for example, the specific working principle of the 3D laser scanning radar can be as follows:

[0078] When the radar sensor 220 needs to perform mechanical movement in the pitch direction, the main control circuit board generates a pitch control signal according to the preset motion logic and transmits it to the pitch drive unit 420. The pitch drive unit 420 drives the pitch motion structure 212 to rotate in the pitch direction in the enclosed space formed by the shell 110 and the cover 120, thereby driving the radar sensor 220 to perform synchronous follow-up pitch mechanical movement. The radar sensor 220 generates and transmits a measuring laser signal and receives a reflected laser signal to perform a multi-angle scan of the three-dimensional shape of the material surface in the silo. During the continuous scanning process of the radar sensor 220, the main control circuit board obtains and analyzes the spatial position information of the material in real time based on the measuring laser signal, the reflected laser signal and the movement angle of the pitch motion structure 212, thereby obtaining at least one of the three-dimensional shape, mass, volume and material level of the material surface.

[0079] When the radar sensor 220 needs to perform mechanical movement in the horizontal direction, the main control circuit board generates a horizontal control signal according to the preset movement logic and transmits it to the horizontal drive unit 410. The horizontal drive unit 410 drives the horizontal motion structure 211 to rotate in the horizontal direction in the enclosed space formed by the shell 110 and the cover 120, thereby driving the radar sensor 220 to perform synchronous follow-up horizontal mechanical movement. The radar sensor 220 generates and transmits a measuring laser signal and receives a reflected laser signal to perform a multi-angle scan of the three-dimensional shape of the material surface in the silo. During the continuous scanning process of the radar sensor 220, the main control circuit board obtains and analyzes the spatial level information of the material in real time based on the measuring laser signal, the reflected laser signal and the movement angle of the horizontal motion structure 211, thereby obtaining at least one of the three-dimensional shape, mass, volume and material level of the material surface.

[0080] When the radar sensor 220 needs to perform mechanical movements in the horizontal direction and the pitch direction, the main control circuit board generates a horizontal control signal and a pitch control signal according to the preset motion logic and transmits them to the horizontal drive unit 410 and the pitch drive unit 420 respectively. The horizontal drive unit 410 drives the horizontal motion structure 211 to rotate in the horizontal direction in the closed space formed by the shell 110 and the cover 120, and the pitch drive unit 420 drives the pitch motion structure 212 to rotate in the closed space formed by the shell 110 and the cover 120, thereby driving the radar sensor 220 performs synchronous follow-up horizontal mechanical movement and pitch mechanical movement, and the radar sensor 220 generates and transmits measuring laser signals and receives reflected laser signals, and performs multi-angle scanning on the three-dimensional shape of the surface of the material in the silo; during the continuous scanning process of the radar sensor 220, the main control circuit board obtains in real time and analyzes the spatial level information of the material based on the measuring laser signal, the reflected laser signal, the movement angle of the pitch motion structure 212 and the movement angle of the horizontal motion structure 211, and then obtains at least one of the three-dimensional shape, mass, volume and material level of the material surface.

[0081] On the basis of the above embodiments, optionally, the drive module includes a synchronous belt, a motor, a first synchronous wheel, a second synchronous wheel, a bearing, a bearing sleeve and a connecting shaft; the motor is fixed at the first mounting position of the mechanical motion structure, and the first synchronous wheel is fixedly connected to the rotating shaft of the motor; the bearing sleeve is fixed at the second mounting position of the mechanical motion structure, and the bearing is installed in the bearing sleeve; the connecting shaft passes through the bearing and is fixedly connected to the inner ring of the bearing on the side away from the mechanical motion structure through a fixing member; the second synchronous wheel is fixedly connected to the side of the connecting shaft away from the fixing member; the synchronous belt is arranged in the synchronous grooves of the first synchronous wheel and the second synchronous wheel, so that the first synchronous wheel and the second synchronous wheel rotate synchronously.

