CN116500610A

CN116500610A - High-precision 3D scanning radar with container state identification and time-sharing measurement functions

Info

Publication number: CN116500610A
Application number: CN202310550923.3A
Authority: CN
Inventors: 呼秀山; 李圆圆
Original assignee: Beijing Ruida Instrument Co ltd
Current assignee: Beijing Ruida Instrument Co ltd
Priority date: 2023-05-16
Filing date: 2023-05-16
Publication date: 2023-07-28

Abstract

The application provides a high-precision 3D scanning radar with container state identification and time-sharing measurement functions, which comprises a first measurement module, a second measurement module, a mechanical movement module and a control module; the mechanical movement module is used for executing mechanical movement in at least one dimension; the first measuring module and the second measuring module are assembled at a first preset installation position and a second preset installation position of the mechanical movement module, so that the mechanical movement module drives the first measuring module and the second measuring module to execute mechanical movement synchronously and follow-up in at least one dimension in the process of executing mechanical movement, and multi-angle scanning of the material surface in the container is realized; the control module is at least used for acquiring and analyzing the container state according to the microwave signal and/or the laser signal, and calculating the precise three-dimensional space information and the precise material information of the material surface according to the container state and the microwave signal and/or the laser signal. The method and the device can solve the problem that the scanning precision and the severe environment adaptability of the 3D scanning radar based on the existing single measurement principle are difficult to consider.

Description

High-precision 3D scanning radar with container state identification and time-sharing measurement functions

Technical Field

The embodiment of the invention relates to the technical field of industrial measurement, in particular to a high-precision 3D scanning radar with container state identification and time-sharing measurement functions.

Background

The 3D scanning radar has the advantages of safety, high efficiency, more image three-dimensional imaging, automatic uninterrupted detection in 24 hours and the like, so that the 3D scanning radar is widely popularized and applied in the fields of industrial manufacturing and the like, such as medium level scanning monitoring, material purchase, sale and stock statistics and the like. However, the existing 3D scanning radars using a single measurement principle have at least the problem that the scanning accuracy and the adaptability to severe environments (such as dust, smoke, etc.) are difficult to be compatible due to the limitation of the respective measurement principles, and if the 3D scanning radars of different measurement principles are independently installed on some sites, the problems of increased number of holes, increased installation cost, increased hardware cost, etc. are caused.

Disclosure of Invention

The embodiment of the invention provides a high-precision 3D scanning radar with a container state identification and time-sharing measurement function, which integrates a measuring module based on a laser principle and a measuring module based on a microwave principle into a shell to realize the container state identification and time-sharing measurement function so as to solve the problem that the scanning precision and the severe environment adaptability of the traditional 3D scanning radar utilizing a single measuring principle are difficult to be compatible, and reduce the number of holes, the installation cost and the hardware cost.

The embodiment of the invention provides a high-precision 3D scanning radar with container state identification and time-sharing measurement functions, which comprises a first measurement module, a second measurement module, a mechanical movement module and a control module;

the mechanical movement module is shared by the first measurement module and the second measurement module and is used for executing mechanical movement in at least one dimension;

the first measuring module is assembled at a first preset installation position of the mechanical movement module, so that the mechanical movement module drives the first measuring module to execute synchronous follow-up mechanical movement to form a plurality of first working angles in the process of executing mechanical movement, and the first measuring device transmits microwave measuring signals and receives microwave echo signals from at least one of the first working angles, so that multi-angle scanning of three-dimensional forms of the surfaces of materials in the container is realized;

the second measuring module is arranged at a second preset installation position of the mechanical movement module, so that the mechanical movement module drives the second measuring module to execute mechanical movement synchronously followed in at least one dimension to form a plurality of second working angles in the process of executing mechanical movement, and the second measuring device is further enabled to transmit laser measuring signals from at least one second working angle and receive laser reflection signals, so that multi-angle scanning of the three-dimensional form of the material surface in the container is realized;

The control module is respectively connected with the first measurement module and the second measurement module and is at least used for acquiring and analyzing the container state according to the microwave signal and/or the laser signal; according to the container state, the microwave signal and/or the laser signal, calculating to obtain precise three-dimensional space information and precise material information of the material surface;

the container state comprises a feeding and discharging state and a non-feeding and discharging state, the microwave signal comprises the microwave measurement signal and the microwave echo signal, and the laser signal comprises the laser measurement signal and the laser reflection signal.

Optionally, the control module analyzes the laser point cloud information according to the laser signal and the second working angle, and further analyzes the container state according to the distribution condition of the laser point clouds or the number of the laser point clouds.

Optionally, the control module analyzes the microwave point cloud information according to the microwave signal and the first working angle; and setting at least one monitoring area, and analyzing the container state by comparing the microwave point cloud information of the monitoring area in each scanning process.

Optionally, when the container state is a non-feeding and discharging state, the control module is specifically configured to analyze laser point cloud information according to the laser signal and the second working angle, and calculate precise three-dimensional space information of the material surface according to the laser point cloud information; or the control module is specifically configured to analyze laser point cloud information according to the laser signal and the second working angle, obtain microwave point cloud information according to the microwave signal and the first working angle, perform parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculate precise three-dimensional space information and precise material information of the material surface according to the microwave point cloud information after parameter compensation or calibration.

Optionally, when the container state is a feeding and discharging state, the control module is specifically configured to obtain microwave point cloud information according to the microwave signal and the first working angle, so as to calculate precise three-dimensional space information of the material surface; or the control module is specifically configured to obtain microwave point cloud information according to the microwave signal and the first working angle, analyze laser point cloud information according to the laser signal and the second working angle, perform parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculate precise three-dimensional space information and precise material information of the material surface according to the microwave point cloud information after the parameter compensation or calibration.

Optionally, the 3D scanning radar further comprises a housing and a cover;

the shell is fixedly connected with the cover body and forms a closed space; the first measuring module, the second measuring module and the mechanical movement module are all arranged in the closed space.

Optionally, the cover body is at least an infrared laser cover;

the enclosure is configured to be penetrated by the laser signal while being penetrated by the microwave signal.

Optionally, the cover is at least hemispherical or more than hemispherical.

Optionally, the mechanical movement module comprises a horizontal movement structure and/or a pitching movement structure, and the measurement module is connected with the horizontal movement structure and/or the pitching movement structure, so that the pitching movement structure drives the measurement module to execute synchronous pitching mechanical movement and/or horizontal mechanical movement when executing pitching mechanical movement and/or the horizontal movement structure executes horizontal mechanical movement;

wherein the measurement module comprises the first measurement module and the second measurement module.

Optionally, the second measurement module is a single-point laser radar or a line-scan laser radar.

Optionally, when the second measurement module is a single-point laser radar, the single-point laser radar is disposed on the horizontal movement structure and/or the pitch movement structure to implement movement in two dimensions, and performs mechanical movement in two dimensions in synchronization with the first measurement module.

Optionally, when the second measurement module is a line scan lidar, the line scan lidar is disposed on the horizontal motion structure or the pitch motion structure to perform a mechanical motion in a certain dimension direction in synchronization with the first measurement module.

Optionally, the 3D scanning radar further comprises:

and the driving module is connected with the horizontal movement structure and/or the pitching movement structure and is used for driving the horizontal movement structure and/or the pitching movement structure to execute mechanical movement in the horizontal and/or pitching directions.

