A urea concentration compensation method and device, electronic equipment and storage medium

Abstract

The application discloses a compensation method and device for urea concentration, electronic equipment and storage medium, and belongs to the technical field of vehicles. The method comprises the following steps: collecting echo pulse numbers of any echo, wherein the echo is the echo of ultrasonic waves emitted by a urea quality sensor; determining compensation pulse numbers corresponding to the echo pulse numbers based on a preset corresponding relationship between echo pulse numbers of different bubble densities and compensation pulse numbers; determining the compensation pulse numbers based on the determined compensation pulse numbers and an actually collected echo duration; determining the echo duration after compensation based on the determined compensation pulse numbers and the actually collected echo duration; the actually collected echo duration is the duration from a first target signal generated by the echo of ultrasonic waves to a second target signal generated by the echo of ultrasonic waves; and determining the urea concentration after compensation based on the echo duration after compensation. In this way, the real reaction urea concentration can be obtained when there are bubbles in the urea water solution, and the urea concentration can be accurately output, so that the faults caused by the inaccurate urea concentration are effectively reduced, and the fault rate is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, electronic device and storage medium for compensating urea concentration. Background Technology

[0002] The urea solution in the urea tank is used to treat nitrogen oxides in emissions. If the urea concentration in the solution is insufficient, it may lead to non-compliance with emission standards, triggering an alarm from the nitrogen oxide sensor. Therefore, it is essential to monitor the urea concentration in the urea solution.

[0003] Currently, urea quality sensors are commonly used to detect the urea concentration in urea solutions. However, as a vehicle moves, the urea tank containing the urea solution vibrates, causing bubbles to form in the solution. Because ultrasonic waves travel at different speeds in gases and liquids, the formation of bubbles affects the accuracy of ultrasonic detection. For example, if bubbles adhere to the sensor probe or are present in the urea solution, the urea concentration measured by the sensor will decrease, potentially falling below the preset alarm limit, leading to false alarms. This can limit engine torque. When there are many bubbles, the sensor may fail to detect the urea solution and send an indication to the Engine Control Unit (ECU) that the current urea concentration is undetectable. Upon receiving this indication, the ECU uses a calibration value to replace the current urea concentration. This calibration value may differ significantly from the actual urea concentration, thus failing to reflect the true urea concentration and making it impossible to accurately determine whether the urea solution concentration meets emission standards. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and storage medium for compensating urea concentration, in order to solve the problem in the prior art that the urea concentration cannot be accurately output when there are bubbles in the urea aqueous solution.

[0005] In a first aspect, embodiments of this application provide a method for compensating for urea concentration, comprising:

[0006] Collect the number of echo pulses for any echo, wherein the echo is the echo of the ultrasonic wave emitted by the urea quality sensor;

[0007] Based on the preset correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities, the number of compensation pulses corresponding to the number of echo pulses is determined.

[0008] determine a compensated echo time length based on the determined compensation pulse number and an actually collected echo time length, the actually collected echo time length being a time length from a first target signal generated by an echo of an ultrasonic wave to a second target signal generated by the echo of the ultrasonic wave;

[0009] determine a compensated urea concentration based on the compensated echo time length.

[0010] In some embodiments, the echo pulse number of any echo is collected by:

[0011] determine the number of target waves in the echo waveform that satisfy a target voltage amplitude as the echo pulse number of the echo based on the echo waveform of the any echo.

[0012] In some embodiments, the target voltage amplitude is determined by:

[0013] determine a target wave in which an echo amplitude first exceeds a preset amplitude and a wave preceding the target wave in the echo of any first ultrasonic wave, the first ultrasonic wave being an ultrasonic wave emitted by a urea quality sensor when a urea aqueous solution is in a bubble-free state;

[0014] determine a target voltage amplitude from a range interval composed of a first voltage amplitude corresponding to the target wave and a second voltage amplitude corresponding to the wave preceding the target wave, from a specified alternative voltage amplitude library.

[0015] In some embodiments, the corresponding relationship between the echo pulse number and the compensation pulse number for different bubble densities is constructed by:

[0016] determine a target echo pulse number corresponding to the echo of any second ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in a state of different bubble densities;

[0017] For any target echo pulse number, if the target echo pulse number is less than a standard echo pulse number corresponding to the any first ultrasonic wave, and a first time length is greater than a second time length, compare the echo pulse generated by the echo of a second ultrasonic wave corresponding to the target echo pulse number with the echo pulse generated by the echo of a first ultrasonic wave corresponding to the standard echo pulse number, determine a delayed pulse number based on the comparison result, and determine the delayed pulse number as a compensation pulse number corresponding to the target echo pulse number; wherein the first time length is an actually collected echo time length of the echo of the second ultrasonic wave corresponding to the target echo pulse number, and the second time length is an actually collected echo time length of the echo of the first ultrasonic wave corresponding to the standard echo pulse number.

[0018] construct a corresponding relationship between echo pulse numbers and compensation pulse numbers of different bubble densities based on the target echo pulse number and the compensation pulse number corresponding to the target echo pulse number.

