CN115421132A - 3D scanning radar with installation angle error is from correcting function - Google Patents
3D scanning radar with installation angle error is from correcting function Download PDFInfo
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- 238000009434 installation Methods 0.000 title claims abstract description 178
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
Abstract
The application discloses 3D scanning radar with installation angle error is from correcting function. The 3D scanning radar comprises a radar main body, a sinking installation piece connected between the radar main body and a target container, an installation angle measuring module arranged inside the radar main body and an error correction module which is in communication connection with the radar main body. Even be at the installation gesture of 3D scanning radar skew, and/or there is the deviation in the installation gesture of 3D scanning radar's internal component, and/or under the ageing unusual operating mode such as misalignment of internal component of 3D scanning radar, this application still can revise the installation angle information of radar main part and/or the angle information of radar main part internals equipment, it easily receives actual installation environment to have overcome current 3D scanning radar, internal component installation deviation and the ageing influence of misalignment of internal component, and be difficult to guarantee measurement accuracy's problem, 3D scanning radar's measuring error has been reduced, be favorable to promoting 3D scanning radar's measurement accuracy.
Description
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a 3D scanning radar with a mounting angle error self-correcting function.
Background
The 3D scanning radar has a plurality of advantages of safety, high efficiency, environmental protection and the like, so that the 3D scanning radar is widely popularized and applied in the scanning monitoring process of materials in a stock bin or a charging bucket.
At present, the most direct setting of current 3D scanning radar is at the opening part at feed bin or material jar top, and the distance between 3D scanning radar and the material surface is bigger than normal, and measurement accuracy is relatively poor. In addition, the installation requirement of the existing 3D scanning radar is strict, and it is required to ensure that the installation posture of the 3D scanning radar is completely in a horizontal or vertical state, however, the installation condition is limited to the field, the 3D scanning radar often cannot achieve the expected installation effect, and moreover, the 3D scanning radar is installed in a dark space inside a storage bin or a charging bucket, and it is difficult for an installer to find the conditions of installation lateral deviation and the like of the 3D scanning radar through naked eyes, which causes that although the installer can regularly overhaul the 3D scanning radar, the 3D scanning radar cannot be ensured to be in a horizontal or vertical state in real time; even if 3D scanning radar installation gesture meets the requirements, the installation gesture of the internal component also can have the deviation when 3D scanning radar leaves the factory, simultaneously, through long-time operation, 3D scanning radar internal component is ageing out of alignment, also can make 3D scanning radar work under the error, seriously influences 3D scanning radar's measurement accuracy.
Disclosure of Invention
The embodiment of the invention provides a 3D scanning radar with a mounting angle error self-correcting function, so that the measurement error of the 3D scanning radar is reduced, and the measurement precision of the 3D scanning radar is improved.
The embodiment of the invention provides a 3D scanning radar with a mounting angle error self-correcting function, wherein the 3D scanning radar is used for detecting the three-dimensional form of the surface of a medium to be detected in a target container, and comprises a sinking mounting part, a mounting angle measuring module, a radar main body and an error correcting module;
the sinking mounting piece is connected between the radar main body and a target container and is used for mounting the radar main body in the target container;
the installation angle measuring module and the radar main body are mutually independent and are installed inside the radar main body; the installation angle measuring module is used for detecting actual angle information of the radar main body and transmitting the actual angle information to the radar main body; the number of the installation angle measurement modules is at least one, the actual angle information comprises first angle information and/or second angle information, the first angle information is the actual installation angle information of the radar main body, and the second angle information is the actual angle information of the radar main body after internal components are assembled;
the radar main body is used for generating and transmitting a measuring signal with at least one preset angle, receiving at least one echo signal which is formed by the measuring signal with the at least one preset angle after being reflected by the medium to be measured, and acquiring at least one corresponding distance measuring information according to the at least one echo signal; and transmitting the preset angle, the ranging information and the actual angle information to the error correction module; wherein each of the measurement signals corresponds to one of the echo signals;
the error correction module is in communication connection with the radar main body and used for acquiring preset installation information of the radar main body, correcting angle information of the radar main body based on the preset installation information, the preset angle and the actual angle information to determine an actual measurement signal emission angle of the radar main body, analyzing and acquiring a surface three-dimensional point cloud coordinate of the medium to be measured according to the actual measurement signal emission angle, the distance measurement information and the preset installation information, drawing a surface three-dimensional shape chart of the medium to be measured according to an information parameter with the medium to be measured calculated by the surface three-dimensional point cloud coordinate, and finally displaying the information parameter of the medium to be measured and the surface three-dimensional shape chart of the medium to be measured.
Optionally, the information parameter of the medium to be measured includes a volume of the medium to be measured, a mass of the medium to be measured, an average level of the medium to be measured, a highest level of the medium to be measured, and a lowest level of the medium to be measured;
the preset installation information at least comprises preset installation position information of the radar main body in the target container and preset installation angle information of the radar main body.
Optionally, the installation angle measurement module determines actual angle information of the radar body in a pitch direction by detecting an inclination angle, an angular velocity, and/or an acceleration of a sensor.
Optionally, the installation angle measurement module determines actual angle information of the radar body in a horizontal direction by detecting a magnetic field.
Optionally, the sinking mount comprises a first end connector, a second end connector and at least one rod diameter;
the first end connecting piece is fixedly connected with the radar main body, the second end connecting piece is fixedly connected with the target container, and the first end connecting piece and the second end connecting piece are connected into a whole through at least one rod diameter, so that the radar main body and the target container are fixedly installed.
Optionally, the at least one rod diameter is an internal hollow structure, and the first end connector and the second end connector are provided with through holes to accommodate cables required for normal operation of the radar main body, so as to form a power supply and/or communication path.
Optionally, when the number of the rod diameters is N +1, the sinking mounting member further comprises at least N connecting members for detachably connecting adjacent rod diameters.