Optionally, the driving module comprises a synchronous belt, a motor, a first synchronous wheel, a second synchronous wheel, a bearing sleeve and a connecting shaft;

the motor is fixed on a first installation position of the mechanical movement module, and the first synchronous wheel is fixedly connected with a rotating shaft of the motor; the bearing sleeve is fixed on a second installation position of the mechanical movement module, and the bearing is installed in the bearing sleeve; the connecting shaft penetrates through the bearing and is fixedly connected with an inner ring of one side, away from the mechanical movement module, of the bearing through a fixing piece; the second synchronous wheel is fixedly connected with one side of the connecting shaft, which is far away from the fixing piece; the synchronous belt is arranged in the synchronous grooves of the first synchronous wheel and the second synchronous wheel so as to enable the first synchronous wheel and the second synchronous wheel to synchronously rotate.

Optionally, the drive module comprises a horizontal drive unit and/or a pitch drive unit;

the pitching driving unit is connected with the pitching motion structure to drive the pitching motion structure to rotate in the pitching direction, and further at least drive the measuring module to execute synchronous follow-up pitching mechanical motion;

and/or the horizontal driving unit is connected with the horizontal movement structure to drive the horizontal movement structure to rotate in the horizontal direction, so as to at least drive the measuring module to execute synchronous follow-up horizontal mechanical movement.

Optionally, the control module is connected with the driving module, and is specifically configured to control the driving module to drive the mechanical motion module to perform mechanical motion in at least one dimension according to preset motion logic.

Optionally, the 3D scanning radar further comprises a man-machine interaction module;

the control module is connected with the man-machine interaction module and transmits the precise three-dimensional space information of the material surface and the precise material information obtained by calculation to the man-machine interaction module;

the man-machine interaction module is used for acquiring and displaying the precise three-dimensional space information and the precise material information of the material surface, and at least enabling a user to finish zooming operation on the page of the precise three-dimensional space information of the material surface.

Optionally, in the closed space, the first measurement module is installed at a central position of the closed space, and the second measurement module is installed eccentrically.

According to the technical scheme provided by the embodiment of the invention, the mechanical movement in at least one dimension is executed through the mechanical movement module; in the process that the mechanical movement module executes mechanical movement, a first measuring module assembled at a first preset installation position of the mechanical movement module is driven by the mechanical movement module to execute synchronous follow-up mechanical movement and form a plurality of first working angles, so that a first measuring device transmits microwave measuring signals and receives microwave echo signals from at least one first working angle, and multi-angle scanning of the three-dimensional form of the surface of a material in a container is realized; in the same way, in the process that the mechanical movement module executes the mechanical movement, the second measuring module arranged at the second preset installation position of the mechanical movement module is driven by the mechanical movement module to execute the mechanical movement synchronously followed in at least one dimension to form a plurality of second working angles, so that the second measuring device transmits laser measuring signals from the at least one second working angle and receives laser reflection signals, and multi-angle scanning of the three-dimensional form of the surface of the material in the container is realized; finally, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates the precise three-dimensional space information and the precise material information of the material surface according to the container state and the microwave signal and/or the laser signal.

In summary, the first measurement module and the second measurement module are integrated in a closed space, that is, integrated in the same housing, so as to reduce the number of openings, installation cost, hardware cost, and the like. The normal scanning operation of the first measuring module is required to rely on microwave signals, the normal scanning operation of the second measuring module is dependent on laser signals, when the container state is in a material feeding and discharging state, particularly solid powdery materials and the like are poured into the container, the material level of the materials in the container and the three-dimensional shape of the surfaces of the materials can be fluctuated constantly, dust can be generated, under the severe measuring working condition, the laser signals received and transmitted by the second measuring module are easy to be shielded by the dust, reliable measurement is difficult to realize, but the first measuring module working based on the microwave measuring principle is hardly influenced by the dust, at the moment, the control module obtains and analyzes the container state according to the microwave signals and/or the laser signals, and then, the precise three-dimensional space information and the precise material information of the surfaces of the materials are calculated according to the container state and the combination of the microwave signals or the microwave signals and the laser signals, so that the material feeding and discharging state can be well detected, and the measuring precision is ensured. In contrast, when the container state is a non-feeding and discharging state, the material level of the material in the container and the three-dimensional shape of the surface of the material are basically unchanged or changed very little, dust in the container is also dust-free or reduced greatly along with time, and the laser signal is not influenced, at this time, the control module acquires and analyzes the container state according to the laser signal and/or the microwave signal, under the working condition, the resolution of detecting the three-dimensional state based on the laser signal is higher than the resolution of detecting the three-dimensional state based on the microwave signal, so that the precision of the second measuring module working by adopting the laser measuring principle is far higher than that of the first measuring module, and then the precise three-dimensional space information and the precise material information of the surface of the material are calculated according to the container state and the combination of the laser signal or the laser signal and the microwave signal, thereby ensuring the high measuring precision. Therefore, the embodiment of the invention can effectively identify the container state, and the corresponding processing method is selected in a time-sharing way according to the data of the fusion of different container states (namely, the data fusion of the two measuring modules) so as to calculate the precise three-dimensional space information and the precise material information of the material surface, thereby solving the problem that the scanning precision of the 3D scanning radar of the existing single measuring principle and the adaptability of the severe environment are difficult to be compatible, ensuring the high measuring precision, integrating the first measuring module and the second measuring module in one shell, reducing the quantity of holes, the installation cost, the hardware cost and the like. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a high-precision 3D scanning radar with container state recognition and time-sharing measurement functions according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of another high-precision 3D scanning radar with container state recognition and time-sharing measurement functions according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a high-precision 3D scanning radar with container state identification and time-sharing measurement functions according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a structure of a further high-precision 3D scanning radar with container state recognition and time-sharing measurement functions according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a driving module and a mechanical movement module according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Just as the existing 3D scanning radar using a single measurement principle mentioned in the background art has the problem that the scanning accuracy and the bad environmental adaptability are difficult to be compatible, if some 3D scanning radars using different measurement principles are independently installed on site, the problems of increased number of holes, increased installation cost, increased hardware cost and the like exist, and the inventor finds that the following causes of the technical problems are generated through careful study:

The existing 3D scanning radar measurement three dimensions are divided into a laser scanning radar, a microwave scanning radar and binocular detection equipment in common use at present according to a measurement mode. The laser scanning radar has the advantages of high scanning speed, high scanning precision and the like in a normal working environment when measuring three dimensions, however, laser interacts with dust particles and the like in the transmission process in a severe working environment filled with dust, smoke and the like, light scattering and light absorption occur to a certain extent, and the serious energy attenuation of the laser can be caused; based on this, dust is generated during the feeding process of solid powdery materials, and the laser scanning radar cannot basically meet the measurement requirements of users under the influence of such working environment; the binocular detection equipment has the advantage of high scanning speed when measuring three dimensions in a good working environment, but the distance resolution is not particularly high, and when the working environment is full of dust and smoke, the detection sight of the binocular detection equipment is blocked and cannot be detected normally; in contrast, microwaves emitted by the microwave scanning radar can easily penetrate through dust, smoke and the like to directly reach the surface of the material and finish the measurement of material information, and the environment adaptability is strong, but the measurement accuracy of the microwave scanning radar in three-dimensional measurement is far lower than that of the laser scanning radar in a good working environment.

