Three-dimensional scanning radar having mounting pose self-determination function and three-dimensional scanning system

Abstract

The present application discloses a three-dimensional scanning radar having a mounting pose self-determination function. The three-dimensional scanning radar is mounted to a container so as to measure the three-dimensional surface form of a material in the container; and before the three-dimensional surface form of the material is measured, the three-dimensional scanning radar performs multi-point scanning on the inner wall of the container within a preset angle range in a set direction, to obtain point cloud data of the inner wall within the corresponding preset angle range and to at least determine, on the basis of the point cloud data of the inner wall within the corresponding preset angle range, mounting pose information of the three-dimensional scanning radar. On one hand, the present application can overcome the problem that existing methods for acquiring radar mounting coordinate points by means of manual measurement are highly difficult to execute and cause large errors, inaccurate mounting coordinate points, inaccurate three-dimensional coordinates of material surfaces converted by radars, poor radar detection accuracy and the like; and on the other hand, even if the radar is affect by an external factor and has a mounting angle deviation, the present application can also achieve self-determination of the mounting angle deviation by means of the three-dimensional scanning radar, thereby improving the accuracy of the three-dimensional coordinates of the material surface converted by the radar, and the detection accuracy of the radar.

Description

Three-dimensional scanning radar and three-dimensional scanning system with installation posture self-determination function Technical Field

[0001] The embodiments of the present invention relate to the field of industrial measurement technology, and in particular to a three-dimensional scanning radar and a three-dimensional scanning system with a self-determination function of installation posture. Background Art

[0002] Three-dimensional scanning radar has many advantages such as safety, high efficiency and environmental protection, and has therefore been widely promoted and applied in the scanning and monitoring of materials in containers such as silos and storage tanks.

[0003] According to the principle that 3D scanning radar detects the material surface and converts it into the 3D coordinates of the material surface, the accuracy of the 3D coordinate calculation of the material surface is closely related to the installation coordinate point of the 3D scanning radar on the top of the container such as the silo and storage tank. The more accurate the installation coordinate point of the 3D scanning radar, the more accurate the converted 3D coordinates of the material surface.

[0004] However, due to the actual installation conditions on site, the tops of containers such as silos and storage tanks are often equipped with numerous other devices, such as belts, feeders, dust collectors, or other obstructing equipment. In many cases, the center position of the top of a container such as a silo or storage tank is not marked. This makes it difficult for personnel to measure the distance from the center or sides of the container after installing the 3D scanning radar on the top of the container, and accurate measurement results are impossible. This results in inaccurate installation coordinates of the 3D scanning radar, resulting in inaccurate converted 3D coordinates of the material surface, which ultimately seriously affects detection accuracy. In addition, if there are obstacles such as ladders or pipes at or around the installation location of the 3D scanning radar, or if the installation surface of the container is uneven, the 3D scanning radar is not installed vertically downward, with a certain angle deviation, resulting in inaccurate converted 3D coordinates of the material surface, which ultimately seriously affects detection accuracy.

[0005] Summary of the Invention

[0006] In order to solve at least one of the above technical problems, an embodiment of the present invention provides a three-dimensional scanning radar and a three-dimensional scanning system with the function of self-determination of installation posture, which can detect and obtain the precise installation position coordinate point of the three-dimensional scanning radar, or detect and obtain the installation angle deviation of the three-dimensional scanning radar, so as to improve the measurement accuracy of the three-dimensional scanning radar.

[0007] In a first aspect, an embodiment of the present invention provides a three-dimensional scanning radar with a self-determination function for installation posture, wherein the three-dimensional scanning radar is installed to a container to measure the three-dimensional surface morphology of a material in the container;

[0008] Before measuring the three-dimensional surface morphology of the material, the three-dimensional scanning radar performs a multi-point scan of the inner wall of the container within a preset angle range along a set direction to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall corresponding to the preset angle range;

[0009] The installation posture information includes at least one of the coordinates of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar.

[0010] Optionally, the three-dimensional scanning radar includes a multi-angle measurement module and a processing module;

[0011] The multi-angle measurement module is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple reflection signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container;

[0012] The processing module receives a plurality of the reflected signals to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data.

[0013] Optionally, the multi-angle measurement module includes a signal transceiver module and a motion module;

[0014] The signal transceiver module is provided on the motion module and is used to transmit the measurement signal, so that the echo signal formed by the measurement signal being reflected at least once by the inner wall is received by the signal transceiver module;

[0015] The motion module is configured to drive the signal transceiver module to scan the inner wall within the preset angle range along the set direction according to a preset motion logic;

[0016] The processing module is respectively connected to the signal transceiver module and the motion module, and is used to control the motion module to move according to the preset motion logic; and generate a detection control signal so that the signal transceiver module transmits the measurement signal based on the detection control signal; and, when the motion module drives the signal transceiver module to scan the inner wall, receives each of the reflected signals uploaded by the signal transceiver module to obtain the point cloud data, and then determines at least the installation posture information based on the point cloud data.