[0082] The synchronous belt may be a trapezoidal tooth synchronous belt or an arc tooth synchronous belt, and correspondingly, the teeth on the first synchronous wheel and the second synchronous wheel may be trapezoidal teeth or arc teeth. It is understandable that in some embodiments, the synchronous belt, the first synchronous wheel and the second synchronous wheel may be equivalently replaced by a belt, a first pulley and a second pulley, and the arrangement of the belt, the first pulley and the second pulley is exactly the same as that of the synchronous belt, the first synchronous wheel and the second synchronous wheel, and will not be described in detail.

[0083] It is known that the motor can be a stepper motor or a servo motor, and the bearing can be a deep groove ball bearing. It is understandable that the specific structure and design parameters of the synchronous belt, the motor, the first synchronous wheel, the second synchronous wheel, the bearing, the bearing sleeve and the connecting shaft can be adaptively adjusted according to the actual application requirements of the 3D laser scanning radar, and the embodiments of the utility model are not limited to this. In addition, the first installation position and the second installation position are respectively located at different positions of the mechanical motion structure, that is, the motor and the bearing sleeve are respectively arranged at different positions of the mechanical motion structure.

[0084] Specifically, illustratively, Figure 5 This is a schematic diagram of a drive module and a mechanical motion structure provided by an embodiment of the utility model, see Figure 5 The horizontal drive unit includes a horizontal synchronous belt A, a first motor B, a first horizontal synchronous wheel C, a second horizontal synchronous wheel D, a first bearing ( Figure 5 Not shown), the first bearing sleeve E and the first connecting shaft ( Figure 5 The first motor B is fixed on the first mounting position of the horizontal motion structure 211, and the first horizontal synchronous wheel C is fixedly connected to the rotating shaft of the first motor B; the first bearing sleeve E is fixed on the second mounting position of the horizontal motion structure 211, and the first bearing is installed in the first bearing sleeve E; the first connecting shaft passes through the first bearing, and is fixedly connected to the inner ring of the first bearing away from the horizontal motion structure 211 through the first fixing member F; the second horizontal synchronous wheel D is fixedly connected to the side of the first connecting shaft away from the first fixing member F; the horizontal synchronous belt A is arranged in the synchronous grooves of the first horizontal synchronous wheel C and the second horizontal synchronous wheel D, so that the first horizontal synchronous wheel C and the second horizontal synchronous wheel D rotate synchronously.

[0085] It should be noted that the rotating shaft of the first motor B cannot rotate, but the body of the first motor B can rotate around the rotating shaft of the first motor B; the body of the first motor B is connected to the horizontal motion structure 211 as a whole, and the rotating shaft of the first motor B passes through the horizontal motion structure 211, so that the body of the first motor B and the first horizontal synchronous wheel C are respectively located on both sides of the horizontal motion structure 211; the first connecting shaft also passes through the horizontal motion structure 211, so that the first bearing, the first bearing sleeve E and the body of the first motor B are located on one side of the horizontal motion structure 211, and the second horizontal synchronous wheel D and the first horizontal synchronous wheel C are located on the other side of the horizontal motion structure 211; the second installation position of the horizontal motion structure 211 is set at the center of the horizontal motion structure 211.

[0086] Based on this, it can be understood that the working principle of the horizontal driving unit driving the horizontal motion structure 211 is specifically as follows:

[0087] The first bearing sleeve E is connected to the horizontal motion structure 211 as a whole. After the first bearing is installed in the first bearing sleeve E, the outer ring of the first bearing cannot rotate, but the inner ring of the first bearing can rotate. At the same time, the first motor B is also connected to the horizontal motion structure 211 as a whole. Since the rotating shaft of the first motor B cannot rotate, the body of the first motor B can rotate around the rotating shaft of the first motor B. Therefore, after the first motor B outputs torque, the body of the first motor B will drive the horizontal motion structure 211, the first bearing sleeve E and the outer ring of the first bearing to perform circular motion with the center of the horizontal motion structure 211 as the center point; in this process, the first horizontal synchronous wheel C performs circular motion with the center of the horizontal motion structure 211 as the center point along the horizontal synchronous belt A, and the second horizontal synchronous wheel D, the first connecting shaft, the first fixing member F and the inner ring of the first bearing are in a stationary state. The rotation range of the horizontal motion structure 211 depends on the rotation angle of the body of the first motor B.