Aiming at the technical problems and comprehensive analysis, the invention provides the following solutions:

fig. 1 is a schematic structural diagram of a high-precision 3D scanning radar with container state recognition and time-sharing measurement functions according to an embodiment of the present invention, referring to fig. 1, including a first measurement module 110, a second measurement module 120, a mechanical motion module 300, and a control module 200;

a mechanical movement module 300, common to the first measurement module 110 and the second measurement module 120, for performing mechanical movement in at least one dimension;

the first measuring module 110 is assembled at a first preset installation position of the mechanical movement module 300, so that the mechanical movement module 300 drives the first measuring module 110 to execute synchronous follow-up mechanical movement to form a plurality of first working angles in the process of executing mechanical movement, and the first measuring device 110 is enabled to transmit microwave measuring signals and receive microwave echo signals from at least one first working angle, so that multi-angle scanning of the three-dimensional form of the surface of a material in a container is realized;

the second measuring module 120 is arranged at a second preset installation position of the mechanical movement module 300, so that the mechanical movement module 300 drives the second measuring module 120 to execute mechanical movement synchronously and follow-up in at least one dimension to form a plurality of second working angles in the process of executing mechanical movement, and the second measuring device 120 is further enabled to transmit laser measuring signals and receive laser reflection signals from the at least one second working angle, so that multi-angle scanning of the three-dimensional form of the surface of the material in the container is realized;

The control module 200 is connected with the first measurement module 110 and the second measurement module 120 respectively, and is at least used for acquiring and analyzing the container state according to the microwave signal and/or the laser signal; according to the container state, the microwave signal and/or the laser signal, calculating to obtain precise three-dimensional space information and precise material information of the material surface;

the container state comprises a feeding and discharging state and a non-feeding and discharging state, the microwave signal comprises a microwave measurement signal and a microwave echo signal, and the laser signal comprises a laser measurement signal and a laser reflection signal.

The container can be a tank body and a bin body which can bear materials, or other similar instruments or parts; taking production equipment in the industrial field as an example, the container in the embodiment of the invention can be, but is not limited to, components such as a reaction tank, a storage bin, a process bin and the like in the production equipment. In addition, the state of the material may be solid state or solid-liquid mixed state, etc., and is preferably set to solid state.

The first measurement module 110 may be a microwave measurement device such as a frequency modulated continuous wave radar level gauge, a pulsed radar level gauge, or the like. Illustratively, when the first measurement module 110 is a frequency modulated continuous wave radar level gauge, the microwave measurement signal is a frequency modulated continuous wave signal; when the first measurement module 110 is pulse radar level clocking, the microwave measurement signal is a high frequency pulse signal. In addition, the second measurement module 120 may be any laser measurement device suitable for scanning materials, and optionally, the second measurement module 120 is a single-point laser radar or a line-scan laser radar.

The mechanical motion module 300 is used to perform mechanical motion in at least one dimension, which may include, but is not limited to, the following: the mechanical movement module 300 is used for performing mechanical movement in a horizontal dimension; the mechanical movement module 300 is used for performing mechanical movement in a vertical dimension; the mechanical movement module 300 is used to perform mechanical movements in the horizontal and vertical dimensions. It is to be understood that the first preset installation position and the second preset installation position may be adaptively adjusted according to an installation position of the 3D scanning radar in the container, an internal structure of the container, specific measurement principles of the first measurement module 110 and the second measurement module 120, and the like, which is not limited in the embodiment of the present invention. In addition, the first working angle refers to a set of angles of the first measurement module 110 transmitting the microwave measurement signal in the mechanical movement process that the mechanical movement module 300 drives the first measurement module 110 to perform synchronous follow-up; the second working angle refers to a set of angles of the second measurement module 120 emitting laser measurement signals in a mechanical movement process that the mechanical movement module 300 drives the second measurement module 120 to perform synchronous follow-up in at least one dimension; the first working angle and the second working angle may or may not correspond to each other.

The control module 200 may be a single chip microcomputer, a system on chip, or the like. It is known that the feeding and discharging state includes a feeding state and/or a discharging state, and the non-feeding and discharging state refers to a state in which the container is neither fed nor discharged. The precise three-dimensional space information of the material surface can be displayed in a three-dimensional space diagram form; the precise material information may be a precise material level value, a precise material density value, a precise material mass value, a precise material volume or volume value, a precise material filling degree, a precise material density distribution, a precise material mass distribution, etc.

The specific operating principle of the control module 200 may be as follows, for example:

the control module 200 obtains and analyzes the container state according to the microwave signal and/or the laser signal; when the container is in a material feeding and discharging state, dust or smoke generated in the container easily weakens the intensity of a laser signal, and in order to improve the precision of the precise three-dimensional space information and the precise material information on the surface of the material, the control module 200 calculates the precise three-dimensional space information and the precise material information on the surface of the material according to the microwave signal; when the container is in a non-feeding and discharging state, dust or smoke in the container gradually falls down along with the accumulation of time, and under the condition, the measurement precision of the laser signal is far better than that of the microwave signal, so that the precision of the precise three-dimensional space information and the precise material information on the material surface is improved, and the control module 200 calculates the precise three-dimensional space information and the precise material information on the material surface according to the laser signal or the fusion of the laser signal and the microwave signal.

In summary, the embodiment of the present invention performs the mechanical motion in at least one dimension through the mechanical motion module; in the process that the mechanical movement module executes mechanical movement, a first measuring module assembled at a first preset installation position of the mechanical movement module is driven by the mechanical movement module to execute synchronous follow-up mechanical movement and form a plurality of first working angles, so that a first measuring device transmits microwave measuring signals and receives microwave echo signals from at least one first working angle, and multi-angle scanning of the three-dimensional form of the surface of a material in a container is realized; in the same way, in the process that the mechanical movement module executes the mechanical movement, the second measuring module arranged at the second preset installation position of the mechanical movement module is driven by the mechanical movement module to execute the mechanical movement synchronously followed in at least one dimension to form a plurality of second working angles, so that the second measuring device transmits laser measuring signals from the at least one second working angle and receives laser reflection signals, and multi-angle scanning of the three-dimensional form of the surface of the material in the container is realized; finally, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates the precise three-dimensional space information and the precise material information of the material surface according to the container state and the microwave signal and/or the laser signal.

