Pitch-reflecting 3D scan radar

Abstract

Pitch-reflecting 3D scan radar, characterized in that it comprises a horizontal rotation mechanism, a detection circuit, a signal reflection mechanism and a pitch rotation mechanism; wherein the pitching rotation mechanism is arranged at a first preset position of the horizontal rotation mechanism and an axis section of the pitching rotation mechanism rotates in a pitching direction; wherein the detection circuit is fixed at a second preset position of the horizontal rotation mechanism and serves at least to generate and transmit a measurement signal and receive an echo signal in order to calculate a level parameter of a material surface in a container with respect to the measurement signal and the echo signal; wherein the signal reflection mechanism is rigidly connected to a first mounting position of the axis section and forms a preset fixed angle with a transmission direction of the measurement signal generated by the detection circuit and serves, by means of a rotation of the horizontal rotation mechanism and a rotation of the pitch rotation mechanism, to cause the measurement signal to be reflected by the signal reflection mechanism after transmission and then to reach at least one measurement point on the material surface;and reflect the echo signal generated at the at least one measuring point on the material surface back to the detection circuit, which is received by the detection circuit in order to determine the fill level parameter of the at least one measuring point on the material surface; wherein the horizontal rotation mechanism serves to drive the detection circuit, the signal reflection mechanism and the pitch rotation mechanism to perform a synchronous rotational movement in the horizontal direction during the execution of a rotational movement in a horizontal direction.

Description

TECHNICAL AREA

[0001] The embodiments of the present application relate to the technical field of 3D measurement, in particular to a pitch-reflecting 3D scan radar. TECHNICAL BACKGROUND

[0002] 3D scanning radar offers numerous advantages, including safety, efficiency, and environmental friendliness, leading to widespread adoption and application in processes such as 3D measurement of media in industrial manufacturing. However, the structure of most existing 3D scanning radars is limited by the functional design and implementation of the radar itself, with key components often subjected to movement, bending, and other environmental factors, resulting in relatively low reliability and a shorter product lifespan.

[0003] For example, in a conventional 3D scan radar, a radio frequency (RF) board is generally mounted to an antenna, and a microwave signal generated by the RF board is transmitted via the antenna. Simultaneously, the antenna is often mounted to a pitching device or mount, which is connected to and moves with a horizontal motion device or mount to perform a horizontal movement. This causes the antenna to transmit the microwave signal from multiple angles in two dimensions to perform 3D detection. However, since a main control board of the 3D scan radar is typically located on the horizontal motion device or mount, there is relative movement between the main control board and the RF board.This results in communication cables, power supply cables, etc. connected between the main control board and the high-frequency board being affected by the relative movement between the two, generating a greater loss. DETAILED DESCRIPTION

[0004] One embodiment of the present application provides a pitch-reflecting 3D scan radar to simplify and optimize the structure of the 3D scan radar, increase the reliability of the 3D scan radar and extend the lifetime of the 3D scan radar.

[0005] An embodiment of the present application provides a pitch-reflecting 3D scan radar comprising a horizontal rotation mechanism, a detection circuit, a signal reflection mechanism, and a pitch-rotation mechanism; wherein the pitch-rotation mechanism is arranged at a first preset position of the horizontal rotation mechanism and rotates an axial section of the pitch-rotation mechanism in a pitching direction; wherein the detection circuit is fixed at a second preset position of the horizontal rotation mechanism and serves at least to generate and transmit a measurement signal and receive an echo signal in order to calculate a fill level parameter of a material surface in a container with respect to the measurement signal and the echo signal; wherein the signal reflection mechanism is rigidly connected to a first mounting position of the axis section and forms a preset fixed angle with a transmission direction of the measurement signal generated by the detection circuit and serves, by means of a rotation of the horizontal rotation mechanism and a rotation of the pitch rotation mechanism, to cause the measurement signal to be reflected by the signal reflection mechanism after transmission and then reach at least one measurement point on the material surface; and to reflect the echo signal formed at the at least one measurement point on the material surface back to the detection circuit, which is received by the detection circuit in order to form the level parameter of the at least one measurement point on the material surface;wherein the horizontal rotation mechanism serves to drive the detection circuit, the signal reflection mechanism and the pitch rotation mechanism to perform a synchronous rotational movement in the horizontal direction during the execution of a rotational movement in a horizontal direction.

[0006] Optionally, this further includes: a waveguide structure that is rigidly connected to the detection circuit and / or the horizontal rotation mechanism and serves to direct the measurement signal sent by the detection circuit to the signal reflection mechanism, wherein the measurement signal reaches the at least one measurement point on the material surface after reflection by the signal reflection mechanism; and to direct the echo signal formed at the at least one measurement point on the material surface to the detection circuit after reflection by the signal reflection mechanism via the waveguide structure.

[0007] Optionally, this further includes: an antenna structure that is fixed via a connecting element at a second mounting position of the axis section, whereby a relative position to the signal reflection mechanism remains unchanged, wherein the antenna structure serves to transmit the measurement signal reflected after the signal reflection mechanism after bundling and amplification, wherein the rotation of the horizontal rotation mechanism and the rotation of the pitch rotation mechanism cause the measurement signal to reach the at least one measurement point on the material surface; and to guide the echo signal formed at the at least one measurement point to the signal reflection mechanism, wherein the echo signal is finally received by the detection circuit after reflection by the signal reflection mechanism.

[0008] Optionally, this also includes: a counterweight balancing element fixed at a third mounting position of the axis section and serving to balance the weight of the antenna structure; wherein the second mounting position and the third mounting position are each arranged on two axially symmetrical sides of the axis section.

[0009] Optionally, the detection circuit comprises a signal transmitting and receiving circuit and a main control circuit; wherein the signal transmitting and receiving circuit is arranged opposite the waveguide structure and serves to generate the measurement signal and receive the echo signal; wherein the measurement signal generated by the signal transmitting and receiving circuit is transmitted via the waveguide structure in a directed direction to the signal reflection mechanism and, after reflection by the signal reflection mechanism, reaches the at least one measurement point on the material surface; wherein the echo signal formed at the at least one measurement point on the material surface, after reflection by the signal reflection mechanism, is guided via the waveguide structure in a directed direction to the signal transmitting and receiving circuit;wherein the main control circuit is mounted on the horizontal rotation mechanism, wherein a relative position to the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism remains unchanged; wherein a cable used to connect the main control circuit to the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism does not perform any relative movement;wherein the main control circuit serves at least to implement the control, communication and / or power supply function between the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism, so that the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism operate normally, as well as to receive the rotation information of the horizontal rotation mechanism, the rotation information of the pitching mechanism and the echo signal transmitted by the signal transmitting and receiving circuit and, with respect to these, to obtain the fill level parameter of the at least one measuring point on the material surface.

[0010] Optionally, this further includes: an angle monitoring module rigidly connected to the axis section, signal reflection mechanism, or antenna structure and electrically connected to the main control circuit, serving to obtain the actual rotation angle parameter of the 3D scan radar in the pitch direction, so that the main control circuit can calibrate and correct the rotation information of the pitch rotation mechanism in the pitch direction with respect to the actual rotation angle parameter; and to obtain an actual rotation angle parameter of the horizontal rotation mechanism in the horizontal direction; wherein the actual rotation angle parameter comprises at least one rotation angle or rotation steps.