[0017] Optionally, the measurement signal is one of a microwave signal and a laser signal.

[0018] Optionally, the three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by:

[0019] Set a preset plane;

[0020] The three-dimensional scanning radar takes the precise installation point as the origin, takes the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all the point cloud data in the initial two-dimensional coordinate system;

[0021] The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates;

[0022] The three-dimensional scanning radar determines the relative position of the precise installation point and the center point of the preset plane according to the center coordinates and the origin;

[0023] According to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed, the coordinates of the precise installation point of the three-dimensional scanning radar are analyzed.

[0024] Optionally, the three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by:

[0025] Set a preset plane;

[0026] The three-dimensional scanning radar uses the precise installation point as a first origin, takes a preset direction as the positive direction of an initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain projection coordinates of all the point cloud data in the initial two-dimensional coordinate system;

[0027] The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates;

[0028] The three-dimensional scanning radar re-uses the center point of the preset plane as the second origin, uses the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinates of the precise installation point and all the projection coordinates into the standard two-dimensional coordinate system, so as to determine the relative position of the precise installation point and the center point of the preset plane based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin;

[0029] Analyzing the coordinates of the precise installation point of the three-dimensional scanning radar based on the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar;

[0030] The standard two-dimensional coordinate system is configured to be used at least for a process in which the three-dimensional scanning radar measures the three-dimensional surface morphology of the material in the container.

[0031] Optionally, the three-dimensional scanning radar determines the installation angle deviation of the three-dimensional scanning radar by:

[0032] The three-dimensional scanning radar determines the principal axis direction of the figure enclosed by the point cloud based on all projected transformed coordinates in the standard two-dimensional coordinate system, and further analyzes the deflection direction of the three-dimensional scanning radar relative to the preset plane based on the angular difference between the principal axis direction and the preset direction;

[0033] The three-dimensional scanning radar performs an axial projection on the point cloud data on the radar axial plane to obtain an angle between a central axis of the axial projection and a normal to the preset plane;

[0034] The three-dimensional scanning radar determines an azimuth angle between the three-dimensional scanning radar and the preset plane based on a deflection direction of the three-dimensional scanning radar relative to the preset plane and an angle between a central axis of the axial projection and a normal to the preset plane;

[0035] According to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar, the installation angle deviation of the three-dimensional scanning radar is analyzed.

[0036] Optionally, the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar includes at least one of the following: the preset plane is the actual installation surface of the three-dimensional scanning radar, the preset plane is parallel to the actual installation surface of the three-dimensional scanning radar, and the preset plane is at a known angle to the actual installation surface of the three-dimensional scanning radar.

[0037] Optionally, the preset direction is the installation direction of the three-dimensional scanning radar.

[0038] Optionally, the three-dimensional scanning radar has an azimuth measurement function, and the preset direction is the azimuth direction measured by the three-dimensional scanning radar.

[0039] In a second aspect, an embodiment of the present invention further provides a three-dimensional scanning system with a self-determination function of an installation posture, the three-dimensional scanning system comprising a three-dimensional scanning radar and a server;

[0040] The three-dimensional scanning radar is installed on the container to measure the three-dimensional surface shape of the material in the container;

[0041] Before measuring the three-dimensional surface morphology of the material, the three-dimensional scanning radar scans the inner wall of the container within a preset angle range along a set direction to obtain point cloud data of the inner wall;

[0042] The server establishes a communication connection with the three-dimensional scanning radar, and is configured to receive and determine at least installation posture information of the three-dimensional scanning radar based on the point cloud data uploaded by the three-dimensional scanning radar;

[0043] The installation posture information includes at least one of the coordinates of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar.

[0044] In summary, before measuring the three-dimensional surface morphology of the material, the embodiment of the present invention uses a three-dimensional scanning radar to perform multi-point scanning of the inner wall of the container within a preset angle range along a set direction to obtain and, based on the point cloud data of the inner wall within the corresponding preset angle range, at least determine the installation posture information of the three-dimensional scanning radar (that is, the three-dimensional scanning radar can at least determine the coordinates of the precise installation point of the three-dimensional scanning radar, or one of the installation angle deviations of the three-dimensional scanning radar). As set up in this way, on the one hand, under the working condition where there is an obstructing device on the top of the container on site, there is no need for manual measurement, but the coordinates of its precise installation point can be directly determined by the three-dimensional scanning radar. This effectively overcomes the existing method of manually measuring the distance between the center of the container or each side of the container and the three-dimensional scanning radar on site to obtain the installation coordinate points of the three-dimensional scanning radar, which has high execution difficulty and large manual measurement errors, resulting in inaccurate installation coordinate points, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, and poor detection accuracy of the three-dimensional scanning radar. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the uneven installation surface of the container, resulting in the three-dimensional scanning radar being installed non-vertically downward and having a certain angle deviation, the present application can also self-confirm its installation angle deviation through the three-dimensional scanning radar, which is beneficial to improving the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, as well as the detection accuracy of the three-dimensional scanning radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] 1 is a schematic diagram of the installation of a three-dimensional scanning radar with a self-determination function of an installation posture according to an embodiment of the present invention;

