Three-dimensional detection system featuring reliable power supply and communication

Abstract

A three-dimensional detection system featuring reliable power supply and communication, at least comprising a radar body (110) and a reliable power supply and communication structure (120). The three-dimensional detection system is provided with a first communication link and a second communication link either of which serves as a mutual failover communication link. A first communication interface, a first communication line, a second communication interface, a second communication line, a second connecting end, and a first connecting end jointly form a dual communication link between the radar body (110) and a control module (130), and the radar body (110) and the control module (130) can simultaneously run two identical or different network resources by means of the dual communication link, thereby improving the network resource utilization rate of the three-dimensional detection system. In addition, either the first communication link or the second communication link serves as a mutual failover communication link, such that when the first communication link or the second communication link is hindered, the second communication link or the first communication link can ensure reliable communication of the three-dimensional detection system, thereby improving the communication redundancy of the three-dimensional detection system.

Description

3D inspection system with reliable power supply and communication Technical Field

[0001] The embodiments of the present invention relate to the field of industrial measurement technology, and in particular to a three-dimensional detection system with reliable power supply and communication. Background Art

[0002] Three-dimensional measurement 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] However, existing networks between 3D measurement radars and user terminals mostly use differential signal transmission. This network communication method is incompatible with multiple network resources, limiting resource utilization. Furthermore, if the network connection fails due to complex field conditions, communication between the existing 3D measurement radar and the user terminal will be paralyzed, resulting in low communication redundancy.

[0004] Summary of the Invention

[0005] An embodiment of the present invention provides a three-dimensional detection system with reliable power supply and communication, which is at least used to improve the network resource utilization of the three-dimensional detection system and enhance the communication redundancy of the three-dimensional detection system.

[0006] An embodiment of the present invention provides a three-dimensional detection system with reliable power supply and communication, comprising at least a radar body and a reliable power supply and communication structure;

[0007] A first connector is provided on the bottom plate of the radar body, and a second connector is provided at one end of the reliable power supply and communication structure, wherein the second connector is configured to be compatible with the first connector;

[0008] The reliable power supply communication structure is at least wrapped with a power supply wiring harness group, a first communication line and a second communication line; the other end of the reliable power supply communication structure is at least connected to the control module, and the port of the control module is at least provided with a power supply interface, a first communication interface and a second communication interface; the power supply wiring harness group is connected between the second plug end and the power supply interface, and is used to provide power to the radar body; the first communication line is connected between the second plug end and the first communication interface, and is at least used to constitute a first communication link between the radar body and the control module; the second communication line is connected between the second plug end and the second communication interface, and is at least used to constitute a second communication link between the radar body and the control module; the first communication link and the second communication link are each other's fault backup communication links.

[0009] Optionally, the first communication line and the second communication line are at least further used to alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link can be determined, thereby correspondingly implementing fault diagnosis of the communication line.

[0010] Optionally, the first communication interface of the control module is at least an RJ45 network port, and the first communication line is a first twisted pair;

[0011] Each wire harness in the first twisted pair connected to the first communication interface is connected to a first RJ45 crystal plug according to a first wiring rule, and the first RJ45 crystal plug is inserted into the first communication interface to achieve communication.

[0012] Optionally, the second communication interface of the control module is at least an RJ45 network port; the second communication line is a second twisted pair;

[0013] Each wire harness in the second twisted pair connected to the second communication interface is connected to a second RJ45 crystal plug according to a second wiring rule, and the second RJ45 crystal plug is inserted into the second communication interface to achieve communication.

[0014] Optionally, the first wiring rule is the same as or different from the second wiring rule.

[0015] Optionally, the first communication interface of the control module is at least an optical port, and the first communication line is an optical fiber.

[0016] Optionally, the second communication interface of the control module is at least an optical port, and the second communication line is an optical fiber.

[0017] Optionally, the first communication interface of the control module is at least an RS485 interface, and the first communication line is a shielded twisted pair cable or a shielded two-core cable.

[0018] Optionally, the second communication interface of the control module is at least an RS485 interface, and the second communication line is a shielded twisted pair cable or a shielded two-core cable.

[0019] Optionally, the power supply harness group includes at least a positive harness group and a negative harness group;

[0020] The positive wire harness group and the negative wire harness group together constitute a power supply circuit of the radar body;

[0021] The positive wiring harness group includes at least a first sub-wiring harness and a second sub-wiring harness, wherein the first sub-wiring harness and the second sub-wiring harness are both connected between the positive terminal of the second plug end and the positive terminal of the power interface, and the first sub-wiring harness and the second sub-wiring harness serve as backup positive power supply harnesses for each other in case of failure;

[0022] The negative wiring harness group includes at least a third sub-wiring harness and a fourth sub-wiring harness, and the third sub-wiring harness and the fourth sub-wiring harness are both connected between the negative terminal of the second connector and the negative terminal of the power interface. The third sub-wiring harness and the fourth sub-wiring harness are each other's fault backup negative power supply harnesses.

[0023] Optionally, the three-dimensional detection system further includes a three-dimensional processing and presentation module, and the radar body is at least used to detect three-dimensional information of the medium surface, continuously, periodically or regularly obtain distance information of multiple positions on the medium surface and generate detection data;

[0024] The three-dimensional processing and presentation module obtains at least through the reliable power supply communication structure and generates current medium parameters, historical medium parameters, current three-dimensional morphological diagram of the medium surface and / or historical three-dimensional morphological diagram of the medium surface based on all the detection data of one or more detection cycles; and displays the medium parameters and / or the three-dimensional morphological diagram.