[0019] In some embodiments, the determining of the compensated echo time length based on the determined compensation pulse number and the actually collected echo time length comprises:

[0020] determining a delay time length of the echo based on the compensation pulse number and the frequency of the ultrasonic wave emitted by the urea quality sensor;

[0021] determining the compensation pulse number corresponding to the target echo pulse number based on the preset corresponding relationship between echo pulse numbers and compensation pulse numbers of different bubble densities.

[0022] In some embodiments, the determining of the compensated echo time length based on the determined compensation pulse number and the actually collected echo time length comprises:

[0023] determining that the difference between the compensation echo time lengths of adjacent times in the continuous times is lower than a preset difference value.

[0024] In some embodiments, the determining of the compensated echo time length based on the determined compensation pulse number and the actually collected echo time length comprises:

[0025] collecting an echo pulse number of any echo, wherein the echo is an echo of an ultrasonic wave emitted by a urea quality sensor;

[0026] determining the compensation pulse number corresponding to the target echo pulse number based on the preset corresponding relationship between echo pulse numbers and compensation pulse numbers of different bubble densities.

[0027] determining a compensation echo time length based on the determined compensation pulse number and an actually collected echo time length, wherein the actually collected echo time length is a time length from a second target signal generated by the echo of the ultrasonic wave to a first target signal generated by the echo of the ultrasonic wave;

[0028] determining a compensated urea concentration based on the compensated echo time length.

[0029] In some embodiments, the collecting module is specifically configured to:

[0030] determining the target echo pulse number of the echo based on a target wave in the echo waveform of the echo that meets a target voltage amplitude.

[0031] In some embodiments, the target voltage amplitude is determined in the following manner:

[0032] determine, based on echoes of any first ultrasonic wave, a target wave at which an echo amplitude first exceeds a preset amplitude in the echoes of the first ultrasonic wave, and a wave preceding the target wave; the first ultrasonic wave is an ultrasonic wave emitted by a urea quality sensor when urea aqueous solution is in a bubble-free state;

[0033] determine, from a range interval composed of a first voltage amplitude corresponding to the target wave and a second voltage amplitude corresponding to the wave preceding the target wave, a target voltage amplitude from a specified candidate voltage amplitude library.

[0034] In some embodiments, the correspondence between the echo pulse number and the compensation pulse number for different bubble densities is constructed in the following manner:

[0035] determine, based on echoes of any second ultrasonic wave emitted by the urea quality sensor when urea aqueous solution is in a state of different bubble densities, a target echo pulse number corresponding to each of the second ultrasonic wave;

[0036] For any target echo pulse number, if the target echo pulse number is less than a standard echo pulse number corresponding to the any first ultrasonic wave, and a first time length is greater than a second time length, then compare echo pulses generated by the second ultrasonic wave corresponding to the target echo pulse number with echo pulses generated by the first ultrasonic wave corresponding to the standard echo pulse number, determine a delayed pulse number based on the comparison result, and determine the delayed pulse number as a compensation pulse number corresponding to the target echo pulse number; wherein the first time length is an actual echo length of the second ultrasonic wave corresponding to the target echo pulse number, and the second time length is an actual echo length of the first ultrasonic wave corresponding to the standard echo pulse number.

[0037] construct a correspondence between the echo pulse number and the compensation pulse number for different bubble densities based on each target echo pulse number and the compensation pulse number corresponding to the target echo pulse number.

[0038] In some embodiments, the second determining module is specifically configured to:

[0039] determine a delayed length of the echo based on the compensation pulse number and a frequency of the ultrasonic wave emitted by the urea quality sensor.

[0040] determine the compensation length of the echo as a difference between the actual echo length and the delayed length of the echo.

[0041] In some embodiments, the method further comprises:

[0042] The fourth determining module is configured to, before the third determining module determines the compensated urea concentration based on the compensation length of the echo, determine that a difference between compensation lengths of the echo in each of the plurality of consecutive times is lower than a preset difference.

[0043] In a third aspect, an electronic device is provided, including at least one processor, and a memory connected with the at least one processor in communication, wherein:

[0044] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the compensation method for urea concentration.

[0045] In a fourth aspect, a storage medium is provided, and when a computer program in the storage medium is executed by a processor of an electronic device, the electronic device can execute the compensation method for urea concentration.

[0046] In the embodiments of the present application, the number of echo pulses of any echo is collected, wherein the echo is the echo of the ultrasonic wave emitted by the urea quality sensor, based on the preset corresponding relationship between the number of echo pulses of different bubble densities and the number of compensation pulses, the number of compensation pulses corresponding to the number of echo pulses is determined, based on the determined number of compensation pulses and the actually collected echo duration, the compensated echo duration is determined, the actually collected echo duration is the duration from the first target signal generated by the ultrasonic wave to the second target signal generated by the ultrasonic wave, based on the compensated echo duration, the compensated urea concentration is determined. When there are bubbles in the urea aqueous solution, the number of pulses that need to be compensated can be determined according to the number of echo pulses of the current echo, and then the real echo duration can be determined according to the number of compensated pulses and the actually collected echo duration, and the real urea concentration is determined, the real reaction urea concentration when there are bubbles in the urea aqueous solution can be output accurately, and the failure rate is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application and illustrate the illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0048] Figure 1 A flowchart of a compensation method for urea concentration provided in the embodiments of the present application is provided;