[0047] FIG2 is a multi-point scanning profile diagram of the inner wall of a container by a three-dimensional scanning radar provided in an embodiment of the present invention;

[0048] FIG3 is a multi-point scanning profile diagram of the inner wall of a container by another three-dimensional scanning radar provided in an embodiment of the present invention;

[0049] FIG4 is a multi-point scanning profile diagram of the inner wall of a container by another three-dimensional scanning radar provided in an embodiment of the present invention;

[0050] FIG5 is a schematic structural diagram of a three-dimensional scanning radar provided by an embodiment of the present invention;

[0051] FIG6 is a flow chart of a method for determining the coordinates of precise installation points by a three-dimensional scanning radar according to an embodiment of the present invention;

[0052] FIG7 is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention;

[0053] FIG8 is a flow chart of another method for determining the coordinates of precise installation points by a three-dimensional scanning radar according to an embodiment of the present invention;

[0054] FIG9 is a schematic diagram of another coordinate system transformation provided by an embodiment of the present invention;

[0055] 10 is a flow chart of a method for determining an installation angle deviation of a three-dimensional scanning radar provided by an embodiment of the present invention;

[0056] FIG11 is a schematic diagram of a figure surrounded by all point clouds formed by a three-dimensional scanning radar under a non-vertical installation condition provided by an embodiment of the present invention;

[0057] 12 is a schematic structural diagram of a three-dimensional scanning system with a self-determination function for installation posture provided by an embodiment of the present invention;

[0058] FIG13 is a multi-point scanning profile diagram of the inner wall of a container provided by another three-dimensional scanning radar according to an embodiment of the present invention;

[0059] FIG14 is a multi-point scanning profile diagram of the inner wall of a container by another three-dimensional scanning radar provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0061] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0062] Figure 1 is a schematic diagram illustrating the installation of a 3D scanning radar with self-determination of installation posture, provided by an embodiment of the present invention. Referring to Figure 1 , a 3D scanning radar 10 is mounted on a container 20 to measure the three-dimensional surface of a material 30 within the container 20. Prior to measuring the three-dimensional surface of the material 30, the 3D scanning radar 10 performs a multi-point scan of the inner wall of the container 20 within a preset angular range along a set direction. This scan acquires and, based on the point cloud data of the inner wall within the preset angular range, determines at least the installation posture information of the 3D scanning radar 10.

[0063] The installation posture information at least includes the coordinates of the precise installation point of the three-dimensional scanning radar 10 or the installation angle deviation of the three-dimensional scanning radar 10 .

[0064] The three-dimensional scanning radar 10 can be divided into three-dimensional microwave scanning radar, three-dimensional laser scanning radar, etc. according to the measurement principle; correspondingly, the point cloud data obtained by the three-dimensional scanning radar 10 can be specifically microwave point cloud data, laser point cloud data, etc.

[0065] The 3D scanning radar 10 can be installed anywhere within the container 20, for example, at the top of the container 20 (i.e., the roof of the container 20). The container 20 can be a tank or silo capable of carrying the material 30, or other similar equipment or components, such as a reaction tank or storage silo in production equipment. The material 30 can be in a solid state, a viscous mixture of solid and liquid, or other states.

[0066] In some specific embodiments, the 3D scanning radar 10 can perform multi-point scanning of the container's inner wall in a variety of ways. Figure 2 shows a multi-point scanning profile of a container's inner wall by a 3D scanning radar according to an embodiment of the present invention. Figure 3 shows a multi-point scanning profile of a container's inner wall by another 3D scanning radar according to an embodiment of the present invention. Figure 4 shows a multi-point scanning profile of a container's inner wall by yet another 3D scanning radar according to an embodiment of the present invention. Figure 13 shows a multi-point scanning profile of a container's inner wall by yet another 3D scanning radar according to an embodiment of the present invention. Figure 14 shows a multi-point scanning profile of a container's inner wall by yet another 3D scanning radar according to an embodiment of the present invention. Specifically, the shape of the container 20 in Figure 2 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is elliptical; the shape of the container 20 in Figure 3 is a cuboid, the set direction is counterclockwise, the preset angle range is 360°, and the scanning profile is rectangular; the shape of the container 20 in Figure 4 is a cylinder, the set direction is clockwise, and the scanning profile includes three parts, and the angle range corresponding to the scanning profile of each part is 60° (i.e., angle α, angle β and angle γ shown in Figure 4); the shape of the container 20 in Figure 13 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the cross-section of the scanning profile is circular; the shape of the container 20 in Figure 14 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is circular.