[0025] Optionally, the three-dimensional detection system further includes a three-dimensional processing and presentation module, wherein the radar body is at least used to detect three-dimensional information of the medium surface, continuously, periodically or periodically obtain distance information of multiple positions on the medium surface, and generate current medium parameters, historical medium parameters, a current three-dimensional morphology map of the medium surface and / or a historical three-dimensional morphology map of the medium surface;

[0026] The three-dimensional processing and presentation module is at least used to obtain and display the current medium parameters, the historical medium parameters, the current three-dimensional morphology of the medium surface and / or the historical three-dimensional morphology of the medium surface through the reliable power supply communication structure.

[0027] Optionally, the radar body includes a cover and a scanning mechanism;

[0028] The cover body is fixedly connected to the bottom plate to form a sealed space;

[0029] The scanning mechanism is arranged in the sealed space and is used to perform mechanical movement in at least one dimension, generate and emit scanning signals at multiple angles, and perform multi-angle scanning on the surface of the medium in the container.

[0030] Optionally, before continuously, periodically or periodically acquiring distance information of multiple positions on the surface of the medium, the radar body performs multi-point scanning of a posture reference object within a preset angle range along a set direction to acquire and determine at least installation posture information of the radar body based on reference point cloud data corresponding to the preset angle range;

[0031] The installation posture information includes at least one of the coordinates of the precise installation point of the radar body or the installation angle deviation of the radar body.

[0032] To sum up, a first connector is provided on the bottom plate of the radar body in the embodiment of the present invention, and a second connector is provided at one end of the reliable power supply communication structure, and the second connector is configured to be compatible with the first connector; the reliable power supply communication structure is at least wrapped with a power supply wiring harness group, a first communication line and a second communication line; the other end of the reliable power supply communication structure is at least connected to the control module, and the port of the control module is at least provided with a power supply interface, a first communication interface and a second communication interface; the power supply wiring harness group is connected between the second connector and the power supply interface to provide electrical energy to the radar body; the first communication line is connected between the second connector and the first communication interface, and is at least used to constitute a first communication link between the radar body and the control module; the second communication line is connected between the second connector and the second communication interface, and is at least used to constitute a second communication link between the radar body and the control module; the first communication link and the second communication link are each other's fault backup communication links.

[0033] Thus, on the one hand, the first communication interface and first communication line, the second communication interface and second communication line, the second connector, and the first connector in the embodiments of the present invention collectively constitute a dual communication link between the radar body and the control module. The radar body and the control module can simultaneously operate two identical or different network resources through this dual communication link, thereby improving the network resource utilization rate of the three-dimensional detection system. On the other hand, in the embodiments of the present invention, the first communication link and the second communication link serve as failover communication links. When the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure reliable communication of the three-dimensional detection system, thereby improving the communication redundancy of the three-dimensional detection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] FIG1 is a schematic structural diagram of a three-dimensional detection system with reliable power supply and communication provided by an embodiment of the present invention;

[0036] FIG2 is a schematic structural diagram of another three-dimensional detection system with reliable power supply and communication provided by an embodiment of the present invention;

[0037] FIG3 is a multi-point scanning profile diagram of a radar body on the inner wall of a container provided by an embodiment of the present invention;

[0038] FIG4 is a multi-point scanning profile of another radar body on the inner wall of a container provided by an embodiment of the present invention;

[0039] FIG5 is a multi-point scanning profile diagram of another radar body on the inner wall of a container provided by an embodiment of the present invention;

[0040] FIG6 is a flow chart of a method for determining the coordinates of a precise installation point of a radar body provided by an embodiment of the present invention;

[0041] FIG7 is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention;

[0042] FIG8 is a flow chart of another method for determining the coordinates of a precise installation point of a radar body provided by an embodiment of the present invention;

[0043] FIG9 is a schematic diagram of another coordinate system transformation provided by an embodiment of the present invention;

[0044] 10 is a flow chart of a method for determining an installation angle deviation of a radar body according to an embodiment of the present invention;

[0045] FIG11 is a schematic diagram of a figure surrounded by all point clouds formed by a radar body under a non-vertical installation condition provided by an embodiment of the present invention;

[0046] FIG12 is a multi-point scanning profile diagram of another radar body on the inner wall of a container provided by an embodiment of the present invention;

[0047] FIG13 is a multi-point scanning profile diagram of another radar body on the inner wall of a container provided by an embodiment of the present invention;

[0048] 14 is a schematic diagram of the configuration of a positive wiring harness group, a second connector positive terminal, and a power interface positive terminal according to an embodiment of the present invention;

[0049] 15 is a schematic diagram of another positive wiring harness group, a second connector positive terminal and a power interface positive terminal according to an embodiment of the present invention;

[0050] 16 is a schematic diagram of the configuration of a negative wiring harness group, a second connector negative terminal, and a power interface negative terminal according to an embodiment of the present invention;

[0051] FIG17 is a schematic diagram showing the configuration of another negative wiring harness group, the negative terminal of the second connector, and the negative terminal of the power interface provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] FIG1 is a schematic diagram of a three-dimensional detection system with reliable power supply and communication according to an embodiment of the present invention. Referring to FIG1 , the three-dimensional detection system with reliable power supply and communication includes at least a radar body 110 and a reliable power supply and communication structure 120 .

[0055] A first connector is provided on the bottom plate of the radar body 110 , and a second connector is provided at one end of the reliable power supply communication structure 120 , and the second connector is configured to be compatible with the first connector.

