CN117930228A - Three-dimensional detection system with reliable power supply and communication - Google Patents

Abstract

The application discloses a three-dimensional detection system with reliable power supply and communication, which at least comprises a radar main body and a reliable power supply communication structure; the three-dimensional inspection system has a first communication link and a second communication link that are backup communication links to each other. The first communication interface, the first communication line, the second communication interface, the second communication line, the second plug-in end and the first plug-in end jointly form a dual communication link between the radar main body and the control module, the radar main body and the control module can simultaneously operate two identical or different network resources through the dual communication link, and the network resource utilization rate of the three-dimensional detection system is improved. In addition, in the application, the first communication link and the second communication link are fault standby communication links, and when the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure the reliable communication of the three-dimensional detection system, thereby improving the communication redundancy of the three-dimensional detection system.

Description

Three-dimensional detection system with reliable power supply and communication

Technical Field

The embodiment of the invention relates to the technical field of industrial measurement, in particular to a three-dimensional detection system with reliable power supply and communication.

Background

The three-dimensional measurement radar has the advantages of safety, high efficiency, environmental protection and the like, so that the three-dimensional measurement radar is widely popularized and applied in the process of scanning and monitoring materials in containers such as a storage bin, a storage tank and the like.

However, most of the networks between the existing three-dimensional measurement radar and the user side adopt a differential mode to transmit signals, and the network communication mode is difficult to be compatible with a plurality of network resources, so that the resource utilization rate is limited. Meanwhile, once the network connection is affected by the complex working condition on site and cannot work normally, the communication between the existing three-dimensional measuring radar and the user terminal is paralyzed, and the communication redundancy is low.

Disclosure of Invention

The embodiment of the invention provides a three-dimensional detection system with reliable power supply and communication, which is at least used for improving the network resource utilization rate of the three-dimensional detection system and improving the communication redundancy of the three-dimensional detection system.

The embodiment of the invention provides a three-dimensional detection system with reliable power supply and communication, which at least comprises a radar main body and a reliable power supply communication structure;

A first plug-in end is arranged on the bottom plate of the radar main body, a second plug-in end is arranged at one end of the reliable power supply communication structure, and the second plug-in end is configured to be matched with the first plug-in end;

The reliable power supply communication structure is at least wrapped with a power supply line bundle group, a first communication line and a second communication line; the other end of the reliable power supply communication structure is at least connected with the control module, and the port of the control module is at least provided with a power taking interface, a first communication interface and a second communication interface; the power supply line beam group is connected between the second plug-in end and the power taking interface and is used for providing electric energy for the radar main body; the first communication line is connected between the second plug-in end and the first communication interface and is at least used for forming a first communication link between the radar main body and the control module; the second communication line is connected between the second plug-in end and the second communication interface and is at least used for forming a second communication link between the radar main body and the control module; the first communication link and the second communication link are fault backup communication links.

Optionally, the first communication line and the second communication line are at least further configured to alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link is determined, and accordingly fault diagnosis of the communication line is implemented.

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

Each wire harness in the first twisted wire harness pair connected with the first communication interface is correspondingly connected with a first RJ45 crystal head according to a first wiring rule, and the first RJ45 crystal head is inserted into the first communication interface to realize communication.

Optionally, the second communication interface of the control module is at least an RJ45 network interface; the second communication line is a second double stranded wire bundle pair;

each wire harness in the second twisted pair connected with the second communication interface is correspondingly connected to a second RJ45 crystal head according to a second wiring rule, and the second RJ45 crystal head is inserted into the second communication interface to realize communication.

Optionally, the first wiring law is the same as or different from the second wiring law.

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

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

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

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

Optionally, the power supply wire bundle group at least includes a positive wire bundle group and a negative wire bundle group;

the positive wire beam group and the negative wire beam group jointly form a power supply loop of the radar main body;

The positive wire harness group at least comprises a first sub-wire harness and a second sub-wire harness, the first sub-wire harness and the second sub-wire harness are both connected between a positive terminal of the second plug-in end and a positive terminal of the power taking interface, and the first sub-wire harness and the second sub-wire harness are fault standby positive power supply wire harnesses;

The negative wire harness group at least comprises a third sub wire harness and a fourth sub wire harness, the third sub wire harness and the fourth sub wire harness are connected between the negative terminal of the second plug-in end and the negative terminal of the electricity taking interface, and the third sub wire harness and the fourth sub wire harness are fault standby negative power supply wire harnesses.

Optionally, the three-dimensional detection system further comprises a three-dimensional processing and presenting module, and the radar main body is at least used for detecting three-dimensional information of the medium surface, continuously, periodically or regularly acquiring distance information of a plurality of positions of the medium surface and generating detection data;

The three-dimensional processing and presenting module is at least obtained through the reliable power supply communication structure and generates current medium parameters, historical medium parameters, current three-dimensional morphology graphs of the medium surface and/or historical three-dimensional morphology graphs of the medium surface according to all detection data of one or more detection periods; and displaying the medium parameters and/or the three-dimensional morphology graph.

Optionally, the three-dimensional detection system further includes a three-dimensional processing and presenting module, where the radar main body is at least used for detecting three-dimensional information of a medium surface, continuously, periodically or periodically acquiring distance information of a plurality of positions of the medium surface, and generating a current medium parameter, a historical medium parameter, a current three-dimensional morphology map of the medium surface and/or a historical three-dimensional morphology map of the medium surface;

The three-dimensional processing and presenting module is at least used for obtaining and displaying the current medium parameter, the historical medium parameter, the current three-dimensional morphology graph of the medium surface and/or the historical three-dimensional morphology graph of the medium surface through the reliable power supply communication structure.

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

The cover body is fixedly connected with the bottom plate and forms a sealed space;

The scanning mechanism is arranged in the sealed space and is at least used for executing mechanical movement in at least one dimension, and generating and emitting scanning signals of multiple angles so as to perform multi-angle scanning on the medium surface in the container.