[0011] Optionally, the main control circuit is mounted on the horizontal rotation mechanism, maintaining a constant relative position to the signal transmitting and receiving circuit, the horizontal rotation mechanism, and the pitching mechanism; wherein a cable used to connect the main control circuit to the signal transmitting and receiving circuit, the horizontal rotation mechanism, and the pitching mechanism does not undergo any relative movement; wherein the main control circuit is electrically connected to the angle monitoring module and serves at least to implement the control, communication, and / or power supply function between the signal transmitting and receiving circuit, the horizontal rotation mechanism, the pitching mechanism, and the angle monitoring module, so that the signal transmitting and receiving circuit, the horizontal rotation mechanism, the pitching mechanism, and the angle monitoring module operate normally. as well as to obtain the actual rotation angle parameter received from the angle monitoring module, the actual rotation angle parameter and the echo signal transmitted by the signal sending and receiving circuit, and to obtain, with reference to these, the fill level parameter of at least one measuring point on the material surface.

[0012] Optionally, the 3D scan radar also includes a host computer; wherein the host computer is connected to the main control circuit and serves to receive the level parameter of the at least one measuring point on the material surface transmitted by the main control circuit, the rotation information of the horizontal rotation mechanism and the rotation information of the pitch rotation mechanism in order to resolve the spatial 3D information of the material surface; or wherein the host computer is connected to the main control circuit and the angle monitoring module and serves to receive the level parameter of the at least one measuring point on the material surface transmitted by the main control circuit, the actual rotation angle parameter transmitted by the angle monitoring module, and the actual rotation angle parameter in order to resolve the spatial 3D information of the material surface.

[0013] Optionally, this further comprises a housing body and a cover body; wherein the housing body is rigidly connected to the cover body and forms a sealed space; wherein the horizontal rotation mechanism, the detection circuit, the signal reflection mechanism and the pitch rotation mechanism are each arranged in the sealed space; wherein the cover body is configured to be penetrated by the measurement signal and the echo signal.

[0014] Optionally, the shaft section rotates continuously in the pitching direction along a first preset direction; the detection circuit is specifically used to identify and calculate the fill level parameter of the material surface in the container, based on the measurement signal and the echo signal corresponding to the continuous rotation of the shaft section within a preset rotation range. Optionally, the shaft section rotates back and forth within a first preset range. Optionally, the horizontal rotation mechanism rotates continuously in the horizontal direction along a second preset direction; or the horizontal rotation mechanism rotates back and forth within a second preset range in the horizontal direction.

[0015] In the technical solution provided by the embodiments of the present application, the detection circuit generates and transmits a measurement signal. Since the signal reflection mechanism is rigidly connected to a first mounting position of the axis section of the pitching mechanism, the signal reflection mechanism follows the axis section when the axis section rotates in the pitching direction and rotates with it. Furthermore, since a transmission direction of the measurement signal generated by the detection circuit forms a preset fixed angle with the signal reflection mechanism, the measurement signal reflected by the signal reflection mechanism forms a plurality of exit angles in the pitching direction. After transmission, the measurement signal reaches a plurality of measurement points on the material surface, which lie in the pitching direction, through the reflection of the signal reflection mechanism.Here, the respective measurement signals with different emission angles at the corresponding measurement points each form an echo signal. These echo signals radiate back to the signal reflection mechanism and are reflected again by the signal reflection mechanism to the detection circuit, thus realizing a scan measurement of the 3D scan radar in the pitch direction.

[0016] Furthermore, since the pitch-rotation mechanism is arranged at a first preset position of the horizontal rotation mechanism, the detection circuit is fixed at a second preset position of the horizontal rotation mechanism, and the signal reflection mechanism is rigidly connected to the first mounting position of the axis section of the pitch-rotation mechanism, the detection circuit, the signal reflection mechanism, and the pitch-rotation mechanism, during a process in which the horizontal rotation mechanism performs a synchronous rotation in the horizontal direction. In this way, the measurement signal reflected by the signal reflection mechanism also forms a multitude of exit angles in the horizontal direction.After the measurement signal is transmitted, it reaches numerous measurement points on the material surface, oriented horizontally, via the signal reflection mechanism. The individual measurement signals, emitted at different angles of departure, each generate an echo signal at the corresponding measurement points. These echo signals radiate back to the signal reflection mechanism and are reflected again to the detection circuit, thus enabling the horizontal scan measurement of the 3D scan radar. Finally, by combining all measurement and echo signals, the detection circuit can calculate the fill level parameter of the material surface within the container.

[0017] It is evident from this that the embodiments of the present application, on the one hand, perform a 3D scan measurement of the material surface in the container from two directions, namely the horizontal direction and the tilting direction, through the interaction of the detection circuit, the horizontal rotation mechanism, the signal reflection mechanism, and the pitching rotation mechanism. On the other hand, the embodiments of the present application fix the detection circuit (corresponding to the main control board and the high-frequency board in the technical background) as a whole on the horizontal rotation mechanism. Therefore, both the main control board and the high-frequency board perform a synchronous horizontal movement, with no relative movement between the main control board and the high-frequency board.Even if a communication or power supply cable is connected between the main control board and the high-frequency board, the cable is completely unaffected, thus reducing cable loss, which helps to increase the reliability of the 3D scan radar and extend the service life of the 3D scan radar.

[0018] It is understood that the content described in this section is not intended to identify key features or important characteristics of the embodiments of the present application, nor is it intended to limit the scope of protection of the present application. Other features of the present application are easily understood from the following description. DESCRIPTION OF THE DRAWINGS

[0019] To clarify the technical solutions in the embodiments of the present application, the drawings to be used in the description of the embodiments are briefly presented below. Obviously, the drawings described below represent only some embodiments of the present application. A person skilled in the art can derive further drawings from these without inventive step. Fig. Figure 1 is a schematic representation of the structure of a pitch-reflecting 3D scan radar provided by an embodiment of the present application; Fig. Figure 2 is a schematic representation of the structure of another pitch-reflecting 3D scan radar provided by an embodiment of the present application; Fig. Figure 3 is a schematic representation of the structure of a further pitch-reflecting 3D scan radar provided by an embodiment of the present application; Fig. Figure 4 is a schematic representation of the structure of a further pitch-reflecting 3D scan radar provided by an embodiment of the present application. SPECIFIC EXECUTION FORMS

[0020] To improve the understanding of the solution in the present application for those skilled in the art in this technical field, the technical solutions in the embodiments of the present application are clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments represent only a part of the embodiments of the present application and not all of them. With respect to the embodiments in the present application, all other embodiments that a person skilled in the art in this field could obtain without inventive step should be within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the description, the claims, and the aforementioned drawings of this application serve to distinguish similar objects and are not necessarily used to describe a particular order or chronological sequence. It is understood that, under suitable circumstances, the data thus used may be interchanged so that the embodiments of this application described herein may be implemented in a different order than those illustrated or described here. Furthermore, the terms "comprise" and "include," and any variations thereof, are intended to cover non-exclusive inclusion.For example, a process, procedure, system, product or device that includes a number of steps or units need not be limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or are inherent to those processes, procedures, products or devices.

[0022] Fig. Figure 1 is a schematic representation of the structure of a pitch-reflecting 3D scan radar provided by an embodiment of the present application. According to Fig. 1 The pitch-reflecting 3D scan radar comprises a horizontal rotation mechanism 10, a detection circuit 20, a signal reflection mechanism 30 and a pitch rotation mechanism 40.