Optionally, the radar body comprises a scanning probe and a rotation unit;
the scanning probe is installed on the rotating unit, and the rotating unit drives the scanning probe to move when rotating, so that the scanning probe generates and transmits the measuring signal with at least one preset angle, and receives the at least one echo signal which is correspondingly formed after the measuring signal with at least one preset angle is reflected by the medium to be measured.
Optionally, the radar main body further comprises a processing unit, a power supply unit and a communication unit;
the processing unit is connected with the installation angle measuring module and the scanning probe, and is used for controlling the scanning probe to generate and transmit the measuring signal with at least one preset angle and acquiring at least one piece of ranging information according to the at least one echo signal received by the scanning probe; receiving the actual angle information transmitted by the installation angle measuring module, and transmitting the ranging information and the actual angle information to the communication unit;
the power supply unit is connected with the processing unit and used for accessing external power supply through a cable and converting the external power supply into multi-stage working voltage so as to maintain the normal work of the 3D scanning radar;
the communication unit is connected with the processing unit and is used for transmitting the preset angle, the ranging information and the actual angle information to the error correction module; the communication mode of the communication unit is wired communication and/or wireless communication.
Optionally, the error correction module includes a server, a host, and a human-computer interaction module;
the human-computer interaction module is connected with the host; after a user inputs preset installation information of the radar main body on the man-machine interaction module, the man-machine interaction module transmits the preset installation information to the server through the host; the human-computer interaction module is used for displaying the information parameters of the medium to be tested and the surface three-dimensional morphological map of the medium to be tested;
the server has the functions of operation and/or storage, is connected with the host and/or the communication unit, and is used for receiving the preset installation information, the preset angle, the ranging information and the actual angle information; correcting angle information of the radar main body based on the preset installation information, the preset angle and the actual angle information to determine an actual measurement signal emission angle of the radar main body, analyzing according to the actual measurement signal emission angle, the ranging information and the preset installation information to obtain a surface three-dimensional point cloud coordinate of the medium to be measured, calculating an information parameter of the medium to be measured according to the surface three-dimensional point cloud coordinate, drawing a surface three-dimensional form diagram of the medium to be measured, and finally transmitting the information parameter of the medium to be measured and the surface three-dimensional form diagram of the medium to be measured to the man-machine interaction module for displaying through a host.
According to the technical scheme provided by the embodiment of the invention, the radar main body is arranged in the target container through the sinking mounting piece connected between the radar main body and the target container, so that the radar main body can sink to the inside of the target container, the distance between the radar main body and the surface of a medium to be measured is effectively shortened, interfering objects such as a cross beam and the like on the top of the target container can be effectively avoided, and the measurement precision of the 3D scanning radar is favorably improved.
In addition, the actual angle information of the radar main body is detected by installing the angle measuring module, and the actual angle information is transmitted to the radar main body; the radar body acquires at least one distance measurement information according to a measurement signal which is generated and emitted by the radar body and has at least one preset angle and at least one received echo signal, and then transmits the preset angle, the distance measurement information and the actual angle information to the error correction module; after acquiring the preset installation information of the radar main body, the error correction module corrects the angle information of the radar main body based on the preset installation information, the preset angle and the actual angle information so as to determine the actual measurement signal emission angle of the radar main body; the error correction module analyzes and obtains a surface three-dimensional point cloud coordinate of the medium to be measured according to the actual measurement signal emission angle, the distance measurement information and the preset installation information, calculates and obtains an information parameter of the medium to be measured according to the surface three-dimensional point cloud coordinate, draws a surface three-dimensional form diagram of the medium to be measured, and finally displays the information parameter of the medium to be measured and the surface three-dimensional form diagram of the medium to be measured.
Therefore, even under abnormal conditions that the installation attitude of the 3D scanning radar deviates, and/or the installation attitude of the internal element of the 3D scanning radar deviates, and/or the internal element of the 3D scanning radar ages and misaligns, the method and the device can still correct the angle information of the radar main body, namely the installation angle information of the radar main body and/or the angle information of the radar main body after the internal components are assembled, and finally improve the precision of the three-dimensional point cloud coordinate, so that the accuracy of the information parameters of the medium to be measured and the truth of drawing of the three-dimensional form map of the surface of the medium to be measured are improved, the problem that the existing 3D scanning radar is easily influenced by the actual installation environment, the installation deviation of the internal element and the ageing and misalignment of the internal element, the measurement precision is difficult to guarantee is solved, the measurement error of the 3D scanning radar is effectively reduced, and the measurement precision of the 3D scanning radar is favorably improved.
Drawings
Fig. 1 is a schematic structural diagram of a 3D scanning radar with a self-correction function for installation angle error according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another 3D scanning radar with a self-correction function for installation angle error according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another 3D scanning radar with a self-correction function for installation angle error according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a radar main body according to an embodiment of the present invention;
fig. 5 is a connection structure diagram of a radar main body and an error correction module according to an embodiment of the present invention;
fig. 6 is a connection structure diagram of another radar main body and an error correction module according to an embodiment of the present invention;
fig. 7 is a connection structure diagram of another radar main body and an error correction module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Fig. 1 is a schematic structural diagram of a 3D scanning radar with a self-correction function for installation angle error according to an embodiment of the present invention, and fig. 1,3D includes a sinking mount 110, an installation angle measurement module 120, a radar main body 130, and an error correction module 140.
And a sinking mount 110 connected between the radar main body 130 and the target container, for mounting the radar main body 130 in the target container.
The installation angle measurement module 120 is independent from the radar main body 130 and installed inside the radar main body 130; the installation angle measurement module 120 is configured to detect actual angle information of the radar main body 130 and transmit the actual angle information to the radar main body 130; the number of the installation angle measurement modules 120 is at least one, the actual angle information includes first angle information and/or second angle information, the first angle information is the actual installation angle information of the radar main body 130, and the second angle information is the actual angle information of the radar main body 130 after the internal components are assembled.