[0049] Figure 2 A schematic diagram of an echo waveform provided in the embodiments of the present application is provided;

[0050] Figure 3 A schematic diagram of a STOP signal provided in the embodiments of the present application is provided;

[0051] Figure 4 Another schematic diagram of an echo waveform provided in the embodiments of the present application is provided;

[0052] Figure 5 Another echo waveform diagram provided by an embodiment of the present application;

[0053] Figure 6 A structural diagram of a compensation device for urea concentration provided by an embodiment of the present application;

[0054] Figure 7 A hardware structure diagram of an electronic device for implementing a compensation method for urea concentration provided by an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to accurately output the urea concentration when there are air bubbles in the urea water solution, thereby reducing the failure rate, an embodiment of the present application provides a compensation method, device, electronic device and storage medium for urea concentration.

[0056] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings of the specification, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application, and the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0057] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the term "includes" and any variations thereof is intended to cover non-exclusive protection. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. "Multiple" in the present application can mean at least two, for example, can be two, three or more, and the embodiments of the present application are not limited.

[0058] In addition, the term "and / or" herein is only used to describe the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects without special description.

[0059] In order to facilitate the understanding of the compensation method for urea concentration proposed by the embodiments of the present application, first, the technical terms related to the present application are introduced:

[0060] (1) Urea water solution: a solution prepared by using high-purity urea and pure water in a certain proportion, which is used to treat nitrogen oxides in vehicle emissions to reduce environmental pollution.

[0061] (2) Urea tank: a tank for storing urea solution.

[0062] (3) Urea quality sensor: including an acoustic wave transmitter, an acoustic wave receiver and a mirror for reflecting acoustic waves. In practical applications, the acoustic wave transmitter, the acoustic wave receiver and the mirror are immersed in the urea aqueous solution, the acoustic wave transmitter emits acoustic waves which propagate in the urea aqueous solution to the mirror, the mirror reflects the acoustic waves, the returned acoustic waves propagate reversely in the urea aqueous solution and are received by the acoustic wave receiver. Since the distance from the acoustic wave transmitter to the mirror for reflecting acoustic waves is fixed, the speed of acoustic wave propagation is different in urea aqueous solutions with different concentrations, so the urea concentration can be converted by comparing the difference in time.

[0063] With the driving of the vehicle, the urea tank containing urea aqueous solution will vibrate, thus causing the urea aqueous solution to generate bubbles. Since the propagation speed of ultrasonic waves is different in gas and liquid, the generation of bubbles will affect the detection accuracy of ultrasonic waves. For example, if bubbles adhere to the sensor probe or bubbles exist in the urea aqueous solution, the urea concentration measured by the sensor will decrease, which may be lower than the preset alarm limit, resulting in false alarm, thus causing the engine torque to be limited. When the number of bubbles is relatively large, the sensor may not be able to detect the urea aqueous solution, and will send indication information indicating that the current urea concentration cannot be detected to the electronic control unit (ECU). When the ECU receives the indication information, a calibration value will be used to replace the current urea concentration value. However, the calibration value may be quite different from the actual urea concentration value. If the calibration value is too high, the sprayed urea will be less, resulting in non-compliance with emission standards. If the calibration value is too low, the sprayed urea will be more, which will cause urea crystallization and affect the aftertreatment system.

[0064] In view of this, the embodiments of the present application provide a urea concentration compensation method and device, electronic equipment and storage medium. Since the amplitude of the echo of the ultrasonic wave of the urea quality sensor will decrease when it is affected by bubbles, but the echo time will not change. With the influence of different bubble densities, the amplitude of the echo is also different. Therefore, by collecting the echo pulse number and the preset corresponding relationship between the echo pulse number and the compensation pulse number of different bubble densities, the compensation pulse number corresponding to the echo pulse number can be determined. Then, based on the determined compensation pulse number and the actually collected echo time, the compensated echo time, i.e. the real echo time, can be determined, and thus the real urea concentration can be determined. The faults caused by inaccurate urea concentration are effectively reduced, and the failure rate is reduced.

[0065] In specific implementation, the urea concentration compensation method provided by the present application can be executed by the urea quality sensor. In order to facilitate understanding of the scheme provided by the present application, seeFigure 1 A urea concentration compensation method flowchart is provided for the embodiments of the present application, and the method comprises the following steps.

[0066] In step 101, the echo pulse number of any echo is collected, wherein the echo is the echo of the ultrasonic wave emitted by the urea quality sensor.

[0067] In actual implementation, when the echo pulse number is collected, the number of target waves satisfying the target voltage amplitude in the echo waveform can be determined as the echo pulse number of the echo based on any echo.