[0023] The pitching rotary mechanism 40 is arranged at a first preset position of the horizontal rotation mechanism 10, wherein an axis section A of the pitching rotary mechanism 40 rotates in a pitching direction.

[0024] The detection circuit 20 is fixed at a second preset position of the horizontal rotation mechanism 10 and serves at least to generate and send a measurement signal and receive an echo signal in order to calculate a fill level parameter of a material surface in a container with reference to the measurement signal and the echo signal.The signal reflection mechanism 30 is rigidly connected to a first mounting position of the axis section A and forms a preset fixed angle with a transmission direction of the measurement signal generated by the detection circuit 20. Its purpose is to ensure, by means of a rotation of the horizontal rotation mechanism 10 and a rotation of the pitch rotation mechanism 40, that the measurement signal is reflected by the signal reflection mechanism 30 after transmission and then reaches at least one measurement point on the material surface; and to reflect the echo signal formed at the at least one measurement point on the material surface back to the detection circuit 20, which is received by the detection circuit 20 in order to establish the fill level parameter of the at least one measurement point on the material surface.

[0025] The horizontal rotation mechanism 10 serves to drive the detection circuit 20, the signal reflection mechanism 30 and the pitching rotation mechanism 40 to perform a synchronous rotational movement in the horizontal direction during the execution of a rotational movement in a horizontal direction.

[0026] Here, the 3D scan radar can be subdivided according to a measurement principle into a 3D microwave scan radar, a 3D laser scan radar, etc., whereby a suitable signal reflection mechanism 30 must be selected for different types of 3D scan radar.

[0027] For example, if the 3D scan radar is a 3D microwave scan radar, the signal types of both the measurement signal and the echo signal are microwave signals, and the signal reflection mechanism 30 may be made of carbon fiber reinforced polymer (CFRP), metal, or other materials capable of reflecting a microwave signal. If the 3D scan radar is a 3D laser scan radar, the signal types of both the measurement signal and the echo signal are laser signals, and the signal reflection mechanism 30 may use a laser reflector mirror. As is known, the horizontal rotation mechanism 10 may be a horizontal rotation platform, the shape of which may be circular, square, elliptical, etc.may be; the pitch-rotation mechanism 40 may be an electric motor (for example, a micromotor), wherein the axis section A of the pitch-rotation mechanism 40 refers to an axis of the electric motor; the fill level parameter of the material surface in the container may include a maximum fill level value, a minimum fill level value, an average fill level value, a material mass and / or a material volume, etc.; the fill level parameter of the measuring point may be a fill level value of the material at the measuring point.

[0028] The container can be a tank or silo capable of holding the material, or another similar instrument or component; using the example of an industrial production plant, the container in the embodiment of the present application can be, but is not limited to, a component such as a reaction vessel, a material storage container, etc., within the production plant. The state of the material can be a solid, a liquid, a solid-liquid mixture, etc.

[0029] In one embodiment disclosed by the exemplary embodiment of the present application, the preset fixed angle can denote an acute angle formed by the direction of transmission of the measurement signal and an end of the signal reflection mechanism 30 that is close to the detection circuit 20, which may be, for example, 30°, 45°, 60°, etc. In contrast, in another embodiment disclosed by the exemplary embodiment of the present application, the preset fixed angle can also denote an obtuse angle formed by the direction of transmission of the measurement signal and an end of the signal reflection mechanism 30 that is farther from the detection circuit 20, which may be, for example, 150°, 135°, 120°, etc.It is understood that the first preset position, the second preset position, the first mounting position and the preset fixed angle can each be subjected to adaptive adjustment according to an actual operating condition of the 3D scan radar and a measurement result intended by the user, to which the embodiment of the present application is not limited.

[0030] The operating principle of 3D scan radar can be specifically described as follows: The detection circuit 20 continuously or intermittently generates and transmits a measurement signal. Since the signal reflection mechanism 30 is rigidly connected to a first mounting position of an axis section A of the pitching-rotation mechanism 40, the signal reflection mechanism 30 follows the axis section A when the axis section A rotates in a pitching direction and rotates with it in the pitching direction. Furthermore, since a transmission direction of the measurement signal generated by the detection circuit 20 forms a preset fixed angle with the signal reflection mechanism 30, the measurement signal reflected by the signal reflection mechanism 30 forms a multitude of exit angles in the pitching direction. After transmission by the detection circuit 20 and reflection by the signal reflection mechanism 30, the measurement signal reaches a multitude of measurement points on a material surface that lie in the pitching direction.Here, the respective measurement signals with different emission angles at the corresponding measurement points each form an echo signal. These echo signals radiate back onto the signal reflection mechanism 30 and are reflected again by the signal reflection mechanism 30 to the detection circuit 20. The detection circuit 20 can then calculate the fill level parameter of at least one measurement point on the material surface in the pitching direction, thereby realizing a scan measurement of the 3D scan radar in the pitching direction.

[0031] Furthermore, during a process in which the horizontal rotation mechanism 10 performs a rotational movement in a horizontal direction, the detection circuit 20, the signal reflection mechanism 30, and the pitch-rotation mechanism 40, together with the horizontal rotation mechanism 10, perform a synchronous rotational movement in the horizontal direction. This is because the pitch-rotation mechanism 40 is arranged at a first preset position of the horizontal rotation mechanism 10, the detection circuit 20 is fixed at a second preset position of the horizontal rotation mechanism 10, and the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitch-rotation mechanism 40. In this way, the measurement signal reflected by the signal reflection mechanism 30 also forms a multitude of exit angles in the horizontal direction.After being transmitted by the detection circuit 20 and reflected by the signal reflection mechanism 30, the measurement signal reaches a multitude of measuring points on the material surface, all oriented horizontally. The respective measurement signals, with their different emission angles, form an echo signal at each of the corresponding measuring points. These echo signals radiate back to the signal reflection mechanism 30 and are reflected again by the mechanism to the detection circuit 20. The detection circuit 20 can then calculate the fill level parameter of at least one measuring point on the material surface in the horizontal direction, thus enabling the horizontal scan measurement of the 3D scan radar. Finally, by summarizing the fill level parameters of all measuring points, the detection circuit 20 can calculate the fill level parameter of the material surface within the container.

[0032] In summary, the embodiments of the present application perform a 3D scan measurement of the material surface in the container from two directions, namely the horizontal direction and the tilting direction, through the interaction of the detection circuit, the horizontal rotation mechanism, the signal reflection mechanism, and the pitching rotation mechanism. Furthermore, the embodiments of the present application fix the detection circuit (corresponding to the main control board and the high-frequency board in the technical background) as a whole on the horizontal rotation mechanism. Therefore, both the main control board and the high-frequency board perform a synchronous horizontal movement, with no relative movement between the main control board and the high-frequency board.Even if a communication or power supply cable is connected between the main control board and the high-frequency board, the cable is completely unaffected, thus reducing cable loss, which helps to increase the reliability of the 3D scan radar and extend the service life of the 3D scan radar.

[0033] It should be noted that there can be a variety of possibilities for the rotation of the axis section of the pitching rotary mechanism and the rotation of the horizontal rotary mechanism, which will be explained in detail below.