The radar main body 130 is configured to generate and transmit a measurement signal with at least one preset angle, receive at least one echo signal formed by the measurement signal with the at least one preset angle after being reflected by a medium to be measured, and acquire at least one corresponding ranging information according to the at least one echo signal; and, transmitting the preset angle, the ranging information and the actual angle information to the error correction module 140; wherein each measurement signal corresponds to an echo signal.
The error correction module 140 is in communication connection with the radar main body 130, and is configured to acquire preset installation information of the radar main body 130, correct angle information of the radar main body 130 based on the preset installation information, the preset angle and the actual angle information, determine an actual measurement signal emission angle of the radar main body 130, analyze and acquire a surface three-dimensional point cloud coordinate of the medium to be measured according to the actual measurement signal emission angle, the ranging information and the preset installation information, calculate and acquire an information parameter of the medium to be measured according to the surface three-dimensional point cloud coordinate, draw a surface three-dimensional shape diagram of the medium to be measured, and finally display the information parameter of the medium to be measured and the surface three-dimensional shape diagram of the medium to be measured.
Wherein, the sinking mounting member 110 may adopt a rod-shaped structure; the cross-sectional shape of sink mounting member 110 may be circular, oval or square. It is understood that sink mounting member 110 may not only mount radar body 130 in the target container, but also sink radar body 130 to the inside of the target container; the length of the sinking mount 110 may be adaptively adjusted according to the actual depth of the radar body 130 to be sunk into the target container, which is not limited by the embodiment of the present invention.
It is noted that the installation angle measurement module 120 and the radar main body 130 are independent from each other, that is, the installation angle measurement module 120 is not an element, a module or a system in the radar main body 130, and the installation angle measurement module 120 exists independently from the radar main body 130. Illustratively, the actual angle information may be transmitted to the radar main body 130 by using a wired communication method (e.g., a communication cable) or a wireless communication technology (e.g., bluetooth, wiFi, 4G/5G, zigBee, or the like).
In addition, the state of the medium to be measured may be a solid state, a liquid state, or a solid-liquid mixed state, and the preset angle may be adaptively changed according to the specific direction of the medium to be measured by the radar main body 130. The echo signal is a signal generated after the measurement signal reaches the surface of the medium to be measured and is reflected by the surface of the medium to be measured; the characteristic parameters of the echo signal differ from the characteristic parameters of the measurement signal, for example amplitude, phase, etc.
It should be noted that the actual measurement signal emission angle of the radar main body 130 refers to an emission angle corresponding to a measurement signal actually emitted by the radar main body 130 at a certain time.
It can be understood that, since the surface position of the medium to be detected in the target container is often under a certain limit value, the measurement signal only needs to cover a specific range to realize the detection of the medium to be detected.
As can be seen, the ranging information refers to the linear distance data between the radar main body 130 and the surface of the medium to be measured in the target container, where the measurement signal of the radar main body 130 reaches at a certain time. It is understood that ranging information may be analytically acquired by the radar main body 130 based on the corresponding measurement signal and echo signal. In addition, the error correction module 140 may establish a wired or wireless communication connection with the radar main body 130, that is, the radar main body 130 may transmit the preset angle, the ranging information, and the actual angle information to the error correction module 140 through a wired or wireless communication technology, which is not described in detail herein.
In addition, the preset installation information may be an ideal signal transmission angle and/or an ideal installation angle of the radar main body 130 without considering installation environment, component installation deviation, component aging failure, or the like. As can be seen, the angle information of the radar main body 130 includes an assembled angle of the internal components of the radar main body 130 and/or a mounting angle of the radar main body 130. It can be understood that the surface three-dimensional point cloud coordinate of the medium to be measured refers to the coordinates of a plurality of spatial sampling points which express the surface spatial distribution of the medium to be measured in the same spatial coordinate system; the surface three-dimensional shape graph of the medium to be detected is a three-dimensional graph capable of representing the surface shape of the medium to be detected, and is formed by all spatial sampling points which express the surface spatial distribution and the surface shape of the medium to be detected in the same spatial coordinate system.
In summary, in the embodiment of the invention, the radar main body is installed in the target container through the sinking installation member connected between the radar main body and the target container, so that the radar main body can sink into the target container, the distance between the radar main body and the surface of the medium to be measured is effectively shortened, and interfering objects such as a cross beam and the like on the top of the target container can be effectively avoided, which is beneficial to improving the measurement accuracy of the 3D scanning radar.
In addition, the actual angle information of the radar main body is detected by installing the angle measuring module, and the actual angle information is transmitted to the radar main body; the radar body acquires at least one distance measurement information according to a measurement signal which is generated and emitted by the radar body and has at least one preset angle and at least one received echo signal, and then transmits the preset angle, the distance measurement information and the actual angle information to the error correction module; after acquiring the preset installation information of the radar main body, the error correction module corrects the angle information of the radar main body based on the preset installation information, the preset angle and the actual angle information so as to determine the actual measurement signal emission angle of the radar main body; the error correction module obtains a surface three-dimensional point cloud coordinate of the medium to be measured according to the actual measurement signal emission angle, the distance measurement information and the preset installation information through analysis, obtains an information parameter of the medium to be measured through calculation according to the surface three-dimensional point cloud coordinate, draws a surface three-dimensional shape graph of the medium to be measured, and finally displays the information parameter of the medium to be measured and the surface three-dimensional shape graph of the medium to be measured.