[0088] Continue to see Figure 5 The pitch drive unit includes a pitch synchronous belt G, a second motor H, a first pitch synchronous wheel I, a second pitch synchronous wheel J, a second bearing ( Figure 5 Not shown), the second bearing sleeve ( Figure 5 ) and a second connecting axis K.

[0089] The second motor H is fixed on the first mounting position of the fixed bracket, and the first pitch synchronous wheel I is fixedly connected to the rotating shaft of the second motor H; the second bearing sleeve is fixed on the second mounting position of the fixed bracket, and the second bearing is installed in the second bearing sleeve; the second connecting shaft K passes through the second bearing and is fixedly connected to the inner ring of the second bearing away from the fixed bracket through the second fixing member; the second pitch synchronous wheel J is fixedly connected to the side of the second connecting shaft K away from the second fixing member; the pitch synchronous belt G is arranged in the synchronous grooves of the first pitch synchronous wheel I and the second pitch synchronous wheel J, so that the first pitch synchronous wheel I and the second pitch synchronous wheel J rotate synchronously.

[0090] It can be seen that the body of the second motor H is connected to the fixed bracket as a whole, the rotating shaft of the second motor H can rotate, and the rotating shaft of the second motor H passes through the fixed bracket, so that the body of the second motor H and the first pitch synchronous wheel I are respectively located on both sides of the fixed bracket; the second connecting shaft K also passes through the fixed bracket, so that the second bearing, the second bearing sleeve and the body of the second motor H are located on one side of the fixed bracket, and the second pitch synchronous wheel J and the first pitch synchronous wheel I are located on the other side of the fixed bracket; the second connecting shaft K is connected to the pitch motion structure 212 as a whole.

[0091] Based on this, it can be understood that the working principle of the pitch driving unit driving the pitch motion structure 212 is specifically as follows:

[0092] The second bearing sleeve is connected to the fixed bracket as a whole. After the second bearing is installed in the second bearing sleeve, the outer ring of the second bearing cannot rotate, but the inner ring of the second bearing can rotate. At the same time, the second motor H is also connected to the fixed bracket as a whole. After the second motor H outputs torque, the rotating shaft of the second motor H drives the first pitch synchronous wheel I to rotate, and the first pitch synchronous wheel I drives the second pitch synchronous wheel J to rotate through the pitch synchronous belt G, thereby causing the second connecting shaft K, the inner ring of the second bearing, the second fixing member and the pitch motion structure 212 to rotate synchronously. The rotation range of the pitch motion structure 212 depends on the rotation angle of the rotating shaft of the second motor H.

[0093] In summary, on the one hand, the embodiment of the utility model is provided with a horizontal synchronous belt, a first motor, a first horizontal synchronous wheel, a second horizontal synchronous wheel, a first bearing, a first bearing sleeve and a first connecting shaft. When the radar sensor needs to perform mechanical movement in the horizontal direction, the horizontal motion structure is driven to rotate in the horizontal direction, and then the pitch motion structure and the radar sensor are driven to rotate horizontally through the fixed bracket. On the other hand, the embodiment of the utility model is provided with a pitch synchronous belt, a second motor, a first pitch synchronous wheel, a second pitch synchronous wheel, a second bearing, a second bearing sleeve and a second connecting shaft. When the radar sensor needs to perform mechanical movement in the pitch direction, the pitch motion structure is driven to rotate in the pitch direction, and then the radar sensor is driven to rotate in pitch. During the above movement process, the radar sensor generates and transmits a measuring laser signal and receives a reflected laser signal, and performs multi-angle scanning on the three-dimensional shape of the surface of the material in the container; during the continuous scanning process of the radar sensor, the main control circuit board obtains in real time and analyzes the spatial position information of the material according to the measuring laser signal, the reflected laser signal, the movement angle of the pitch motion structure and the movement angle of the horizontal motion structure, and then obtains at least one of the three-dimensional shape, mass, volume and material level of the material surface.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A dustproof 3D laser scanning radar, characterized in that: At least includes a main body shell, a scanning body and a dustproof module; The main body shell is provided with a signal emitting area; The scanning body is wrapped by the body shell and is used to generate at least a plurality of angles of measuring laser signals, so that the plurality of angles of measuring laser signals are emitted from the signal emission area to detect the three-dimensional shape of the material surface; The dustproof module is composed of at least a light-transmitting covering portion and a covering adjustment mechanism; the light-transmitting covering portion at least closely adheres to and covers the signal emitting area; the covering adjustment mechanism is fixed in the non-signal emitting area of ​​the main shell, and is used to replace or clean the light-transmitting covering portion for reuse at least when the characteristic parameters of the light-transmitting covering portion reach preset conditions.