[0034] In an embodiment disclosed by the exemplary embodiment of the present application, Fig. 4 A schematic representation of the structure of a further pitch-reflecting 3D scan radar, which is provided by an embodiment of the present application. According to Fig. 4 The axis section rotates in the pitching direction along a first preset direction optionally continuously; wherein the detection circuit specifically serves to identify and calculate the fill level parameter of the material surface in the container with reference to the measurement signal and the echo signal, which correspond during a process of continuous rotation of the axis section within a preset rotation range.

[0035] The first preset direction can be either clockwise or counterclockwise.

[0036] It is understood that during the continuous rotation of the axis section, the signal reflection mechanism, fixed at the first mounting position of the axis section, rotates continuously as well. In this way, the measurement signal reflected by the signal reflection mechanism not only reaches the material surface but can also scan the inner wall of the container, other structures within the container (for example, a crossbeam, a heating coil, and / or a ladder), the horizontal rotation mechanism, etc. This results in the 3D scan radar generating unnecessary computational overhead.In view of this, the embodiment of the present application can adaptively adjust the preset rotation range (for example, [-90° to 90°]) according to an actual operating condition of the 3D scan radar so that the measurement signal reflected after the signal reflection mechanism only reaches the material surface, which helps the detection circuit to precisely calculate the fill level parameter of the material surface in the container, thereby effectively avoiding the creation of unnecessary computational effort.

[0037] In another embodiment, disclosed by the embodiment of the present application, the axis section optionally rotates back and forth within a first preset range.

[0038] In this case, if an actual operating condition in the present embodiment corresponds to the actual operating condition of the 3D scan radar in the previous embodiment, the first preset range can be equivalent to the aforementioned preset rotation range, i.e., the embodiment of the present application can adaptively adjust the first preset range according to the actual operating condition of the 3D scan radar so that the measurement signal reflected by the signal reflection mechanism only reaches the material surface, which helps the detection circuit to accurately calculate the fill level parameter of the material surface in the container.

[0039] In a further embodiment disclosed by the embodiment of the present application, the horizontal rotation mechanism optionally rotates continuously in the horizontal direction along a second preset direction; or the horizontal rotation mechanism rotates back and forth within a second preset range in the horizontal direction.

[0040] The second preset direction can be clockwise or counterclockwise; the second preset range can be adaptively changed according to the actual operating conditions of the 3D scan radar, to which the embodiment of the present application is not limited, for example, the second preset range can be [-90° to 100°].

[0041] In a further embodiment disclosed by the embodiment of the present application, a housing body and a cover body are optionally included; wherein the housing body is rigidly connected to the cover body and forms a sealed space; wherein the horizontal rotation mechanism, the detection circuit, the signal reflection mechanism and the pitch rotation mechanism are all arranged in the sealed space; wherein the cover body is configured to be penetrated by the measurement signal and the echo signal.

[0042] The housing material can be metal, plastic, ceramic, or glass, etc., and the cover can be, but is not limited to, firmly connected to the housing via a threaded stud. Furthermore, the cover material can be diverse. For example, if the 3D scanning radar is a 3D microwave scanning radar, the cover material can be a wave-transmitting material such as plastic, ceramic, or glass; if the 3D scanning radar is a 3D laser scanning radar, the cover material can be a laser-transmitting material such as glass or sheets of polymethyl methacrylate (PMMA), etc.

[0043] Based on the foregoing embodiments, the inventors have found that in a conventional 3D microwave scan radar, the circuitry and the antenna are independent of each other and connected via a high-frequency cable. When the antenna performs a mechanical movement to detect a material surface shape in the container, there is relative movement between the circuitry and the antenna, causing the high-frequency cable to be in a state of vibration over time, which in turn easily leads to aging failure of the high-frequency cable. This not only reduces the reliability of the 3D microwave scan radar but also shortens its service life.

[0044] In light of this, the example of a 3D microwave scan radar Fig. 2 a schematic representation of the structure of another pitch-reflecting 3D scan radar provided by an embodiment of the present application. According to Fig. 2 are optionally included: a waveguide structure 50, which is rigidly connected to the detection circuit 20 and / or the horizontal rotation mechanism 10 and serves to direct the measurement signal sent by the detection circuit 20 towards the signal reflection mechanism 30, so that after reflection through the signal reflection mechanism 30 it reaches at least one measurement point on the material surface; and to direct the echo signal formed at the at least one measurement point on the material surface after reflection through the signal reflection mechanism 30 through the waveguide structure 50 towards the detection circuit 20.

[0045] Optionally, the following is also included: an antenna structure 60, which is fixed via a connecting element at a second mounting position of the axis section A and whose relative position to the signal reflection mechanism 30 remains unchanged, and which serves to focus and amplify the measurement signal reflected after the signal reflection mechanism 30 and then transmit it in order to cause the measurement signal to reach the at least one measurement point on the material surface by means of the rotation of the horizontal rotation mechanism 10 and the rotation of the pitch rotation mechanism 40; as well as to guide the echo signal formed at the at least one measurement point to the signal reflection mechanism 30 so that, after reflection by the signal reflection mechanism 30, it is finally received by the detection circuit 20.

[0046] The waveguide structure 50 can be any closed or open waveguide, and the specific construction of the waveguide structure 50 can be a hollow cylinder; the connecting element can connect the antenna structure 60 and the axis section A to form a unit via structures such as a snap ring, a snap lock, a thread, etc.

[0047] It is understood that, in order to enhance the effect of the beaming and amplification of the antenna structure 60 on the measurement signal reflected by the signal reflection mechanism 30, as well as the effect of collecting the echo signal, the second mounting position can be adaptively adjusted according to the transmission direction of the measurement signal generated by the detection circuit 20, the preset fixed angle formed by the signal reflection mechanism 30, and the transmission direction of the measurement signal generated by the detection circuit 20, etc. In an embodiment disclosed by the exemplary embodiment of the present application, after determining the second mounting position, an exit direction of the measurement signal reflected by the signal reflection mechanism 30 can be collinear with a central axis of the antenna structure 60.

[0048] The operating principle of 3D scan radar can be exemplified as follows: The detection circuit 20 continuously or intermittently generates and transmits a measurement signal; the waveguide structure 50 directs the measurement signal transmitted by the detection circuit 20 to the signal reflection mechanism 30; the signal reflection mechanism 30 reflects the measurement signal; the antenna structure 60 radiates the measurement signal reflected by the signal reflection mechanism 30 onto the material surface after focusing and amplification; the measurement signal forms an echo signal at at least one measurement point on the material surface; the antenna structure 60 directs the echo signal to the signal reflection mechanism 30; after reflection by the signal reflection mechanism 30, the echo signal is directed by the waveguide structure 50 to the detection circuit 20; the detection circuit 20 can calculate the fill level parameter of the material surface in the container based on the measurement signal and the echo signal.

[0049] Specifically, the signal reflection mechanism 30 and the antenna structure 60 follow the axis section A and rotate with it in the pitching direction, since the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitching rotation mechanism 40, and the antenna structure 60 is fixed to the second mounting position of the axis section A via a connecting element, and its relative position to the signal reflection mechanism 30 remains unchanged when the axis section A rotates in the pitching direction. Furthermore, since a transmission direction of the measurement signal generated by the detection circuit 20 forms a preset fixed angle with the signal reflection mechanism 30, the measurement signal reflected by the signal reflection mechanism 30 forms a multitude of exit angles in the pitching direction.The antenna structure 60 then beams the measurement signal, reflected by the signal reflection mechanism 30, onto the material surface after focusing and amplifying it. As the tilting mechanism 40 rotates, the measurement signal reaches a multitude of measurement points on the material surface, aligned with the tilting direction. The respective measurement signals, with different exit angles, form an echo signal at each of these measurement points. The antenna structure 60 guides the echo signal to the signal reflection mechanism 30, where, after reflection by the mechanism, the echo signal is directed by the waveguide structure 50 to the detection circuit 20.The detection circuit 20 can then calculate the fill level parameter of at least one measuring point on the material surface in the pitching direction with reference to the measurement signal and the echo signal in the pitching direction, thereby realizing the scan measurement of the 3D scan radar in the pitching direction.

[0050] Furthermore, the detection circuit 20, the signal reflection mechanism 30, the pitch-rotation mechanism 40, the waveguide structure 50, and the antenna structure 60 all follow the horizontal rotation mechanism 10 during a process in which the horizontal rotation mechanism 10 performs a rotational movement in the horizontal direction and perform a synchronous rotational movement in the horizontal direction together with the horizontal rotation mechanism 10, since the pitch-rotation mechanism 40 is arranged at a first preset position of the horizontal rotation mechanism 10, the detection circuit 20 is fixed at a second preset position of the horizontal rotation mechanism 10, and the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitch-rotation mechanism 40.The waveguide structure 50 is rigidly connected to the detection circuit 20 and / or the horizontal rotation mechanism 10, and the antenna structure 60 is fixed at the second mounting position of the axis section A via the connecting element. In this way, the measurement signal also forms a multitude of exit angles in the horizontal direction. Subsequently, the antenna structure 60 radiates the measurement signal, reflected by the signal reflection mechanism 30, onto the material surface after focusing and amplification. With the rotation of the horizontal rotation mechanism 10, the measurement signal reaches a multitude of measurement points on the material surface that lie in the horizontal direction. Here, the respective measurement signals with different exit angles form an echo signal at the corresponding measurement points. The antenna structure 60 guides the echo signal to the signal reflection mechanism 30.The echo signal, after reflection by the signal reflection mechanism 30, is directed through the waveguide structure 50 to the detection circuit 20. The detection circuit 20 can then calculate the fill level parameter of at least one measuring point on the material surface in the horizontal direction with respect to the measurement signal and the echo signal in the horizontal direction, thereby realizing the scan measurement of the 3D scan radar in the horizontal direction.

[0051] Based on this, firstly, the embodiments of the present application, through the interaction of the detection circuit, the waveguide structure, the antenna structure, the horizontal rotation mechanism, the signal reflection mechanism, and the pitching rotation mechanism, perform a 3D scan measurement of the material surface in the container from two directions, namely the horizontal direction and the pitching direction. Secondly, the embodiments of the present application fix the detection circuit (corresponding to the main control board and the high-frequency board in the technical background) as a whole on the horizontal rotation mechanism. Therefore, both the main control board and the high-frequency board perform a synchronous horizontal movement, with no relative movement between the main control board and the high-frequency board.Even if a communication or power supply cable is connected between the main control board and the high-frequency board, the cable is completely unaffected, thus reducing cable loss. Furthermore, the detection circuitry and antenna structure of the 3D scan radar provided by the embodiments of the present application do not need to be connected via a high-frequency cable. Therefore, there is no risk of high-frequency cable aging failure due to long-term vibration, thus overcoming problems such as the low reliability and short lifespan of conventional 3D scan radars, increasing the reliability of the 3D scan radar, and extending its service life.

[0052] It should be noted that in Fig. Figure 2 merely illustrates that the antenna structure 60 is a horn antenna, which does not constitute a limitation for the embodiments of the present application. For example, the antenna structure 60 could be a lens antenna, etc., in addition to the horn antenna.

[0053] It should also be noted that during continuous operation of the 3D scan radar, the antenna structure, which is fixed to the second mounting position of the axis section via the connecting element, causes the axis section to be subjected to an uneven load. In the long term, this unevenly loaded axis section tends to accelerate the aging failure of the pitch-rotation mechanism or even cause damage to it. Based on this, the inventors have inventively proposed attaching a counterweight to the axis section on the opposite side from the second mounting position to prevent aging failure or damage to the pitch-rotation mechanism. Specifically, with further reference to Fig. 2, optionally further included: a counterweight balancing element 70, which is fixed at a third mounting position of the axis section A and serves to balance the weight of the antenna structure 60 (and / or the connecting element); wherein the second mounting position and the third mounting position are each arranged on axially symmetrical sides of the axis section A.

[0054] Based on the foregoing embodiments, the inventor has further determined, as described in the technical background, that in conventional 3D scanning radars a high-frequency circuit board is fixed to an antenna, wherein the microwave signals generated by the high-frequency circuit board are transmitted via the antenna; simultaneously, the antenna must be fixed to a pitching motion device or a pitching motion bracket, wherein the pitching motion device or the pitching motion bracket is connected to and moves with a horizontal motion device or a horizontal motion bracket to perform a horizontal movement, causing the antenna to transmit microwave signals from a plurality of angles in two dimensions to perform 3D detection.However, since a main control board of the 3D scan radar is usually located on the horizontal motion device or horizontal motion bracket, there is a relative movement between the main control board and the radio frequency board, which causes a communication cable, a power supply cable, etc., connected between the main control board and the radio frequency board to be affected by the relative movement between the two and produce a greater loss, which severely affects the service life and product reliability of the 3D scan radar.

[0055] In light of this, and continuing with the example of a 3D microwave scan radar and with further reference to Fig. 2, optionally provided that the detection circuit 20 comprises a signal transmitting and receiving circuit and a main control circuit (in Fig. 2 not shown); wherein the signal transmitting and receiving circuit is arranged opposite the waveguide structure 50 and serves to generate a measurement signal and receive an echo signal; wherein the measurement signal generated by the signal transmitting and receiving circuit is transmitted via the waveguide structure 50 in a direction to the signal reflection mechanism 30 and, after reflection by the signal reflection mechanism 30, reaches at least one measurement point on the material surface; wherein the echo signal of the measurement signal formed at the at least one measurement point on the material surface, after reflection by the signal reflection mechanism 30, is guided through the waveguide structure 50 in a direction to the signal transmitting and receiving circuit; wherein the main control circuit is mounted on the horizontal rotation mechanism 10 and the relative position of the main control circuit to the signal transmitting and receiving circuit, the horizontal rotation mechanism 10 and the pitching mechanism 40 remains unchanged; wherein cables used for a connection between the main control circuit and the signal transmitting and receiving circuit, the horizontal rotation mechanism 10 and the pitching mechanism 40 do not perform any relative movement;wherein the main control circuit serves at least to implement a control, communication and / or power supply function between the main control circuit and the signal transmitting and receiving circuit, the horizontal rotation mechanism 10 and the pitching and turning mechanism 40, so that the signal transmitting and receiving circuit, the horizontal rotation mechanism 10 and the pitching and turning mechanism 40 operate normally, as well as to acquire rotation information from the horizontal rotation mechanism 10, rotation information from the pitching and turning mechanism 40 and the echo signal transmitted by the signal transmitting and receiving circuit and, based on this, to obtain the fill level parameter of at least one measuring point on the material surface.

[0056] Optionally, the 3D scan radar further comprises a host computer 90; wherein the host computer 90 is connected to the main control circuit and serves to receive the fill level parameter of the at least one measuring point on the material surface transmitted by the main control circuit, the rotation information of the horizontal rotation mechanism 10 and the rotation information of the pitch rotation mechanism 40 in order to resolve spatial 3D information of the material surface.