[0067] It is understood that when the container 20 has a relatively standard shape (such as the cylindrical container shown in Figure 2 or the rectangular container shown in Figure 3), the 3D scanning radar 10 may also scan only a portion of the container 20 (this range can be selected based on the adaptability of the container shape, such as 1 / 4 or 1 / 2 of the container 20), and then obtain point cloud data of the entire container inner wall through axisymmetry or central symmetry. Ultimately, based on this point cloud data, at least the installation pose information of the 3D scanning radar 10 is determined. Of course, in other specific embodiments, the shape of the container 20 can be irregular, or the set direction can change irregularly, or the scanning profile can include multiple parts, and the angular ranges corresponding to the scanning profiles of each part can be exactly the same, not exactly the same, or completely different.

[0068] In summary, before measuring the three-dimensional surface morphology of the material, the embodiment of the present invention uses a three-dimensional scanning radar to perform multi-point scanning of the inner wall of the container within a preset angle range along a set direction to obtain and, based on the point cloud data of the inner wall within the corresponding preset angle range, at least determine the installation posture information of the three-dimensional scanning radar (that is, the three-dimensional scanning radar can at least determine the coordinates of the precise installation point of the three-dimensional scanning radar, or one of the installation angle deviations of the three-dimensional scanning radar). As set up in this way, on the one hand, under the working condition where there is an obstructing device on the top of the container on site, there is no need for manual measurement, but the coordinates of its precise installation point can be directly determined by the three-dimensional scanning radar. This effectively overcomes the existing method of manually measuring the distance between the center of the container or each side of the container and the three-dimensional scanning radar on site to obtain the installation coordinate points of the three-dimensional scanning radar, which has high execution difficulty and large manual measurement errors, resulting in inaccurate installation coordinate points, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, and poor detection accuracy of the three-dimensional scanning radar. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the uneven installation surface of the container, resulting in the three-dimensional scanning radar being installed non-vertically downward and having a certain angle deviation, the present application can also self-confirm its installation angle deviation through the three-dimensional scanning radar, which is beneficial to improving the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, as well as the detection accuracy of the three-dimensional scanning radar.

[0069] It should be noted that Figures 1 to 4, 13 and 14 all exemplarily show that the three-dimensional scanning radar 10 is installed on the top of the container 20, which is not intended to limit the embodiments of the present invention.

[0070] Based on the above embodiment, the specific structure of the three-dimensional scanning radar is described below, which does not limit the embodiment of the present invention. Figure 5 is a structural diagram of a three-dimensional scanning radar provided by an embodiment of the present invention. Referring to Figure 5, optionally, the three-dimensional scanning radar includes a multi-angle measurement module 110 and a processing module 120; the multi-angle measurement module 110 is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple echo signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container; the processing module 120 receives the multiple echo signals to obtain point cloud data, and then determines at least the installation posture information based on the point cloud data.

[0071] Optionally, the multi-angle measurement module 110 includes a signal transceiver module 111 and a motion module 112; the signal transceiver module 111 is arranged on the motion module 112, and is used to transmit a measurement signal so that a reflection signal formed by the measurement signal reflecting at least once on the inner wall is received by the signal transceiver module 111; the motion module 112 is used to drive the signal transceiver module 111 to scan the inner wall within a preset angle range along a set direction according to a preset motion logic; the processing module 120 is respectively connected to the signal transceiver module 111 and the motion module 112, and is used to control the motion module 112 to move according to the preset motion logic; and, generates a detection control signal so that the signal transceiver module 111 transmits a measurement signal based on the detection control signal; and, in the process of the motion module 112 driving the signal transceiver module 111 to scan the inner wall, receives each reflection signal uploaded by the signal transceiver module 111 to obtain point cloud data, and then determines at least the installation posture information based on the point cloud data.

[0072] Optionally, the measurement signal is one of a microwave signal and a laser signal.

[0073] When the 3D scanning radar is a 3D microwave scanning radar, the signal transceiver module 111 can be any type of microwave sensor or a module composed of multiple microwave sensors. In this case, both the measurement signal and the echo signal are microwave signals. When the 3D scanning radar is a 3D laser scanning radar, the signal transceiver module 111 can be any type of laser sensor or a module composed of multiple laser sensors. In this case, both the measurement signal and the echo signal are laser signals. Of course, in some embodiments, the signal transceiver module 111 can also include multiple types of sensors, and the types of measurement signals and echo signals can be various, which will not be described in detail. The motion module 112 can be any type of mechanical device and can perform multiple-dimensional motion, such as horizontal motion, pitch motion, and vertical motion. The preset motion logic can be set according to the actual application scenario of the 3D scanning radar. For example, for every 1° of horizontal deflection, a complete pitch motion is performed. The detection control signal is used to at least control the signal transceiver module 111 to transmit the measurement signal. The detection control signal can be a wired signal or a wireless signal.