Optionally, before continuously, periodically or regularly acquiring distance information of a plurality of positions on the surface of the medium, the radar main body performs multi-point scanning on pose references in a preset angle range along a set direction so as to acquire and at least determine installation pose information of the radar main body according to the reference point cloud data in the corresponding preset angle range;

Wherein the mounting pose information at least includes one of a coordinate point of an accurate mounting point of the radar main body or a mounting angle deviation of the radar main body.

In summary, the first plug end is disposed on the bottom plate of the radar main body, and the second plug end is disposed at one end of the reliable power supply communication structure and configured to be matched with the first plug end; the reliable power supply communication structure is at least wrapped with a power supply line bundle group, a first communication line and a second communication line; the other end of the reliable power supply communication structure is at least connected with the control module, and the port of the control module is at least provided with a power taking interface, a first communication interface and a second communication interface; the power supply wire harness is connected between the second plug end and the power taking interface and is used for providing electric energy for the radar main body; the first communication line is connected between the second plug-in end and the first communication interface and is at least used for forming a first communication link between the radar main body and the control module; the second communication line is connected between the second plug-in end and the second communication interface and is at least used for forming a second communication link between the radar main body and the control module; the first communication link and the second communication link are fault backup communication links to each other.

Therefore, on one hand, the first communication interface, the first communication line, the second communication interface, the second communication line, the second plug-in end and the first plug-in end jointly form a dual communication link between the radar main body and the control module, and the radar main body and the control module can simultaneously operate two same or different network resources through the dual communication link, so that the network resource utilization rate of the three-dimensional detection system is improved. On the other hand, in the embodiment of the invention, the first communication link and the second communication link are mutually fault standby communication links, and when the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure the reliable communication of the three-dimensional detection system, so that the communication redundancy of the three-dimensional detection system is improved.

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 diagram of a three-dimensional detection system with reliable power and communication according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of another three-dimensional detection system with reliable power and communication according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of a multi-point scan of a radar body against an inner wall of a container according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of a multi-point scan of the inner wall of a container by another radar body according to an embodiment of the present invention;

FIG. 5 is a multi-point scanning profile of a radar body to an inner wall of a container according to an embodiment of the present invention;

Fig. 6 is a flowchart of a method for determining a coordinate point of an accurate mounting point by a radar body according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of transformation of a coordinate system according to an embodiment of the present invention;

Fig. 8 is a flowchart of another method for determining a coordinate point of a precise mounting point by a radar body according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of another coordinate system transformation provided by an embodiment of the present invention;

Fig. 10 is a flowchart of a method for determining an installation angle deviation of a radar body according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a graph surrounded by all point clouds formed by a radar main body under a non-vertical installation condition according to an embodiment of the present invention;

FIG. 12 is a multi-point scanning profile of a radar body to an inner wall of a container according to an embodiment of the present invention;

FIG. 13 is a multi-point scanning profile of a radar body to an inner wall of a container according to an embodiment of the present invention;

fig. 14 is a schematic diagram of a configuration of a positive wire harness set, a second positive terminal of a plug-in terminal, and a positive terminal of an electricity taking interface according to an embodiment of the present invention;

Fig. 15 is a schematic diagram of another configuration of a positive harness set, a second positive terminal of a plug-in terminal, and a positive terminal of an electrical interface according to an embodiment of the present invention;

FIG. 16 is a schematic diagram of a negative harness set, a second plug-in terminal and a power interface negative terminal according to an embodiment of the present invention;

fig. 17 is a schematic diagram of another configuration of a negative harness set, a second plug-in terminal and a power interface negative terminal 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.

Fig. 1 is a schematic structural diagram of a three-dimensional detection system with reliable power supply and communication according to an embodiment of the present invention. Referring to fig. 1, the three-dimensional detection system with reliable power supply and communication includes at least a radar main body 110 and a reliable power supply communication structure 120.

The bottom plate of the radar main body 110 is provided with a first plug end, and one end of the reliable power supply communication structure 120 is provided with a second plug end, and the second plug end is configured to be matched with the first plug end.

The reliable power supply communication structure 120 is at least wrapped with a power supply line bundle group, a first communication line and a second communication line; the other end of the reliable power supply communication structure 120 is at least connected with the control module 130, and the port of the control module is at least provided with a power taking interface, a first communication interface and a second communication interface; the power supply wire harness is connected between the second plug end and the power taking interface and is used for providing electric energy for the radar main body 110; the first communication line is connected between the second connection end and the first communication interface, and is at least used for forming a first communication link between the radar main body 110 and the control module 130; the second communication line is connected between the second socket terminal and the second communication interface, and is at least used for forming a second communication link between the radar main body 110 and the control module 130; the first communication link and the second communication link are fault backup communication links to each other.

The radar main body 110 may be at least 3D scanning radar or 3D multi-point radar, and the type of the receiving and transmitting signal of the radar main body 110 may be microwave, laser or composite signal. In addition, the second plug end and the first plug end may be any two ends of the connector capable of being connected to each other, such as a male end and a female end of an aviation plug connector.

Illustratively, the control module 130 may include a power supply, a wireless signal transmission device (e.g., a wireless gateway, a wireless router, etc.), a wired signal transmission device (e.g., a switch), an electric cabinet, a central control room, etc. at the site where the three-dimensional detection system is located.

In one embodiment, the control module 130 may include a power source, a host, a server, etc., the power access interface of the control module 130 may be connected to the power source, and the first communication interface and the second communication interface may be connected to the host and/or the server of the control module 130. In this way, the power supply can provide the electric energy required by the normal operation for the radar main body 110 through the power-taking interface, the power supply line bundle group, the second plug-in terminal and the first plug-in terminal in sequence; the host and/or the server can establish communication connection with the radar main body 110 through the first communication interface, the first communication line, the second plug end and the first plug end in sequence, namely, a first communication link between the radar main body 110 and the control module 130 is formed; similarly, the host and/or the server can also establish communication connection with the radar main body 110 through the second communication interface, the second communication line, the second plug end and the first plug end in sequence, so as to further form a second communication link between the radar main body 110 and the control module 130. As set forth in the above, the radar body 110 and the control module 130 can simultaneously operate two identical or different network resources through the first communication link and the second communication link.