[0057] Here, the host computer 90 can be a single-chip microcomputer, an industrial computer, etc.; the rotation information of the horizontal rotation mechanism 10 can refer to a rotation angle of the horizontal rotation mechanism 10 that corresponds to all measurement points on the material surface; the rotation information of the pitch rotation mechanism 40 can refer to a rotation angle of the pitch rotation mechanism 40 that corresponds to all measurement points on the material surface; the spatial 3D information of the material surface can be represented by a topographic 3D diagram of the material surface.

[0058] The operating principle of 3D scan radar can be exemplified as follows: The signal transmitting and receiving circuit generates and transmits a measurement signal continuously or intermittently; the waveguide structure 50 directs the measurement signal transmitted by the signal transmitting and receiving circuit to the signal reflection mechanism 30; the signal reflection mechanism 30 reflects the measurement signal; the antenna structure 60 radiates the measurement signal reflected by the signal reflection mechanism 30 onto the material surface after focusing and amplification; the measurement signal forms an echo signal at the at least one measurement point on the material surface; the antenna structure 60 guides the echo signal to the signal reflection mechanism 30; after reflection by the signal reflection mechanism 30, the echo signal is directed by the waveguide structure 50 to the signal transmitting and receiving circuit;The main control circuit detects and receives the level parameters of a multitude of measuring points on the material surface based on the rotation information of the horizontal rotation mechanism 10, the rotation information of the pitching-rotation mechanism 40, and the echo signal transmitted by the signal transmitting and receiving circuit; the host computer 90 receives the level parameters of the multitude of measuring points on the material surface transmitted by the main control circuit, the rotation information of the horizontal rotation mechanism 10, and the rotation information of the pitching-rotation mechanism 40 in order to resolve the spatial 3D information of the material surface.

[0059] Specifically, the signal reflection mechanism 30 and the antenna structure 60 follow the axis section A and rotate with it in the pitching direction, since the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitching rotation mechanism 40, and the antenna structure 60 is fixed to the second mounting position of the axis section A via a connecting element, and its relative position to the signal reflection mechanism 30 remains unchanged when the axis section A rotates in the pitching direction. Furthermore, since a transmission direction of the measurement signal generated by the signal transmission and reception circuit forms a preset fixed angle with the signal reflection mechanism 30, the measurement signal reflected by the signal reflection mechanism 30 forms a multitude of exit angles in the pitching direction.The antenna structure 60 then radiates the measurement signal, reflected by the signal reflection mechanism 30, onto the material surface after focusing and amplification. With the rotation of the tilting mechanism 40, the measurement signal reaches a multitude of measurement points on the material surface, which lie in the direction of the tilt. Here, the respective measurement signals with different exit angles form an echo signal at the corresponding measurement points. The antenna structure 60 guides the echo signal to the signal reflection mechanism 30, whereby, after reflection by the signal reflection mechanism 30, the echo signal is directed by the waveguide structure 50 to the signal transmission and reception circuit.The main control circuit detects and receives the fill level parameter of at least one measuring point on the material surface in the pitching direction based on the rotation information of the pitching rotation mechanism 40 and the echo signal transmitted by the signal sending and receiving circuit, thereby realizing the scan measurement of the 3D scan radar in the pitching direction.

[0060] Furthermore, during a process in which the horizontal rotation mechanism 10 performs a rotational movement in the horizontal direction, the signal transmitting and receiving circuit, the main control circuit, the signal reflection mechanism 30, the pitching and rotating mechanism 40, the waveguide structure 50, and the antenna structure 60 all perform a synchronous rotational movement in the horizontal direction together with the horizontal rotation mechanism 10, since the pitching and rotating mechanism 40 is arranged at a first preset position of the horizontal rotation mechanism 10, the signal transmitting and receiving circuit and the main control circuit (namely the detection circuit 20) are fixed at a second preset position of the horizontal rotation mechanism 10, and the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitching and rotating mechanism 40.The waveguide structure 50 is rigidly connected to the detection circuit 20 and / or the horizontal rotation mechanism 10, and the antenna structure 60 is fixed to the second mounting position of the axis section A via a connecting element. In this way, the measurement signal also forms a multitude of exit angles in the horizontal direction. Subsequently, the antenna structure 60 radiates the measurement signal, reflected by the signal reflection mechanism 30, onto the material surface after focusing and amplification. With the rotation of the horizontal rotation mechanism 10, the measurement signal reaches a multitude of measurement points on the material surface that lie in the horizontal direction. Here, the respective measurement signals with different exit angles form an echo signal at the corresponding measurement points. The antenna structure 60 guides the echo signal to the signal reflection mechanism 30.The echo signal, after reflection by the signal reflection mechanism 30, is directed through the waveguide structure 50 to the signal transmitting and receiving circuit. Based on the rotation information from the horizontal rotation mechanism 10 and the echo signal transmitted by the signal transmitting and receiving circuit, the main control circuit detects and receives the fill level parameter of at least one measuring point on the material surface in the horizontal direction, thereby realizing the horizontal scan measurement of the 3D scan radar.

[0061] In summary, no significant losses occur in the cable between the main control circuit and the signal transmitting and receiving circuit in the embodiment of the present application, since the main control circuit mounted on the horizontal rotation mechanism and the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism have an unchanged relative position to each other, and the cables used for a connection between the main control circuit and the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism do not perform any relative movement, which is advantageous for increasing the reliability of the 3D scan radar and extending the service life of the 3D scan radar.

[0062] Based on the above examples, Fig. 3 A schematic representation of the structure of another pitch-reflecting 3D scan radar provided by an embodiment of the present application. With reference to Fig. 3 are optionally included: an angle monitoring module 80, which is rigidly connected to the axis section A, the signal reflection mechanism 30 or the antenna structure 60 and is electrically connected to the main control circuit and serves to detect an actual rotation angle parameter of the 3D scan radar in the pitch direction so that the main control circuit calibrates and corrects the rotation information of the pitch rotation mechanism 40 in the pitch direction based on the actual rotation angle parameter; as well as to detect an actual rotation angle parameter of the horizontal rotation mechanism 10 in the horizontal direction; wherein the actual rotation angle parameter includes at least one rotation angle or rotation steps; the actual rotation angle parameter includes at least one rotation angle or rotation steps.

[0063] Optionally, the main control circuit is mounted on the horizontal rotation mechanism 10, and the relative position of the main control circuit to the signal transmitting and receiving circuit, the horizontal rotation mechanism 10, and the pitching mechanism 40 remains unchanged; cables used for a connection between the main control circuit and the signal transmitting and receiving circuit, the horizontal rotation mechanism 10, and the pitching mechanism 40 do not perform any relative movement;The main control circuit is electrically connected to the angle monitoring module 80 and serves at least to implement a control, communication, and / or power supply function between the main control circuit and the signal transmitting and receiving circuit, the horizontal rotation mechanism 10, the pitching mechanism 40, and the angle monitoring module 80, so that the signal transmitting and receiving circuit, the horizontal rotation mechanism 10, the pitching mechanism 40, and the angle monitoring module 80 operate normally, and to obtain the actual rotation angle parameter and the actual angle of rotation parameter detected by the angle monitoring module 80 and the echo signal transmitted by the signal transmitting and receiving circuit, and based on this, to obtain the fill level parameter of at least one measuring point on the material surface. Optionally, the 3D scan radar further comprises a host computer 90;wherein the host computer 90 is connected to the main control circuit and the angle monitoring module 80 and serves to receive the level parameter of the at least one measuring point on the material surface transmitted by the main control circuit, as well as the actual rotation angle parameter and actual angular displacement parameter transmitted by the angle monitoring module 80, in order to resolve spatial 3D information of the material surface.