Therefore, even if the installation posture of the 3D scanning radar deviates and/or the installation posture of the internal element of the 3D scanning radar deviates and/or the internal element of the 3D scanning radar is aged and misaligned under abnormal working conditions, the angle information of the radar main body, namely the installation angle information of the radar main body and/or the angle information after the internal components of the radar main body are assembled, is corrected, and finally the accuracy of the three-dimensional point cloud coordinate is improved, so that the accuracy of the information parameters of the medium to be measured and the drawing truth of the three-dimensional form map of the surface of the medium to be measured are improved, the problems that the existing 3D scanning radar is easily affected by the actual installation environment, the installation deviation of the internal element and the aging and misalignment of the internal element, the measurement accuracy is difficult to guarantee are solved, the measurement error of the 3D scanning radar is effectively reduced, and the measurement accuracy of the 3D scanning radar is improved.
It should be noted that the installation angle measurement module may be a single sensor (for example, an angle sensor or a position sensor, etc.), or may be a measurement system integrating a plurality of sensors.
In some embodiments, optionally, the installation angle measurement module determines actual angle information of the radar body in the pitch direction by detecting an inclination, an angular velocity, and/or an acceleration of the sensor. At this time, the installation angle measurement module may be integrated with a tilt sensor, a gyroscope (i.e., an angular velocity sensor), and/or an acceleration sensor. It is understood that the actual angle information of the radar main body in the pitch direction includes actual angle information of the radar main body in the pitch direction after the radar main body internal members are assembled, and/or actual installation angle information of the radar main body in the pitch direction.
In other embodiments, optionally, the installation angle measurement module determines actual angle information of the radar body in the horizontal direction by detecting the magnetic field. At this time, the installation angle measuring module may be integrated with a magnetic field sensor. It is understood that the actual angle information of the radar main body in the horizontal direction includes actual angle information of the radar main body in the horizontal direction after the radar main body internal members are assembled, and/or actual installation angle information of the radar main body in the horizontal direction.
On the basis of the above embodiment, fig. 2 is a schematic structural diagram of another 3D scanning radar with a self-correction function for installation angle error provided by an embodiment of the present invention, referring to fig. 2, optionally, the sinking mount includes a first end connector 111, a second end connector 112, and at least one rod diameter 113; the first end connector 111 is fixedly connected with the radar main body 130, the second end connector 112 is fixedly connected with the target container, and at least one rod diameter 113 connects the first end connector 111 and the second end connector 112 into a whole, so that the radar main body 130 and the target container are fixedly installed.
Optionally, at least one of the rod diameters 113 is an internal hollow structure, and the first end connector 111 and the second end connector 112 are provided with through holes to accommodate cables required for normal operation of the radar main body 130, thereby forming a power supply and/or communication path.
Optionally, when the number of beam diameters 113 is N +1, the sinking mount further comprises at least N connectors 114, the connectors 114 being for detachably connecting adjacent beam diameters 113.
The shaft diameter 113 includes an inner contour and an outer contour, and the outer contour and the inner contour of the shaft diameter 113 may be, but not limited to, circular, oval or square. It is understood that the number of the rod diameters 113 may be adaptively changed according to the depth of the radar body 130 to be sink-mounted, and the embodiment of the present invention is not limited thereto. In addition, the structures and lengths of the different pole diameters 113 may or may not be identical or may be completely different; based on this, the structure of the connecting member 114 can be adjusted according to the structure of the rod diameter 113 to be connected by the connecting member 114, and will not be described in detail.
With continued reference to fig. 2, in fig. 2, the number of the rod diameters 113 is 2, the number of the connecting members 114 is 1, the two ends of the connecting members 114 are respectively and firmly sleeved with the outer contours of the two rod diameters 113, the two ends of the connecting members 114 are respectively provided with a plurality of jackscrew holes (not shown in fig. 2), and the two rod diameters 113 can be locked and fixed by screwing a plurality of jackscrews into the jackscrew holes correspondingly. It will be appreciated that in some embodiments, the two ends of the connecting member 114 and the portion of the rod diameter 113 that is secured by the connecting member 114 may be provided with through holes, and the two rod diameters 113 may be locked and fixed by tightening the nuts after the screws pass through the through holes.
Exemplarily, fig. 3 is a schematic structural diagram of another 3D scanning radar with a self-correction function for installation angle error according to an embodiment of the present invention. Referring to fig. 3, the number of the rod diameters 113 is 2, the connecting member 114 includes 1 screw and 1 nut, the outer contour shape of the rod diameter 113 near the first end connecting member 111 is the same as the inner contour shape of the rod diameter 113 near the second end connecting member 112, the outer contour size of the rod diameter 113 near the first end connecting member 111 is slightly smaller than or equal to the inner contour size of the rod diameter 113 near the second end connecting member 112, the rod diameter 113 near the first end connecting member 111 is sleeved in the rod diameter 113 near the second end connecting member 112, the overlapped part of the two rod diameters 113 is correspondingly provided with a screw hole, and the screw is screwed by the nut after passing through the screw hole, thereby realizing the detachable connection of the two rod diameters 113.
In summary, in the embodiment of the invention, at least one rod diameter is arranged between the first end connecting piece and the second end connecting piece, and the connecting pieces are arranged between the adjacent rod diameters for detachable connection, so that the radar main body can sink to the inside of the target container, and meanwhile, the sinking depth of the sinking installation piece can be adaptively adjusted according to the actual installation requirement of the radar system. Therefore, on one hand, the embodiment of the invention can avoid resource waste caused by directly using a long rod diameter when the radar main body is sunk and installed shallowly; on the other hand, compared with the existing 3D scanning radar which is directly arranged at the opening at the top of the storage bin or the charging bucket, the distance between the radar main body and the surface of the medium to be measured can be effectively shortened, and interfering objects such as a cross beam and the like at the top of the target container can be effectively avoided, so that the measurement precision of the 3D scanning radar can be improved.
It should be noted that fig. 2 and 3 only illustrate different assembly structures of the sinking mount, but do not limit the embodiment of the present invention.