2. The dustproof 3D laser scanning radar according to claim 1, characterized in that: The main body shell at least includes a shell and a cover; One end of the shell is fixedly connected to the container for installation on the container, and the other end of the shell is fixedly connected to the cover body. The shell and the cover body enclose a closed space, and the scanning body is installed in the closed space; The signal emission area is at least located on the cover body, so that at least the measuring laser signals of multiple angles generated by the scanning body are emitted from the signal emission area, and multiple reflected laser signals correspondingly formed after the multiple measuring laser signals are reflected by the material in the container are received by the scanning body through the signal emission area, so as to detect the three-dimensional shape of the material surface.

3. The dustproof 3D laser scanning radar according to claim 1, characterized in that: The main body shell at least includes a shell and a cover; The cover body is movably arranged at one end of the shell, and the other end of the shell is fixedly connected to the container for being mounted on the container; the shell and the cover body enclose a non-enclosed space; The signal emitting area is at least located on the cover body, and the cover body is hollowed out in the signal emitting area so that the main shell partially wraps the scanning body, and the measuring laser signals of multiple angles generated by the scanning body are emitted from the signal emitting area, and multiple reflected laser signals correspondingly formed after the multiple measuring laser signals are reflected by the material in the container are received by the scanning body through the signal emitting area to detect the three-dimensional shape of the material surface.

4. The dustproof 3D laser scanning radar according to claim 1, characterized in that: The main body shell at least includes a shell and a cover; One end of the shell is fixedly connected to the cover body, and the other end of the shell is fixedly connected to the container for being mounted on the container; The signal emission area is at least located on the cover body, and the cover body is hollowed out in the signal emission area so that the main shell encloses a non-enclosed space and partially wraps the scanning body, and the measuring laser signals of multiple angles generated by the scanning body are emitted from the signal emission area, and the multiple reflected laser signals correspondingly formed after the multiple measuring laser signals are reflected by the material in the container are received by the scanning body through the signal emission area to detect the three-dimensional shape of the material surface.

5. The dustproof 3D laser scanning radar according to claim 4, characterized in that: The scanning body at least includes a radar sensor having a protective shell; The radar sensor is fixedly connected to the main body housing, and part or all of the radar sensor is exposed at the hollowed-out signal emitting area; The radar sensor is at least used to generate the measuring laser signals at multiple angles in multiple dimensions and emit the measuring laser signals from the signal emission area; and receive multiple reflected laser signals to detect the three-dimensional shape of the material surface based on the measuring laser signals and the reflected laser signals.

6. The dustproof 3D laser scanning radar according to claim 1, characterized in that: The characteristic parameters of the light-transmitting covering portion at least include one of the service life of the light-transmitting covering portion, the quality of the light-transmitting covering portion, or the transmittance of the light-transmitting covering portion.