In particular, the normal scanning operation of the first measurement module is dependent on the microwave signal, and the normal scanning operation of the second measurement module is dependent on the laser signal. When the container state is in a material feeding and discharging state, especially solid powdery materials and the like are poured into the container, the material level of the materials in the container and the three-dimensional form of the surfaces of the materials can be fluctuated at any time, dust can be generated, under the severe measuring working condition, laser signals received and transmitted by the second measuring module are easy to be shielded by the dust, and reliable measurement is difficult to realize, but the first measuring module working based on the microwave measuring principle is hardly influenced by the dust, at the moment, the control module obtains and analyzes the container state according to the microwave signals and/or the laser signals, and then, the precise three-dimensional space information and the precise material information of the surfaces of the materials are calculated according to the container state and the combination of the microwave signals or the microwave signals and the laser signals, so that the material feeding and discharging state can be well detected, and the measuring precision is ensured. In contrast, when the container state is a non-feeding and discharging state, the material level of the material in the container and the three-dimensional shape of the surface of the material are basically unchanged or changed very little, dust in the container is also dust-free or reduced greatly along with time, and the laser signal is not influenced, at this time, the control module acquires and analyzes the container state according to the laser signal and/or the microwave signal, under the working condition, the resolution of detecting the three-dimensional state based on the laser signal is higher than the resolution of detecting the three-dimensional state based on the microwave signal, so that the precision of the second measuring module working by adopting the laser measuring principle is far higher than that of the first measuring module, and then the precise three-dimensional space information and the precise material information of the surface of the material are calculated according to the container state and the combination of the laser signal or the laser signal and the microwave signal, thereby ensuring the high measuring precision. Therefore, the embodiment of the invention can effectively identify the container state, and the corresponding processing method is selected in a time-sharing way according to the data of different container states, so as to calculate the precise three-dimensional space information and the precise material information of the material surface, and solve the problem that the 3D scanning radar scanning precision and the severe environment adaptability of the existing single measurement principle are difficult to be compatible.

Therefore, the embodiment of the invention can effectively identify the container state, and the corresponding processing method is selected according to the data time sharing of the two measuring modules fused with different container states, so as to calculate the precise three-dimensional space information and the precise material information of the material surface, and solve the problem that the 3D scanning radar scanning precision and the severe environment adaptability of the existing single measuring principle are difficult to be compatible.

Based on the above embodiments, the following describes a specific method for analyzing the container state and calculating the precise three-dimensional space information of the material surface and the precise material information by the control module, but is not limited to the embodiments of the invention. With continued reference to fig. 1, optionally, the control module 200 analyzes the laser point cloud information according to the laser signal and the second working angle, and further analyzes the container state according to the distribution situation of the laser point clouds or the number of the laser point clouds.

Optionally, the control module 200 analyzes the microwave point cloud information according to the microwave signal and the first working angle; and setting at least one monitoring area, and analyzing the container state by comparing the microwave point cloud information of the monitoring area in each scanning process.

Optionally, when the container state is a non-feeding and discharging state, the control module 200 is specifically configured to analyze laser point cloud information according to the laser signal and the second working angle, and calculate precise three-dimensional space information of the material surface according to the laser point cloud information; or, the control module 200 is specifically configured to analyze the laser point cloud information according to the laser signal and the second working angle, obtain the microwave point cloud information according to the microwave signal and the first working angle, perform parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculate the precise three-dimensional space information and the precise material information of the material surface according to the microwave point cloud information after the parameter compensation or calibration.

Optionally, when the container state is a feeding and discharging state, the control module 200 is specifically configured to obtain microwave point cloud information according to the microwave signal and the first working angle, so as to calculate precise three-dimensional space information of the material surface; or, the control module 200 is specifically configured to obtain microwave point cloud information according to the microwave signal and the first working angle, analyze the laser point cloud information according to the laser signal and the second working angle, perform parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculate precise three-dimensional space information and precise material information of the material surface according to the microwave point cloud information after the parameter compensation or calibration.

The laser point cloud information refers to point cloud information which corresponds to a laser signal in a space coordinate system and can express the surface morphology of a material, and the laser point cloud information can comprise distribution conditions of laser point clouds, the number of the laser point clouds, three-dimensional coordinates of the laser point clouds and the like.

As can be seen, when the container is not fed or discharged, the surface of the material in the container is in a steady state, dust or smoke is much less or no dust or smoke is less, the laser signal can be stably detected, the laser point cloud information analyzed by the control module 200 according to the laser signal and the second working angle is relatively stable, and the distribution condition of the laser point cloud or the number of the laser point cloud is basically unchanged; when the container is fed and discharged, dust and smoke in the container are diffused, laser signal detection is affected, laser point cloud information analyzed by the control module 200 according to the laser signal and the second working angle is difficult to keep stable, and a large number or a large number of blank areas can appear in the distribution condition of the laser point cloud, or the number of the laser point cloud can be suddenly reduced or even not; based on this, the control module 200 can analyze the container state by comparing the distribution situation of the laser point clouds or the number of the laser point clouds in each scanning process.

Similarly, the microwave point cloud information refers to point cloud information which corresponds to the microwave signal in a three-dimensional space coordinate system and can express the surface morphology of the material. When the container is fed and discharged, the influence of dust or smoke on a microwave signal is much smaller, the surface of a material in the container is in a fluctuation state, and the control module 200 can analyze the state of the container by comparing the microwave point cloud information of the monitoring area in each scanning process, for example, a certain area on the surface of the material is set as the monitoring area, and whether the Z coordinate value (namely the height of the material) presented by the microwave point cloud information in the monitoring area is in an ascending or descending trend is checked; setting a certain or a certain first working angle as a monitoring area, checking whether Z coordinate values presented by the microwave point cloud information in the detection area suddenly rise or show a descending trend and the like. It can be understood that the selected position, range, shape, size and the like of the monitoring area can be adaptively adjusted according to the actual application requirements of the 3D scanning radar, for example, the setting of the monitoring area can be related to the positions of the feed inlet and the discharge outlet, and the monitoring area is set in a circular area with the diameter of 0.5m, which corresponds to the feed inlet or the discharge outlet of the container in the vertical direction, so that the control module can accurately identify and analyze the state of the container based on the microwave signal and the first working angle because the fluctuation degree of the material surface, which corresponds to the feed inlet or the discharge outlet in the vertical direction, is the largest when the container is fed and discharged, and the microwave signal is not affected when fed and discharged, can be normally detected.

In a specific example, when the container is in a non-feeding and discharging state, a small amount of dust or smoke is even hardly generated in the container along with time, and under the condition that the laser signal can be measured normally, the measurement accuracy of the laser signal is far better than that of the microwave signal, so that the precision three-dimensional space information of the material surface and the precision of the precision material information can be improved by means of the laser signal, the control module 200 can directly analyze the laser point cloud information according to the laser signal and the second working angle, and then calculate the precision three-dimensional space information of the material surface according to the laser point cloud information. In addition, in another specific example, when the container is in a non-feeding and discharging state, the microwave signal can be normally detected, and the control module 200 can also utilize the laser point cloud information to perform parameter compensation and calibration on the microwave point cloud information, so as to improve the measurement accuracy of the first measurement module 110; specifically, the control module 200 analyzes laser point cloud information according to the laser signal and the second working angle, obtains microwave point cloud information according to the microwave signal and the first working angle, performs parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculates precise three-dimensional space information and precise material information of the material surface according to the microwave point cloud information after the parameter compensation or calibration.

In another specific example, when the container is in the material feeding and discharging state, the dust or the smoke generated in the container easily weakens the intensity of the laser signal, so as to improve the precision three-dimensional space information of the material surface and the precision of the precision material information, the control module 200 may directly obtain the microwave point cloud information according to the microwave signal and the first working angle, and further calculate the precision three-dimensional space information of the material surface. In addition, in another specific example, when the container is in the feeding and discharging state, the microwave signal can be detected normally, and when the laser signal detection can detect and obtain part or a small amount of laser point cloud information, the control module 200 performs parameter compensation and calibration on the microwave point cloud information by using the laser point cloud information, and then calculates the precise three-dimensional space information and the precise material information of the material surface according to the microwave point cloud information after the parameter compensation or calibration.