[0074] For example, the working principle of the 3D scanning radar can be specifically as follows:

[0075] While controlling the motion module 112 to move according to a preset motion logic, the processing module 120 generates a detection control signal so that the signal transceiver module 111 transmits a measurement signal based on the detection control signal; in the process of the motion module 112 driving the signal transceiver module 111 to scan the inner wall within a preset angle range along a set direction according to the preset motion logic, the signal transceiver module 111 arranged on the motion module 112 continuously or intermittently transmits a measurement signal so that the reflected signal formed by the measurement signal being reflected by the inner wall at least once is received by the signal transceiver module 111, and then uploaded to the processing module 120 by the signal transceiver module 111; in the process of the motion module 112 driving the signal transceiver module 111 to scan the inner wall, the processing module 120 receives each reflected signal uploaded by the signal transceiver module 111 to obtain point cloud data, and then determines at least the installation posture information based on the point cloud data.

[0076] As can be seen, before measuring the three-dimensional surface morphology of a material, embodiments of the present invention utilize a 3D scanning radar to perform multi-point scanning of the inner wall of a container within a preset angle range along a set direction. This scan acquires and, based on the point cloud data of the inner wall within the preset angle range, determines at least one of the coordinates of the precise installation point of the 3D scanning radar or the installation angle deviation of the 3D scanning radar. This arrangement of the present application eliminates the need for manual measurement when obstructing equipment is present on-site on the top of the container. Instead, the 3D scanning radar automatically determines the coordinates of the precise installation point. This effectively overcomes the existing method of manually measuring the distance between the center or sides of the container and the 3D scanning radar on-site to determine the installation coordinates of the 3D scanning radar, which is difficult to perform and results in large manual measurement errors, leading to inaccurate installation coordinates, inaccurate 3D coordinates of the material surface calculated by the 3D scanning radar, and poor detection accuracy of the 3D scanning radar. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the uneven installation surface of the container, resulting in the three-dimensional scanning radar being installed non-vertically downward and having a certain angle deviation, the present application can also self-confirm its installation angle deviation through the three-dimensional scanning radar, which is beneficial to improving the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning radar, as well as the detection accuracy of the three-dimensional scanning radar.

[0077] It should be noted that there are many specific methods for the three-dimensional scanning radar to determine the coordinates of its own precise installation point, which are described in detail below, but are not intended to limit the embodiments of the present invention.

[0078] In one embodiment, FIG6 is a flow chart of a method for determining the coordinates of a precise installation point using a 3D scanning radar according to an embodiment of the present invention. Referring to FIG6 , the 3D scanning radar may optionally determine the coordinates of the precise installation point using the following method:

[0079] S610: Set a preset plane.

[0080] The preset plane can refer to the actual installation surface of the 3D scanning radar, or a plane parallel to or at a known angle to the actual installation surface. Furthermore, the preset plane can be horizontal or non-horizontal. In practical applications, 3D scanning radars are often installed on top of a container, so the preset plane is generally preferably set to the container's top surface.

[0081] Optionally, the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar includes at least one of the following: the preset plane is the actual installation surface of the three-dimensional scanning radar, the preset plane is parallel to the actual installation surface of the three-dimensional scanning radar, and the preset plane is at a known angle to the actual installation surface of the three-dimensional scanning radar.

[0082] S620: The three-dimensional scanning radar uses the precise installation point as the origin, the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all point cloud data in the initial two-dimensional coordinate system.

[0083] There are multiple options for the preset direction.

[0084] In one embodiment, the preset direction is optionally the installation direction of the 3D scanning radar. To clarify the installation direction of the 3D scanning radar, a direction marker can be provided on the 3D scanning radar. The direction marker can point to the starting scanning direction of the 3D scanning radar, or can point to the direction of the line along the long side or wide side of the rectangular container as shown in FIG3 .

[0085] In another embodiment, the 3D scanning radar optionally has an azimuth measurement function, and the preset direction is the azimuth measured by the 3D scanning radar. The 3D scanning radar having an azimuth measurement function may mean that the 3D scanning radar can measure directions such as east, west, south, and north, and the preset direction may be, for example, due south.

[0086] S630. The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates.

[0087] The center point of the preset plane may refer to the geometric center point of the preset plane, and the center coordinates are the coordinates of the aforementioned geometric center point in the initial two-dimensional coordinate system.

[0088] S640, 3D scanning radar determines the relative position of the precise installation point and the center point of the preset plane based on the center coordinates and the origin.

[0089] S650: Analyze the coordinates of the precise installation point of the three-dimensional scanning radar based on the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed.

[0090] For example, based on Figure 3, Figure 7 is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention. Referring to Figures 3 and 7, the 3D scanning radar establishes an initial 2D coordinate system xO'y on the plane of the container top (i.e., the preset plane) with the precise installation point O' as the origin, a direction along the line containing the long side of the rectangular container as the positive direction of the initial x-axis, and a direction along the line containing the wide side of the rectangular container as the positive direction of the initial y-axis. After the 3D scanning radar performs multiple scans of the container's inner wall within a preset angle range along a set direction, the point cloud data generated by the 3D scanning radar forms a scan profile B. (It will be appreciated that when the point cloud data is sufficient, the scan profile no longer remains linear but rather strip-shaped, as shown in Figure 13.) At this point, all the point cloud data is projected onto the initial 2D coordinate system xO'y, forming a projection profile B'. Based on the coordinates of all the projections that enclose the projection profile B', the 3D scanning radar can determine the coordinates of the center point O of the preset plane (i.e., the geometric center point of the projection profile B') in the initial 2D coordinate system xO'y. In this way, in the initial two-dimensional coordinate system xO'y, the coordinates of the precise installation point O' and the coordinates of the preset plane center point O are both known, and the three-dimensional scanning radar can determine the relative position of the precise installation point O' and the preset plane center point O. For example, the distance between the precise installation point O' and the preset plane center point O can be determined based on the distance calculation formula between two points in the same coordinate system.