[0068] Figure 2 A schematic diagram of an echo waveform is provided for the embodiments of the present application, and in the echo waveform shown in Figure 2 The echo waveform shown in Figure 2 The target waves satisfying the target voltage amplitude are wave 2, wave 3, wave 4, and wave 5, and the echo pulse number is 4.

[0069] In actual implementation, in order to facilitate collection, when the echo pulse number of any echo is collected, the signal of the chip for ultrasonic excitation and processing of the urea quality sensor can also be collected, for example, TDC1000 is used as an example, the signal of the STOP pin of TDC1000 can be collected, and the number of rising edges or falling edges of the collected STOP signal is determined as the echo pulse number.

[0070] Taking the number of rising edges of the STOP signal in each echo as the echo pulse number as an example, Figure 3 A schematic diagram of a STOP signal is provided in the embodiments of the present application, as shown in Figure 3 A rising edge is generated when the number of wave troughs in the echo waveform is lower than the target voltage amplitude, so that four rising edges can be obtained, and the corresponding echo pulse number is 4. In actual implementation, if TDC1000 is not used, the voltage waveform converted by the ultrasonic echo can also be collected by AD, a voltage threshold is set, the duration of the entire echo is determined through the voltage threshold, and then the echo pulse number is determined through the duration.

[0071] The target voltage amplitude is determined in the following manner:

[0072] Based on the echo of any first ultrasonic wave, a target wave whose echo amplitude first exceeds a preset amplitude in the echo of the first ultrasonic wave is determined, as well as a wave before the target wave, wherein the first ultrasonic wave is the ultrasonic wave emitted by the urea quality sensor when the urea water solution is in a bubble-free state, and the target voltage amplitude is determined from a specified candidate voltage amplitude library based on a range interval composed of a first voltage amplitude corresponding to the target wave and a second voltage amplitude corresponding to the wave before the target wave.

[0073] In specific implementation, Figure 2 The echo waveform shown is an example of the ultrasonic wave generated by the urea quality sensor when the urea solution is in a bubble-free state. The first wave with an amplitude greater than a preset echo amplitude can be taken as the target wave. Alternatively, if the difference between the echo amplitude of any wave and the echo amplitude of its predecessor is within a preset range, then that wave is determined as the target wave. Assuming wave 2 is the target wave, if the voltage amplitude of wave 2 is 700mV, and the voltage amplitude of the preceding wave (wave 1) is 200mV, then the corresponding first voltage amplitude is 700mV, and the second voltage amplitude is 200mV. The range formed by the first and second voltage amplitudes... The range is [200mV, 700mV]. If the alternative voltage amplitude library specified by the TDC1000 chip is (35mV, 50mV, 75mV, 125mV, 220mV, 410mV, 775mV, 1500mV), then when selecting the target voltage amplitude, the selectable voltage amplitudes are 220mV and 410mV. In specific implementation, the selection principle of the target voltage amplitude can also be set. For example, the selected target voltage amplitude should be as large as possible greater than the voltage amplitude of the previous wave of the target wave and as small as possible less than the voltage amplitude of the target wave. Therefore, the voltage amplitude can be further selected as 410mV.

[0074] In step 102, the number of compensation pulses corresponding to the number of echo pulses is determined based on the preset correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities.

[0075] In practice, the correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities can be established in the following ways:

[0076] First, based on the echo of any second ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in different bubble density states, the target echo pulse number corresponding to each second ultrasonic wave echo is determined.

[0077] This system allows for pre-setting various bubble densities, such as setting multiple levels based on bubble density, for example, 10 levels. Level 1 represents a bubble-free state, and the number of echo pulses generated by the ultrasound in the bubble-free state can be defined as the standard echo pulse count. Level 10 represents the highest bubble quantity. Then, the target echo pulse counts for each of the 1 to 10 density levels are collected. As the number of bubbles increases, the ultrasound is interfered with, leading to a decrease in the echo amplitude. The greater the interference, the smaller the echo amplitude. Figure 4 Another echo waveform diagram provided for an embodiment of this application, such as... Figure 4As shown, the waveform represented by the dashed line is the echo waveform affected by the bubbles, and the solid line represents the echo waveform without bubbles. It can be clearly seen that, compared with the echo waveform without bubble influence, the echo amplitude of the echo affected by the bubbles is reduced. Under the same preset target voltage amplitude, the number of target waves satisfying the target voltage amplitude may be reduced, and the corresponding number of echo pulses is reduced. This is reflected in the number of rising edges of the STOP signal, which is reduced from 4 without bubble influence to 2 with bubble influence, and the first rising edge is delayed.

[0078] Suppose that the target echo pulse numbers corresponding to the 1st to 10th density levels of the collected ultrasonic wave echoes are as shown in Table 1.