On the basis of the above embodiments, fig. 4 is a schematic structural diagram of a radar main body according to an embodiment of the present invention. Referring to fig. 4, optionally, the radar main body 130 includes a scanning probe 131 and a rotating unit (not shown in fig. 4); the scan probe 131 is installed on the rotation unit, and the rotation unit drives the scan probe 131 to move when rotating, so that the scan probe 131 generates and transmits a measurement signal with at least one preset angle, and receives at least one echo signal formed by the measurement signal with at least one preset angle after being reflected by a medium to be measured.
Optionally, the radar main body 130 further includes a processing unit 132, a power supply unit 133, and a communication unit 134;
the processing unit 132 is connected to the installation angle measuring module 120 and the scanning probe 131, and configured to control the scanning probe 131 to generate and transmit a measuring signal with at least one preset angle, and obtain at least one piece of ranging information according to at least one echo signal received by the scanning probe 131; and, receive the actual angle information transmitted by the installation angle measurement module 120, and transmit the ranging information and the actual angle information to the communication unit 134;
a power supply unit 133 connected to the processing unit 132, for accessing external power through a cable and converting the external power into a multi-stage operating voltage to maintain normal operation of the 3D scanning radar;
a communication unit 134 connected to the processing unit 132 for transmitting the preset angle, the ranging information and the actual angle information to the error correction module; the communication mode of the communication unit 134 is wired communication and/or wireless communication.
Wherein, the rotating unit is used for driving the scanning probe 131 to move; the rotating unit may be a mechanical structure having at least one degree of freedom, and illustratively, the rotating unit may be a gear connection structure that is telescopically adjustable in length and capable of performing horizontal movement (or rotation) and/or pitching rotation; it can be understood that, when the rotating structure drives the scanning probe 131 to perform horizontal movement (or rotation), pitching rotation and/or the rotating structure extends or shortens, the measurement signals emitted by the scanning probe 131 at different times have different directivities, that is, the measurement signals have at least one preset angle.
Adaptively, since the measurement signals transmitted by the scanning probe 131 at different times have different directivities, the echo signals received by the scanning probe 131 at different times also have different directivities.
For example, when the installation angle measurement module 120 is disposed on the scan probe 131, the installation angle measurement module 120 may be used to detect actual installation angle information of the radar main body 130 and/or actual angle information of the radar main body 130 after internal components are assembled; when the installation angle measurement module 120 is disposed at the outer case of the radar main body 130, the installation angle measurement module 120 may be used to detect actual installation angle information of the radar main body 130. As can be appreciated, the processing unit 132 may be a single chip, a microprocessor, or a system on a chip; the external power supply may be a commercial power, and the multiple working voltages are used to ensure steady-state operation of the processing unit 132, the communication unit 134, the scanning probe 131, the rotation unit, and the installation angle measurement module 120, so as to maintain normal operation of the entire 3D scanning radar, and may include, for example, 3.3V, 5V, ± 12V, ± 15V, or 24V.
In addition, the connection of the processing unit 132 and the scanning probe 131 means that the processing unit 132 is connected with the scanning probe 131 through a rotating unit; specifically, the processing unit 132 controls the rotation unit to rotate, and further drives the scanning probe 131 to move, so that the scanning probe 131 generates and transmits a measurement signal with at least one preset angle, and receives at least one echo signal formed by the measurement signal with at least one preset angle after being reflected by the medium to be measured.
It should be understood that wired communication refers to a communication method that uses a tangible medium to realize information transmission, and in the wired communication technology, the tangible medium may be an optical fiber, a coaxial cable, a telephone line or a network cable, etc.; accordingly, the wireless communication refers to a communication method that uses an intangible medium such as electromagnetic waves and does not transmit information through a tangible medium, and may exemplarily include bluetooth, wiFi, 4G/5G, zigBee, or the like.
In summary, in the embodiment of the present invention, the external power supply is converted into the multi-stage working voltage by the power supply unit to maintain the normal operation of the 3D scanning radar; the processing unit controls the rotation unit to rotate, so that a scanning probe installed on the rotation unit generates and transmits a measurement signal with at least one preset angle, and in the process, the installation angle measurement module detects actual angle information of the radar main body and transmits the actual angle information to the processing unit; the processing unit acquires at least one distance measurement information according to at least one echo signal received by the scanning probe, and then transmits a preset angle, the distance measurement information and actual angle information to the error correction module through the communication unit; after the error correction module acquires the preset installation information of the radar main body, the angle information of the radar main body is corrected according to the preset installation information, the preset angle and the actual angle information to determine the actual measurement signal emission angle of the radar main body, the surface three-dimensional point cloud coordinate of the medium to be measured is obtained according to the actual measurement signal emission angle, the distance measurement information and the preset installation information, the information parameter of the medium to be measured is obtained through calculation according to the surface three-dimensional point cloud coordinate, the surface three-dimensional form diagram of the medium to be measured is drawn, and finally the information parameter of the medium to be measured and the surface three-dimensional form diagram of the medium to be measured are displayed.
Therefore, even if the installation posture of the 3D scanning radar deviates and/or the installation posture of the internal element of the 3D scanning radar deviates and/or the internal element of the 3D scanning radar is aged and misaligned under abnormal working conditions, the angle information of the radar main body, namely the installation angle information of the radar main body and/or the angle information after the internal components of the radar main body are assembled, is corrected, and finally the accuracy of the three-dimensional point cloud coordinate is improved, so that the accuracy of the information parameters of the medium to be measured and the drawing truth of the three-dimensional form map of the surface of the medium to be measured are improved, the problems that the existing 3D scanning radar is easily affected by the actual installation environment, the installation deviation of the internal element and the aging and misalignment of the internal element, the measurement accuracy is difficult to guarantee are solved, the measurement error of the 3D scanning radar is effectively reduced, and the measurement accuracy of the 3D scanning radar is improved.