[0056] The reliable power supply communication structure 120 is at least wrapped with a power supply harness group, a first communication line and a second communication line; the other end of the reliable power supply communication structure 120 is at least connected to the control module 130, and the port of the control module is at least provided with a power supply interface, a first communication interface and a second communication interface; the power supply harness group is connected between the second plug end and the power supply interface, and is used to provide power to the radar body 110; the first communication line is connected between the second plug end and the first communication interface, and is at least used to constitute a first communication link between the radar body 110 and the control module 130; the second communication line is connected between the second plug end and the second communication interface, and is at least used to constitute a second communication link between the radar body 110 and the control module 130; the first communication link and the second communication link are each other's fault backup communication links.

[0057] The radar body 110 can be at least a 3D scanning radar or a 3D multi-point radar. The radar body 110 can transmit and receive signals using microwave, laser, or composite signals. Furthermore, the second connector and the first connector can be any type of interconnectable connector, such as the male and female ends of an aviation plug connector.

[0058] Exemplarily, the control module 130 may include a power supply at the site where the three-dimensional detection system is located, a wireless signal transmission device (such as a wireless gateway, a wireless router, etc.), a wired signal transmission device (such as a switch), an electrical control box and / or a central control room, etc.

[0059] In one embodiment, the control module 130 may include a power supply, a host computer, and a server. The power interface of the control module 130 may be connected to the power supply, and the first and second communication interfaces may be connected to the host computer and / or server of the control module 130. In this manner, the power supply can provide the radar body 110 with the necessary electrical energy for normal operation via the power interface, the power supply wiring harness, the second connector, and the first connector. The host computer and / or server can establish a communication connection with the radar body 110 via the first communication interface, the first communication line, the second connector, and the first connector, thereby forming a first communication link between the radar body 110 and the control module 130. Similarly, the host computer and / or server can establish a communication connection with the radar body 110 via the second communication interface, the second communication line, the second connector, and the first connector, thereby forming a second communication link between the radar body 110 and the control module 130. With this arrangement, the radar body 110 and the control module 130 can simultaneously operate two identical or different network resources via the first and second communication links.

[0060] The first communication link and the second communication link are mutual fault backup communication links, which means that when the first communication link can normally maintain the communication between the radar body 110 and the control module 130, the second communication link does not work. Once the first communication link is blocked by external forces on site, communication link components and other factors, the second communication link can replace the first communication link to continue to maintain normal communication between the radar body 110 and the control module 130; on the contrary, when the second communication link can normally maintain the communication between the radar body 110 and the control module 130, the first communication link may not work. If the second communication link is blocked, the first communication link can replace the second communication link to continue to maintain normal communication between the radar body 110 and the control module 130.

[0061] In view of this, on the one hand, the first communication interface and first communication line, the second communication interface and second communication line, the second connector, and the first connector in the embodiments of the present invention collectively constitute a dual communication link between the radar body and the control module. The radar body and the control module can simultaneously operate two identical or different network resources through this dual communication link, thereby improving the network resource utilization rate of the three-dimensional detection system. On the other hand, in the embodiments of the present invention, the first communication link and the second communication link serve as failover communication links. When the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure reliable communication of the three-dimensional detection system, thereby improving the communication redundancy of the three-dimensional detection system.

[0062] It should be noted that, in another embodiment, optionally, the first communication line and the second communication line are at least used to alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link can be determined, thereby realizing corresponding fault diagnosis of the communication line.

[0063] The first communication line and the second communication line can regularly perform communication transmission alternately. For example, the first communication line performs communication transmission for 1 second and then terminates data transmission. The second communication line performs communication transmission for 1 second and then terminates data transmission. The first communication line then performs communication transmission for 1 second and then terminates data transmission, and so on.

[0064] Of course, the first communication line and the second communication line can also perform communication transmission alternately and irregularly. For example, the first communication line terminates data transmission after performing communication transmission for 1 second, and the second communication line terminates data transmission after performing communication transmission for 1.5 seconds. The first communication line terminates data transmission after performing communication transmission for 0.8 seconds, and the second communication line terminates data transmission after performing communication transmission for 2.1 seconds, etc.

[0065] It is understandable that the alternating execution of communication transmission by the first communication line and the second communication line means that the first communication link and the second communication link are alternatingly executing communication transmission. When the first communication link or the second communication link fails at a certain moment, the radar body may not be able to send data, and the control module may not receive data (or, the control module may not be able to send control instructions, and the radar body may not receive control instructions). Based on this, the fault condition of the communication link can be determined, and the corresponding communication line fault diagnosis (i.e., whether the first communication line is faulty or the second communication line is faulty) can be implemented. The user can be warned by, but not limited to, sound, light, fault information display, etc. to promptly inspect and repair the three-dimensional detection system, which is beneficial to improving the reliability of the three-dimensional detection system and the user experience. For example, if the control module is a wireless gateway, the fault condition of the communication link can be determined through the communication configuration interface of the wireless gateway; if the control module is a switch, the fault condition of the communication link can be determined through the indicator light of the switch.

[0066] Based on the above embodiments, the configuration of the communication interface and the corresponding communication line is described below, which is not intended to limit the embodiments of the present invention.

[0067] In a specific embodiment, optionally, the first communication interface of the control module is at least an RJ45 network port, and the first communication line is a first twisted pair of wires; each wire harness in the first twisted pair of wires connected to the first communication interface is connected to the first RJ45 crystal head according to the first wiring rule, and the first RJ45 crystal head is inserted into the first communication interface to realize communication.