In summary, the embodiment of the invention can effectively identify the container state, and select corresponding processing methods according to different container states in a time-sharing manner so as to calculate the precise three-dimensional space information and the precise material information of the material surface, thereby solving the problem that the 3D scanning radar based on a single measurement principle is difficult to consider both the scanning precision and the severe environment adaptability.

The construction of the mechanical movement module, the arrangement of the measurement module, and the like are described below based on the above embodiments, but the embodiment of the present invention is not limited thereto. Fig. 2 is a schematic structural diagram of another high-precision 3D scanning radar with container state recognition and time-sharing measurement function according to an embodiment of the present invention, and fig. 3 is a schematic structural diagram of another high-precision 3D scanning radar with container state recognition and time-sharing measurement function according to an embodiment of the present invention, referring to fig. 2 and 3, optionally, the 3D scanning radar further includes a housing 500 and a cover 400;

the casing 500 is fixedly connected with the cover 400, and forms a closed space; the first measuring module 110, the second measuring module 120 and the mechanical movement module 300 are all disposed in the closed space.

Optionally, the mechanical movement module 300 includes a horizontal movement structure 311 and/or a pitching movement structure 312, and the measurement module is connected to the horizontal movement structure 311 and/or the pitching movement structure 312, so that the pitching movement structure 312 drives the measurement module to perform synchronous pitching mechanical movement and/or horizontal mechanical movement when performing pitching mechanical movement and/or when the horizontal movement structure 311 performs horizontal mechanical movement;

Wherein the measurement modules include a first measurement module 110 and a second measurement module 120.

Alternatively, the first measurement module 110 is installed at a central position of the enclosed space, and the second measurement module 120 is installed eccentrically within the enclosed space.

That is, the first measurement module 110 and the second measurement module 120 are integrated in the same housing 500 for scanning and detecting, so that the number of holes, installation and hardware costs can be reduced.

The material of the housing 500 may be a metal material such as aluminum or stainless steel, or a nonmetal material such as ceramics or plastics. In addition, the cover 400 may include a laser-penetrating region and a non-laser-penetrating region, wherein the cover 400 in the laser-penetrating region is made of transparent or partially transparent material (e.g. glass), so that the laser measurement signal reaches the surface of the material through the cover 400 in the laser-penetrating region, and the laser reflection signal is received by the second measurement module 120 through the cover 400 in the laser-penetrating region. Optionally, the cover 400 is at least an infrared laser cover; the cover 400 is configured to be penetrated by the laser signal and also penetrated by the microwave signal; the cover 400 is at least a hemispherical or more hemispherical cover. The measurement module is connected to the horizontal movement structure 311 and/or the pitching movement structure 312, so that the pitching movement structure 312 performs a pitching mechanical movement (i.e. a mechanical movement in the vertical dimension) and/or the horizontal movement structure 311 performs a horizontal mechanical movement (i.e. a mechanical movement in the horizontal dimension), and the pitching mechanical movement and/or the horizontal mechanical movement that drive the measurement module to perform synchronization means that: the measuring module is connected with the horizontal movement structure 311 and/or the pitching movement structure 312, so that the pitching movement structure 312 drives the measuring module to execute synchronous pitching mechanical movement when executing pitching mechanical movement, and/or the horizontal movement structure 311 drives the measuring module to execute synchronous horizontal mechanical movement when executing horizontal mechanical movement.

In a specific example, optionally, when the second measurement module 120 is a single-point lidar, the single-point lidar is disposed on the horizontal motion structure 311 and/or the pitch motion structure 312 to achieve motion in two dimensions and perform synchronous mechanical motion in two dimensions with the first measurement module 110.

Wherein the number of the single-point laser radars can be one or more.

When the number of the single-point lidars is one, since the direction in which the single-point lidar emits the laser measurement signal is fixed, the single-point lidar needs to adaptively select the installation position according to the specific structure of the mechanical movement module 300 in order to realize the movement in two dimensions. Specifically, with continued reference to fig. 2, the pitching motion structure 312 is integrally connected to the horizontal motion structure 311 via a fixing bracket, and the pitching motion structure 312 is capable of performing mechanical motion in the horizontal direction following the horizontal motion structure 311, but the horizontal motion structure 311 cannot perform mechanical motion in the pitching direction following the pitching motion structure 312, in which case the single-point lidar can only be provided on the pitching motion structure 312 (i.e., the second preset mounting position is provided on the pitching motion structure 312). In contrast, with continued reference to fig. 3, the horizontal movement structure 311 is integrally connected to the pitching movement structure 312 through a connection bracket, and the horizontal movement structure 311 can perform mechanical movement in the pitching direction along with the pitching movement structure 312, but the pitching movement structure 312 cannot perform mechanical movement in the horizontal direction along with the horizontal movement structure 311, in which case the single-point lidar can only be disposed on the horizontal movement structure 311 (i.e. the second preset mounting position is disposed on the horizontal movement structure 311).

When the number of the single-point lidars is multiple, whether the mechanical movement modules are shown in fig. 2 or fig. 3, the single-point lidar needs to implement mechanical movement in two dimensions, and only the horizontal movement structure 311 and the pitching movement structure 312 need to be guaranteed to be at least installed with one single-point lidar respectively (i.e. the number of the second preset installation positions may be multiple).

In another specific example, optionally, when the second measurement module 120 is a line scan lidar, the line scan lidar is disposed on the horizontal motion structure 311 or the pitch motion structure 312 to perform a mechanical motion in a certain dimension direction in synchronization with the first measurement module 110.

Because the line scanning laser radar is integrated with a line scanning structure in one dimension direction, when the line scanning structure of the line scanning laser radar can realize mechanical movement in the horizontal dimension direction, the line scanning laser radar is only required to be installed on the pitching motion structure 312 (namely, the second preset installation position is arranged on the pitching motion structure 312) in fig. 2 or 3, so that the scanning data of the first measurement module 110 and the second measurement module 120 can be ensured to have the same horizontal scanning angle and pitching scanning angle; when the line scanning structure of the line scanning laser radar can realize the mechanical movement in the pitch dimension direction, the line scanning laser radar can be only required to be mounted on the horizontal movement structure 311 (i.e. the second preset mounting position is arranged on the horizontal movement structure 311) in fig. 2 or 3, so that the scan data of the first measurement module 110 and the second measurement module 120 can be ensured to have the same horizontal scan angle and pitch scan angle.

It is known that the eccentric mounting of the second measuring module 120 means that the second measuring module 120 is mounted off-center from the closed space.