On the basis of the above embodiments, fig. 5 is a connection structure diagram of a radar main body and an error correction module according to an embodiment of the present invention. Referring to fig. 5, optionally, the error correction module 140 includes a server 141, a host 142, and a human-computer interaction module 143;
the human-computer interaction module 143 is connected with the host 142; after the user inputs the preset installation information of the radar main body 130 on the man-machine interaction module 143, the man-machine interaction module 143 transmits the preset installation information to the server 141 through the host 142; the human-computer interaction module 143 is configured to display information parameters of the medium to be measured and a surface three-dimensional shape map of the medium to be measured;
a server 141 having an operation and/or storage function, connected to the host 142 and/or the communication unit 134, and configured to receive preset installation information, a preset angle, distance measurement information, and actual angle information; the angle information of the radar main body 130 is corrected based on the preset installation information, the preset angle and the actual angle information to determine an actual measurement signal emission angle of the radar main body, a surface three-dimensional point cloud coordinate of the medium to be measured is obtained according to the actual measurement signal emission angle, the distance measurement information and the preset installation information, an information parameter of the medium to be measured is obtained according to the surface three-dimensional point cloud coordinate, a surface three-dimensional shape diagram of the medium to be measured is drawn, and finally the information parameter of the medium to be measured and the surface three-dimensional shape diagram of the medium to be measured are transmitted to the man-machine interaction module 143 through the host 142 to be displayed.
The human-computer interaction module 143 may be composed of a screen (e.g., a CRT display screen, an LCD display screen, an LED display screen, etc.) and buttons. Illustratively, the workflow of the human-computer interaction module 143 is as follows: the user inputs the preset installation information through a key, checks whether the preset installation information is wrong based on an input result displayed on the screen, and when the user confirms that the preset installation information is correctly input, the human-computer interaction module 143 transmits the preset installation information to the server 141 through the host 142. It can be understood that the screen can also display the information parameters of the medium to be measured and the surface three-dimensional shape chart of the medium to be measured.
In addition, the human-computer interaction module 143 can also realize voice interaction and/or somatosensory interaction, for example.
In some embodiments, the voice interaction of the human-computer interaction module 143 may be implemented by: collecting, recording, sampling and encoding user voice audio; converting the voice and audio of the user into text information which can be recognized by a radar system; extracting preset installation information in the text information; transmitting the preset installation information to the server 141 through the host 142; and broadcasting the information transmission result to the user.
In other embodiments, the somatosensory interaction of the human-computer interaction module 143 can be implemented by: identifying posture information of the user (e.g., limb movements, gestures, and/or facial expressions, etc.); converting the posture information of the user into text information which can be recognized by a radar system; extracting preset installation information in the text information; the preset installation information is transferred to the server 141 via the host 142.
It is appreciated that the server 141 may be a CISC server, RISC server or VLIW server.
Optionally, the information parameter of the medium to be measured includes a volume of the medium to be measured, a mass of the medium to be measured, an average level of the medium to be measured, a highest level of the medium to be measured, and a lowest level of the medium to be measured; the preset installation information includes at least preset installation position information of the radar main body in the target container (e.g., an ideal installation angle of the radar main body) and preset installation angle information of the radar main body (e.g., an ideal signal emission angle of the radar main body).
Wherein the preset installation position information of the radar main body in the target container may be a three-dimensional coordinate point.
Illustratively, when the medium to be measured is in a solid state and the surface of the medium to be measured is in a slope shape, the highest level of the medium to be measured refers to the spatial position of the medium to be measured at the top of the slope in the target container, and the lowest level of the medium to be measured refers to the spatial position of the medium to be measured at the bottom of the slope in the target container. It is understood that the average level of the medium to be measured may be an average of the sum of all levels of the surface of the medium to be measured.
With continued reference to fig. 5, server 141 is connected between host 142 and communications unit 134; exemplarily, the work flow of the radar main body 130 and the error correction module 140 is as follows:
the power supply unit 133 converts external power into a multi-stage operating voltage to maintain normal operation of the 3D scanning radar; the processing unit 132 controls the rotation unit to rotate, so that the scanning probe 131 mounted on the rotation unit generates and transmits a measurement signal with at least one preset angle, and in the process, the mounting angle measurement module 120 detects actual angle information of the radar main body 130 and transmits the actual angle information to the processing unit 132; the processing unit 132 obtains at least one ranging information according to at least one echo signal received by the scanning probe 131, and the communication unit 134 transmits a preset angle, the ranging information and the actual angle information to the server 141 in a 4G/5G wireless communication mode; after the user inputs the preset installation information of the radar main body 130 on the man-machine interaction module 143, the man-machine interaction module 143 transmits the preset installation information to the server 141 through the host 142; the server 141 receives the preset installation information, the preset angle, the ranging information and the actual angle information, corrects the angle information of the radar main body 130 based on the preset installation information (the preset installation angle information of the radar main body), the preset angle and the actual angle information to determine the actual measurement signal emission angle of the radar main body 130, obtains the surface three-dimensional point cloud coordinates of the medium to be measured according to the actual measurement signal emission angle, the ranging information and the preset installation information (the preset installation position information of the radar main body in the target container), obtains the information parameters of the medium to be measured according to the surface three-dimensional point cloud coordinates, draws the surface three-dimensional shape diagram of the medium to be measured, and finally transmits the information parameters of the medium to be measured and the surface three-dimensional shape diagram of the medium to be measured to the man-machine interaction module 143 for display through the host 142.
Therefore, even under the abnormal conditions that the installation posture of the 3D scanning radar deviates, and/or the installation posture of the internal element of the 3D scanning radar deviates, and/or the internal element of the 3D scanning radar is aged and misaligned, the angle information of the radar main body, namely the installation angle information of the radar main body and/or the angle information after the internal components of the radar main body are assembled, is corrected, and finally the accuracy of the three-dimensional point cloud coordinate is improved, so that the accuracy of the information parameters of the medium to be measured and the drawing truth of the three-dimensional form map of the surface of the medium to be measured are improved, the problems that the existing 3D scanning radar is easily affected by the actual installation environment, the installation deviation of the internal element and the aging and misalignment of the internal element, the measurement accuracy is difficult to guarantee are solved, the measurement error of the 3D scanning radar is effectively reduced, and the measurement accuracy of the 3D scanning radar is improved.