The first communication link and the second communication link being fault standby communication links may mean that when the first communication link can normally maintain communication between the radar main body 110 and the control module 130, the second communication link does not work, and once the first communication link is blocked by factors such as field external force, communication link components, etc., the second communication link may replace the first communication link to continuously maintain normal communication between the radar main body 110 and the control module 130; in contrast, when the second communication link can normally maintain the communication between the radar main body 110 and the control module 130, the first communication link may not work, and if the second communication link generates a communication blocking condition, the first communication link may replace the second communication link to continuously maintain the normal communication between the radar main body 110 and the control module 130.

In view of this, on the one hand, the first communication interface and the first communication line, the second communication interface and the second communication line, the second connection end and the first connection end in the embodiment of the present invention together form a dual communication link between the radar main body and the control module, and the radar main body and the control module can simultaneously operate two identical or different network resources through the dual communication link, so as to improve the network resource utilization rate of the three-dimensional detection system. On the other hand, in the embodiment of the invention, the first communication link and the second communication link are mutually fault standby communication links, and when the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure the reliable communication of the three-dimensional detection system, so that the communication redundancy of the three-dimensional detection system is improved.

In another embodiment, optionally, the first communication line and the second communication line are at least further used for alternately performing communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link is determined, and accordingly, fault diagnosis of the communication line is achieved.

The first communication line and the second communication line may perform communication transmission alternately, for example, the first communication line performs communication transmission for 1s and then terminates data transmission, the second communication line performs communication transmission for 1s and then terminates data transmission, and so on.

Of course, the first communication line and the second communication line may alternately perform communication transmission irregularly, for example, the first communication line performs communication transmission for 1s and then terminates data transmission, the second communication line performs communication transmission for 1.5s and then terminates data transmission, the first communication line performs communication transmission for 0.8s and then terminates data transmission, and the second communication line performs communication transmission for 2.1 s.

It is understood that the alternating communication of the first communication line and the second communication line means that the alternating communication of the first communication link and the second communication link is performed. When the first communication link or the second communication link fails at a certain moment, the radar main body may not send out data, the control module may not receive the data (or the control module may not send out a control instruction, the radar main body may not receive the control instruction), so that the failure condition of the communication link can be distinguished, the failure diagnosis of the communication line (i.e. the failure of the first communication line or the failure of the second communication line) can be correspondingly realized, and the user can be warned of timely overhauling the three-dimensional detection system in a sound, light, failure information display mode and the like, thereby being beneficial to improving the reliability of the three-dimensional detection system and the use experience of the user. If the control module is a wireless gateway, the fault condition of the communication link can be determined through a communication configuration interface of the wireless gateway; if the control module is a switch, the fault condition of the communication link can be judged through the indicator light of the switch.

On the basis of the above embodiments, the following describes the configuration modes of the communication interfaces and the corresponding communication lines, which is not a limitation of the embodiments of the present invention.

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

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

Optionally, the first wiring law and the second wiring law are the same or different.

Specifically, for example, four wire bundles connected to the first communication interface in the first communication line may be correspondingly connected to slots 1,2, 3, and 6 of the first RJ45 crystal head, and four wire bundles connected to the second communication interface in the second communication line may be correspondingly connected to slots 1,2, 3, and 6 of the second RJ45 crystal head; or four wire harnesses in the first communication line and connected with the first communication interface can be correspondingly connected into the 4,5, 7 and 8 slots of the first RJ45 crystal head, and four wire harnesses in the second communication line and connected with the second communication interface can be correspondingly connected into the 4,5, 7 and 8 slots of the second RJ45 crystal head; or four wire harnesses in the first communication line and connected with the first communication interface can be correspondingly connected into the slots 4,5, 7 and 8 of the first RJ45 crystal head, and four wire harnesses in the second communication line and connected with the second communication interface can be correspondingly connected into the slots 1,2, 3 and 6 of the second RJ45 crystal head; or four wire harnesses in the first communication line and connected with the first communication interface can be correspondingly connected into the slots 1,2, 3 and 6 of the first RJ45 crystal head, and four wire harnesses in the second communication line and connected with the second communication interface can be correspondingly connected into the slots 4,5, 7 and 8 of the second RJ45 crystal head.

The implementation manner of the RJ45 crystal head and the RJ45 network port is removed, and the communication interface, the communication line and the connector for connecting the communication interface and one end of the communication line can be adaptively changed based on the requirement of any communication form so as to meet the diversified communication requirement of the three-dimensional detection system. In another specific embodiment, optionally, the first communication interface of the control module is at least an optical port, and the first communication line is an optical fiber; the second communication interface of the control module is at least an optical port, and the second communication line is an optical fiber; the first communication line is connected to a first optical fiber connector, and the first optical fiber connector is inserted into the first communication interface to realize communication; the second communication line is connected to the second optical fiber connector, and the second optical fiber connector is inserted into the second communication interface to realize communication. In another specific embodiment, the first communication interface of the control module is at least an RS485 interface, and the first communication line is a shielded twisted pair cable or a shielded twin-core cable; the second communication interface of the control module is at least an RS485 interface, and the second communication line is a shielding twisted pair cable or a shielding double-core cable, and is not described again.

In summary, in the embodiment of the invention, the first communication interface, the first communication line, the second communication interface, the second communication line, the second connection end and the first connection end form a dual communication link between the radar main body and the control module, and the radar main body and the control module can simultaneously operate two same or different network resources through the dual communication link, so that the network resource utilization rate of the three-dimensional detection system is improved. Meanwhile, in the embodiment of the invention, the first communication link and the second communication link are mutually fault standby communication links, and when the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure the reliable communication of the three-dimensional detection system, so that the communication redundancy of the three-dimensional detection system is improved. In addition, in the embodiment of the invention, the first communication link and the second communication link can alternately execute communication transmission, so that when the first communication link or the second communication link fails, the failure condition of the communication link is effectively distinguished, the failure diagnosis of the communication line can be correspondingly realized, and the reliability of the three-dimensional detection system is improved.

The above embodiments are based on the following description of the arrangement of the power supply line bundle group, the second plug-in terminal and the power taking interface, and the embodiments of the present invention are not limited thereto.

Optionally, the power supply wire harness group at least includes a positive wire harness group and a negative wire harness group;

The positive wire harness group and the negative wire harness group jointly form a power supply loop of the radar main body;

The positive wire harness group at least comprises a first sub-wire harness and a second sub-wire harness, the first sub-wire harness and the second sub-wire harness are both connected between a positive terminal of the second plug-in end and a positive terminal of the electricity taking interface, and the first sub-wire harness and the second sub-wire harness are fault standby positive power supply wire harnesses;

The negative wire harness group at least comprises a third sub wire harness and a fourth sub wire harness, the third sub wire harness and the fourth sub wire harness are both connected between the negative terminal of the second plug-in end and the negative terminal of the electricity taking interface, and the third sub wire harness and the fourth sub wire harness are fault standby negative power supply wire harnesses.

The number of the positive terminal of the second plug-in end, the positive terminal of the power taking interface, the negative terminal of the second plug-in end and the negative terminal of the power taking interface can be one or more. Fig. 14 is a schematic diagram of a positive wire harness set, a second positive plug terminal, and a positive terminal of an electrical power taking interface according to an embodiment of the present invention, fig. 15 is a schematic diagram of another positive wire harness set, a second positive plug terminal, and a positive terminal of an electrical power taking interface according to an embodiment of the present invention, fig. 16 is a schematic diagram of a negative wire harness set, a negative plug terminal, and a negative terminal of an electrical power taking interface according to an embodiment of the present invention, and fig. 17 is a schematic diagram of another negative wire harness set, a negative terminal of a second plug terminal, and a negative terminal of an electrical power taking interface according to an embodiment of the present invention.

Referring to fig. 14, the sub-harness R and the sub-harness S are connected in parallel between the second plug-end positive terminal P and the power take-off interface positive terminal Q. Since the sub-harness R and the sub-harness S are connected in parallel between the positive terminal P of the second plug-in terminal and the positive terminal Q of the power take-off interface, when the sub-harness R (or the sub-harness S) is damaged (e.g., broken) by an external force on site, a sub-harness assembly, or the like, the sub-harness S (or the sub-harness R) can be used to constitute a power supply circuit of the radar main body, i.e., the sub-harness R and the sub-harness S are a faulty standby positive power supply harness to each other.

Referring to fig. 15, a sub-harness R1 is connected between a second plug-in positive terminal P1 and a power take-off interface positive terminal Q1, a sub-harness S1 is connected between a second plug-in positive terminal P2 and a power take-off interface positive terminal Q2, and the sub-harness R1 and the sub-harness S1 are mutually fault standby positive power supply harnesses.

Referring to fig. 16, the sub-harness R2 and the sub-harness S2 are connected in parallel between the second plug-in terminal P3 and the power take-off interface negative terminal Q3, and the sub-harness T2 is connected between the second plug-in terminal P4 and the power take-off interface negative terminal Q4. Similarly, since the sub-harness R2 and the sub-harness S2 are connected in parallel between the negative terminal P3 of the second plug-in terminal and the negative terminal Q3 of the power taking interface, and the sub-harness T2 is connected between the second plug-in terminal P4 and the power taking negative terminal Q4, when any one or both of the above-mentioned sub-harnesses are damaged (e.g., broken) by an external force on site, a sub-harness assembly, or the like, the remaining two or one sub-harness can be used to constitute a power supply circuit of the radar main body, i.e., the sub-harness R2, the sub-harness S2, and the sub-harness T2 are mutually fault standby negative power supply harnesses.

Referring to fig. 17, the sub-harness R3 and the sub-harness S3 are connected in parallel between the second plug-in terminal P5 and the power take-off interface negative terminal Q5, the sub-harness T3 and the sub-harness U3 are connected in parallel between the second plug-in terminal P6 and the power take-off interface negative terminal Q6, and the sub-harness R3, the sub-harness S3, the sub-harness T3 and the sub-harness U3 are fault standby negative power supply harnesses to each other.

In summary, the embodiment of the invention forms the dual communication link between the radar main body and the control module through the first communication interface and the first communication line, the second communication interface and the second communication line, the second plug-in end and the first plug-in end, and the radar main body and the control module can simultaneously operate two same or different network resources through the dual communication link, so that the network resource utilization rate of the three-dimensional detection system is improved. Meanwhile, in the embodiment of the invention, the first communication link and the second communication link are mutually fault standby communication links, and when the first communication link (or the second communication link) is blocked, the second communication link (or the first communication link) can ensure the reliable communication of the three-dimensional detection system, so that the communication redundancy of the three-dimensional detection system is improved. In addition, in the embodiment of the invention, the first communication link and the second communication link can alternately execute communication transmission, so that the fault condition of the communication link is effectively judged when the first communication link or the second communication link is in fault, the fault diagnosis of the communication line is realized, and the reliability of the three-dimensional detection system is improved. In addition, by arranging the fault standby positive and negative power supply wire harnesses, the power supply loop of the radar main body can work normally as long as any one of the wire harness groups is kept intact, so that the power supply redundancy of the three-dimensional detection system is effectively improved, and the reliable power supply of the three-dimensional detection system is guaranteed.

On the basis of the above embodiment, in some field application scenarios (for example, monitoring process of material level in a storage tank or a storage bin in an industrial field), the radar main body and the control module (for example, an exchange) may not have data processing capability, and the monitored data obtained by the radar main body needs to execute corresponding data processing steps to convert and output information such as parameters or images required by a user.

Based on this, fig. 2 is a schematic structural diagram of another three-dimensional detection system with reliable power supply and communication according to an embodiment of the present invention. Referring to fig. 2, optionally, the three-dimensional detection system further includes a three-dimensional processing and presenting module 140, where the radar body 110 is at least configured to detect three-dimensional information of the surface of the medium, continuously, periodically or periodically acquire distance information of a plurality of positions of the surface of the medium, and generate detection data; the three-dimensional processing and rendering module 140 generates a current media parameter, a historical media parameter, a current three-dimensional morphology of the media surface, and/or a historical three-dimensional morphology of the media surface based on all detection data of one or more detection periods and obtained at least through the reliable power communication structure 120; and displaying the medium parameters and/or the three-dimensional morphological map.

With continued reference to fig. 2, in another embodiment, radar body 110 may be involved in both acquisition of detection data and a partial processing flow of the detection data. Optionally, the three-dimensional detection system further includes a three-dimensional processing and presenting module 140, where the radar main body 110 is at least configured to detect a three-dimensional shape of the medium surface, continuously, periodically or periodically acquire distance information of a plurality of positions on the medium surface, and generate a current medium parameter, a historical medium parameter, a current three-dimensional shape map of the medium surface, and/or a historical three-dimensional shape map of the medium surface; the three-dimensional processing and presenting module 140 is at least configured to obtain and display, via the reliable power communication structure 120, a current media parameter, a historical media parameter, a current three-dimensional morphology of the media surface, and/or a historical three-dimensional morphology of the media surface.

The distance information of the plurality of positions on the medium surface may be, for example, information obtained by the radar body 110 according to a time-of-flight principle, which can characterize the distance between the radar body and the plurality of positions on the medium surface. The detection data may be specifically point cloud data, distance data, AD sampling data, FFT data, or the like. It is known that the current medium parameter may be, for example, the current medium volume, the current medium mass, the current medium maximum level, the current medium minimum level, the current medium average level, etc. Suitably, the historic medium parameter may be, for example, a historic medium volume, a historic medium mass, a historic medium maximum level, a historic medium minimum level, a historic medium average level, etc.

Optionally, in addition to the above embodiments, the radar body includes a cover and a scanning mechanism; the cover body is fixedly connected with the bottom plate and forms a sealed space; and the scanning mechanism is arranged in the sealed space and is at least used for executing mechanical movement in at least one dimension, generating and emitting scanning signals of multiple angles so as to perform multi-angle scanning on the medium surface in the container.

The base plate can be made of metal, plastic, ceramic or glass, and the cover body can be fixedly connected with the base plate through jackscrews. In addition, the cover may be made of various materials, for example, when the radar main body is a 3D microwave scanning radar, the cover may be made of a wave-transparent material, such as plastic, ceramic, glass, etc.; when the radar body is a 3D laser scanning radar, the cover may be made of a material that is transparent to laser light, such as glass, polymethyl methacrylate (poly METHYL METHACRYLATE, PMMA) plate, and the like.

It is known that the scanning mechanism may, but is not limited to, be composed of a mechanical motion unit and at least one signal sensor, where the signal sensor may be fixed on the mechanical motion unit, and the mechanical motion unit adaptively drives the signal sensor to move during the mechanical motion in at least one dimension (e.g., horizontal, vertical, pitch, etc.), so as to change the direction in which the signal sensor emits the scanning signal. Thus, the scanning mechanism can generate and emit scanning signals with multiple angles so as to scan the medium surface in the container at multiple angles.

On the basis of the embodiment, the embodiment of the invention also relates to a confirmation flow of the radar main body mounting pose information on the container. Optionally, before continuously, periodically or regularly acquiring distance information of a plurality of positions on the surface of the medium, the radar main body performs multi-point scanning on pose references in a preset angle range along a set direction so as to acquire and at least determine mounting pose information of the radar main body according to the reference point cloud data in the corresponding preset angle range;

Wherein the mounting pose information at least comprises one of a coordinate point of an accurate mounting point of the radar main body or a mounting angle deviation of the radar main body.

According to different measurement principles of the radar main body, the reference point cloud data can be specifically microwave point cloud data, laser point cloud data and the like.

The mounting position of the radar body may be any position of the container, for example, may be a top position of the container. The container may be a tank and a silo capable of carrying the medium, or other similar instruments or components, such as a reaction tank, a storage silo, etc. in a production facility. The state of the medium can be solid state, solid-liquid viscous mixed state and the like. The pose reference may be, for example, the inner wall of a container.

In some embodiments, the radar body may perform a multi-point scan of the inner wall of the container in a variety of ways. Fig. 3 is a multi-point scanning profile of a radar body on an inner wall of a container according to an embodiment of the present invention, fig. 4 is a multi-point scanning profile of another radar body on an inner wall of a container according to an embodiment of the present invention, fig. 5 is a multi-point scanning profile of another radar body on an inner wall of a container according to an embodiment of the present invention, fig. 12 is a multi-point scanning profile of another radar body on an inner wall of a container according to an embodiment of the present invention, and fig. 13 is a multi-point scanning profile of another radar body on an inner wall of a container according to an embodiment of the present invention. Specifically, in fig. 3, the container 20 has a cylindrical shape, a clockwise direction, a preset angle range of 360 ° and an elliptical scanning profile; in fig. 4, the container 20 has a rectangular parallelepiped shape, a counterclockwise direction, a 360 ° preset angle range, and a rectangular scan profile; the container 20 in fig. 5 has a cylindrical shape, the set direction is clockwise, and the scan profile includes three portions, each of which corresponds to an angular range of 60 ° (i.e., angle α, angle β, and angle γ shown in fig. 4); in fig. 12, the container 20 has a cylindrical shape, a clockwise direction, a preset angle range of 360 ° and a circular cross section of the scanning profile; in fig. 13, the container 20 has a cylindrical shape, a clockwise direction, a 360 ° preset angle range, and a circular scan profile.

It can be understood that when the container is relatively standard in appearance (such as a cylindrical container shown in fig. 3 or a cuboid container shown in fig. 4), the radar main body may also only scan a partial range of the container (the range may be adaptively selected according to the container appearance, for example, 1/4, 1/2, etc. of the container), so as to obtain point cloud data of the inner wall of the whole container through axisymmetric or centrosymmetric modes, and finally determine at least mounting pose information of the radar main body according to the point cloud data. Of course, in other embodiments, the container may be irregularly shaped, or the setting direction may be irregularly varied, or the scan profile may include multiple portions, and the angular ranges corresponding to the scan profile of each portion may be identical, not identical, or not identical.

In summary, before continuously, periodically or periodically acquiring distance information of a plurality of positions on a medium surface, the embodiment of the application performs multi-point scanning on a dimensional reference object within a preset angle range along a set direction by using a radar main body to acquire and determine at least mounting pose information of the radar main body according to reference point cloud data corresponding to the preset angle range (i.e., the radar main body can determine at least one of coordinate points of accurate mounting points of the radar main body or mounting angle deviation of the radar main body). According to the method, on one hand, under the working condition that shielding equipment exists at the top of the on-site container, manual measurement is not needed, and coordinate points of accurate mounting points of the radar main body are directly confirmed by the radar main body, so that the technical problems that the existing method for manually measuring distances between the center of the container or each side of the container and the three-dimensional scanning radar through the on-site measurement to obtain the mounting coordinate points of the radar main body is high in execution difficulty and large in manual measurement error, and therefore the mounting coordinate points are inaccurate, the three-dimensional coordinates of media converted by the radar main body are inaccurate, the detection accuracy of the radar main body is poor and the like are effectively solved. On the other hand, even if the radar main body is influenced by obstacles such as a person ladder or a pipeline, uneven mounting surfaces of a container and the like existing at or around the mounting position of the radar main body, and a certain angle deviation exists when the mounting of the radar main body is not vertical downwards, the radar main body can self-confirm the mounting angle deviation of the radar main body, and the radar main body can be beneficial to improving the three-dimensional coordinate precision of a medium converted by the radar main body and the detection precision of the radar main body.

It should be noted that fig. 3-5, 12, and 13 each illustrate the radar main body 110 mounted on the top of the container 20, and are not meant to limit the embodiments of the present invention.

It should be noted that, the specific method for determining the coordinate point of the accurate installation point of the radar main body may be various, and the specific description is given below, but not as a limitation to the embodiment of the present invention.

In one embodiment, fig. 6 is a flowchart of a method for determining a coordinate point of a precise mounting point for a radar body according to an embodiment of the present invention. Referring to fig. 6, alternatively, the radar main body determines a coordinate point of an accurate mounting point of itself by:

S610, setting a preset plane.

The preset plane may be an actual installation surface of the radar main body, or a plane parallel to the actual installation surface or at a known angle; meanwhile, the preset plane can be horizontal or non-horizontal. In practice, the radar body will in most cases be mounted in the top position of the container, so that the predetermined plane may generally be preferably arranged as the roof of the container.

Optionally, the relationship between the preset plane and the actual mounting surface of the radar body at least includes that the preset plane is one of the actual mounting surface of the radar body, the preset plane is parallel to the actual mounting surface of the radar body, and the preset plane and the actual mounting surface of the radar body form a known angle.

S620, the radar main body takes the accurate mounting point as an origin, takes the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on a preset plane so as to obtain projection coordinates of all point cloud data under the initial two-dimensional coordinate system.

The selection of the preset direction can be multiple.

In one embodiment, optionally, the preset direction is an installation direction of the radar body. In order to clarify the installation direction of the radar body, a direction indicator may be provided on the radar body, and the direction indicator may point to the initial scanning direction of the radar body, or may point to a direction of a straight line where the long side or the wide side of the rectangular parallelepiped container is located as shown in fig. 3, or the like.

In another embodiment, optionally, the radar body has an azimuth measuring function, and the preset direction is an azimuth direction measured by the radar body. The radar main body having the azimuth measuring function may mean that the radar main body can measure the azimuth of east, west, south, north, etc., and the preset direction may be, for example, the right-south direction.

S630, the radar main body determines the center coordinates of the preset plane center point under the initial two-dimensional coordinate system according to all the projection coordinates.

The preset plane center point may refer to a geometric center point of the preset plane, and the center coordinate is a coordinate of the geometric center point under an initial two-dimensional coordinate system.

S640, the radar main body determines the relative position of the accurate mounting point and the central point of the preset plane according to the central coordinate and the origin.

S650, analyzing coordinate points of accurate mounting points of the radar main body according to the relation between the preset plane and the plane where the radar main body is mounted.

On the basis of fig. 4, fig. 7 is a schematic diagram of transformation of a coordinate system provided by the embodiment of the present invention, referring to fig. 4 and fig. 7, the radar main body uses an accurate mounting point O 'as an origin, one direction of a straight line where a long side of the rectangular container is located is taken as a positive direction of an initial x coordinate axis, one direction of a straight line where a wide side of the rectangular container is located is taken as a positive direction of an initial y coordinate axis, and an initial two-dimensional coordinate system xO' y is established on a plane where a top of the container is located (i.e., a preset plane). After the radar main body performs multipoint scanning on the inner wall of the container within the preset angle range along the set direction, the point cloud data formed by the radar main body scanning forms a scanning profile B (it can be understood that when the point cloud data is enough, the scanning profile is not linear but is in a strip shape, as shown in fig. 12), and at this time, all the point cloud data is projected to an initial two-dimensional coordinate system xO 'y, so as to form a projection profile B'. According to all projection coordinates surrounding the projection profile B ', the radar main body can determine the coordinates of the preset plane center point O (i.e., the geometric center point of the projection profile B ') in the initial two-dimensional coordinate system xO ' y. In this way, under the initial two-dimensional coordinate system xO 'y, the coordinates of the accurate mounting point O' and the coordinates of the preset plane center point O are known, and the radar main body can determine the relative position of the accurate mounting point O 'and the preset plane center point O, for example, the distance between the accurate mounting point O' and the preset plane center point O can be determined based on the two-point distance calculation formula under the same coordinate system.

In another embodiment, fig. 8 is a flowchart of another method for determining a coordinate point of a precise mounting point by a radar body according to an embodiment of the present invention. Referring to fig. 8, alternatively, the radar body determines a coordinate point of an accurate mounting point of the radar body by:

S810, setting a preset plane.

S820, the radar main body takes the accurate mounting point as a first origin, takes the preset direction as the positive direction of the initial x or y coordinate axis, and establishes an initial two-dimensional coordinate system on a preset plane so as to obtain projection coordinates of all point cloud data under the initial two-dimensional coordinate system.

S830, the radar main body determines the center coordinate of the preset plane center point under the initial two-dimensional coordinate system according to all the projection coordinates.

S840, the radar main body takes the center point of the preset plane as a second origin, takes the preset direction as the positive direction of the standard x or y coordinate axis, establishes a standard two-dimensional coordinate system on the preset plane, and converts the coordinate of the accurate mounting point and all projection coordinates into the standard two-dimensional coordinate system, so as to determine the relative position of the accurate mounting point and the center point of the preset plane according to the coordinate of the accurate mounting point in the standard two-dimensional coordinate system and the second origin coordinate.

Wherein the standard two-dimensional coordinate system is configured at least for a measurement process of the radar body with respect to the three-dimensional topography of the surface of the medium in the container.

S850, analyzing coordinate points of accurate mounting points of the radar main body according to the relation between the preset plane and the plane where the radar main body is mounted.

On the basis of fig. 4, fig. 9 is a schematic diagram of another coordinate system transformation provided by the embodiment of the present invention, referring to fig. 4 and fig. 9, the radar body uses an accurate mounting point O 'as a first origin, uses one direction of a straight line where a long side of the rectangular container is located as a positive direction of an initial x-axis, uses one direction of a straight line where a wide side of the rectangular container is located as a positive direction of an initial y-axis, and establishes an initial two-dimensional coordinate system xO' y on a plane where a top of the container is located. After the radar main body performs multipoint scanning on the inner wall of the container within a preset angle range along a set direction, point cloud data formed by the radar main body scanning form a scanning contour B, and at the moment, all the point cloud data are projected to an initial two-dimensional coordinate system xO 'y, namely a projection contour B' is formed. According to all projection coordinates surrounding the projection profile B ', the radar main body can determine the coordinates of the preset plane center point O (i.e., the geometric center point of the projection profile B ') in the initial two-dimensional coordinate system xO ' y. Based on this, the radar main body re-uses the preset plane center point O as the second origin, uses one direction of the straight line where the long side of the rectangular container is located as the positive direction of the standard x coordinate axis (i.e., the x 'axis in fig. 9), uses one direction of the straight line where the wide side of the rectangular container is located as the positive direction of the standard y coordinate axis (i.e., the y' axis in fig. 9), establishes a standard two-dimensional coordinate system x 'Oy' on the plane where the top of the container is located, and converts the coordinates of the accurate mounting point O 'and all projection coordinates to the standard two-dimensional coordinate system x' Oy 'so as to determine the relative position of the accurate mounting point O' and the preset plane center point O according to the coordinates of the accurate mounting point O 'in the standard two-dimensional coordinate system x' Oy 'and the second origin coordinates, for example, the distance between the accurate mounting point O' and the preset plane center point O can be determined based on the two-point distance calculation formula under the same coordinate system.

On the basis of the above-described embodiments, a method of determining the mounting angle deviation of the radar main body will be specifically described below, but is not limiting to the embodiments of the present invention.

Fig. 10 is a flowchart of a method for determining an installation angle deviation of a radar body according to an embodiment of the present invention. Referring to fig. 10, alternatively, the radar body determines the mounting angle deviation of the radar body by:

s1010, determining the main axis direction of a graph surrounded by the point cloud by the radar main body based on all the point cloud data, and analyzing the deflection angle of the radar main body on a preset plane according to the difference between the main axis direction and the preset direction.

S1020, acquiring a deflection angle of the radar main body relative to a preset plane according to the distribution condition of the point cloud data in the container and the projection length of the graph surrounded by the point cloud in the main axis direction.

S1030, determining the azimuth angle between the radar main body and the preset plane according to the deflection angle of the radar main body on the preset plane and the deflection angle of the radar main body relative to the preset plane.

S1040, analyzing the mounting angle deviation of the radar main body according to the relation between the preset plane and the actual mounting surface of the radar main body.

Taking a cylindrical container as an example, fig. 11 is a schematic diagram of a graph surrounded by all point clouds formed by a radar main body under a non-vertical installation working condition, referring to fig. 3 and fig. 11, when the container is cylindrical and the radar main body is installed non-vertically, the graph M surrounded by all point clouds is an ellipse, and the point clouds on the inner walls of two sides of the container are respectively gathered to form an area M1 and an area M2. Based on the pattern M, the direction of its principal axis (i.e. the direction x″ of the major axis of the ellipse; and correspondingly the direction of the minor axis of the pattern M) can be determined, and the difference between the principal axis direction and the preset direction can directly reflect the angle of deflection of the radar body on the preset plane of the container. Meanwhile, the projection lengths of the region M1 and the region M2 in the main axis direction (e.g., l in fig. 11, l may be obtained from a point cloud) are related to the range (e.g., h in fig. 11, h is known) in which the radar main body performs a multipoint scan on the inner wall of the container, and the projection length is longer as the multipoint scan range is larger. According to the pythagoras theorem, l/h=sin θ, since l and h are both known, θ can be found, i.e., the deflection angle of the radar body relative to the preset plane can be found. According to the deflection angle of the radar main body on the preset plane and the deflection angle of the radar main body compared with the preset plane, the azimuth angle between the radar main body and the preset plane can be determined.

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 (10)

1. The three-dimensional detection system with reliable power supply and communication is characterized by at least comprising a radar main body and a reliable power supply communication structure;

A first plug-in end is arranged on the bottom plate of the radar main body, a second plug-in end is arranged at one end of the reliable power supply communication structure, and the second plug-in end is configured to be matched with the first plug-in end;

The reliable power supply communication structure is at least wrapped with a power supply line bundle group, a first communication line and a second communication line; the other end of the reliable power supply communication structure is at least connected with the control module, and the port of the control module is at least provided with a power taking interface, a first communication interface and a second communication interface; the power supply line beam group is connected between the second plug-in end and the power taking interface and is used for providing electric energy for the radar main body; the first communication line is connected between the second plug-in end and the first communication interface and is at least used for forming a first communication link between the radar main body and the control module; the second communication line is connected between the second plug-in end and the second communication interface and is at least used for forming a second communication link between the radar main body and the control module; the first communication link and the second communication link are fault backup communication links.

2. The three-dimensional inspection system according to claim 1, wherein the first communication line and the second communication line are at least further configured to alternately perform communication transmission, so that when the first communication link or the second communication link fails, the fault condition of the communication link is determined, and accordingly, fault diagnosis of the communication line is implemented.

3. The three-dimensional inspection system of claim 1, wherein the first communication interface of the control module is at least an RJ45 portal, and the first communication line is a first twisted pair of wires; each wire harness in the first twisted wire harness pair connected with the first communication interface is correspondingly connected with a first RJ45 crystal head according to a first wiring rule, and the first RJ45 crystal head is inserted into the first communication interface to realize communication.

4. The three-dimensional inspection system of claim 1, wherein the second communication interface of the control module is at least an RJ45 portal; the second communication line is a second double stranded wire bundle pair;

each wire harness in the second twisted pair connected with the second communication interface is correspondingly connected to a second RJ45 crystal head according to a second wiring rule, and the second RJ45 crystal head is inserted into the second communication interface to realize communication.

5. The three-dimensional inspection system of claim 3 or 4, wherein the first wiring law is the same as or different from the second wiring law.

6. The three-dimensional inspection system of claim 1, wherein the first communication interface of the control module is at least an optical port and the first communication line is an optical fiber;

preferably, or the second communication interface of the control module is at least an optical port, and the second communication line is an optical fiber;

preferably, or the first communication interface of the control module is at least an RS485 interface, and the first communication line is a shielded twisted pair cable or a shielded twin-core cable;

preferably, or the second communication interface of the control module is at least an RS485 interface, and the second communication line is a shielded twisted pair cable or a shielded twin-core cable.

7. The three-dimensional inspection system of claim 1, wherein the power supply wire harness comprises at least a positive harness and a negative harness;

the positive wire beam group and the negative wire beam group jointly form a power supply loop of the radar main body;

The positive wire harness group at least comprises a first sub-wire harness and a second sub-wire harness, the first sub-wire harness and the second sub-wire harness are both connected between a positive terminal of the second plug-in end and a positive terminal of the power taking interface, and the first sub-wire harness and the second sub-wire harness are fault standby positive power supply wire harnesses;

The negative wire harness group at least comprises a third sub wire harness and a fourth sub wire harness, the third sub wire harness and the fourth sub wire harness are connected between the negative terminal of the second plug-in end and the negative terminal of the electricity taking interface, and the third sub wire harness and the fourth sub wire harness are fault standby negative power supply wire harnesses.

8. The three-dimensional inspection system of claim 1, further comprising a three-dimensional processing and presentation module, wherein the radar body is configured to at least detect three-dimensional information of a surface of a medium, continuously, periodically, or periodically acquire distance information of a plurality of locations of the surface of the medium, and generate inspection data; the three-dimensional processing and presenting module is at least obtained through the reliable power supply communication structure and generates current medium parameters, historical medium parameters, current three-dimensional morphology graphs of the medium surface and/or historical three-dimensional morphology graphs of the medium surface according to all detection data of one or more detection periods; and displaying the medium parameters and/or the three-dimensional morphology graph.

9. The three-dimensional detection system according to claim 1, further comprising a three-dimensional processing and presenting module, wherein the radar body is configured to detect at least three-dimensional information of a medium surface, continuously, periodically or periodically acquire distance information of a plurality of positions of the medium surface, and generate a current medium parameter, a historical medium parameter, a current three-dimensional morphology map of the medium surface and/or a historical three-dimensional morphology map of the medium surface;

The three-dimensional processing and presenting module is at least used for obtaining and displaying the current medium parameters, the historical medium parameters, the current three-dimensional morphology graph of the medium surface and/or the historical three-dimensional morphology graph of the medium surface through the reliable power supply communication structure;

Preferably, the radar body includes a cover and a scanning mechanism;

The cover body is fixedly connected with the bottom plate and forms a sealed space;

The scanning mechanism is arranged in the sealed space and is at least used for executing mechanical movement in at least one dimension, and generating and emitting scanning signals of multiple angles so as to perform multi-angle scanning on the medium surface in the container.

10. The three-dimensional inspection system according to claim 1, wherein before continuously, periodically or periodically acquiring distance information of a plurality of positions on a medium surface, the radar main body performs multi-point scanning on pose references within a preset angle range along a set direction so as to acquire and at least determine installation pose information of the radar main body according to reference point cloud data corresponding to the preset angle range;

Wherein the mounting pose information at least includes one of a coordinate point of an accurate mounting point of the radar main body or a mounting angle deviation of the radar main body.