[0068] Optionally, the second communication interface of the control module is at least an RJ45 network port, and the second communication line is a second twisted pair of wires; each wire harness in the second twisted pair of wires connected to the second communication interface is connected to the second RJ45 crystal head according to the second wiring rule, and the second RJ45 crystal head is inserted into the second communication interface to realize communication.

[0069] Optionally, the first wiring rule and the second wiring rule are the same or different.

[0070] Specifically, for example, the four wire harnesses in the first communication line that are connected to the first communication interface can be connected to the 1, 2, 3, and 6 slots of the first RJ45 crystal head, and the four wire harnesses in the second communication line that are connected to the second communication interface can be connected to the 1, 2, 3, and 6 slots of the second RJ45 crystal head; or, the four wire harnesses in the first communication line that are connected to the first communication interface can be connected to the 4, 5, 7, and 8 slots of the first RJ45 crystal head, and the four wire harnesses in the second communication line that are connected to the second communication interface can be connected to the 4, 5, 7, and 8 slots of the second RJ45 crystal head. Slots; or, the four wire harnesses in the first communication line that are connected to the first communication interface can be correspondingly connected to slots 4, 5, 7, and 8 of the first RJ45 crystal head, and the four wire harnesses in the second communication line that are connected to the second communication interface can be correspondingly connected to slots 1, 2, 3, and 6 of the second RJ45 crystal head; or, the four wire harnesses in the first communication line that are connected to the first communication interface can be correspondingly connected to slots 1, 2, 3, and 6 of the first RJ45 crystal head, and the four wire harnesses in the second communication line that are connected to the second communication interface can be correspondingly connected to slots 4, 5, 7, and 8 of the second RJ45 crystal head.

[0071] Excluding the implementation of the above-mentioned RJ45 crystal head and RJ45 network port, the communication interface, communication line, and the connector connecting the communication interface and one end of the communication line in the embodiment of the present invention can be adaptively changed based on the needs of any communication form to meet the diversified communication needs of the three-dimensional detection system. In another specific embodiment, optionally, the first communication interface of the control module is at least an optical port, and the first communication line is an optical fiber; the second communication interface of the control module is at least an optical port, and the second communication line is an optical fiber; the first communication line is connected to the first optical fiber connector, and the first optical fiber connector is inserted into the first communication interface to achieve communication; the second communication line is connected to the second optical fiber connector, and the second optical fiber connector is inserted into the second communication interface to achieve communication. In another specific embodiment, the first communication interface of the control module is at least an RS485 interface, and the first communication line is a shielded twisted pair cable or a shielded two-core cable; the second communication interface of the control module is at least an RS485 interface, and the second communication line is a shielded twisted pair cable or a shielded two-core cable, which will not be repeated.

[0072] In summary, the embodiment of the present invention forms a dual communication link between the radar body and the control module through the first communication interface and the first communication line, the second communication interface and the second communication line, the second connector and the first connector. The radar body and the control module can run two identical or different network resources at the same time through the dual communication link, thereby improving the network resource utilization rate of the three-dimensional detection system. At the same time, in the embodiment of the present invention, the first communication link and the second communication link are each other's fault backup communication links. When the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure the reliable communication of the three-dimensional detection system, thereby improving the communication redundancy of the three-dimensional detection system. In addition, in the embodiment of the present invention, the first communication link and the second communication link can alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link can be effectively determined, and the corresponding fault diagnosis of the communication line can be implemented, which is conducive to improving the reliability of the three-dimensional detection system.

[0073] Based on the above embodiment, the configuration of the power supply harness group, the second connector and the power interface is described below, which does not limit the embodiment of the present invention.

[0074] Optionally, the power supply harness group includes at least a positive harness group and a negative harness group;

[0075] The positive wiring harness group and the negative wiring harness group together constitute the power supply circuit of the radar body;

[0076] The positive wiring harness group includes at least a first sub-wiring harness and a second sub-wiring harness, the first sub-wiring harness and the second sub-wiring harness are both connected between the positive terminal of the second connector and the positive terminal of the power interface, and the first sub-wiring harness and the second sub-wiring harness serve as backup positive power supply harnesses for each other in case of failure;

[0077] The negative wiring harness group includes at least a third sub-wiring harness and a fourth sub-wiring harness. The third sub-wiring harness and the fourth sub-wiring harness are both connected between the negative terminal of the second connector and the negative terminal of the power interface. The third sub-wiring harness and the fourth sub-wiring harness are each other's fault backup negative power supply harnesses.

[0078] Among them, there can be more than two sub-wiring harnesses in the positive wiring harness group and the negative wiring harness group, and the number of the second plug-in positive terminal, the power interface positive terminal, the second plug-in negative terminal, and the power interface negative terminal can be one or more. For example, Figure 14 is a configuration diagram of a positive wiring harness group, a second plug-in positive terminal, and a power interface positive terminal provided in an embodiment of the present invention, Figure 15 is a configuration diagram of another positive wiring harness group, a second plug-in positive terminal, and a power interface positive terminal provided in an embodiment of the present invention, Figure 16 is a configuration diagram of a negative wiring harness group, a second plug-in negative terminal, and a power interface negative terminal provided in an embodiment of the present invention, and Figure 17 is a configuration diagram of another negative wiring harness group, a second plug-in negative terminal, and a power interface negative terminal provided in an embodiment of the present invention.