[0079] Table 1

[0080] Bubble density rating Target echo pulse number Level 1 10 Level 2 9 Level 3 8 Level 4 7 Level 5 6 Level 6 5 Level 7 4 Level 8 4 Level 9 3 Level 10 2

[0081] In a specific implementation, after determining the target echo pulse numbers corresponding to the echoes of the ultrasonic waves under different bubble density states, for any target echo pulse number, if the target echo pulse number is less than the standard echo pulse number corresponding to any first ultrasonic wave, and the first time length is greater than the second time length, then the echo pulses generated by the second ultrasonic wave echo corresponding to the target echo pulse number are compared with the echo pulses generated by the first ultrasonic wave echo corresponding to the standard echo pulse number, the delayed pulse number is determined based on the comparison result, and the delayed pulse number is determined as the compensation pulse number corresponding to the target echo pulse number. The first time length is the actual echo time length of the second ultrasonic wave echo corresponding to the target echo pulse number, and the second time length is the actual echo time length of the first ultrasonic wave echo corresponding to the standard echo pulse number.

[0082] For example, still taking the target echo pulse numbers corresponding to the 1st to 10th density levels of the ultrasonic wave echoes in the above Table 1 as an example, if the currently collected target echo pulse number is 7, since in the above Table 1, the 1st density level is the no-bubble state, and the echo pulse number generated by the ultrasonic wave under the no-bubble state is the standard echo pulse number, i.e., the standard echo pulse number is 10, it can be known that the target echo pulse number is less than the standard echo pulse number. At this time, it can be judged whether the first time length is greater than the second time length, i.e., whether the actual echo time length of the ultrasonic wave echo corresponding to the target echo pulse number is greater than the actual echo time length of the ultrasonic wave echo corresponding to the standard echo pulse number. If the first time length is greater than the second time length, then the echo pulses generated by the ultrasonic wave echo corresponding to the target echo pulse number can be further compared with the echo pulses generated by the ultrasonic wave echo corresponding to the standard echo pulse number, Figure 5 Another echo waveform diagram provided by the embodiment of the present application is as follows: Figure 5As shown, the dashed line represents the echo waveform when the bubble density level is level 4, and the corresponding target echo pulse number is 7. The solid line represents the echo waveform when the bubble density level is level 1, and the corresponding standard echo pulse number is 10. By comparing the STOP signals, it can be seen that the rising edge of the STOP signal of the target echo pulse number 7 is reduced by 2 at the front end and 1 at the rear end compared with the rising edge of the STOP signal of the standard echo pulse number. Since the echo length focuses on the timing of the first rising edge of the STOP, only the number of front-end rising edges that are reduced needs to be focused on, that is, the number of delayed pulses is determined to be 2, and the number of delayed pulses can be determined as the compensation pulse number corresponding to the target echo pulse number, that is, the compensation pulse number corresponding to the target echo pulse number 7 is 2. Similarly, the compensation pulse numbers corresponding to other target echo pulse numbers can be obtained.

[0083] Finally, based on the target echo pulse number and the compensation pulse number corresponding to the target echo pulse number, a corresponding relationship between the echo pulse number and the compensation pulse number of different bubble densities is constructed. It is assumed that the corresponding relationship between the echo pulse number and the compensation pulse number of different bubble densities constructed is shown in Table 2.

[0084] Table 2

[0085] Target echo pulse number Compensation pulse number 10 0 9 0 8 1 7 2 6 2 5 3 4 3 4 5 3 6 2 6

[0086] When the target echo pulse number is 9, the corresponding compensation pulse number is 0, which means that the rising edge of the STOP signal of the target echo pulse number 9 is not reduced at the front end, and the rising edge is reduced by 1 at the rear end compared with the rising edge of the STOP signal of the standard echo pulse number.

[0087] In step 103, based on the determined compensation pulse number and the actually acquired echo length, the compensated echo length is determined. The actually acquired echo length is the length from the first target signal generated by the echo of the ultrasonic wave to the second target signal generated by the echo of the ultrasonic wave.

[0088] Based on the implementation principle of the urea quality sensor, the actual echo duration is the time from the start of the sound wave emitted by the sound wave transmitter of the urea quality sensor to the time of reception by the sound wave receiver. For ease of acquisition, the actual echo duration can be determined as the time from the first target signal generated by the ultrasonic echo to the second target signal generated by the ultrasonic echo. The first target signal can be a START signal, and the second target signal can be a STOP signal. Specifically, the actual echo duration can be the time from the first rising edge of the START signal to the first rising edge of the STOP signal. Since the echo duration of urea solutions of different concentrations varies when there are no bubbles, the urea concentration of the urea solution can be calculated by the echo duration. However, due to the influence of bubbles, the echo amplitude of the same urea solution will decrease, resulting in a reduction in the number of echo pulses. Taking the number of echo pulses as the number of STOP rising edges as an example, the STOP rising edge will appear later. Therefore, the actual echo duration from the first rising edge of the START signal to the first rising edge of the STOP signal will be longer, and the increased duration is the duration corresponding to the delayed rising edge.

[0089] Therefore, after determining the number of compensation pulses and the actual echo duration, the compensated echo duration can be determined by the increase in duration corresponding to the number of compensation pulses, i.e., the compensated echo duration is the true echo duration corresponding to the current urea concentration.

[0090] In practice, the duration of the delayed rising edge is an integer multiple of the ultrasonic cycle (1 / ultrasonic frequency f). Therefore, the delay duration of the echo can be determined based on the number of compensation pulses and the ultrasonic frequency emitted by the urea quality sensor. The difference between the actual collected echo duration and the delayed echo duration is determined as the compensated echo duration.

