Material height measuring method and device, level meter and storage medium

Abstract

The embodiment of the invention provides a material height measuring method and device, a level meter and a storage medium, and the method comprises the steps: obtaining an echo signal frame of a radar signal transmitted by the level meter to a measured material, analyzing the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame, and determining the height of the material from the plurality of signal peaks, determining a multi-harmonic signal combination satisfying a preset multi-harmonic signal condition, the preset multi-harmonic signal condition comprising that the relationship between the transmission path lengths of the radar signals corresponding to the plurality of signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signals, and determining the height of the measured material based on signal peaks corresponding to non-multiple echoes in the determined multi-harmonic signal combination. According to the method, the signal peak corresponding to the non-multiple echoes can be determined from the multi-harmonic signal combination, the signal peak corresponding to the non-multiple echoes can be accurately associated, the distance between the level meter and the measured material is calculated based on the associated signal peak corresponding to the non-multiple echoes, and the accuracy of material height measurement is improved.

Description

Technical Field

[0001] The present application relates to the technical field of material measurement, and in particular to a material height measurement method, device, level meter and storage medium. Background Art

[0002] As a material height measuring device, the level meter can be installed above the material to be measured. It can continuously measure the material height by transmitting radar signals to the material surface. The level meter measures the material at a certain target distance corresponding to the material surface. After detecting the one-dimensional echo signal, the one-dimensional echo signal is decoded to calculate the material height.

[0003] Specifically, after the level meter obtains the one-dimensional echo signal, it first processes the one-dimensional echo signal to determine the peak of the echo, then selects the peak with the highest amplitude from the peaks, and calculates the distance between the target and the level meter based on the transmission time corresponding to the peak, and then the height of the material can be calculated based on the distance.

[0004] Since there are multi-harmonic scenarios in the process of measuring material height by the level meter, for example, the radar front end shell may scatter and reflect the radar waves, and the echo energy of multi-harmonics may be greater, which will cause the level meter to be associated with the target distance corresponding to the harmonic, resulting in a jump in the output material height, making the accuracy of measuring the material height low. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a material height measurement method, device, level meter and storage medium to improve the accuracy of material height measurement. The specific technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for measuring material height, the method comprising:

[0007] Acquire an echo signal frame of a radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame;

[0008] Determine, from the multiple signal peaks, a multi-harmonic signal combination that satisfies a preset multi-harmonic signal condition, wherein the preset multi-harmonic signal condition includes that a relationship between transmission path lengths of radar signals corresponding to the multiple signal peaks satisfies a relationship between transmission path lengths of multi-harmonic signals;

[0009] The height of the measured material is determined based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination.

[0010] Optionally, the step of determining a multi-harmonic signal combination satisfying a preset multi-harmonic signal condition from the multiple signal peaks includes:

[0011] For a target signal peak with the largest amplitude among the multiple signal peaks, the target signal peak is sequentially used as the wave peak corresponding to the kth to 1st echoes, and each time the target signal peak is used as the wave peak corresponding to the ith echo, it is determined whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path lengths of the radar signals corresponding to other signal peaks is an arithmetic progression, wherein k is a preset number and i is a positive integer belonging to [k, 1];

[0012] When the relationship is an arithmetic progression relationship, the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are determined to be a multi-harmonic signal combination, and the target signal peak is stopped as the peak corresponding to the i-1th echo.

[0013] Optionally, before the step of determining that the target signal peak and other signal peaks corresponding to the target signal peak satisfying the arithmetic progression relationship are a combination of multiple harmonic signals, the method further includes:

[0014] In the case where the relationship is an arithmetic progression relationship, determining whether the amplitude ratio between the amplitude of the signal peak of one echo and the amplitude of the target signal peak reaches a preset ratio when the target signal peak is taken as the peak corresponding to the i-th echo;

[0015] When the amplitude ratio reaches the preset ratio, the step of determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multiple harmonic signals is performed.