[0064] The angle monitoring module 80 can be any angle sensor.

[0065] The operating principle of 3D scan radar can be exemplified as follows: The signal transmitting and receiving circuit generates and transmits a measurement signal continuously or intermittently; the waveguide structure 50 directs the measurement signal transmitted by the signal transmitting and receiving circuit to the signal reflection mechanism 30; the signal reflection mechanism 30 reflects the measurement signal; the antenna structure 60 radiates the measurement signal reflected by the signal reflection mechanism 30 onto the material surface after focusing and amplification; the measurement signal forms an echo signal at the at least one measurement point on the material surface; the antenna structure 60 guides the echo signal to the signal reflection mechanism 30; after reflection by the signal reflection mechanism 30, the echo signal is directed by the waveguide structure 50 to the signal transmitting and receiving circuit;The angle monitoring module 80 acquires in real time the actual rotation angle parameter of the 3D scan radar in the pitch direction and the actual rotation angle parameter of the horizontal rotation mechanism 10 in the horizontal direction; the main control circuit receives the fill level parameter of the at least one measuring point on the material surface based on the actual rotation angle parameter and actual rotation angle parameter acquired by the angle monitoring module 80 and the echo signal transmitted by the signal transmit and receive circuit; the host computer 90 receives the fill level parameter of the at least one measuring point on the material surface transmitted by the main control circuit as well as the actual rotation angle parameter and actual rotation angle parameter transmitted by the angle monitoring module 80 in order to resolve the spatial 3D information of the material surface.

[0066] Specifically, the signal reflection mechanism 30 and the antenna structure 60 follow the axis section A and rotate with it in the pitching direction, since the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitching rotation mechanism 40, and the antenna structure 60 is fixed to the second mounting position of the axis section A via a connecting element, and its relative position to the signal reflection mechanism 30 remains unchanged when the axis section A rotates in the pitching direction. Furthermore, since a transmission direction of the measurement signal generated by the signal transmission and reception circuit forms a preset fixed angle with the signal reflection mechanism 30, the measurement signal reflected by the signal reflection mechanism 30 forms a multitude of exit angles in the pitching direction.The antenna structure 60 then beams the measurement signal, reflected by the signal reflection mechanism 30, onto the material surface after focusing and amplifying it. As the tilting mechanism 40 rotates, the measurement signal reaches a multitude of measurement points on the material surface, aligned with the tilting direction. The respective measurement signals, with different exit angles, form an echo signal at each of these measurement points. The antenna structure 60 guides the echo signal to the signal reflection mechanism 30, where, after reflection by the mechanism, the echo signal is directed by the waveguide structure 50 to the signal transmitting and receiving circuit.The angle monitoring module 80 captures an actual rotation angle parameter of the 3D scan radar in the pitch direction in real time; the main control circuit receives the fill level parameter of at least one measuring point on the material surface in the pitch direction based on the actual rotation angle parameter and the echo signal transmitted by the signal transmit and receive circuit, thereby realizing the scan measurement of the 3D scan radar in the pitch direction.

[0067] Furthermore, during a process in which the horizontal rotation mechanism 10 performs a rotational movement in the horizontal direction, the signal transmitting and receiving circuit, the main control circuit, the signal reflection mechanism 30, the pitching and rotating mechanism 40, the waveguide structure 50, and the antenna structure 60 all perform a synchronous rotational movement in the horizontal direction together with the horizontal rotation mechanism 10, since the pitching and rotating mechanism 40 is arranged at a first preset position of the horizontal rotation mechanism 10, the signal transmitting and receiving circuit and the main control circuit (namely the detection circuit 20) are fixed at a second preset position of the horizontal rotation mechanism 10, and the signal reflection mechanism 30 is rigidly connected to the first mounting position of the axis section A of the pitching and rotating mechanism 40.The waveguide structure 50 is rigidly connected to the detection circuit 20 and / or the horizontal rotation mechanism 10, and the antenna structure 60 is fixed to the second mounting position of the axis section A via a connecting element. In this way, the measurement signal also forms a multitude of exit angles in the horizontal direction. Subsequently, the antenna structure 60 radiates the measurement signal, reflected by the signal reflection mechanism 30, onto the material surface after focusing and amplification. With the rotation of the horizontal rotation mechanism 10, the measurement signal reaches a multitude of measurement points on the material surface that lie in the horizontal direction. Here, the respective measurement signals with different exit angles form an echo signal at the corresponding measurement points. The antenna structure 60 guides the echo signal to the signal reflection mechanism 30.The echo signal, after reflection by the signal reflection mechanism 30, is directed through the waveguide structure 50 to the signal transmitting and receiving circuit. The angle monitoring module 80 detects the actual rotation angle parameter of the horizontal rotation mechanism 10 in the horizontal direction in real time. Based on the actual rotation angle parameter and the echo signal transmitted by the signal transmitting and receiving circuit, the main control circuit receives the fill level parameter of at least one measuring point on the material surface in the horizontal direction, thereby realizing the scan measurement of the 3D scan radar in the horizontal direction.

[0068] It is evident from this that, on the one hand, in the embodiment of the present application, the relative position of the main control circuit mounted on the horizontal rotation mechanism to the signal transmitting and receiving circuit, the horizontal rotation mechanism, and the pitching mechanism remains unchanged, and on the other hand, the cables used for the connection between the main control circuit and the signal transmitting and receiving circuit, the horizontal rotation mechanism, and the pitching mechanism do not undergo any relative movement. Therefore, no significant losses occur in the cable between the main control circuit and the signal transmitting and receiving circuit, which is advantageous for increasing the reliability of the 3D scan radar and extending its service life.On the other hand, the embodiment of the present application uses the angle monitoring module to detect the actual rotation angle parameter of the 3D scan radar in the pitch direction, which enables the main control circuit to calibrate and correct the rotation information of the pitch rotation mechanism in the pitch direction based on the actual rotation angle parameter, further improving the scan accuracy of the 3D scan radar.

[0069] It should be noted that Fig. 1, Fig. 2, Fig. 3 and Fig.4 each show by way of example that a direction of rotation of the pitching rotary mechanism 40 (seen from a view direction from the detection circuit 20 to the signal reflection mechanism 30) is clockwise and a direction of rotation of the horizontal rotation mechanism 10 (seen from a view direction from the detection circuit 20 to the horizontal rotation mechanism 10) is counterclockwise, which does not represent a limitation of the embodiments of the present application.

[0070] It is understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in the present application can be carried out in parallel, sequentially, or in any other order, as long as the desired results of the technical solution of the present application can be achieved, which is not limited herein.