[0091] In step 104, the compensated urea concentration is determined based on the compensated echo duration.

[0092] In practice, after determining the compensated echo duration, it is also possible to determine whether the current compensated echo duration is valid. It can be determined whether the difference between any two consecutive compensated echo durations in multiple consecutive cycles, such as five consecutive cycles, is lower than a preset difference. If the difference is satisfied, the compensated echo duration is determined to be valid and can be used to calculate the compensated urea concentration. If the difference is not satisfied, the compensated echo duration is considered invalid, and the echo duration can use the value of the previous output.

[0093] In a specific implementation, since the distance from the sound wave transmitter to the reflecting mirror of the reflected sound wave is fixed, the sound wave propagates at different speeds in different concentrations of urea aqueous solution, and thus after determining the compensated echo duration, the urea concentration can be determined by calculating the sound speed, specifically, the sound speed = 2 * the distance from the sound wave transmitter to the reflecting mirror / echo time, and after determining the sound speed, the urea concentration corresponding to the current sound speed can be determined by looking up a table.

[0094] In the embodiments of the present application, the urea concentration can be output more accurately in the state that the urea aqueous solution has bubbles, the reliability of the urea quality sensor is improved, the whole vehicle torque limitation caused by false reporting is avoided, and thus the failure rate is reduced.

[0095] Based on the same technical concept, the embodiments of the present application also provide a urea concentration compensation device, and the urea concentration compensation device solves problems in a similar principle to the above-mentioned urea concentration compensation method, and thus the implementation of the urea concentration compensation device can be referred to the implementation of the urea concentration compensation method, and the repeated parts will not be described herein.

[0096] Figure 6 A structural schematic diagram of a urea concentration compensation device provided in the embodiments of the present application includes a collection module 601, a first determination module 602, a second determination module 603, and a third determination module 604.

[0097] The collection module 601 is configured to collect the echo pulse number of any echo, wherein the echo is the echo of the ultrasonic wave emitted by the urea quality sensor.

[0098] The first determination module 602 is configured to determine the compensation pulse number corresponding to the echo pulse number based on a preset corresponding relationship between the echo pulse number and the compensation pulse number of different bubble densities.

[0099] The second determination module 603 is configured to determine the compensated echo duration based on the determined compensation pulse number and the actually collected echo duration, wherein the actually collected echo duration is the duration from the second target signal generated by the echo of the ultrasonic wave to the first target signal generated by the echo of the ultrasonic wave.

[0100] The third determination module 604 is configured to determine the compensated urea concentration based on the compensated echo duration.

[0101] In some embodiments, the collection module 601 is specifically configured to:

[0102] Based on the echo waveform of the any echo, the number of target waves in the echo waveform that meet the target voltage amplitude is determined as the echo pulse number of the echo.

[0103] In some embodiments, the target voltage amplitude is determined in the following manner:

[0104] determine, based on echoes of any first ultrasonic wave, a target wave at which an echo amplitude in the echoes of the first ultrasonic wave first exceeds a preset amplitude, and a wave preceding the target wave; the first ultrasonic wave is an ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in a bubble-free state;

[0105] determine, from a range interval composed of a first voltage amplitude corresponding to the target wave and a second voltage amplitude corresponding to the wave preceding the target wave, a target voltage amplitude from a specified candidate voltage amplitude library.

[0106] In some embodiments, the correspondence between the echo pulse number and the compensation pulse number for different bubble densities is constructed in the following manner:

[0107] determine, based on echoes of any second ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in a state of different bubble densities, a target echo pulse number corresponding to each of the second ultrasonic wave echoes;

[0108] For any target echo pulse number, if the target echo pulse number is less than a standard echo pulse number corresponding to the any first ultrasonic wave, and a first time length is greater than a second time length, then compare echo pulses generated by the second ultrasonic wave echo corresponding to the target echo pulse number with echo pulses generated by the first ultrasonic wave echo corresponding to the standard echo pulse number, determine a delayed pulse number based on the comparison result, and determine the delayed pulse number as a compensation pulse number corresponding to the target echo pulse number; wherein the first time length is an actual echo length of the second ultrasonic wave echo corresponding to the target echo pulse number, and the second time length is an actual echo length of the first ultrasonic wave echo corresponding to the standard echo pulse number;

[0109] construct a correspondence between the echo pulse number and the compensation pulse number for different bubble densities based on each target echo pulse number and the compensation pulse number corresponding to the target echo pulse number.

[0110] In some embodiments, the second determination module 603 is specifically configured to:

[0111] determine a delayed length of the echo based on the compensation pulse number and the frequency of the ultrasonic wave emitted by the urea quality sensor;

[0112] determine the compensation echo length as a difference between the actual echo length and the delayed length of the echo.

[0113] In some embodiments, the method further comprises:

[0114] The fourth determination module 605 is configured to determine, before the third determination module determines the compensated urea concentration based on the compensated echo time, that a difference between the compensated echo times of each of two adjacent times in the continuous times is lower than a preset difference.