[0079] Referring to Figure 14, sub-harness R and sub-harness S are connected in parallel between the positive terminal P of the second connector and the positive terminal Q of the power interface. Since sub-harness R and sub-harness S are connected in parallel between the positive terminal P of the second connector and the positive terminal Q of the power interface, when sub-harness R (or sub-harness S) is damaged (e.g., broken) by factors such as external forces on site or sub-harness components, sub-harness S (or sub-harness R) can be used to form the power supply circuit of the radar body, that is, sub-harness R and sub-harness S serve as each other's fault backup positive power supply harnesses.

[0080] Referring to Figure 15, the sub-wiring harness R1 is connected between the second plug-in positive terminal P1 and the power interface positive terminal Q1, and the sub-wiring harness S1 is connected between the second plug-in positive terminal P2 and the power interface positive terminal Q2. The sub-wiring harness R1 and the sub-wiring harness S1 are each other's fault backup positive power supply harnesses.

[0081] Referring to Figure 16, sub-harness R2 and sub-harness S2 are connected in parallel between the negative terminal P3 of the second connector and the negative terminal Q3 of the power interface, and sub-harness T2 is connected between the negative terminal P4 of the second connector and the negative terminal Q4 of the power interface. Similarly, because sub-harness R2 and sub-harness S2 are connected in parallel between the negative terminal P3 of the second connector and the negative terminal Q3 of the power interface, and sub-harness T2 is connected between the negative terminal P4 of the second connector and the negative terminal Q4 of the power interface, when any one or two of the above sub-harnesses are damaged (e.g., broken) by factors such as on-site external forces or sub-harness components, the remaining two or one intact sub-harnesses can be used to form the power supply circuit of the radar body, that is, sub-harness R2, sub-harness S2, and sub-harness T2 serve as each other's fault backup negative power supply harnesses.

[0082] Referring to Figure 17, sub-wiring harness R3 and sub-wiring harness S3 are connected in parallel between the negative terminal P5 of the second plug end and the negative terminal Q5 of the power interface, sub-wiring harness T3 and sub-wiring harness U3 are connected in parallel between the negative terminal P6 of the second plug end and the negative terminal Q6 of the power interface, and sub-wiring harness R3, sub-wiring harness S3, sub-wiring harness T3 and sub-wiring harness U3 are each other's fault backup negative power supply harnesses.

[0083] In summary, the embodiment of the present invention forms a dual communication link between the radar body and the control module through the first communication interface and the first communication line, the second communication interface and the second communication line, the second connector and the first connector. The radar body and the control module can run two identical or different network resources simultaneously through the dual communication link, thereby improving the network resource utilization rate of the three-dimensional detection system. At the same time, in the embodiment of the present invention, the first communication link and the second communication link are each other's fault backup communication links. When the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure reliable communication of the three-dimensional detection system, thereby improving the communication redundancy of the three-dimensional detection system. Moreover, in the embodiment of the present invention, the first communication link and the second communication link can alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link can be effectively determined, and the fault diagnosis of the communication line can be realized, which is conducive to improving the reliability of the three-dimensional detection system. In addition, the embodiment of the present invention sets a fault backup positive and negative power supply harness. As long as any sub-harness in each harness group remains intact, the power supply circuit of the radar body can operate normally, effectively improving the power supply redundancy of the three-dimensional detection system and ensuring the reliable power supply of the three-dimensional detection system.

[0084] Based on the above embodiments, in certain on-site application scenarios (such as the monitoring process of material levels in storage tanks or silos in industrial fields), the radar body and the control module (such as a switch) may not have data processing capabilities. The monitoring data obtained by the radar body needs to perform corresponding data processing steps before it can be converted and output into parameters or images and other information required by the user.

[0085] Based on this, Figure 2 is a schematic diagram of the structure of another 3D detection system with reliable power supply and communication provided by an embodiment of the present invention. Referring to Figure 2 , the 3D detection system optionally further includes a 3D processing and presentation module 140. The radar body 110 is configured to detect at least 3D information on the surface of a medium, continuously, periodically, or periodically acquire distance information from multiple locations on the surface of the medium, and generate detection data. The 3D processing and presentation module 140 generates current medium parameters, historical medium parameters, a current 3D morphology map of the medium surface, and / or historical 3D morphology maps of the medium surface based on all detection data from at least one or more detection cycles, obtained through the reliable power supply and communication structure 120. Furthermore, the 3D processing and presentation module 140 displays the medium parameters and / or 3D morphology map.

[0086] Continuing with FIG2 , in another embodiment, the radar body 110 may involve both the acquisition of detection data and a portion of the processing flow for the detection data. Optionally, the 3D detection system further includes a 3D processing and presentation module 140 . The radar body 110 is configured to detect at least the 3D morphology of the medium surface, continuously, periodically, or periodically acquire distance information from multiple locations on the medium surface, and generate current medium parameters, historical medium parameters, a current 3D morphology map of the medium surface, and / or historical 3D morphology maps of the medium surface. The 3D processing and presentation module 140 is configured to obtain and display at least the current medium parameters, historical medium parameters, a current 3D morphology map of the medium surface, and / or historical 3D morphology maps of the medium surface via the reliable power supply communication structure 120 .

[0087] The distance information of multiple locations on the medium surface can be, for example, information obtained by the radar body 110 based on the time-of-flight principle, which can represent the distance between the radar body and multiple locations on the medium surface. The detection data can specifically include point cloud data, distance data, AD sampling data, FFT data, etc. It can be understood that current medium parameters can include, for example, the current medium volume, current medium mass, current maximum medium level, current minimum medium level, current average medium level, etc. Alternatively, historical medium parameters can include, for example, historical medium volume, historical medium mass, historical maximum medium level, historical minimum medium level, historical average medium level, etc.