In summary, in the embodiment of the present invention, a closed space is formed by the housing and the cover that are fixedly connected to each other, and the first measurement module, the second measurement module and the mechanical movement module are all disposed in the closed space; in the process that the mechanical movement module executes mechanical movement in at least one dimension, a first measuring module assembled at a first preset installation position of the mechanical movement module is driven by the mechanical movement module to execute synchronous follow-up mechanical movement and form a plurality of first working angles, so that a first measuring device transmits microwave measuring signals and receives microwave echo signals from at least one first working angle, and multi-angle scanning of the three-dimensional form of the surface of a material in a container is realized; in the same way, in the process that the mechanical movement module executes the mechanical movement, the second measuring module arranged at the second preset installation position of the mechanical movement module is driven by the mechanical movement module to execute the mechanical movement synchronously followed in at least one dimension to form a plurality of second working angles, so that the second measuring device transmits laser measuring signals from the at least one second working angle and receives laser reflection signals, and multi-angle scanning of the three-dimensional form of the surface of the material in the container is realized; finally, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates the precise three-dimensional space information and the precise material information of the material surface according to the container state and the microwave signal and/or the laser signal. Therefore, the first measuring module and the second measuring module are integrated in one closed space, namely, integrated in the same shell, so that the number of holes, the installation cost, the hardware cost and the like are reduced, the container state can be effectively identified, and corresponding processing methods are selected according to the data time sharing of the two measuring modules fused in different container states, so that the precise three-dimensional space information and the precise material information of the material surface are calculated, the problem that the 3D scanning radar scanning precision and the severe environment adaptability of the existing single measuring principle are difficult to be compatible is solved, and the high measuring precision is ensured.

It should be noted that, fig. 2 and fig. 3 each schematically illustrate the second measurement module 120 mounted on the pitch motion structure 312, which is not a limitation of the embodiment of the present invention.

On the basis of the above embodiment, fig. 4 is a schematic structural diagram of still another high-precision 3D scanning radar with container status recognition and time-sharing measurement functions according to an embodiment of the present invention, and referring to fig. 4, optionally, the 3D scanning radar further includes:

a driving module 600 connected to the horizontal movement structure 311 and/or the pitching movement structure 312 for driving the horizontal movement structure 311 and/or the pitching movement structure 312 to perform a mechanical movement in the horizontal and/or pitching direction.

Optionally, the drive module 600 comprises a horizontal drive unit 610 and/or a pitch drive unit 620;

the pitching driving unit 620 is connected with the pitching motion structure 312, so as to drive the pitching motion structure 312 to rotate in the pitching direction, and further drive at least the measurement module to execute synchronous follow-up pitching mechanical motion;

and/or the horizontal driving unit 610 is connected with the horizontal movement structure 311 to drive the horizontal movement structure 311 to rotate in a horizontal direction, so as to drive at least the measuring module to execute the synchronous follow-up horizontal mechanical movement.

Optionally, a control module (not shown in fig. 4) is connected to the driving module 600, in particular for controlling the driving module 600 to drive the mechanical movement module 300 to perform mechanical movement in at least one dimension according to a preset movement logic.

Optionally, the 3D scanning radar further comprises a man-machine interaction module (not shown in fig. 4);

the control module is connected with the man-machine interaction module and transmits the precise three-dimensional space information of the material surface obtained by calculation and the precise material information to the man-machine interaction module;

and the man-machine interaction module is used for acquiring and displaying the precise three-dimensional space information of the material surface and the precise material information, and at least enabling a user to finish the zooming operation on the page of the precise three-dimensional space information of the material surface.

Wherein the preset motion logic may exist in the form of a pulse signal, but is not limited to; the man-machine interaction module can be an industrial personal computer; the control module can send the precise three-dimensional space information of the material surface obtained by calculation to the man-machine interaction module in a wired or wireless communication mode.

With continued reference to fig. 4, the specific operating principle of the 3D scanning radar may be, for example, as follows:

when the measurement module needs to execute mechanical movement in the pitching direction, the control module generates pitching control signals according to preset motion logic and transmits the pitching control signals to the pitching driving unit 620, the pitching driving unit 620 drives the pitching motion structure 312 to rotate in the pitching direction in a closed space formed by the shell 500 and the cover 400, and further drives the measurement module to execute synchronous follow-up pitching mechanical movement, and the measurement module generates and transmits measurement signals (the measurement signals comprise microwave measurement signals and laser measurement signals) and receives echo signals (the echo signals comprise microwave echo signals and laser reflection signals) to perform multi-angle scanning on the three-dimensional form of the material surface in the container; meanwhile, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates precise three-dimensional space information and precise material information of the material surface according to the container state and the microwave signal and/or the laser signal; then, the control module transmits the precise three-dimensional space information of the material surface obtained by calculation to the man-machine interaction module; the man-machine interaction module acquires and displays the precise three-dimensional space information of the material surface and the precise material information, and at least enables a user to finish the page zooming operation of the precise three-dimensional space information of the material surface.

When the measuring module needs to execute mechanical movement in the horizontal direction, the control module generates a horizontal control signal according to a preset movement logic and transmits the horizontal control signal to the horizontal driving unit 610, the horizontal driving unit 610 drives the horizontal movement structure 311 to rotate in the horizontal direction in a closed space formed by the shell 500 and the cover 400, and further drives the measuring module to execute synchronous follow-up horizontal mechanical movement, and the measuring module generates and transmits a scanning signal and receives an echo signal to perform multi-angle scanning on the three-dimensional form of the surface of the material in the container; meanwhile, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates precise three-dimensional space information and precise material information of the material surface according to the container state and the microwave signal and/or the laser signal; then, the control module transmits the precise three-dimensional space information of the material surface obtained by calculation to the man-machine interaction module; the man-machine interaction module acquires and displays the precise three-dimensional space information of the material surface and the precise material information, and at least enables a user to finish the page zooming operation of the precise three-dimensional space information of the material surface.

When the measuring module needs to execute mechanical movements in the horizontal direction and the pitching direction, the control module generates horizontal control signals and pitching control signals according to preset motion logic and correspondingly transmits the horizontal control signals and pitching control signals to the horizontal driving unit 610 and the pitching driving unit 620, the horizontal driving unit 610 drives the horizontal moving structure 311 to rotate in the horizontal direction in a closed space formed by the shell 500 and the cover 400, the pitching driving unit 620 drives the pitching moving structure 312 to rotate in the pitching direction in the closed space formed by the shell 500 and the cover 400, and then the measuring module is driven to execute synchronous follow-up horizontal mechanical movements and pitching mechanical movements, and the measuring module generates and transmits scanning signals and receives echo signals to perform multi-angle scanning on the three-dimensional form of the material surface in the container; meanwhile, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates precise three-dimensional space information and precise material information of the material surface according to the container state and the microwave signal and/or the laser signal; then, the control module transmits the precise three-dimensional space information of the material surface obtained by calculation to the man-machine interaction module; the man-machine interaction module acquires and displays the precise three-dimensional space information of the material surface and the precise material information, and at least enables a user to finish the page zooming operation of the precise three-dimensional space information of the material surface.

Therefore, the first measuring module and the second measuring module are integrated in one closed space, namely, integrated in the same shell, so that the number of holes, the installation cost, the hardware cost and the like are reduced, the container state can be effectively identified, and corresponding processing methods are selected according to different container states by fusing the data of the two measuring modules in a time sharing manner, so that precise three-dimensional space information and precise material information of the material surface are calculated, the problem that the scanning precision of the 3D scanning radar of the existing single measuring principle and the adaptability to the severe environment are difficult to be compatible is solved, and the high measuring precision is ensured.

On the basis of the above-described embodiments, a specific structure of the driving module is exemplarily described below. Optionally, the driving module comprises a synchronous belt, a motor, a first synchronous wheel, a second synchronous wheel, a bearing sleeve and a connecting shaft; the motor is fixed on a first installation position of the mechanical movement module, and the first synchronous wheel is fixedly connected with a rotating shaft of the motor; the bearing sleeve is fixed on a second installation position of the mechanical movement module, and the bearing is installed in the bearing sleeve; the connecting shaft penetrates through the bearing and is fixedly connected with an inner ring of one side of the bearing far away from the mechanical movement structure through a fixing piece; the second synchronous wheel is fixedly connected with one side of the connecting shaft, which is far away from the fixing piece; the synchronous belt is arranged in the synchronous grooves of the first synchronous wheel and the second synchronous wheel so as to enable the first synchronous wheel and the second synchronous wheel to synchronously rotate.

The synchronous belt can be a trapezoidal tooth synchronous belt or an arc tooth synchronous belt, and correspondingly, the teeth on the first synchronous wheel and the second synchronous wheel can be trapezoidal teeth or arc teeth. It can be appreciated that in some embodiments, the synchronous belt, the first synchronous wheel and the second synchronous wheel may be equivalently replaced by a belt, a first belt pulley and a second belt pulley, and the setting modes of the belt, the first belt pulley and the second belt pulley are identical to those of the synchronous belt, the first synchronous wheel and the second synchronous wheel, which are not described in detail.

It is known that the motor may be a stepper motor or a servo motor, and the bearing may be a deep groove ball bearing. It can be understood that specific structures and design parameters of the synchronous belt, the motor, the first synchronous wheel, the second synchronous wheel, the bearing sleeve and the connecting shaft can be adaptively adjusted according to actual application requirements of the 3D scanning radar, and the embodiment of the invention is not limited to the specific structures and design parameters. In addition, the first installation position and the second installation position are respectively positioned at different positions of the mechanical movement module, namely, the motor and the bearing sleeve are respectively arranged at different positions of the mechanical movement module.

Specifically, fig. 5 is a schematic structural diagram of a driving module and a mechanical motion module according to an embodiment of the present invention, and referring to fig. 5, a horizontal driving unit includes a horizontal synchronous belt a, a first motor B, a first horizontal synchronous wheel C, a second horizontal synchronous wheel D, a first bearing (not shown in fig. 5), a first bearing sleeve E, and a first connecting shaft (not shown in fig. 5). The first motor B is fixed on a first installation position of the horizontal movement structure 311, and the first horizontal synchronizing wheel C is fixedly connected with a rotating shaft of the first motor B; the first bearing sleeve E is fixed on a second installation position of the horizontal movement structure 311, and the first bearing is installed in the first bearing sleeve E; the first connecting shaft penetrates through the first bearing and is fixedly connected with the inner ring of the side, far away from the horizontal movement structure 311, of the first bearing through a first fixing piece F; the second horizontal synchronizing wheel D is fixedly connected with one side of the first connecting shaft, which is far away from the first fixing piece F; the horizontal synchronous belt A is arranged in the synchronous grooves of the first horizontal synchronous wheel C and the second horizontal synchronous wheel D so as to enable the first horizontal synchronous wheel C and the second horizontal synchronous wheel D to synchronously rotate.

It should be noted that, the rotating shaft of the first motor B cannot rotate, and the body of the first motor B can rotate around the rotating shaft of the first motor B; the body of the first motor B is connected with the horizontal movement structure 311 into a whole, and the rotating shaft of the first motor B penetrates through the horizontal movement structure 311, so that the body of the first motor B and the first horizontal synchronous wheel C are respectively positioned at two sides of the horizontal movement structure 311; the first connecting shaft also penetrates through the horizontal movement structure 311, so that the first bearing, the first bearing sleeve E and the body of the first motor B are positioned on one side of the horizontal movement structure 311, and the second horizontal synchronizing wheel D and the first horizontal synchronizing wheel C are positioned on the other side of the horizontal movement structure 311; the second installation position of the horizontal moving structure 311 is disposed at the center of the horizontal moving structure 311.

Based on this, it can be understood that the operating principle of the horizontal driving unit to drive the horizontal moving structure 311 is specifically as follows:

the first bearing sleeve E is connected with the horizontal movement structure 311 into a whole, and the outer ring of the first bearing can not rotate but the inner ring of the first bearing can rotate after the first bearing is arranged on the first bearing sleeve E. Meanwhile, the first motor B is also connected with the horizontal movement structure 311 into a whole, and because the rotating shaft of the first motor B can not rotate, the body of the first motor B can rotate around the rotating shaft of the first motor B, so that after the first motor B outputs torque, the body of the first motor B can drive the horizontal movement structure 311, the first bearing sleeve E and the outer ring of the first bearing to do circular movement by taking the center of the horizontal movement structure 311 as a circular point; in this process, the first horizontal synchronizing wheel C moves circumferentially along the horizontal synchronous belt a with the center of the horizontal moving structure 311 as a circular point, and the second horizontal synchronizing wheel D, the first connecting shaft, the first fixing member F, and the inner ring of the first bearing are in a stationary state. The rotation range of the horizontal movement structure 311 depends on the rotation angle of the main body of the first motor B.

With continued reference to fig. 5, the pitch drive unit includes a pitch timing belt G, a second motor H, a first pitch timing wheel I, a second pitch timing wheel J, a second bearing (not shown in fig. 5), a second bearing sleeve (not shown in fig. 5), and a second connecting shaft K.

The second motor H is fixed on a first mounting position of the fixed bracket, and the first pitching synchronous wheel I is fixedly connected with a rotating shaft of the second motor H; the second bearing sleeve is fixed on a second mounting position of the fixed bracket, and the second bearing sleeve is mounted in the second bearing sleeve; the second connecting shaft K penetrates through the second bearing and is fixedly connected with the inner ring of the side, far away from the fixed support, of the second bearing through the second fixing piece; the second pitching synchronizing wheel J is fixedly connected with one side of the second connecting shaft K, which is far away from the second fixing piece; the pitching synchronous belt G is arranged in the synchronous grooves of the first pitching synchronous wheel I and the second pitching synchronous wheel J so as to enable the first pitching synchronous wheel I and the second pitching synchronous wheel J to synchronously rotate.

As can be seen, the body of the second motor H is integrally connected with the fixed bracket, the rotating shaft of the second motor H can rotate, and the rotating shaft of the second motor H penetrates through the fixed bracket, so that the body of the second motor H and the first pitching synchronous wheel I are respectively positioned at two sides of the fixed bracket; the second connecting shaft K also penetrates through the fixed support, so that the second bearing, the second bearing sleeve and the body of the second motor H are positioned on one side of the fixed support, and the second pitching synchronizing wheel J and the first pitching synchronizing wheel I are positioned on the other side of the fixed support; the second connecting shaft K is integrally connected with the pitching mechanism 312.

Based on this, it can be understood that the pitch drive unit drives the pitch motion structure 312 according to the following operation principle:

the second bearing sleeve is connected with the fixed support into a whole, and the second bearing is arranged behind the second bearing sleeve, the outer ring of the second bearing cannot rotate, but the inner ring of the second bearing can rotate. Meanwhile, the second motor H is also connected with the fixed support into a whole, after the second motor H outputs torque, the rotating shaft of the second motor H drives the first pitching synchronous wheel I to rotate, and the first pitching synchronous wheel I drives the second pitching synchronous wheel J to rotate through the pitching synchronous belt G, so that the second connecting shaft K, the inner ring of the second bearing, the second fixing piece and the pitching motion structure 312 synchronously rotate. The rotation range of the pitching motion structure 312 depends on the rotation angle of the rotation shaft of the second motor H.