[0115] The division of the modules in the embodiments of the present application is illustrative, and is merely a logical function division. In actual implementation, another division manner can be used. In addition, the function modules in each of the embodiments of the present application can be integrated in one processor, or can be physically separated, or two or more modules can be integrated in one module. The coupling between the modules can be realized through some interfaces. The interfaces are usually electrical communication interfaces, but can also be mechanical interfaces or other forms of interfaces. Therefore, the modules described as separate components can be or can not be physically separated, and can be located in one place or distributed to different locations of the same or different devices. The integrated modules can be realized in the form of hardware or in the form of software function modules.

[0116] After introducing the urea concentration compensation method and device in the example embodiment of the present application, next, an electronic device according to another example embodiment of the present application is introduced.

[0117] The electronic device 130 implemented according to this embodiment of the present application is described below with reference to Figure 7 Figure 7 The display electronic device 130 is merely an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0118] As shown in Figure 7 The electronic device 130 is shown in the form of a general electronic device. The components of the electronic device 130 can include, but are not limited to, the at least one processor 131, the at least one memory 132, and the bus 133 connecting different system components, including the memory 132 and the processor 131.

[0119] The bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor or local bus using any of a variety of bus structures.

[0120] The memory 132 can include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 1321 and / or a cache memory 1322, and can further include a read-only memory (ROM) 1323.

[0121] ​The memory 132 can also include a program / utility 1325 having a set (at least one) of program modules 1324, including but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof, can include implementation of a network environment as in each of these examples or some combination thereof.

[0122] The electronic device 130 can also communicate with one or more external devices 134 such as a keyboard or a pointing device, by way of I / O interface 135. Additionally, the electronic device 130 can communicate to one or more devices that enable a user to interact with the electronic device 130, by way of the I / O interface 135. Further, the electronic device 130 can communicate to one or more other electronic devices by way of the network adapter 136. As an example, the network adapter 136 can enable the electronic device 130 to communicate with a local area network (LAN), a wide area network (WAN), and / or the Internet. The network adapter 136 can be any suitable device that is capable of communicating with such a network. As depicted, the network adapter 136 is in communication with the other components of the electronic device 130 by way of the bus 133. It should be appreciated by those skilled in the art, and as noted above, that other hardware and / or software modules that can be used in conjunction with the electronic device 130 can also include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0123] In an example embodiment, a storage medium is also provided, when a computer program in the storage medium is executed by a processor of an electronic device, the electronic device can perform the compensation method of urea concentration described above. Optionally, the storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0124] In an example embodiment, the electronic device of the present application can at least include at least one processor, and a memory in communication connection with the at least one processor, wherein the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the steps of any compensation method of urea concentration provided by the embodiments of the present application.

[0125] In an example embodiment, a computer program product is also provided, when the computer program product is executed by an electronic device, the electronic device can implement any example method provided by the present application.

[0126] Moreover, a computer program product can employ any combination of one or more computer readable media or storage media. A computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] The program product for compensating for the urea concentration in the embodiments of the present application can employ a CD-ROM and include program codes, and can run on a computing device. However, the program product of the present application is not limited thereto, and in the present document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, apparatus or device.

[0128] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport program code there within for use by or in connection with an instruction execution system, apparatus, or device.

[0129] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, radio frequency (RF), and the like, or any suitable combination of the foregoing.

[0130] Program code implementing the application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider. The application is not limited to a particular programming language. The program code can be written in any form of programming language, including compiled or interpreted languages, and

[0131] It should be noted that, although several units or sub-units of the apparatus are mentioned in the above detailed description, such division into units or sub-units is merely exemplary and not mandatory. Indeed, according to an embodiment of the application, features and functions of two or more units described above can be embodied in one unit. Conversely, features and functions of one unit described above can be further divided into several units.

[0132] Moreover, while operations of the method of the present application are described in a particular order in the figures, this is not required or implied in any manner, and the desired results can be achieved without performing all the operations in the particular order presented or performing all the operations. Additionally or alternatively, certain steps can be omitted, combined into a single step, and / or split into multiple steps.

[0133] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0134] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0135] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0136] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0137] While the preferred embodiments of the application have been described, additional variations and modifications can be employed by those skilled in the art. Therefore, the appended claims intend to cover all such modifications and variations as fall within the true spirit and scope of the application. Further, the appended claims can be construed to cover all alternatives falling within the equivalent range of the claims.