7. The dustproof 3D laser scanning radar according to claim 1, characterized in that: The light-transmitting covering part is a multi-layer stacked structure; The covering adjustment mechanism is specifically used to tear off an exposed layer of the light-transmitting covering portion when the characteristic parameter of the light-transmitting covering portion meets the preset condition, so as to replace the light-transmitting covering portion.

8. The dustproof 3D laser scanning radar according to claim 1, characterized in that: The covering adjustment mechanism at least comprises an active coiling unit and a tightening and releasing unit, wherein the active coiling unit and the tightening and releasing unit are respectively installed at two ends of the covering adjustment mechanism and are located on different sides of the main body shell; The light-transmitting covering portion is integrally formed, and two ends of the light-transmitting covering portion are respectively fixed to the active winding unit and the tightening and releasing unit; When the characteristic parameter of the light-transmitting covering portion reaches the preset condition, the tightening and releasing unit tightens after releasing the light-transmitting covering portion of preset length that has not been used; While the tightening and releasing unit releases the light-transmitting covering portion, the active winding unit winds up the used light-transmitting covering portion of a preset length from the opposite side of the tightening and releasing unit, thereby replacing the light-transmitting covering portion.

9. The dustproof 3D laser scanning radar according to claim 8, characterized in that: The coating adjustment mechanism also includes a cleaning unit; The cleaning unit is at least used to remove attachments adhered to the light-transmitting covering portion during the process in which the active winding unit is winding the light-transmitting covering portion of the preset length that has been used, so as to clean and reuse the light-transmitting covering portion.

10. The dustproof 3D laser scanning radar according to claim 2, characterized in that: The scanning body includes a mechanical motion structure and a radar sensor; The mechanical motion structure is connected to the housing and is used to form mechanical motion in at least one dimension; The radar sensor is mounted on the mechanical motion structure, and is used to generate and transmit the measuring laser signal and receive the reflected laser signal, and to perform synchronous mechanical motion with the mechanical motion structure to perform multi-angle scanning on the three-dimensional shape of the material surface.

11. The dustproof 3D laser scanning radar according to claim 3, characterized in that: The scanning body at least includes a mechanical motion structure and a radar sensor with a protective shell; The mechanical motion structure is installed in the non-enclosed space, one end of the mechanical motion structure is fixedly connected to the shell, and the other end of the mechanical motion structure is fixedly connected to the cover body; The radar sensor is fixedly connected to the mechanical motion structure or the cover so as to follow the mechanical motion structure and the cover to perform synchronous mechanical motion when the mechanical motion structure performs mechanical motion in at least one dimension; Part or all of the radar sensor is exposed at the hollowed-out signal emitting area; The radar sensor is used at least to generate the measuring laser signals at multiple angles in one or more dimensions and emit the measuring laser signals from the signal emission area; and to receive multiple reflected laser signals to detect the three-dimensional shape of the material surface.

12. The dustproof 3D laser scanning radar according to claim 10 or 11, characterized in that: The mechanical motion structure includes a horizontal motion structure and / or a pitch motion structure, and the radar sensor is connected to the horizontal motion structure and / or the pitch motion structure so that when the pitch motion structure performs a pitch mechanical movement and / or when the horizontal motion structure performs a horizontal mechanical movement, the radar sensor is driven to perform a synchronous pitch mechanical movement and / or horizontal mechanical movement.

13. The dustproof 3D laser scanning radar according to claim 12, characterized in that: Also includes: A driving module is connected to the horizontal motion structure and / or the pitch motion structure, and is used to drive the horizontal motion structure and / or the pitch motion structure to perform mechanical motion in the horizontal and / or pitch directions.

14. The dustproof 3D laser scanning radar according to claim 13, characterized in that: Also includes: A main control circuit board is connected to the driving module and the radar sensor, and is used to control the driving module to drive the mechanical motion structure to perform mechanical motion in at least one dimension according to a preset motion logic; and to obtain and parse the spatial level information of the material based on the measurement laser signal, the reflected laser signal and the motion angle of the mechanical motion structure, and then obtain at least one of the three-dimensional shape, mass, volume and material level of the material surface.

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