[0071] The specific embodiments mentioned above do not constitute a limitation of the scope of protection of the present application. Those skilled in the art should understand that, depending on design requirements and other factors, various modifications, combinations, sub-combinations, and substitutions may be made. Any modification, equivalent replacement, or improvement made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

[1] Pitch-reflecting 3D scan radar, characterized by , that this includes a horizontal rotation mechanism, a detection circuit, a signal reflection mechanism and a pitching rotation mechanism; wherein the pitching rotation mechanism is arranged at a first preset position of the horizontal rotation mechanism and an axis section of the pitching rotation mechanism rotates in a pitching direction; wherein the detection circuit is fixed at a second preset position of the horizontal rotation mechanism and serves at least to generate and transmit a measurement signal and receive an echo signal in order to calculate a level parameter of a material surface in a container with respect to the measurement signal and the echo signal; wherein the signal reflection mechanism is rigidly connected to a first mounting position of the axis section and forms a preset fixed angle with a transmission direction of the measurement signal generated by the detection circuit and serves, by means of a rotation of the horizontal rotation mechanism and a rotation of the pitch rotation mechanism, to cause the measurement signal to be reflected by the signal reflection mechanism after transmission and then to reach at least one measurement point on the material surface;and reflect the echo signal formed at the at least one measuring point on the material surface back to the detection circuit, which is received by the detection circuit in order to form the fill level parameter of the at least one measuring point on the material surface; wherein the horizontal rotation mechanism serves to drive the detection circuit, the signal reflection mechanism and the pitch rotation mechanism to perform a synchronous rotational movement in the horizontal direction during the execution of a rotational movement in a horizontal direction. [2] 3D scan radar according to claim 1, characterized by, that this further comprises a waveguide structure which is rigidly connected to the detection circuit and / or the horizontal rotation mechanism and serves to direct the measurement signal sent by the detection circuit to the signal reflection mechanism, wherein the measurement signal reaches the at least one measurement point on the material surface after reflection by the signal reflection mechanism; and to direct the echo signal formed at the at least one measurement point on the material surface to the detection circuit after reflection by the signal reflection mechanism through the waveguide structure. [3] 3D scan radar according to claim 1, characterized bythat this further comprises an antenna structure which is fixed via a connecting element at a second mounting position of the axis section, wherein a relative position to the signal reflection mechanism remains unchanged, wherein the antenna structure serves to transmit the measurement signal reflected after the signal reflection mechanism after bundling and amplification, wherein the rotation of the horizontal rotation mechanism and the rotation of the pitch rotation mechanism cause the measurement signal to reach the at least one measurement point on the material surface; and to guide the echo signal formed at the at least one measurement point to the signal reflection mechanism, wherein the echo signal is finally received by the detection circuit after reflection by the signal reflection mechanism. [4] 3D scan radar according to claim 3, characterized by, that this further comprises a counterweight balancing element which is fixed at a third mounting position of the axis section and serves to balance a weight of the antenna structure; wherein the second mounting position and the third mounting position are each arranged on axially symmetrical sides of the axis section. [5] 3D scan radar according to claim 2, characterized by that the detection circuit includes a signal transmitting and receiving circuit and a main control circuit; wherein the signal transmitting and receiving circuit is arranged opposite the waveguide structure and serves to generate the measurement signal and receive the echo signal; wherein the measurement signal generated by the signal transmitting and receiving circuit is transmitted via the waveguide structure in a directed direction to the signal reflection mechanism and, after reflection by the signal reflection mechanism, reaches the at least one measurement point on the material surface; wherein the echo signal formed by the measurement signal at the at least one measurement point on the material surface, after reflection by the signal reflection mechanism, is guided via the waveguide structure in a directed direction to the signal transmitting and receiving circuit; wherein the main control circuit is mounted on the horizontal rotation mechanism, wherein a relative position to the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism remains unchanged; wherein a cable used to connect the main control circuit to the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism does not perform any relative movement;wherein the main control circuit serves at least to implement a control, communication and / or power supply function between the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism, so that the signal transmitting and receiving circuit, the horizontal rotation mechanism and the pitching mechanism operate normally, as well as to receive rotation information of the horizontal rotation mechanism, rotation information of the pitching mechanism and the echo signal transmitted by the signal transmitting and receiving circuit and to obtain, with respect to these, the fill level parameter of the at least one measuring point on the material surface. [6] 3D scan radar according to claim 5, characterized by that this further comprising an angle monitoring module rigidly connected to the axis section, signal reflection mechanism, or antenna structure and electrically connected to the main control circuit, wherein the angle monitoring module serves to obtain an actual rotation angle parameter of the 3D scan radar in the pitch direction, so that the main control circuit calibrates and corrects the rotation information of the pitch rotation mechanism in the pitch direction with respect to the actual rotation angle parameter; and to obtain an actual rotation angle parameter of the horizontal rotation mechanism in the horizontal direction; wherein the actual rotation angle parameter comprises at least one rotation angle or rotation steps; wherein the actual rotation angle parameter comprises at least one rotation angle or rotation steps. [7] 3D scan radar according to claim 6, characterized bythat the main control circuit is mounted on the horizontal rotation mechanism, maintaining a constant relative position to the signal transmitting and receiving circuit, the horizontal rotation mechanism, and the pitching mechanism; wherein the cable used to connect the main control circuit to the signal transmitting and receiving circuit, the horizontal rotation mechanism, and the pitching mechanism does not undergo any relative movement; wherein the main control circuit is electrically connected to the angle monitoring module and serves at least to implement the control, communication, and / or power supply function between the signal transmitting and receiving circuit, the horizontal rotation mechanism, the pitching mechanism, and the angle monitoring module, so that the signal transmitting and receiving circuit, the horizontal rotation mechanism, the pitching mechanism, and the angle monitoring module operate normally, and to obtain the actual rotation angle parameter received from the angle monitoring module, as well as the actual rotation angle parameter and the echo signal transmitted by the signal sending and receiving circuit, and to obtain, with reference to these, the fill level parameter of at least one measuring point on the material surface. [8] 3D scan radar according to claim 7, characterized by that the 3D scan radar also includes a host computer; wherein the host computer is connected to the main control circuit and serves to receive the level parameter of the at least one measuring point on the material surface transmitted by the main control circuit, the rotation information of the horizontal rotation mechanism and the rotation information of the pitch rotation mechanism in order to resolve spatial 3D information of the material surface; or wherein the host computer is connected to the main control circuit and the angle monitoring module and serves to receive the level parameter of at least one measuring point on the material surface transmitted by the main control circuit, the actual rotation angle parameter transmitted by the angle monitoring module and the actual rotation angle parameter in order to resolve the spatial 3D information of the material surface. [9] 3D scan radar according to claim 1, characterized by that it further comprises a housing body and a cover body; wherein the housing body is firmly connected to the cover body and forms a sealed space; wherein the horizontal rotation mechanism, the detection circuit, the signal reflection mechanism and the pitch rotation mechanism are each arranged in the sealed space; the cover body is configured so that it is penetrated by the measurement signal and the echo signal. [10] 3D scan radar according to claim 1, characterized by , that the shaft section rotates continuously in the pitching direction along a first preset direction; wherein the detection circuit specifically serves to identify and calculate the fill level parameter of the material surface in the container with respect to the measurement signal and the echo signal corresponding during the process of continuously rotating the shaft section within a preset rotation range. [11] 3D scan radar according to claim 1, characterized by , that the axis section rotates back and forth within a first preset range. [12] 3D scan radar according to claim 1, characterized by, that the horizontal rotation mechanism rotates continuously in the horizontal direction along a second preset direction; or wherein the horizontal rotation mechanism rotates back and forth within a second preset range in the horizontal direction.

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