[0091] In another embodiment, FIG8 is a flow chart of another method for determining the coordinates of a precise installation point using a three-dimensional scanning radar according to an embodiment of the present invention. Referring to FIG8 , the three-dimensional scanning radar may optionally determine the coordinates of the precise installation point using the following method:

[0092] S810: Set a preset plane.

[0093] S820, the three-dimensional scanning radar uses the precise installation point as the first origin, the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all point cloud data in the initial two-dimensional coordinate system.

[0094] S830. The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates.

[0095] S840, the three-dimensional scanning radar re-uses the center point of the preset plane as the second origin, uses the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinates of the precise installation point and all projection coordinates into the standard two-dimensional coordinate system. Based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin, the relative position of the precise installation point and the center point of the preset plane is determined.

[0096] The standard two-dimensional coordinate system is configured to be used at least for a process of measuring the three-dimensional surface morphology of the material in the container by a three-dimensional scanning radar.

[0097] S850: Analyze the coordinates of the precise installation point of the three-dimensional scanning radar based on the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed.

[0098] For example, based on Figure 3, Figure 9 is a schematic diagram of another coordinate system transformation provided by an embodiment of the present invention. Referring to Figures 3 and 9, the 3D scanning radar establishes an initial 2D coordinate system xO'y on the plane of the container top, using the precise installation point O' as the first origin. The direction of the line along the long side of the rectangular container is used as the initial positive x-axis direction, and the direction of the line along the wide side of the rectangular container is used as the initial positive y-axis direction. After the 3D scanning radar performs multiple scans of the container's inner wall within a preset angle range along a set direction, the point cloud data generated by the 3D scanning radar forms a scan profile B. At this point, all of the point cloud data is projected onto the initial 2D coordinate system xO'y, forming a projection profile B'. Based on the coordinates of all projections that enclose the projection profile B', the 3D scanning radar can determine the coordinates of the center point O of the preset plane (i.e., the geometric center point of the projection profile B') within the initial 2D coordinate system xO'y. Based on this, the three-dimensional scanning radar re-uses the preset plane center point O as the second origin, takes one direction of the straight line where the long side of the rectangular container is located as the positive direction of the standard x-coordinate axis (i.e., the x' axis in Figure 9), and takes one direction of the straight line where the wide side of the rectangular container is located as the positive direction of the standard y-coordinate axis (i.e., the y' axis in Figure 9), establishes a standard two-dimensional coordinate system x'Oy' on the plane where the top of the container is located, and converts the coordinates of the precise installation point O' and all projection coordinates to the standard two-dimensional coordinate system x'Oy'. The relative position of the precise installation point O' and the preset plane center point O is determined based on the coordinates of the precise installation point O' in the standard two-dimensional coordinate system x'Oy' and the coordinates of the second origin. For example, the distance between the precise installation point O' and the preset plane center point O can be determined based on the distance calculation formula between two points in the same coordinate system.

[0099] Based on the above embodiment, the method for determining the installation angle deviation of the three-dimensional scanning radar is described in detail below, but it is not intended to limit the embodiment of the present invention.

[0100] Figure 10 is a flow chart of a method for determining an installation angle deviation of a three-dimensional scanning radar provided by an embodiment of the present invention. Referring to Figure 10 , optionally, the three-dimensional scanning radar determines the installation angle deviation of the three-dimensional scanning radar by the following method:

[0101] S1010. The three-dimensional scanning radar determines the main axis direction of the figure surrounded by the point cloud based on all the point cloud data, and then analyzes the deflection angle of the three-dimensional scanning radar on the preset plane according to the difference between the main axis direction and the preset direction.

[0102] S1020. The three-dimensional scanning radar obtains a deflection angle of the three-dimensional scanning radar relative to a preset plane based on the distribution of the point cloud data in the container and the projection length of the figure enclosed by the point cloud in the main axis direction.

[0103] S1030. The three-dimensional scanning radar determines an azimuth angle between the three-dimensional scanning radar and the preset plane according to a deflection angle of the three-dimensional scanning radar on the preset plane and a deflection angle of the three-dimensional scanning radar compared to the preset plane.

[0104] S1040: Analyze the installation angle deviation of the three-dimensional scanning radar based on the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar.