[0138] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover the modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A method for compensating urea concentration, characterized in that, include: Collect the number of echo pulses for any echo, wherein the echo is the echo of the ultrasonic wave emitted by the urea quality sensor; The acquisition of the echo pulse count for any echo includes: determining the number of target waves in the echo waveform that satisfy the target voltage amplitude as the echo pulse count based on the echo waveform of any echo; wherein, the target voltage amplitude is determined in the following manner: based on the echo of any first ultrasonic wave, determining the target wave in the echo of the first ultrasonic wave whose echo amplitude first exceeds a preset amplitude, and the wave preceding the target wave; the first ultrasonic wave is the ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in a bubble-free state; the target voltage amplitude is determined from a specified candidate voltage amplitude library based on the range interval formed by the first voltage amplitude corresponding to the target wave and the second voltage amplitude corresponding to the wave preceding the target wave; Based on a preset correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities, the number of compensation pulses corresponding to the number of echo pulses is determined. This correspondence is constructed as follows: based on the echo of any second ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in different bubble density states, the target number of echo pulses corresponding to each second ultrasonic wave is determined. For any target number of echo pulses, if the target number of echo pulses is less than the standard number of echo pulses corresponding to any first ultrasonic wave, and the first duration is greater than the second duration, then the second ultrasonic wave corresponding to the target number of echo pulses is... The echo pulses generated by the acoustic echo are compared with the echo pulses generated by the first ultrasonic echo corresponding to the standard echo pulse count. Based on the comparison result, the number of delayed pulses is determined, and the number of delayed pulses is determined as the number of compensation pulses corresponding to the target echo pulse count. The first duration is the actual echo duration of the second ultrasonic echo corresponding to the target echo pulse count, and the second duration is the actual echo duration of the first ultrasonic echo corresponding to the standard echo pulse count. Based on each target echo pulse count and the number of compensation pulses corresponding to the target echo pulse count, a correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities is constructed. Based on the determined number of compensation pulses and the actual acquired echo duration, the compensated echo duration is determined. The actual acquired echo duration is the duration from the first target signal generated by the ultrasonic echo to the second target signal generated by the ultrasonic echo. The urea concentration after compensation is determined based on the compensated echo duration. The determination of the compensated echo duration based on the determined number of compensation pulses and the actual acquired echo duration includes: Based on the determined number of compensation pulses and the ultrasonic frequency emitted by the urea quality sensor, the delay time of the echo is determined. The difference between the actual acquired echo duration and the delay duration of the echo is determined as the compensated echo duration.

2. The method as described in claim 1, characterized in that, Before determining the compensated urea concentration based on the compensated echo duration, the method further includes: It was determined that in multiple consecutive tests, the difference between the compensated echo durations of two consecutive tests was lower than the preset difference.

3. A urea concentration compensation device, characterized in that, include: The acquisition module is used to acquire the number of echo pulses of any echo, wherein the echo is the echo of the ultrasonic wave emitted by the urea quality sensor; The acquisition module is specifically used to determine the number of target waves in the echo waveform that meet the target voltage amplitude as the echo pulse number of the echo based on the echo waveform of any echo. The target voltage amplitude is determined as follows: based on the echo of any first ultrasonic wave, the target wave whose echo amplitude first exceeds a preset amplitude, and the wave preceding the target wave are identified; the first ultrasonic wave is the ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in a bubble-free state; the target voltage amplitude is determined from a specified candidate voltage amplitude library based on the range formed by the first voltage amplitude corresponding to the target wave and the second voltage amplitude corresponding to the wave preceding the target wave. The first determining module is used to determine the number of compensation pulses corresponding to the number of echo pulses based on a preset correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities. The correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities is constructed as follows: based on the echo of any second ultrasonic wave emitted by the urea quality sensor when the urea aqueous solution is in different bubble density states, the target number of echo pulses corresponding to each second ultrasonic wave is determined. For any target number of echo pulses, if the target number of echo pulses is less than the standard number of echo pulses corresponding to any first ultrasonic wave, and the first duration is greater than the second duration, then the target number of echo pulses is adjusted accordingly. The echo pulse generated by the second ultrasonic echo is compared with the echo pulse generated by the first ultrasonic echo corresponding to the standard echo pulse number. Based on the comparison result, the number of delayed pulses is determined and the number of delayed pulses is determined as the number of compensation pulses corresponding to the target echo pulse number. The first duration is the actual echo duration of the second ultrasonic echo corresponding to the target echo pulse number, and the second duration is the actual echo duration of the first ultrasonic echo corresponding to the standard echo pulse number. Based on each target echo pulse number and the number of compensation pulses corresponding to the target echo pulse number, a correspondence between the number of echo pulses and the number of compensation pulses for different bubble densities is constructed. The second determining module is used to determine the compensated echo duration based on the determined number of compensation pulses and the actual acquired echo duration, wherein the actual acquired echo duration is the duration from the second target signal generated by the echo of the ultrasonic wave to the first target signal generated by the echo of the ultrasonic wave. The third determining module is used to determine the compensated urea concentration based on the compensated echo duration. The second determining module is specifically used for: Based on the determined number of compensation pulses and the ultrasonic frequency emitted by the urea quality sensor, the delay time of the echo is determined. The difference between the actual acquired echo duration and the delay duration of the echo is determined as the compensated echo duration.

4. An electronic device, characterized in that, include: At least one processor, and a memory communicatively connected to said at least one processor, wherein: The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1-2.

5. A storage medium, characterized in that, When the computer program in the storage medium is executed by the processor of the electronic device, the electronic device is able to perform the method as described in any one of claims 1-2.

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