It should be noted that, in some embodiments, the three-dimensional map of the surface of the medium to be measured is drawn by the host computer. Based on this, the work flow of the error correction module is specifically as follows: the method comprises the steps that a server corrects angle information of a radar main body based on preset installation information (preset installation angle information of the radar main body), a preset angle and actual angle information to determine an actual measurement signal emission angle of the radar main body, obtains surface three-dimensional point cloud coordinates of a medium to be measured according to the actual measurement signal emission angle, distance measurement information and the preset installation information (preset installation position information of the radar main body in a target container), and obtains information parameters of the medium to be measured according to the surface three-dimensional point cloud coordinates; the server transmits the three-dimensional point cloud coordinates of the surface of the medium to be detected and the information parameters of the medium to be detected to the host computer, and the host computer draws a three-dimensional surface form diagram of the medium to be detected based on the three-dimensional surface point cloud coordinates of the medium to be detected; and finally, the host transmits the information parameters of the medium to be detected and the surface three-dimensional form graph of the medium to be detected to the human-computer interaction module for displaying.
In addition, in other embodiments, the server is connected to the host computer only, and the surface three-dimensional map of the medium to be measured is drawn by the host computer. Based on this, exemplarily, fig. 6 is a connection structure diagram of another radar main body and an error correction module provided in the embodiment of the present invention. Referring to fig. 6, the work flow of the radar main body 130 and the error correction module 140 is as follows:
the power supply unit 133 converts external power into a multi-stage operating voltage to maintain normal operation of the 3D scanning radar; the processing unit 132 controls the rotation unit to rotate, so that the scanning probe 131 mounted on the rotation unit generates and transmits a measurement signal having at least one preset angle, and in the process, the mounting angle measurement module 120 detects actual angle information of the radar main body 130 and transmits the actual angle information to the processing unit 132; the processing unit 132 obtains at least one distance measurement information according to at least one echo signal received by the scanning probe 131, and the communication unit 134 transmits a preset angle, the distance measurement information and the actual angle information to the server 141 through the host 142 by adopting communication modes such as RS485, internet access or optical fiber and the like; after the user inputs the preset installation information of the radar main body 130 on the man-machine interaction module 143, the man-machine interaction module 143 transmits the preset installation information to the server 141 through the host 142; the server 141 receives the preset installation information, the preset angle, the ranging information and the actual angle information, corrects the angle information of the radar main body 130 based on the preset installation information (the preset installation angle information of the radar main body), the preset angle and the actual angle information to determine an actual measurement signal emission angle of the radar main body 130, obtains a surface three-dimensional point cloud coordinate of a medium to be measured according to the actual measurement signal emission angle, the ranging information and the preset installation information (the preset installation position information of the radar main body in a target container), and obtains an information parameter of the medium to be measured according to the surface three-dimensional point cloud coordinate; the server 141 transmits the surface three-dimensional point cloud coordinates of the medium to be measured and the information parameters of the medium to be measured to the host 142, and the host 142 draws a surface three-dimensional form map of the medium to be measured based on the surface three-dimensional point cloud coordinates of the medium to be measured; finally, the host 142 transmits the information parameters of the medium to be measured and the surface three-dimensional shape chart of the medium to be measured to the human-computer interaction module 143 for display.
It should also be noted that in other embodiments, the error correction module includes a host and a human-computer interaction module, and there is no server. Based on this, exemplarily, fig. 7 is a connection structure diagram of another radar main body and an error correction module according to an embodiment of the present invention. Referring to fig. 7, the work flow of the radar main body 130 and the error correction module 140 is as follows:
the power supply unit 133 converts external power into a multi-stage operating voltage to maintain normal operation of the 3D scanning radar system; the processing unit 132 controls the rotation unit to rotate, so that the scanning probe 131 mounted on the rotation unit generates and transmits a measurement signal having at least one preset angle, and in the process, the mounting angle measurement module 120 detects actual angle information of the radar main body 130 and transmits the actual angle information to the processing unit 132; the processing unit 132 obtains at least one ranging information according to at least one echo signal received by the scanning probe 131, and the communication unit 134 transmits a preset angle, the ranging information and the actual angle information to the host 142 through a cable; after the user inputs the preset installation information of the radar main body 130 on the man-machine interaction module 143, the man-machine interaction module 143 transmits the preset installation information to the host 142; the host 142 receives the preset installation information, the preset angle, the ranging information, and the actual angle information, and corrects the angle information of the radar main body 130 based on the preset installation information (preset installation angle information of the radar main body), the preset angle, and the actual angle information to determine an actual measurement signal transmission angle of the radar main body 130; the host 142 obtains the surface three-dimensional point cloud coordinates of the medium to be measured according to the actual measurement signal emission angle, the distance measurement information and the preset installation information (the preset installation position information of the radar main body in the target container), obtains the information parameters of the medium to be measured according to the surface three-dimensional point cloud coordinates, and draws the surface three-dimensional morphological map of the medium to be measured based on the surface three-dimensional point cloud coordinates of the medium to be measured 142; finally, the host 142 transmits the information parameters of the medium to be measured and the surface three-dimensional shape chart of the medium to be measured to the human-computer interaction module 143 for displaying.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A3D scanning radar with a mounting angle error self-correcting function is characterized in that the 3D scanning radar is used for detecting the three-dimensional form of the surface of a medium to be detected in a target container, and comprises a sinking mounting part, a mounting angle measuring module, a radar main body and an error correcting module;
the sinking mounting piece is connected between the radar main body and a target container and is used for mounting the radar main body in the target container;
the installation angle measuring module and the radar main body are mutually independent and are installed inside the radar main body; the installation angle measuring module is used for detecting actual angle information of the radar main body and transmitting the actual angle information to the radar main body; the number of the installation angle measurement modules is at least one, the actual angle information comprises first angle information and/or second angle information, the first angle information is the actual installation angle information of the radar main body, and the second angle information is the actual angle information of the radar main body after internal components are assembled;
the radar main body is used for generating and transmitting a measuring signal with at least one preset angle, receiving at least one echo signal formed by the measuring signal with the at least one preset angle after being reflected by the medium to be measured, and acquiring at least one corresponding ranging information according to the at least one echo signal; and transmitting the preset angle, the ranging information and the actual angle information to the error correction module; wherein each of the measurement signals corresponds to one of the echo signals;
the error correction module is in communication connection with the radar main body and used for acquiring preset installation information of the radar main body, correcting angle information of the radar main body based on the preset installation information, the preset angle and the actual angle information to determine an actual measurement signal emission angle of the radar main body, analyzing and obtaining a surface three-dimensional point cloud coordinate of the medium to be measured according to the actual measurement signal emission angle, the distance measurement information and the preset installation information, calculating and obtaining an information parameter of the medium to be measured according to the surface three-dimensional point cloud coordinate, drawing a surface three-dimensional shape diagram of the medium to be measured, and finally displaying the information parameter of the medium to be measured and the surface three-dimensional shape diagram of the medium to be measured.