[0105] Among them, taking a cylindrical container as an example, Figure 11 is a schematic diagram of a figure enclosed by all point clouds formed by a three-dimensional scanning radar under a non-vertical installation condition provided by an embodiment of the present invention. Referring to Figures 2 and 11, when the container is cylindrical and the three-dimensional scanning radar is not installed vertically, when viewed from the axial direction of the three-dimensional scanning radar, the figure M enclosed by all point clouds is an ellipse, and the point clouds on the inner walls on both sides of the container are respectively gathered to form area M1 and area M2. Based on the shape M, its principal axis direction (i.e., the major axis x" of the ellipse); correspondingly, the minor axis direction of the shape M can also be determined. The difference between the principal axis direction and the preset direction directly reflects the deflection angle of the 3D scanning radar on the preset plane of the container. Furthermore, the projected lengths of regions M1 and M2 along the principal axis direction (e.g., l in Figure 11, where l can be obtained from the point cloud) are related to the multi-point scanning range of the 3D scanning radar on the container's inner wall (e.g., h in Figure 11, where h is known). The larger the multi-point scanning range, the longer the projected length. According to the Pythagorean theorem, l / h = sinθ. Since both l and h are known, θ can be calculated, indicating the deflection angle of the 3D scanning radar relative to the preset plane. Based on its deflection angle on the preset plane and its deflection angle relative to the preset plane, the 3D scanning radar can determine its azimuth relative to the preset plane.

[0106] Based on the above embodiments, FIG12 is a schematic diagram of the structure of a three-dimensional scanning system with a self-determining installation posture function provided by an embodiment of the present invention. Referring to FIG12 , the three-dimensional scanning system optionally includes a three-dimensional scanning radar 10 and a server 40. The three-dimensional scanning radar 10 is mounted on a container 20 to measure the three-dimensional surface shape of a material 30 within the container 20. Before measuring the three-dimensional surface shape of the material 30, the three-dimensional scanning radar 10 scans the inner wall of the container 20 within a preset angle range along a set direction to obtain point cloud data of the inner wall. The server 40 establishes a communication connection with the three-dimensional scanning radar 10 to receive and, based on the point cloud data uploaded by the three-dimensional scanning radar 10, at least determine the installation posture information of the three-dimensional scanning radar 10.

[0107] The installation posture information includes at least one of the coordinates of the precise installation point of the three-dimensional scanning radar 10 or the installation angle deviation of the three-dimensional scanning radar 10. The server can be a CISC architecture server, a RISC architecture server, a VLIW architecture server, etc.

[0108] Before measuring the three-dimensional surface morphology of a material, an embodiment of the present invention uses a three-dimensional scanning radar to perform a multi-point scan of the inner wall of a container within a preset angle range along a set direction to obtain point cloud data of the inner wall corresponding to the preset angle range and upload it to a server. The server receives and, based on the point cloud data uploaded by the three-dimensional scanning radar, determines at least the installation pose information of the three-dimensional scanning radar (i.e., the server can at least determine the coordinates of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar). As configured in this manner, the present application can eliminate the need for manual measurement under working conditions where there is an obstructing device on top of the container on site. Instead, the coordinates of the precise installation point of the three-dimensional scanning radar can be directly determined by the three-dimensional scanning system. This effectively overcomes the existing method of manually measuring the distance between the center or each side of the container and the three-dimensional scanning radar on site to obtain the installation coordinates of the three-dimensional scanning radar, which is difficult to execute and has large manual measurement errors, resulting in inaccurate installation coordinates, inaccurate three-dimensional coordinates of the material surface converted by the three-dimensional scanning system, and poor detection accuracy of the three-dimensional scanning system. On the other hand, even if the three-dimensional scanning radar is affected by obstacles such as ladders or pipes at or around its installation location, or the unequal installation surface of the container, resulting in the three-dimensional scanning radar being installed non-vertically downward and having a certain angle deviation, the present application can also confirm the installation angle deviation of the three-dimensional scanning radar through the three-dimensional scanning system, which is beneficial to improving the accuracy of the three-dimensional coordinates of the material surface converted by the three-dimensional scanning system, as well as the detection accuracy of the three-dimensional scanning system.

[0109] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0110] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A three-dimensional scanning radar with a self-determination function for installation posture, characterized in that: The three-dimensional scanning radar is installed on the container to measure the three-dimensional surface shape of the material in the container; Before measuring the three-dimensional surface morphology of the material, the three-dimensional scanning radar performs a multi-point scan of the inner wall of the container within a preset angle range along a set direction to obtain and determine at least the installation posture information of the three-dimensional scanning radar based on the point cloud data of the inner wall corresponding to the preset angle range; The installation posture information includes at least one of the coordinates of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar.

2. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 1, characterized in that: The three-dimensional scanning radar includes a multi-angle measurement module and a processing module; The multi-angle measurement module is used to send measurement signals from multiple angles to scan the inner wall of the container, and receive multiple reflection signals formed by the measurement signals at multiple angles being reflected at least once by the inner wall of the container; The processing module receives the plurality of the reflected signals to obtain the point cloud data, and then determines at least the installation posture information according to the point cloud data; Preferably, the multi-angle measurement module includes a signal transceiver module and a motion module; The signal transceiver module is provided on the motion module and is used to transmit the measurement signal, so that the echo signal formed by the measurement signal being reflected at least once by the inner wall is received by the signal transceiver module; The motion module is configured to drive the signal transceiver module to scan the inner wall within the preset angle range along the set direction according to a preset motion logic; The processing module is connected to the signal transceiver module and the motion module respectively, and is used to control the motion module to move according to the preset motion logic; And, generate a detection control signal to enable the signal transceiver module to transmit the measurement signal based on the detection control signal; and, during the process of the motion module driving the signal transceiver module to scan the inner wall, receive each of the reflected signals uploaded by the signal transceiver module to obtain the point cloud data, and then determine at least the installation posture information based on the point cloud data.

3. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 2, characterized in that: The measurement signal is one of a microwave signal and a laser signal.

4. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 1, characterized in that: The three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by: Set a preset plane; The three-dimensional scanning radar takes the precise installation point as the origin, takes the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain the projection coordinates of all the point cloud data in the initial two-dimensional coordinate system; The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates; The three-dimensional scanning radar determines the relative position of the precise installation point and the center point of the preset plane according to the center coordinates and the origin; According to the relationship between the preset plane and the plane where the three-dimensional scanning radar is installed, the coordinates of the precise installation point of the three-dimensional scanning radar are analyzed.

5. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 1, characterized in that: The three-dimensional scanning radar determines the coordinates of the precise installation point of the three-dimensional scanning radar by: Set a preset plane; The three-dimensional scanning radar uses the precise installation point as a first origin, takes a preset direction as the positive direction of an initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on the preset plane to obtain projection coordinates of all the point cloud data in the initial two-dimensional coordinate system; The three-dimensional scanning radar determines the center coordinates of the center point of the preset plane in the initial two-dimensional coordinate system based on all the projection coordinates; The three-dimensional scanning radar re-uses the center point of the preset plane as the second origin, uses the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinates of the precise installation point and all the projection coordinates into the standard two-dimensional coordinate system, so as to determine the relative position of the precise installation point and the center point of the preset plane based on the coordinates of the precise installation point in the standard two-dimensional coordinate system and the coordinates of the second origin; Analyzing the coordinates of the precise installation point of the three-dimensional scanning radar based on the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar; The standard two-dimensional coordinate system is configured to be used at least for a process in which the three-dimensional scanning radar measures the three-dimensional surface morphology of the material in the container.

6. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 5, characterized in that: The three-dimensional scanning radar determines the installation angle deviation of the three-dimensional scanning radar in the following manner: The three-dimensional scanning radar determines the principal axis direction of the figure enclosed by the point cloud based on all projected transformed coordinates in the standard two-dimensional coordinate system, and further analyzes the deflection direction of the three-dimensional scanning radar relative to the preset plane based on the angular difference between the principal axis direction and the preset direction; The three-dimensional scanning radar performs an axial projection on the point cloud data on the radar axial plane to obtain an angle between a central axis of the axial projection and a normal to the preset plane; The three-dimensional scanning radar determines an azimuth angle between the three-dimensional scanning radar and the preset plane based on a deflection direction of the three-dimensional scanning radar relative to the preset plane and an angle between a central axis of the axial projection and a normal to the preset plane; According to the relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar, the installation angle deviation of the three-dimensional scanning radar is analyzed.

7. A three-dimensional scanning radar with a self-determination function for installation posture according to claim 4 or 5, characterized in that: The relationship between the preset plane and the actual installation surface of the three-dimensional scanning radar includes at least one of the following: the preset plane is the actual installation surface of the three-dimensional scanning radar, the preset plane is parallel to the actual installation surface of the three-dimensional scanning radar, and the preset plane is at a known angle to the actual installation surface of the three-dimensional scanning radar.

8. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 4 or 5, characterized in that: The preset direction is the installation direction of the three-dimensional scanning radar.

9. The three-dimensional scanning radar with the function of self-determination of installation posture according to claim 4 or 5, characterized in that: The three-dimensional scanning radar has an azimuth measurement function, and the preset direction is the azimuth direction measured by the three-dimensional scanning radar.

10. A three-dimensional scanning system with a self-determination function for installation posture, characterized in that: The three-dimensional scanning system includes a three-dimensional scanning radar and a server; The three-dimensional scanning radar is installed on the container to measure the three-dimensional surface shape of the material in the container; Before measuring the three-dimensional surface morphology of the material, the three-dimensional scanning radar scans the inner wall of the container within a preset angle range along a set direction to obtain point cloud data of the inner wall; The server establishes a communication connection with the three-dimensional scanning radar, and is configured to receive and determine at least installation posture information of the three-dimensional scanning radar based on the point cloud data uploaded by the three-dimensional scanning radar; The installation posture information includes at least one of the coordinates of the precise installation point of the three-dimensional scanning radar or the installation angle deviation of the three-dimensional scanning radar.

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