[0088] Based on the above embodiment, optionally, the radar body includes a cover and a scanning mechanism; the cover is fixedly connected to the base plate to form a sealed space; the scanning mechanism is arranged in the sealed space, and is used to perform mechanical movement in at least one dimension, generate and emit scanning signals at multiple angles, so as to perform multi-angle scanning on the surface of the medium in the container.

[0089] The base plate can be made of metal, plastic, ceramic, or glass, and the cover can be fixedly connected to the base plate via, but is not limited to, screws. Furthermore, the cover can be made of a variety of materials. For example, when the radar body is a 3D microwave scanning radar, the cover can be made of a wave-transmitting material such as plastic, ceramic, and glass. When the radar body is a 3D laser scanning radar, the cover can be made of a laser-transmitting material such as glass or polymethyl methacrylate (PMMA) sheet.

[0090] As can be seen, the scanning mechanism can be comprised of, but not limited to, a mechanical motion unit and at least one signal sensor. The signal sensor can be fixed to the mechanical motion unit. The mechanical motion unit adaptively drives the signal sensor to move while performing mechanical motion in at least one dimension (e.g., horizontal, vertical, or pitch), thereby changing the direction in which the signal sensor transmits the scanning signal. Thus, the scanning mechanism can generate and emit scanning signals at multiple angles, thereby performing multi-angle scanning of the surface of the medium within the container.

[0091] Based on the above embodiment, an embodiment of the present invention further relates to a process for confirming the installation posture information of the radar body on the container. Optionally, before continuously, periodically, or periodically acquiring distance information from multiple locations on the surface of the medium, the radar body performs a multi-point scan of a posture reference object within a preset angle range along a set direction to obtain and, based on the reference point cloud data within the corresponding preset angle range, at least determine the installation posture information of the radar body.

[0092] The installation posture information includes at least one of the coordinates of the precise installation point of the radar body or the installation angle deviation of the radar body.

[0093] According to the different measurement principles of the radar body, the reference point cloud data can be specifically microwave point cloud data, laser point cloud data, etc.

[0094] The radar body can be installed anywhere on the container, for example, on the top. The container can be a tank or silo capable of carrying a medium, or other similar equipment or components, such as a reaction tank or storage silo in production equipment. The medium can be in a solid state or a viscous mixture of solid and liquid. A pose reference can be, for example, the inner wall of the container.

[0095] In some specific embodiments, the radar body can perform multi-point scanning of the container's inner wall in various ways. Figure 3 shows a multi-point scanning profile of a container's inner wall by a radar body according to an embodiment of the present invention. Figure 4 shows a multi-point scanning profile of another container's inner wall by a radar body according to an embodiment of the present invention. Figure 5 shows a multi-point scanning profile of yet another container's inner wall by a radar body according to an embodiment of the present invention. Figure 12 shows a multi-point scanning profile of yet another container's inner wall by a radar body according to an embodiment of the present invention. Figure 13 shows a multi-point scanning profile of yet another container's inner wall by a radar body according to an embodiment of the present invention. Specifically, the shape of the container 20 in Figure 3 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 4 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 5 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 12 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 13 is a cylinder, the set direction is clockwise, the preset angle range is 360°, and the scanning profile is circular.

[0096] It is understandable that when the container has a relatively standard shape (such as the cylindrical container shown in Figure 3 or the rectangular container shown in Figure 4), the radar body may also scan only a portion of the container (this range can be selected based on the adaptability of the container shape, such as 1 / 4 or 1 / 2 of the container, etc.), and then obtain point cloud data of the entire container inner wall through axisymmetry or central symmetry, and ultimately determine at least the installation posture information of the radar body based on this point cloud data. Of course, in other specific embodiments, the shape of the container can be irregular, or the set direction can change irregularly, or the scanning profile can include multiple parts, and the angular range corresponding to the scanning profile of each part can be completely identical, not completely identical, or completely different.

[0097] In summary, before continuously, periodically or periodically acquiring distance information of multiple positions on the surface of a medium, the embodiment of the present invention performs a multi-point scan of a reference object within a preset angle range along a set direction by the radar body to obtain and determine at least the installation posture information of the radar body based on the reference point cloud data within the corresponding preset angle range (i.e., the radar body can at least determine the coordinates of its own precise installation point, or one of its own installation angle deviations). As set up in this way in the present application, on the one hand, under the working condition that there is an obstructing device on the top of the on-site container, there is no need for manual measurement, but the coordinates of its precise installation point can be directly determined by the radar body itself, effectively overcoming 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 coordinates of the radar body, which has high execution difficulty and large manual measurement errors, resulting in inaccurate installation coordinates, inaccurate three-dimensional coordinates of the medium converted by the radar body, and poor detection accuracy of the radar body. On the other hand, even if the radar body 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 radar body being installed non-vertically downward and having a certain angle deviation, the present application can also self-identify the installation angle deviation through the radar body, which is beneficial to improving the accuracy of the three-dimensional coordinates of the medium converted by the radar body, as well as the detection accuracy of the radar body.

[0098] It should be noted that FIG3 to FIG5 , FIG12 , and FIG13 all exemplarily show that the radar body 110 is installed on the top of the container 20 , which is not intended to limit the embodiments of the present invention.

[0099] It should also be noted that there are many specific methods for the radar body 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.

[0100] In one embodiment, FIG6 is a flow chart of a method for determining the coordinates of a precise installation point provided by a radar body according to an embodiment of the present invention. Referring to FIG6 , the radar body may optionally determine the coordinates of its precise installation point by:

[0101] S610: Set a preset plane.