In summary, on the one hand, in the embodiment of the present invention, by providing the horizontal synchronous belt, the first motor, the first horizontal synchronous wheel, the second horizontal synchronous wheel, the first bearing sleeve and the first connecting shaft, when the measurement module needs to perform mechanical movement in the horizontal direction, the horizontal movement structure is driven to rotate in the horizontal direction, and then the pitching movement structure and the measurement module are driven to horizontally rotate by the fixing support. On the other hand, according to the embodiment of the invention, by arranging the pitching synchronous belt, the second motor, the first pitching synchronous wheel, the second bearing sleeve and the second connecting shaft, when the measuring module needs to execute mechanical movement in the pitching direction, the pitching movement structure is driven to rotate in the pitching direction, and then the measuring module is driven to rotate in pitching. In the moving process, the measuring module generates and transmits scanning signals and receives echo signals, and performs multi-angle scanning on the three-dimensional form of the surface of the material in the container; meanwhile, the control module obtains and analyzes the container state according to the microwave signal and/or the laser signal, and calculates precise three-dimensional space information and precise material information of the material surface according to the container state and the microwave signal and/or the laser signal; then, the control module transmits the precise three-dimensional space information of the material surface obtained by calculation to the man-machine interaction module; the man-machine interaction module acquires and displays the precise three-dimensional space information of the material surface and the precise material information, and at least enables a user to finish the page zooming operation of the precise three-dimensional space information of the material surface.

Therefore, the first measuring module and the second measuring module are integrated in one closed space, namely, integrated in the same shell, so that the number of holes, the installation cost, the hardware cost and the like are reduced, the container state can be effectively identified, and corresponding processing methods are selected according to the data time sharing of the two measuring modules fused in different container states, so that the precise three-dimensional space information and the precise material information of the material surface are calculated, the problem that the 3D scanning radar scanning precision and the severe environment adaptability of the existing single measuring principle are difficult to be compatible is solved, and the high measuring precision is ensured.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. The high-precision 3D scanning radar with the container state identification and time-sharing measurement functions is characterized by comprising a first measurement module, a second measurement module, a mechanical movement module and a control module;

2. The 3D scanning radar according to claim 1, wherein the control module analyzes laser point cloud information according to the laser signal and the second working angle, and further analyzes the container state according to the distribution condition of the laser point clouds or the number of the laser point clouds.

3. The 3D scanning radar according to claim 1, wherein the control module resolves microwave point cloud information according to the microwave signal and the first working angle; and setting at least one monitoring area, and analyzing the container state by comparing the microwave point cloud information of the monitoring area in each scanning process.

4. The 3D scanning radar according to claim 2 or 3, wherein when the container state is a non-feeding and discharging state, the control module is specifically configured to parse laser point cloud information according to the laser signal and the second working angle, and calculate precise three-dimensional space information of the material surface according to the laser point cloud information; or the control module is specifically configured to analyze laser point cloud information according to the laser signal and the second working angle, obtain microwave point cloud information according to the microwave signal and the first working angle, perform parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculate precise three-dimensional space information and precise material information of the material surface according to the microwave point cloud information after parameter compensation or calibration;

preferably, when the container state is a feeding and discharging state, the control module is specifically configured to obtain microwave point cloud information according to the microwave signal and the first working angle, so as to calculate precise three-dimensional space information of the material surface; or the control module is specifically configured to obtain microwave point cloud information according to the microwave signal and the first working angle, analyze laser point cloud information according to the laser signal and the second working angle, perform parameter compensation or calibration on the microwave point cloud information by using the laser point cloud information, and calculate precise three-dimensional space information and precise material information of the material surface according to the microwave point cloud information after the parameter compensation or calibration.

5. The 3D scanning radar according to claim 1, wherein the 3D scanning radar further comprises a housing and a cover;

the shell is fixedly connected with the cover body and forms a closed space; the first measuring module, the second measuring module and the mechanical movement module are all arranged in the closed space;

preferably, the cover body is at least an infrared laser cover;

the cover is configured to be penetrated by the laser signal while being penetrated by the microwave signal;

preferably, the cover is at least hemispherical or more than hemispherical.

6. 3D scanning radar according to claim 1, characterized in that the mechanical movement module comprises a horizontal movement structure and/or a pitching movement structure, a measurement module being connected to the horizontal movement structure and/or the pitching movement structure such that the pitching movement structure, when performing a pitching mechanical movement and/or the horizontal movement structure, when performing a horizontal mechanical movement, brings the measurement module to perform a synchronized pitching mechanical movement and/or horizontal mechanical movement;

7. The 3D scanning radar according to claim 6, wherein the second measurement module is a single point lidar or a line scan lidar;

preferably, when the second measurement module is a single-point laser radar, the single-point laser radar is arranged on the horizontal movement structure and/or the pitching movement structure to realize movement in two dimension directions, and performs mechanical movement in two dimension directions in synchronization with the first measurement module;

preferably, when the second measurement module is a line scan lidar, the line scan lidar is disposed on the horizontal movement structure or the pitch movement structure to perform a mechanical movement in a certain dimension direction in synchronization with the first measurement module.

8. The 3D scanning radar according to claim 6, wherein the 3D scanning radar further comprises:

the driving module is connected with the horizontal movement structure and/or the pitching movement structure and is used for driving the horizontal movement structure and/or the pitching movement structure to execute mechanical movement in the horizontal and/or pitching directions;

preferably, the driving module comprises a synchronous belt, a motor, a first synchronous wheel, a second synchronous wheel, a bearing sleeve and a connecting shaft;

The motor is fixed on a first installation position of the mechanical movement module, and the first synchronous wheel is fixedly connected with a rotating shaft of the motor; the bearing sleeve is fixed on a second installation position of the mechanical movement module, and the bearing is installed in the bearing sleeve; the connecting shaft penetrates through the bearing and is fixedly connected with an inner ring of one side, away from the mechanical movement module, of the bearing through a fixing piece; the second synchronous wheel is fixedly connected with one side of the connecting shaft, which is far away from the fixing piece; the synchronous belt is arranged in the synchronous grooves of the first synchronous wheel and the second synchronous wheel so as to enable the first synchronous wheel and the second synchronous wheel to synchronously rotate;

preferably, the drive module comprises a horizontal drive unit and/or a pitch drive unit;

and/or the horizontal driving unit is connected with the horizontal movement structure to drive the horizontal movement structure to rotate in the horizontal direction, so as to at least drive the measuring module to execute synchronous follow-up horizontal mechanical movement;

Preferably, the control module is connected with the driving module, and is specifically configured to control the driving module to drive the mechanical motion module to perform mechanical motion in at least one dimension according to preset motion logic.

9. The 3D scanning radar according to claim 1, wherein the 3D scanning radar further comprises a human-machine interaction module;

10. The 3D scanning radar according to claim 5, wherein the first measuring module is installed at a central position of the enclosed space and the second measuring module is installed eccentrically within the enclosed space.