2. The 3D scanning radar with the installation angle error self-correction function according to claim 1, wherein the information parameters of the medium to be measured comprise a volume of the medium to be measured, a mass of the medium to be measured, an average level of the medium to be measured, a highest level of the medium to be measured, and a lowest level of the medium to be measured;
the preset installation information at least comprises preset installation position information of the radar main body in the target container and preset installation angle information of the radar main body.
3. The 3D scanning radar having a self-correction function for installation angle error as recited in claim 1, wherein the installation angle measurement module determines actual angle information of the radar body in a pitch direction by detecting an inclination, an angular velocity, and/or an acceleration of a sensor.
4. The 3D scanning radar with the installation angle error self-correction function according to claim 1, wherein the installation angle measurement module determines actual angle information of the radar body in a horizontal direction by detecting a magnetic field.
5. The 3D scanning radar with the installation angle error self-correcting function is characterized in that the sinking installation part comprises a first end connecting part, a second end connecting part and at least one rod diameter;
the first end connecting piece is fixedly connected with the radar main body, the second end connecting piece is fixedly connected with the target container, and the first end connecting piece and the second end connecting piece are connected into a whole through at least one rod diameter, so that the radar main body and the target container are fixedly installed.
6. The 3D scanning radar with the installation angle error self-correcting function is characterized in that the at least one rod diameter is of an internal hollow structure, and the first end connecting piece and the second end connecting piece are provided with through holes so as to accommodate cables required by normal operation of the radar main body and form a power supply and/or communication path.
7. The 3D scanning radar with the installation angle error self-correction function as claimed in claim 5, wherein when the number of the rod diameters is N +1, the sinking mounting member further comprises at least N connecting members for detachably connecting adjacent rod diameters.
8. The 3D scanning radar with the installation angle error self-correction function according to any one of claims 1 to 7, wherein the radar main body comprises a scanning probe and a rotating unit;
the scanning probe is installed on the rotating unit, and the rotating unit drives the scanning probe to move when rotating, so that the scanning probe generates and transmits the measuring signal with at least one preset angle, and receives the at least one echo signal which is correspondingly formed after the measuring signal with at least one preset angle is reflected by the medium to be measured.
9. The 3D scanning radar having a self-correction function for installation angle error as claimed in claim 8, wherein the radar main body further includes a processing unit, a power supply unit, and a communication unit;
the processing unit is connected with the installation angle measuring module and the scanning probe, and is used for controlling the scanning probe to generate and transmit the measuring signal with at least one preset angle and acquiring at least one piece of ranging information according to the at least one echo signal received by the scanning probe; receiving the actual angle information transmitted by the installation angle measuring module, and transmitting the distance measuring information and the actual angle information to the communication unit;
the power supply unit is connected with the processing unit and used for accessing external power supply through a cable and converting the external power supply into multi-stage working voltage so as to maintain the normal work of the 3D scanning radar;
the communication unit is connected with the processing unit and is used for transmitting the preset angle, the ranging information and the actual angle information to the error correction module; the communication mode of the communication unit is wired communication and/or wireless communication.
10. The 3D scanning radar with the installation angle error self-correction function is characterized in that the error correction module comprises a server, a host and a human-computer interaction module;
the human-computer interaction module is connected with the host; after a user inputs preset installation information of the radar main body on the man-machine interaction module, the man-machine interaction module transmits the preset installation information to the server through the host; the human-computer interaction module is used for displaying the information parameters of the medium to be tested and the surface three-dimensional morphological map of the medium to be tested;
the server has the functions of operation and/or storage, is connected with the host and/or the communication unit, and is used for receiving the preset installation information, the preset angle, the ranging information and the actual angle information; correcting angle information of the radar main body based on the preset installation information, the preset angle and the actual angle information to determine an actual measurement signal emission angle of the radar main body, analyzing according to the actual measurement signal emission angle, the ranging information and the preset installation information to obtain a surface three-dimensional point cloud coordinate of the medium to be measured, calculating an information parameter of the medium to be measured according to the surface three-dimensional point cloud coordinate, drawing a surface three-dimensional form diagram of the medium to be measured, and finally transmitting the information parameter of the medium to be measured and the surface three-dimensional form diagram of the medium to be measured to the man-machine interaction module for displaying through a host.
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