[0102] The preset plane can refer to the actual installation surface of the radar body, 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, the radar body is often installed on top of a container, so the preset plane is generally preferably set to the container's top surface.

[0103] Optionally, the relationship between the preset plane and the actual installation surface of the radar body includes at least one of the following: the preset plane is the actual installation surface of the radar body, the preset plane is parallel to the actual installation surface of the radar body, and the preset plane is at a known angle to the actual installation surface of the radar body.

[0104] S620: The radar body uses 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 point cloud data in the initial two-dimensional coordinate system.

[0105] There are multiple options for the preset direction.

[0106] In one embodiment, the preset direction is optionally the installation direction of the radar body. To clarify the installation direction of the radar body, a direction marker can be provided on the radar body. The direction marker can point to the starting scanning direction of the radar body, or can point to the direction of the line containing the long side or wide side of the rectangular container as shown in Figure 3, etc.

[0107] In another embodiment, the radar body optionally has a direction measurement function, and the preset direction is the direction measured by the radar body. The radar body having a direction measurement function may mean that the radar body can measure directions such as east, west, south, and north, and the preset direction may be, for example, due south.

[0108] S630: The radar body 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.

[0109] 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.

[0110] S640. The radar body 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.

[0111] S650: Analyze the coordinates of the precise installation point of the radar body according to the relationship between the preset plane and the plane where the radar body is installed.

[0112] For example, based on Figure 4 , Figure 7 is a schematic diagram of a coordinate system transformation provided by an embodiment of the present invention. Referring to Figures 4 and 7 , the radar body establishes an initial two-dimensional 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 radar body performs a multi-point scan of the container's inner wall within a preset angle range along a set direction, the point cloud data generated by the radar body forms a scan profile B. (It will be appreciated that when the point cloud data is sufficiently large, the scan profile no longer remains linear but rather strip-shaped, as shown in Figure 12 ). At this point, all the point cloud data is projected onto the initial two-dimensional coordinate system xO'y, forming a projection profile B'. Based on the coordinates of all the projections that enclose the projection profile B', the radar body 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 two-dimensional 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 radar body 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.

[0113] In another embodiment, FIG8 is a flow chart of another method for determining the coordinates of a precise installation point of a radar body provided by an embodiment of the present invention. Referring to FIG8 , the radar body may optionally determine the coordinates of the precise installation point of the radar body by:

[0114] S810: Set a preset plane.

[0115] S820. The radar body uses the precise installation point as the first origin, uses 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.

[0116] S830: The radar body 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.

[0117] S840. The radar body 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.

[0118] The standard two-dimensional coordinate system is configured to be used at least for a process in which the radar body measures the three-dimensional surface morphology of the medium in the container.

[0119] S850: Analyze the coordinates of the precise installation point of the radar body according to the relationship between the preset plane and the plane where the radar body is installed.

[0120] For example, based on Figure 4 , Figure 9 is a schematic diagram of another coordinate system transformation provided by an embodiment of the present invention. Referring to Figures 4 and 9 , the radar body establishes an initial two-dimensional coordinate system xO'y on the plane of the container top, with 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 radar body performs a multi-point scan of the container's inner wall within a preset angle range along a set direction, the point cloud data generated by the radar body constitutes a scan profile B. At this point, all of the point cloud data is projected onto the initial two-dimensional coordinate system xO'y, forming a projection profile B'. Based on the coordinates of all projections that enclose the projection profile B', the radar body 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 two-dimensional coordinate system xO'y. Based on this, the radar body 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). A standard two-dimensional coordinate system x'Oy' is established on the plane where the top of the container is located, and the coordinates of the precise installation point O' and all projection coordinates are converted 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.

[0121] Based on the above embodiment, the method for determining the installation angle deviation of the radar body is described in detail below, but it is not intended to limit the embodiment of the present invention.

[0122] FIG10 is a flow chart of a method for determining an installation angle deviation of a radar body provided by an embodiment of the present invention. Referring to FIG10 , optionally, the radar body determines the installation angle deviation of the radar body by:

[0123] S1010: The radar body determines the main axis direction of the figure enclosed by the point cloud based on all the point cloud data, and then analyzes the deflection angle of the radar body on the preset plane according to the difference between the main axis direction and the preset direction.

[0124] S1020. The radar body obtains a deflection angle of the radar body 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.

[0125] S1030: The radar body determines an azimuth angle between the radar body and the preset plane according to a deflection angle of the radar body on the preset plane and a deflection angle of the radar body relative to the preset plane.

[0126] S1040: Analyze the installation angle deviation of the radar body according to the relationship between the preset plane and the actual installation surface of the radar body.

[0127] 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 radar body under a non-vertical installation condition provided by an embodiment of the present invention. Referring to Figures 3 and 11, when the container is cylindrical and the radar body is not installed vertically, when viewed from the axial direction of the radar body, 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 areas M1 and 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 radar's deflection angle relative to the container's preset plane. Furthermore, the projected lengths of regions M1 and M2 along the principal axis (e.g., l in Figure 11, l can be obtained from the point cloud) are related to the radar's multi-point scanning range on the container's inner wall (e.g., h in Figure 11, 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 radar's deflection angle relative to the preset plane. Based on its deflection angle relative to the preset plane and its deflection angle relative to the preset plane, the radar can determine its azimuth relative to the preset plane.

[0128] 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.