[0016] Optionally, the level meter performs continuous measurement on the measured material, and the echo signal frame is a current signal frame;

[0017] Before the step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination, the method further includes:

[0018] For each signal peak, based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak, determine whether the signal peak has an associated relationship with each determined candidate signal peak, wherein the determined candidate signal peaks are determined based on the signal peaks included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material;

[0019] When the signal peak is associated with a determined candidate signal peak, updating the number of associated signal frames of the determined candidate signal peak that is associated with the signal peak;

[0020] The step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination comprises:

[0021] In the case where the determined candidate signal peaks satisfy a preset condition, determining a target signal peak from the determined candidate signal peaks satisfying the preset condition, wherein the preset condition is: the number of associated signal frames of the determined candidate signal peaks reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame;

[0022] Based on the target signal peak, the height of the measurement material is determined.

[0023] Optionally, before the step of determining the height of the measured material based on the target signal peak, the method further includes:

[0024] Based on a first preset weight, weighted sum is performed on the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak, and the target distance corresponding to the determined candidate signal peak is updated with the obtained sum;

[0025] The step of determining the height of the measured material based on the target signal peak comprises:

[0026] The height of the measured material is determined based on the target distance corresponding to the target signal peak.

[0027] Optionally, the step of determining a target signal peak from the determined candidate signal peaks that meet the preset condition includes:

[0028] When the number of the determined candidate signal peaks satisfying the preset condition is one, determining the determined candidate signal peak as the target signal peak;

[0029] In the case where there are multiple determined candidate signal peaks that meet the preset condition, the multiple determined candidate signal peaks are arranged according to the corresponding target distances to obtain an arrangement order; or, the multiple determined candidate signal peaks are arranged according to the amplitudes to obtain an arrangement order;

[0030] Based on the arrangement order, a determined candidate signal peak is selected from a plurality of determined candidate signal peaks as a target signal peak.

[0031] Optionally, the method further includes:

[0032] When there is no correlation relationship between the signal peak and the determined candidate signal peak, the signal peak is regarded as the determined candidate signal peak.

[0033] Optionally, the measured material is a moving material;

[0034] Before the step of determining the height of the measured material based on the target distance corresponding to the target signal peak, the method further includes:

[0035] Calculating a speed of change in the height of the measured material according to the height of the measured material corresponding to the historical signal frame;

[0036] According to the speed and the target distance corresponding to the target signal peak in the echo signal frame, predicting the target distance corresponding to the target signal peak of the next signal frame as the predicted distance;

[0037] Determine a correlated signal peak from the signal peaks included in the echo signal frame based on a difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame;

[0038] The target distance corresponding to the target signal peak is updated according to the target distance corresponding to the associated signal peak and the predicted distance.

[0039] Optionally, the step of calculating the speed of change of the height of the measured material according to the height of the measured material corresponding to the historical signal frame includes:

[0040] The speed V of the height change of the measured material is calculated according to the following formula;

[0041] V=(endPos-startPos) / (N / 2);

[0042] Wherein, endPos is the average of the target distances corresponding to the last N / 2 historical signal frames in the historical signal frame, startPos is the average of the target distances corresponding to the first N / 2 historical signal frames in the historical signal frame, and N is the number of the historical signal frames;

[0043] The step of predicting the target distance corresponding to the target signal peak of the next signal frame according to the speed and the target distance corresponding to the target signal peak in the echo signal frame as a distance prediction step includes:

[0044] According to the following formula, the target distance prePos corresponding to the target signal peak of the next signal frame is calculated as the predicted distance;

[0045] prePos = stablePos + V*T;

[0046] Among them, stablePos is the target distance corresponding to the target signal peak in the echo signal frame, V is the speed, and T is the cycle time of each frame.

[0047] Optionally, the step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame comprises:

[0048] For each signal peak in the echo signal frame, determining whether a difference between the target distance corresponding to the signal peak and the predicted distance is less than a preset difference;

[0049] When the number of candidate signal peaks whose corresponding difference values ​​are smaller than the preset difference value is one, determining the candidate signal peak as a correlation signal peak;

[0050] When there are multiple candidate signal peaks whose corresponding difference values ​​are less than the preset difference value, the confidence of each candidate signal peak is calculated based on the parameter information of the candidate signal peaks and in accordance with a preset peak selection method;

[0051] The candidate signal peak corresponding to the maximum confidence among the confidences is determined as the associated signal peak.

[0052] Optionally, the step of calculating the confidence of each candidate signal peak based on the parameter information of the candidate signal peak and in accordance with a preset peak selection method includes at least one of the following:

[0053] According to the target distance corresponding to each candidate signal peak, the confidence of each candidate signal peak is calculated in accordance with the distance priority mode;

[0054] According to the amplitude corresponding to each candidate signal peak, the confidence of each candidate signal peak is calculated according to the amplitude priority mode;

[0055] According to the difference between the target distance corresponding to each candidate signal peak and the predicted distance, the confidence of each candidate signal peak is calculated according to the nearest neighbor mode.

[0056] Optionally, the step of calculating the confidence of each candidate signal peak according to the target distance corresponding to each candidate signal peak in a distance priority mode includes:

[0057] Calculate the confidence of each candidate signal peak according to the following formula;

[0058]

[0059] Wherein, scorePeakIndex(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, sortIndex(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, and validPeakNum is the maximum target distance among the target distances corresponding to multiple candidate signal peaks;

[0060] The step of calculating the confidence of each candidate signal peak according to the amplitude corresponding to each candidate signal peak in an amplitude priority mode comprises:

[0061] Calculate the confidence of each candidate signal peak according to the following formula;

[0062]

[0063] Wherein, scorePeakValue(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, peakValue(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, and maxValue is the maximum amplitude among the amplitudes of the multiple candidate signal peaks;

[0064] The step of calculating the confidence of each candidate signal peak according to the difference between the target distance corresponding to each candidate signal peak and the predicted distance in accordance with the nearest neighbor mode comprises:

[0065] The confidence of each candidate signal peak is calculated according to the following formula;

[0066]

[0067] Among them, scoreDist(i) is the confidence of the i-th candidate signal peak after being arranged according to the corresponding differences, dist(i) is the difference between the target distance corresponding to the i-th candidate signal peak and the predicted distance after being arranged according to the corresponding differences, and thresh is the preset distance difference.

[0068] Optionally, the method further includes:

[0069] When the number of candidate signal peaks whose corresponding difference values ​​are less than the preset difference value is 0, the target distance corresponding to the target signal peak is taken as the predicted distance, and the step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame is returned to be executed.

[0070] Optionally, the step of updating the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance includes:

[0071] Based on a second preset weight, a weighted sum is performed on the target distance corresponding to the associated signal peak and the predicted distance, so as to update the target distance corresponding to the target signal peak with the obtained sum.

[0072] In a second aspect, an embodiment of the present application provides a device for measuring material height, the device comprising:

[0073] A signal peak acquisition module is used to acquire an echo signal frame of a radar signal emitted by the level meter to the measured material, and to parse the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame;

[0074] A multi-harmonic signal combination determination module is used to determine a multi-harmonic signal combination that satisfies a preset multi-harmonic signal condition from the multiple signal peaks, wherein the preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signals;

[0075] The measured material height determination module is used to determine the height of the measured material based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination.

[0076] Optionally, the multi-harmonic signal combination determination module includes:

[0077] an arithmetic progression relationship determination submodule, for determining, for a target signal peak having the largest amplitude among the multiple signal peaks, the target signal peaks as wave peaks corresponding to the kth to 1st echoes in sequence, and each time the target signal peak is used as the wave peak corresponding to the ith echo, determining whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path lengths of the radar signals corresponding to other signal peaks is an arithmetic progression relationship, wherein k is a preset number and i is a positive integer belonging to [k, 1];

[0078] The harmonic signal combination determination submodule is used to determine that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a multi-harmonic signal combination when the relationship is an arithmetic progression relationship, and stop using the target signal peak as the peak corresponding to the i-1th echo.

[0079] Optionally, the device further comprises:

[0080] An amplitude ratio calculation module, used for determining, before determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals, if the relationship is an arithmetic progression relationship, whether the amplitude ratio between the amplitude of the signal peak of the 1st echo and the amplitude between the target signal peaks reaches a preset ratio when the target signal peak is used as the peak corresponding to the i-th echo;

[0081] A trigger module is used to trigger the harmonic signal combination determination submodule when the amplitude ratio reaches the preset ratio.

[0082] Optionally, the level meter performs continuous measurement on the measured material, and the echo signal frame is a current signal frame;

[0083] The device also includes:

[0084] an association relationship determination module, for determining, for each signal peak, whether there is an association relationship between the signal peak and each determined candidate signal peak, before determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination, based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak, wherein the determined candidate signal peaks are determined based on the signal peaks included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material;

[0085] The associated signal frame quantity updating module is used to update the quantity of associated signal frames of the determined candidate signal peak that is associated with the signal peak when the signal peak is associated with the determined candidate signal peak.

[0086] Optionally, the material height measurement and determination module includes:

[0087] A target signal peak determination submodule, for determining a target signal peak from the determined candidate signal peaks that meet a preset condition, when the determined candidate signal peaks meet the preset condition, wherein the preset condition is: the number of associated signal frames of the determined candidate signal peak reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame;

[0088] The measured material height determination submodule is used to determine the height of the measured material based on the target signal peak.

[0089] Optionally, the device further comprises:

[0090] A target distance updating module, used for, before the step of determining the height of the measured material based on the target signal peak, performing a weighted sum of the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak based on a first preset weight, and updating the target distance corresponding to the determined candidate signal peak with the obtained sum;

[0091] The material height measurement and determination submodule comprises:

[0092] The measured material height determination unit is used to determine the height of the measured material based on the target distance corresponding to the target signal peak.

[0093] Optionally, the target signal peak determination submodule includes:

[0094] a first target signal peak determining unit, configured to determine the determined candidate signal peak as a target signal peak when the number of the determined candidate signal peaks satisfying the preset condition is one;

[0095] An arrangement order acquisition unit is used to arrange the multiple determined candidate signal peaks according to the corresponding target distances to obtain an arrangement order when there are multiple determined candidate signal peaks that meet the preset condition; or to arrange the multiple determined candidate signal peaks according to amplitudes to obtain an arrangement order;

[0096] The second target signal peak determination unit is used to select a determined candidate signal peak from a plurality of determined candidate signal peaks as a target signal peak based on the arrangement order.

[0097] Optionally, the device further comprises:

[0098] The determined candidate signal peak determining unit is used to take the signal peak as the determined candidate signal peak when there is no correlation relationship between the signal peak and the determined candidate signal peak.

[0099] Optionally, the measured material is a moving material;

[0100] The device also includes:

[0101] A speed calculation module, used for calculating the speed of the height change of the measured material according to the height of the measured material corresponding to the historical signal frame before the step of determining the height of the measured material based on the target distance corresponding to the target signal peak;

[0102] A predicted distance prediction module, used to predict the target distance corresponding to the target signal peak of the next signal frame according to the speed and the target distance corresponding to the target signal peak in the echo signal frame as the predicted distance;

[0103] an associated signal peak determination module, configured to determine an associated signal peak from signal peaks included in the echo signal frame based on a difference between the predicted distance and a target distance corresponding to each signal peak in the echo signal frame;

[0104] The target distance updating module is used to update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance.

[0105] Optionally, the speed calculation module includes:

[0106] A first calculation submodule is used to calculate the speed V of the height change of the measured material according to the following formula;

[0107] V=(endPos-startPos) / (N / 2);

[0108] Wherein, endPos is the average of the target distances corresponding to the last N / 2 historical signal frames in the historical signal frame, startPos is the average of the target distances corresponding to the first N / 2 historical signal frames in the historical signal frame, and N is the number of the historical signal frames;

[0109] The predicted distance prediction module comprises:

[0110] The second calculation module is used to calculate the target distance prePos corresponding to the target signal peak of the next signal frame as the predicted distance according to the following formula;

[0111] prePos = stablePos + V*T;

[0112] Among them, stablePos is the target distance corresponding to the target signal peak in the echo signal frame, V is the speed, and T is the frame cycle time.

[0113] Optionally, the correlation signal peak determination module includes:

[0114] A difference determination submodule, used for determining, for each signal peak in the echo signal frame, whether the difference between the target distance corresponding to the signal peak and the predicted distance is less than a preset difference;

[0115] A first determination submodule, configured to determine the candidate signal peak as a correlation signal peak when the number of candidate signal peaks corresponding to the difference value that is less than the preset difference value is one;

[0116] A confidence calculation submodule, configured to calculate the confidence of each candidate signal peak according to a preset peak selection method based on parameter information of the candidate signal peak when there are multiple candidate signal peaks whose corresponding difference is less than the preset difference;

[0117] The second determination submodule is used to determine the candidate signal peak corresponding to the maximum confidence among the confidences as the associated signal peak.

[0118] Optionally, the confidence calculation submodule includes at least one of the following:

[0119] A first confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the target distance corresponding to each candidate signal peak in a distance priority mode;

[0120] A second confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the amplitude corresponding to each candidate signal peak in an amplitude priority mode;

[0121] The third confidence calculation unit is used to calculate the confidence of each candidate signal peak according to the difference between the target distance corresponding to each candidate signal peak and the predicted distance in accordance with the nearest neighbor mode.

[0122] Optionally, the first confidence calculation unit includes:

[0123] The first confidence calculation subunit is used to calculate the confidence of each candidate signal peak according to the following formula;

[0124]

[0125] Wherein, scorePeakIndex(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, sortIndex(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, and validPeakNum is the maximum target distance among the target distances corresponding to multiple candidate signal peaks;

[0126] The second confidence calculation unit includes:

[0127] A second confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the following formula;

[0128]

[0129] Wherein, scorePeakValue(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, peakValue(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, and maxValue is the maximum amplitude among the amplitudes of the multiple candidate signal peaks;

[0130] The third confidence calculation unit comprises:

[0131] A third confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the following formula;

[0132]

[0133] Among them, scoreDist(i) is the confidence of the i-th candidate signal peak after being arranged according to the corresponding difference, dist(i) is the difference between the target distance corresponding to the i-th candidate signal peak and the predicted distance after being arranged according to the corresponding difference, and thresh is the predicted distance difference.

[0134] Optionally, the device further comprises:

[0135] The predicted distance acquisition module is used to use the target distance corresponding to the target signal peak as the predicted distance and trigger the associated signal peak determination module when the number of candidate signal peaks whose corresponding differences are less than the preset difference is 0.

[0136] Optionally, the target distance updating module includes:

[0137] The target distance updating submodule is used to perform weighted summation on the target distance corresponding to the associated signal peak and the predicted distance based on a second preset weight, so as to obtain a sum to update the target distance corresponding to the target signal peak.

[0138] In a third aspect, an embodiment of the present application further provides a level meter, including a processor, a memory, and a radar detection component:

[0139] The radar detection component is used to transmit radar signals to the measured material and receive echo signal frames;

[0140] The memory is used to store computer programs;

[0141] The processor is used to implement any method described in the first aspect when executing a program stored in the memory.

[0142] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any method described in the first aspect is implemented.

[0143] Beneficial effects of the embodiments of the present application:

[0144] In the solution provided by the embodiment of the present application, the processor can obtain the echo signal frame of the radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain multiple signal peaks included in the echo signal frame, and determine the multi-harmonic signal combination that meets the preset multi-harmonic signal condition from the multiple signal peaks, wherein the preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signal, and the height of the measured material is determined based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination. After obtaining the multiple signal peaks included in the echo signal frame, the multi-harmonic signal combination that meets the preset multi-harmonic signal condition can be determined from the multiple signal peaks, that is, multiple signal peaks whose relationship between the transmission path lengths of the corresponding echo signals satisfies the relationship between the transmission path lengths of the multi-harmonic signal can be found from the multiple signal peaks, and the multiple echo signals corresponding to the multiple signal peaks constitute the multi-harmonic signal combination. Then, the signal peaks corresponding to the multiple echoes and the signal peaks corresponding to the non-multiple echoes can be determined from the multi-harmonic signal combination, thereby accurately associating the signal peaks corresponding to the non-multiple echoes, eliminating the influence of the multi-harmonic signal, and ensuring the accuracy of the associated signal peaks. In this way, the distance between the level meter and the measured material is calculated based on the signal peaks corresponding to the accurately associated non-multiple echoes, which can improve the accuracy of the material height measurement. Of course, implementing any product or method of the present application does not necessarily require all of the advantages described above to be achieved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0145] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0146] Figure 1 A schematic diagram of a level meter measuring material height;

[0147] Figure 2 Another schematic diagram of a level meter measuring material height;

[0148] Figure 3 A flow chart of a material height measurement method provided in an embodiment of the present application;

[0149] Figure 4 for Figure 3 A specific flow chart of step S302 in the illustrated embodiment;

[0150] Figure 5 A schematic diagram of radar signal transmission provided in an embodiment of the present application;

[0151] Figure 6 Another schematic diagram of radar signal transmission provided in an embodiment of the present application;

[0152] Figure 7 A specific flow chart for determining whether an association relationship exists provided in an embodiment of the present application;

[0153] