Method and device for measuring liquid level in a container

Abstract

The present disclosure relates to a method and a device for measuring the liquid level in a container, and pertains to the field of container measuring devices. The method is used for a measuring device which is installed on the outer surface of the container, and the measuring device includes a distance sensor and an acceleration sensor. The method includes: obtaining a first distance from the top of the container measured by the distance sensor to the liquid level surface to be measured; obtaining acceleration vector data of the container at the current moment measured by the acceleration sensor; correcting the first distance according to the acceleration vector data to obtain distance information of the liquid level in the container. The present disclosure can accurately measure the liquid level information in an IBC barrel container without damaging or invading the container.

Description

Technical Field

[0001] The present disclosure relates to the field of measurement, and particularly to a method and a device for measuring the liquid level in a container. Background Art

[0002] An IBC (Intermediate Bulk Container) barrel is a container for storing and transporting liquids, which is composed of an inner container and a metal frame. With the increasingly widespread use of IBC barrels, in order to manage and control IBC barrels more precisely and intelligently, it is necessary to accurately measure the liquid level information inside the IBC barrel container without damaging or invading the container. Summary of the Invention

[0003] The present disclosure provides a method and a device for measuring the liquid level in a container.

[0004] According to a first aspect of the present disclosure, there is provided a method for measuring the liquid level in a container, which is used for a measuring device installed on the outer surface of the container. The method includes:

[0005] Obtaining a first distance from the top of the container to the liquid level surface to be measured;

[0006] Obtaining the acceleration vector data of the container at the current moment;

[0007] Correcting the first distance according to the acceleration vector data to obtain the distance information of the liquid level in the container.

[0008] According to a second aspect of the present disclosure, there is provided a device for measuring the liquid level in a container, including:

[0009] A first obtaining module for obtaining a first distance from the top of the container to the liquid level surface to be measured;

[0010] A second obtaining module for obtaining the acceleration vector data of the container at the current moment;

[0011] A third obtaining module for correcting the first distance according to the acceleration vector data to obtain the distance information of the liquid level in the container.

[0012] According to a third aspect of the present disclosure, there is provided a measuring device, including:

[0013] A distance sensor for measuring the distance between the distance sensor body and the liquid surface in the container;

[0014] An acceleration sensor for obtaining the three-dimensional acceleration vector data of the position where the acceleration sensor is located at the current moment;

[0015] At least one processor; and,

[0016] A memory communicatively connected to at least one processor; wherein

[0017] The memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor to enable at least one processor to execute the method described in the foregoing first aspect.

[0018] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method described in the foregoing first aspect.

[0019] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0020] By providing a distance sensor and an acceleration sensor on the outer surface of the container and determining the liquid level information in the container based on the data measured by the distance sensor and the acceleration sensor, it is possible to measure the liquid level information in the container without damaging or invading the container. In addition, by correcting the first distance measured by the distance sensor using the acceleration vector data measured by the acceleration sensor, accurate distance information of the liquid level in the container can be obtained, thereby ensuring the accuracy and practicality of the measurement result.

[0021] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0023] Figure 1 It is a flowchart of a method for measuring the liquid level in a container provided by an embodiment of the present disclosure.

[0024] Figure 2 It is a flowchart of another method for measuring the liquid level in a container provided by an embodiment of the present disclosure.

[0025] Figure 3 It is a schematic diagram of the positional relationship between the measuring device and the geometric center of the top of the container provided by an embodiment of the present disclosure.

[0026] Figure 4 It is a schematic diagram of the direction of gravity provided by an embodiment of the present disclosure.

[0027] Figure 5 It is a structural block diagram of a device for measuring the liquid level in a container provided by an embodiment of the present disclosure.

[0028] Figure 6 It is a structural block diagram of another device for measuring the liquid level in a container provided by an embodiment of the present disclosure.

[0029] Figure 7 A structural block diagram of an electronic device for a method for measuring liquid level in a container provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0031] IBC (Intermediate Bulk Container) barrel is a container for storing and transporting liquids, which is composed of an inner container and a metal frame. Among them, IBC barrels are essential tools for modern storage and transportation of liquid products. The inner container is blow-molded with high molecular weight and high density polyethylene, which has the characteristics of high strength, corrosion resistance, and good hygiene.

[0032] As IBC barrels are used more and more widely, in order to manage and control IBC barrels more precisely and intelligently, it is necessary to accurately measure the liquid level information in the IBC barrel container without destroying or invading the container. However, existing equipment lacks methods and devices that can accurately measure the liquid level information in the IBC barrel container without destroying or invading the container.

[0033] Based on the above problems, the present disclosure provides a method and device for measuring the liquid level in a container. The present disclosure can accurately measure the liquid level without destroying or invading the container. Specifically, the method and device for measuring the liquid level in a container according to an embodiment of the present disclosure are described below with reference to the accompanying drawings.

[0034] Figure 1 Flow chart of the method for measuring the liquid level in a container provided by the embodiment of the present disclosure. Figure 1 As shown, the method for measuring the liquid level in a container comprises the following steps:

[0035] Step 101: Obtain a first distance from the top of the container to the liquid level to be measured measured by a distance sensor.

[0036] Optionally, the first distance is the straight-line distance from the top of the container to the liquid level to be measured. Optionally, select any point from the top of the container, take the point as the starting position, and extend in a direction perpendicular to the top of the container until it touches the liquid level in the container. At this time, the length of the line segment with the starting position as the starting point and the liquid level as the end point is the first distance.

[0037] As an implementation, the installation position of the distance sensor can coincide with the starting position at the top of the container. The distance sensor is used to measure the distance between the distance sensor body and the liquid level in the container.

[0038] It should be noted that there are many distance sensors for measuring the distance from the top of the container to the liquid level to be measured. For example, the distance from the top of the container to the liquid level to be measured can be measured by a ranging radar, or the distance from the top of the container to the liquid level to be measured can be measured by an infrared distance sensor. It can be understood that the measurement of the distance from the top of the container to the liquid level to be measured can be achieved by different devices. Two examples will be given below to describe the process of measuring the distance from the top of the container to the liquid level to be measured for different devices.

[0039] As an example of a possible implementation, the distance from the top of the container to the liquid level to be measured is measured by a ranging radar. The ranging radar measures the time difference between the transmitted pulse and the echo pulse. Since electromagnetic waves propagate at the speed of light, the exact distance to the target is calculated based on the time difference and the propagation speed of electromagnetic waves. Electromagnetic waves not only have reflectivity but also penetrability. When electromagnetic waves enter different media, they will not only be reflected but also change the propagation speed. During operation, the ranging radar emits electromagnetic waves in the direction of the liquid level in the container. The electromagnetic waves are reflected after touching the liquid level in the container and finally the reflected electromagnetic waves are captured by the ranging radar. By measuring the time difference between the transmitted pulse and the echo pulse, the distance information of the liquid level in the container is obtained. The ranging radar refers to a radar that operates in the radio frequency mode. Its operating frequency band includes but is not limited to 24 GHz, 60 Hz, 77 Hz, etc.

[0040] As an example of a possible implementation, the distance from the top of the container to the liquid level to be measured is measured by an infrared distance sensor. The infrared distance sensor has a pair of infrared signal transmitting and receiving diodes. The infrared distance sensor emits a beam of infrared light, which forms a reflection process after irradiating an object. The signal is received after being reflected to the sensor, and then the data of the time difference between the transmission and reception is received through image processing, thereby realizing the measurement of the distance. It should be noted that both the infrared signal transmitting and receiving diodes are arranged at the inner top of the container, and the emission direction of the infrared beam is perpendicular to the inner top plane of the container. During operation, the infrared signal transmitting diode emits an infrared beam, and the infrared beam is reflected after touching the liquid level in the container and finally captured by the infrared signal receiving diode. The distance information of the liquid level in the container is obtained by calculating the time difference between the transmission and reception.

[0041] Step 102, obtain the acceleration vector data of the container at the current moment measured by the acceleration sensor.

[0042] Optionally, taking the point as the starting position as the origin, a three-axis coordinate system is established, where the Y-axis and the Z-axis are both located in the plane where the top of the container is located, and the X-axis is perpendicular to the plane where the top of the container is located. The acceleration vector data at the current moment is obtained by calculating the component forces of the gravitational acceleration on the X, Y, and Z axes.

[0043] As an implementation manner, the installation position of the acceleration sensor can coincide with the origin position. Optionally, the acceleration sensor and the ranging radar can be integrated into an integrated design. Among them, the acceleration sensor is used to obtain the three-dimensional acceleration vector data of the position where the acceleration sensor is located at the current moment.

[0044] Step 103: Correct the first distance according to the acceleration vector data to obtain the distance information of the liquid level in the container.

[0045] It should be noted that since the container may be in an inclined state, the first distance measured by the distance sensor may not be the actual distance value of the liquid level in the container. In the embodiment of the present application, the first distance can be corrected according to the acceleration vector data, and the distance information of the liquid level in the container is obtained after correction.

[0046] It should be noted that since the motion state of the container is unknown, there may be a large error in the distance information of the liquid level in the container. In order to obtain the distance information of the liquid level in the container more accurately, it is necessary to judge the motion state of the container so as to start measuring the distance information of the liquid level in the container when the container is in a stationary state.

[0047] In one implementation manner, the acceleration vector data of the container measured by the acceleration sensor within a preset time period is obtained; in response to determining that the container is in a stationary state according to the acceleration vector data of the container within the preset time period, the step of obtaining the first distance from the top of the container to the liquid level to be measured is executed.

[0048] It should be noted that there are many methods for determining whether the container is in a stationary state according to the acceleration vector data. For example, by performing variance operation on the acceleration vector data, or by performing standard deviation operation on the acceleration vector data. It can be understood that determining whether the container is in a stationary state according to the acceleration vector data can be judged by different methods. Two examples are given below to describe the judgment process of determining whether the container is in a stationary state for different methods.

[0049] As an example of a possible implementation, continuously obtain the acceleration vector data of the acceleration sensor within a specified time period, and keep the time interval for each acquisition of the acceleration vector data unchanged; form a data set from the acquired acceleration vector data, calculate the variance of the data set, and calculate the sum of the variances; if the sum of the variances exceeds a preset threshold, the container is in a moving state at this time, and if the sum of the variances does not exceed the preset threshold, the container is in a stationary state at this time.

[0050] For example, the first step: obtain the three-axis acceleration data [x1, y1, z1] of the acceleration sensor at the current moment.

[0051] The second step: According to the preset detection time interval Δt and the detection duration T, continuously obtain the acceleration data with an interval period of Δt within the T moment, and form a data set [x1, y1, z1], [x2, y2, z2], [x3, y3, z3], [x4, y4, z4]......

[0052] The third step: Calculate the variances [dx, dy, dz] of the data sets x, y, z, calculate the sum of the variances d, and if it exceeds the preset threshold D, it is considered to be in a moving state. Otherwise, it is considered to be in a stationary state.

[0053] As an example of a possible implementation, continuously obtain the acceleration vector data of the acceleration sensor within a specified time period, and keep the time interval for each acquisition of the acceleration vector data unchanged; form a data set from the acquired acceleration vector data, calculate the standard deviation of the data set, if the standard value is greater than the preset threshold, the data set has a large dispersion, and the container is in a moving state at this time, if the standard value is less than or equal to the preset threshold, the data set has a small dispersion, and the container is in a stationary state at this time.

[0054] For example, the first step: obtain the three-axis acceleration data [x1, y1, z1] of the acceleration sensor at the current moment.

[0055] The second step: According to the preset detection time interval Δt and the detection duration T, continuously obtain the acceleration data with an interval period of Δt within the T moment, and form a data set [x1, y1, z1], [x2, y2, z2], [x3, y3, z3], [x4, y4, z4]......

[0056] The third step: Calculate the standard deviation of the data sets x, y, z, set a preset threshold, compare the standard deviation of the sets x, y, z with the preset threshold, if the standard value is greater than the preset threshold, the container is in a moving state at this time, if the standard value is less than or equal to the preset threshold, the container is in a stationary state at this time.

[0057] The method for measuring the liquid level in a container according to an embodiment of the present disclosure can measure the liquid level information in the container without damaging or invading the container by setting a distance sensor and an acceleration sensor on the outer surface of the container and determining the liquid level information in the container based on the data measured by the distance sensor and the acceleration sensor. In addition, by using the acceleration vector data measured by the acceleration sensor to correct the first distance measured by the distance sensor, the accurate distance information of the liquid level in the container can be obtained, thus ensuring the accuracy and practicality of the measurement result.

[0058] It should be noted that in some embodiments of the present application, the error value of the liquid surface position can be determined by using the acceleration vector quantity, and the first distance measured by the distance sensor can be corrected by using this error value, so as to realize accurate measurement in the liquid level chassis without damaging or invading the container, reduce the difficulty of measuring the distance information of the liquid level in the container, and ensure the accuracy and reliability of the measurement result.

[0059] It should be noted that in order to calculate the distance information of the liquid level in the container, relevant parameters can be determined for calculation and derivation. Based on the above embodiments, the acceleration vector data includes the vector data of the gravitational acceleration on the X-axis, Y-axis, and Z-axis respectively; as Figure 2 shown, the implementation method of correcting the first distance according to the acceleration vector data to obtain the distance information of the liquid level in the container may include the following steps:

[0060] Step 201, determine the horizontal angle between the measuring device and the geometric center of the container top.

[0061] For example, referring to the appendix Figure 3 , Figure 3 which is a set of the side view and top view of the container. Among them, the X-axis, Y-axis, and Z-axis are a three-axis coordinate system. Ly is the distance from the measuring device to the geometric center of the container top in the Y-axis direction, and Lz is the distance from the measuring device to the geometric center of the container top in the Z-axis direction. Since the Z-axis direction is perpendicular to the Y-axis direction, Ly and Lz are perpendicular to each other. The horizontal angle α of the geometric center of the container top is an angle in a right triangle. Then, the horizontal angle between the measuring device and the geometric center of the container top can be calculated by performing trigonometric operations on the known side lengths of the angle, and the degree of the angle can be calculated. The operation formula of the angle is:

[0062]

[0063] where Ly is the distance from the measuring device to the geometric center of the container top in the Y-axis direction, Lz is the distance from the measuring device to the geometric center of the container top in the Z-axis direction, and α is the horizontal angle between the measuring device and the geometric center of the container top.

[0064] Step 202: Determine the inclination angle of gravity in the X direction based on the vector data of gravitational acceleration on the X-axis, Y-axis, and Z-axis respectively.

[0065] It should be noted that referring to the attached Figure 4 , Figure 4 is a set of side view and top view of the container in an inclined state. Among them, the X-axis, Y-axis, and Z-axis are a three-axis coordinate system, the distance d is the first distance, the direction of gravity always points vertically to the ground, and the component direction of gravity is the direction of the force decomposed by gravity in the plane where the Z-axis and Y-axis are located.

[0066] To ensure the accuracy of the data, it is necessary to obtain the acceleration vector data of the acceleration sensor multiple times within a certain period of time, and then perform an average operation on the obtained multiple sets of acceleration vector data, thereby reducing the error of data acquisition and ensuring that the acceleration vector data is closer to the actual true value. For example, obtain the acceleration vector data multiple times within a preset time period, and keep the time interval for each acquisition of acceleration vector data constant. Perform an average operation on the obtained several sets of acceleration vector data, and the result is: [X, Y, Z].

[0067] According to trigonometric functions, the calculation formula for the inclination angle of gravity in the X-axis direction can be:

[0068]

[0069] where X is the vector data of gravitational acceleration on the X-axis, Y is the vector data of gravitational acceleration on the Y-axis, Z is the vector data of gravitational acceleration on the Z-axis, and θ is the inclination angle of gravity in the X direction.

[0070] Step 203: Determine the inclination angle of gravity in the YZ plane direction based on the vector data of gravitational acceleration on the Y-axis and Z-axis respectively.

[0071] It should be noted that in the embodiments of the present disclosure, the inclination angle of gravity in the YZ plane direction can be calculated based on the vector data of gravitational acceleration on the Y-axis and the vector data of gravitational acceleration on the Z-axis. Among them, the calculation formula for the inclination angle of gravity in the YZ plane direction can be:

[0072]

[0073] where Y is the vector data of gravitational acceleration on the Y-axis, Z is the vector data of gravitational acceleration on the Z-axis, and β is the inclination angle of gravity in the YZ plane direction.

[0074] Step 204: Determine the distance between the measuring device and the geometric center of the container top.

[0075] It should be noted that in the embodiments of the present disclosure, the distance between the measuring device and the geometric center of the container top can be calculated based on the distance in the Y-axis direction from the measuring device to the geometric center of the container top and the distance in the Z-axis direction from the measuring device to the geometric center of the container top. Among them, the calculation formula for the distance between the measuring device and the geometric center of the container top can be:

[0076]

[0077] Among them, Ly is the distance in the Y-axis direction from the measuring device to the geometric center of the container top, Lz is the distance in the Z-axis direction from the measuring device to the geometric center of the container top, and L is the distance between the measuring device and the geometric center of the container top.

[0078] Step 205: Determine the error value of the liquid level position according to the horizontal angle, the inclination angle of gravity in the X direction, the inclination angle of gravity in the YZ plane direction, and the distance, and determine the distance information of the liquid level in the container according to the first distance and the error value.

[0079] In one implementation, the error value d`` can be calculated according to the horizontal angle, the inclination angle of gravity in the X direction, the inclination angle of gravity in the YZ plane direction, and the distance by using the following formula. The calculation formula for this error value is as follows:

[0080] d`` = cos(β - α) × L * tanθ (5)

[0081] After obtaining the error value of the determined liquid level position, the distance information of the liquid level in the container can be determined by using the first distance and the error value. As an example, the difference obtained by subtracting the error value from the first distance can be used as the distance information of the liquid level in the container. For example, the distance information of the liquid level in the container can be calculated by using the following formula:

[0082] d` = d - d`` (6)

[0083] Among them, d is the first distance measured by the distance sensor, d` is the distance information of the liquid level in the container, and d`` is the error value.

[0084] In the method for measuring the liquid level in the container according to the embodiments of the present disclosure, by determining the horizontal angle, the inclination angle of gravity in the X direction, the inclination angle of gravity in the YZ plane direction, and the distance, the error value of the liquid level position is calculated. By subtracting the error value from the first distance, the distance information of the liquid level in the container is determined. The installation positions of the distance sensor and the acceleration sensor, as well as the measurement data of the distance sensor and the acceleration sensor, can be used to accurately measure the distance information of the liquid level in the container based on a mathematical algorithm, so that the distance of the liquid level can be measured accurately without damaging or invading the container, ensuring the accuracy of the measurement.

[0085] To implement the above embodiments, the present application also provides a device for measuring the liquid level in a container.

[0086] Figure 5 As shown in the structural block diagram of a device for measuring the liquid level in a container provided by an embodiment of the present disclosure, Figure 5 the device for measuring the liquid level in a container may include: a first acquisition module 510, a second acquisition module 520, a third acquisition module 530, an acceleration detection module 540, and a judgment module 550.

[0087] Among them, the first acquisition module 510 is configured to acquire a first distance from the top of the container measured by the distance sensor to the liquid level surface to be measured.

[0088] Among them, the distance sensor is used to measure the distance between the distance sensor body and the liquid surface in the container.

[0089] The second acquisition module 520 is configured to acquire the acceleration vector data of the container at the current moment measured by the acceleration sensor.

[0090] Among them, the acceleration sensor is used to acquire the three-dimensional acceleration vector data at the position where the acceleration sensor is located at the current moment.

[0091] The third acquisition module 530 is configured to correct the first distance according to the acceleration vector data to obtain the distance information of the liquid level in the container.

[0092] The acceleration detection module 540 is configured to acquire the acceleration vector data of the container within a preset time period measured by the acceleration sensor.

[0093] The judgment module 550 is configured to, in response to determining that the container is in a stationary state according to the acceleration vector data of the container within a preset time period, execute the step of acquiring the first distance from the top of the container to the liquid level surface to be measured.

[0094] The device for measuring the liquid level in a container according to the embodiment of the present disclosure calculates the error value of the first distance through the acceleration vector data of the container at the current moment, and then calculates the distance information of the liquid level in the container according to the first distance and the error value, and accurately measures the liquid level in the container without damaging or invading the container, reducing the difficulty of measuring the distance information of the liquid level in the container and ensuring the accuracy and reliability of the measurement result.

[0095] In some embodiments of the present disclosure, as Figure 6 shown, Figure 6 is the structural block diagram of another device for measuring the liquid level in a container provided by an embodiment of the present disclosure. The third acquisition module 630 of the device for measuring the liquid level in a container includes: an included angle determination unit 631, a first inclination angle determination unit 632, a second inclination angle determination unit 633, a distance determination unit 634, and a determination unit 635.

[0096] The angle determination unit 631 is used to determine the horizontal angle between the measuring device and the geometric center of the top of the container.

[0097] The first inclination angle determining unit 632 is used to determine the inclination angle of gravity in the X direction according to the vector data of gravity acceleration in the X axis, Y axis and Z axis respectively.

[0098] The second inclination angle determination unit 633 is used to determine the inclination angle of gravity in the YZ plane direction according to the vector data of the gravity acceleration on the Y axis and the Z axis respectively.

[0099] The distance determination unit 634 is used to determine the distance between the measuring device and the geometric center of the top of the container.

[0100] The determination unit 635 is used to determine the error value of the liquid surface position according to the horizontal angle, the gravity inclination in the X direction, the gravity inclination in the YZ plane direction and the distance, and determine the distance information of the liquid level in the container according to the first distance and the error value.

[0101] It should be noted that the calculation formula of the error value is as follows:

[0102] d``=cos(β-α)×L*tanθ (5)

[0103] Among them, α is the horizontal angle between the measuring device and the geometric center of the top of the container, θ is the inclination angle of gravity in the X direction, β is the inclination angle of gravity in the YZ plane direction, and L is the distance between the measuring device and the geometric center of the top of the container

[0104] The device for measuring the liquid level in a container according to the embodiment of the present disclosure calculates the error value of the liquid surface position by determining the horizontal angle, the inclination angle of gravity in the X direction, the inclination angle of gravity in the YZ plane direction and the distance, and determines the distance information of the liquid level in the container by subtracting the error value from the first distance, thereby achieving the goal of polishing the distance of the liquid surface without destroying or invading the container, thereby ensuring the accuracy of the measurement and preventing the error value from affecting the authenticity of the distance information of the liquid level in the container.

[0105] in, Figure 5 Medium 510-550 and Figure 6 610-650 have the same function and structure.

[0106] Figure 7 700 is a block diagram of an electronic device for measuring a liquid level in a container according to an exemplary embodiment. For example, the device 700 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0107] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0108] As shown Figure 7 in the figure, it is a block diagram of an electronic device for a method of measuring the liquid level in a container according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0109] As shown Figure 7 in the figure, the electronic device includes: one or more processors 701, a memory 702, and an interface for connecting the components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and can be mounted on a common motherboard or otherwise mounted as required. The processor can process instructions executed within the electronic device, including instructions stored in the memory or on the memory to display graphical information of a GUI on an external input / output device (such as, a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, each device providing part of the necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 7 Here, one processor 701 is taken as an example.

[0110] The memory 702 is the non-transitory computer-readable storage medium provided by the present disclosure. Among them, the memory stores instructions executable by at least one processor, so that at least one processor executes the method for measuring the liquid level in a container provided by the present disclosure. The non-transitory computer-readable storage medium of the present disclosure stores computer instructions for causing a computer to execute the method for measuring the liquid level in a container provided by the present disclosure.

[0111] The memory 702, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions / modules corresponding to the method for measuring the liquid level in a container in the embodiment of the present disclosure (for example, attached Figure 5The first acquisition module 510, the second acquisition module 520, the third acquisition module 530, the acceleration detection module 540, and the judgment module 550 shown). The processor 701 executes various functional applications and data processing of the server by running non-transitory software programs, instructions, and modules stored in the memory 702, that is, implements the method for measuring the liquid level in the container in the above method embodiment.

[0112] The memory 702 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the electronic device for the method of measuring the liquid level in the container, etc. In addition, the memory 702 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 702 may optionally include a memory remotely set relative to the processor 701, and these remote memories may be connected to the electronic device for measuring the liquid level in the container through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0113] The electronic device for the method of measuring the liquid level in the container may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703, and the output device 704 may be connected through a bus or other means, Figure 7 taking the connection through the bus as an example.

[0114] The input device 703 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the electronic device for measuring the liquid level in the container, such as input devices like a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 704 may include a display device, an auxiliary lighting device (for example, an LED), and a tactile feedback device (for example, a vibration motor), etc. The display device may include but is not limited to a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touch screen.

[0115] The various embodiments of the systems and techniques described herein can be implemented in digital electronic circuitry, integrated circuit systems, ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0116] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, apparatus, and / or device (e.g., a disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term “machine-readable signal” refers to any signal for providing machine instructions and / or data to a programmable processor.

[0117] For providing interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used for providing interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0118] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected with each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), the Internet, and blockchain networks.

[0119] A computer system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services ("Virtual Private Server", or simply "VPS"). The server can also be a server of a distributed system, or a server combined with blockchain.

[0120] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitation is made herein.

[0121] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A method for measuring the liquid level in a container, characterized in that, The method is used for a measuring device, which is installed on the outer surface of the container, and the measuring device includes a distance sensor and an acceleration sensor. The method includes: Obtaining a first distance from the top of the container to the liquid level to be measured measured by the distance sensor; Obtaining acceleration vector data of the container at the current moment measured by the acceleration sensor; Correcting the first distance according to the acceleration vector data to obtain distance information of the liquid level in the container; The acceleration vector data includes vector data of gravitational acceleration on the X-axis, Y-axis, and Z-axis respectively. The correcting the first distance according to the acceleration vector data to obtain distance information of the liquid level in the container includes: Determining a horizontal angle between the measuring device and the geometric center of the container top; Determining an inclination angle of gravity in the X direction according to the vector data of gravitational acceleration on the X-axis, Y-axis, and Z-axis respectively; Determining an inclination angle of gravity in the YZ plane direction according to the vector data of gravitational acceleration on the Y-axis and Z-axis respectively; Determining the distance between the measuring device and the geometric center of the container top; Determining an error value of the liquid surface position according to the horizontal angle, the inclination angle of gravity in the X direction, the inclination angle of gravity in the YZ plane direction, and the distance, and determining the distance information of the liquid level in the container according to the first distance and the error value.

2. The method according to claim 1, characterized in that, The calculation formula of the error value is as follows: d`` = cos(β - α) × L * tanθ Where, α is the horizontal angle between the measuring device and the geometric center of the container top, θ is the inclination angle of gravity in the X direction, β is the inclination angle of gravity in the YZ plane direction, and L is the distance between the measuring device and the geometric center of the container top.

3. The method according to claim 1, characterized in that, It further includes: Obtaining acceleration vector data of the container within a preset time period measured by the acceleration sensor; In response to determining that the container is in a stationary state according to the acceleration vector data of the container within the preset time period, executing the step of obtaining the first distance from the top of the container to the liquid level to be measured.

4. A device for measuring the liquid level in a container, characterized in that, It includes: A first obtaining module, configured to obtain a first distance from the top of the container to the liquid level to be measured measured by the distance sensor; A second obtaining module, configured to obtain acceleration vector data of the container at the current moment measured by the acceleration sensor; A third obtaining module, configured to correct the first distance according to the acceleration vector data to obtain distance information of the liquid level in the container; The acceleration vector data includes vector data of gravitational acceleration on the X-axis, Y-axis, and Z-axis respectively; The third obtaining module includes: An angle determining unit, configured to determine a horizontal angle between the measuring device and the geometric center of the container top; A first inclination angle determining unit, configured to determine an inclination angle of gravity in the X direction according to the vector data of gravitational acceleration on the X-axis, Y-axis, and Z-axis respectively; A second inclination angle determining unit, configured to determine an inclination angle of gravity in the YZ plane direction according to the vector data of gravitational acceleration on the Y-axis and Z-axis respectively; A distance determining unit, configured to determine the distance between the measuring device and the geometric center of the container top; A determining unit, configured to determine an error value of the liquid level position according to the horizontal included angle, the inclination angle of gravity in the X direction, the inclination angle of gravity in the YZ plane direction, and the distance, and determine distance information of the liquid level in the container according to the first distance and the error value.

5. The device according to claim 4, characterized in that, The calculation formula of the error value is expressed as follows: d`` = cos(β - α) × L * tanθ Where α is the horizontal included angle between the measuring device and the geometric center of the top of the container, θ is the inclination angle of gravity in the X direction, β is the inclination angle of gravity in the YZ plane direction, and L is the distance between the measuring device and the geometric center of the top of the container.

6. The device according to claim 4, characterized in that, It further includes: An acceleration detection module, configured to obtain acceleration vector data of the container measured by an acceleration sensor within a preset time period; A judgment module, configured to execute the step of obtaining the first distance from the top of the container to the liquid level to be measured in response to determining that the container is in a stationary state according to the acceleration vector data of the container within the preset time period.

7. A measuring device, characterized in that, It includes: A distance sensor, configured to measure the distance between the distance sensor body and the liquid level in the container; An acceleration sensor, configured to obtain three-dimensional acceleration vector data of the position where the acceleration sensor is located at the current moment; At least one processor; And A memory communicatively connected to the at least one processor; Wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1 to 3.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 3.

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