[0129] 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 detection system with reliable power supply and communication, characterized in that: At least include radar body and reliable power supply and communication structure; A first connector is provided on the bottom plate of the radar body, and a second connector is provided at one end of the reliable power supply and communication structure, wherein the second connector is configured to be compatible with the first connector; The reliable power supply and communication structure is at least wrapped with a power supply harness group, a first communication line, and a second communication line; the other end of the reliable power supply and communication structure is connected to at least a control module, and the port of the control module is provided with at least a power interface, a first communication interface, and a second communication interface; the power supply harness group is connected between the second connector and the power interface to provide power to the radar body; The first communication line is connected between the second connector and the first communication interface, and is at least used to constitute a first communication link between the radar body and the control module; the second communication line is connected between the second connector and the second communication interface, and is at least used to constitute a second communication link between the radar body and the control module; the first communication link and the second communication link are each other's fault backup communication links.

2. The three-dimensional detection system according to claim 1, characterized in that: The first communication line and the second communication line are at least further used to alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link is determined, and the fault diagnosis of the communication line is correspondingly implemented.

3. The three-dimensional detection system according to claim 1, characterized in that: The first communication interface of the control module is at least an RJ45 network port, and the first communication line is a first twisted pair of wires; each wire harness in the first twisted pair of wires connected to the first communication interface is connected to the first RJ45 crystal head according to the first wiring rule, and the first RJ45 crystal head is inserted into the first communication interface to realize communication.

4. The three-dimensional detection system according to claim 1, characterized in that: The second communication interface of the control module is at least an RJ45 network port; the second communication line is a second twisted pair; Each wire harness in the second twisted pair connected to the second communication interface is connected to a second RJ45 crystal plug according to a second wiring rule, and the second RJ45 crystal plug is inserted into the second communication interface to achieve communication.

5. The three-dimensional detection system according to claim 3 or 4, characterized in that: The first wiring rule is the same as or different from the second wiring rule.

6. The three-dimensional detection system according to claim 1, characterized in that: The first communication interface of the control module is at least an optical port, and the first communication line is an optical fiber.

7. The three-dimensional detection system according to claim 1, characterized in that: The second communication interface of the control module is at least an optical port, and the second communication line is an optical fiber.

8. The three-dimensional detection system according to claim 1, characterized in that: The first communication interface of the control module is at least an RS485 interface, and the first communication line is a shielded twisted pair cable or a shielded two-core cable.

9. The three-dimensional detection system according to claim 1, characterized in that: The second communication interface of the control module is at least an RS485 interface, and the second communication line is a shielded twisted pair cable or a shielded two-core cable.

10. The three-dimensional detection system according to claim 1, characterized in that: The power supply harness group includes at least a positive harness group and a negative harness group; The positive wire harness group and the negative wire harness group together constitute a power supply circuit of the radar body; The positive wiring harness group includes at least a first sub-wiring harness and a second sub-wiring harness, wherein the first sub-wiring harness and the second sub-wiring harness are both connected between the positive terminal of the second plug end and the positive terminal of the power interface, and the first sub-wiring harness and the second sub-wiring harness serve as backup positive power supply harnesses for each other in case of failure; The negative wiring harness group includes at least a third sub-wiring harness and a fourth sub-wiring harness, and the third sub-wiring harness and the fourth sub-wiring harness are both connected between the negative terminal of the second connector and the negative terminal of the power interface. The third sub-wiring harness and the fourth sub-wiring harness are each other's fault backup negative power supply harnesses.

11. The three-dimensional detection system according to claim 1, characterized in that: The three-dimensional detection system also includes a three-dimensional processing and presentation module, and the radar body is at least used to detect three-dimensional information of the medium surface, continuously, periodically or periodically obtain distance information of multiple positions on the medium surface and generate detection data; the three-dimensional processing and presentation module obtains at least through the reliable power supply communication structure and generates current medium parameters, historical medium parameters, current three-dimensional morphology diagram of the medium surface and / or historical three-dimensional morphology diagram of the medium surface based on all the detection data of one or more detection cycles; and displays the medium parameters and / or the three-dimensional morphology diagram.

12. The three-dimensional detection system according to claim 1, characterized in that: The three-dimensional detection system further includes a three-dimensional processing and presentation module, wherein the radar body is at least used to detect three-dimensional information of the medium surface, continuously, periodically or periodically obtain distance information of multiple positions on the medium surface, and generate current medium parameters, historical medium parameters, a current three-dimensional morphology map of the medium surface and / or a historical three-dimensional morphology map of the medium surface; The three-dimensional processing and presentation module is at least used to obtain and display the current medium parameters, the historical medium parameters, the current three-dimensional morphology of the medium surface and / or the historical three-dimensional morphology of the medium surface through the reliable power supply communication structure.

13. The three-dimensional detection system according to claim 1, characterized in that: The radar body includes a cover and a scanning mechanism; The cover body is fixedly connected to the bottom plate to form a sealed space; The scanning mechanism is arranged in the sealed space and is used to perform mechanical movement in at least one dimension, generate and emit scanning signals at multiple angles, and perform multi-angle scanning on the surface of the medium in the container.

14. The three-dimensional detection system according to claim 1, characterized in that: Before continuously, periodically or periodically acquiring distance information of multiple positions on the surface of the medium, the radar body performs multi-point scanning of a posture reference object within a preset angle range along a set direction to acquire and determine at least installation posture information of the radar body based on reference point cloud data corresponding to the preset angle range; The installation posture information includes at least one of the coordinates of the precise installation point of the radar body or the installation angle deviation of the radar body.

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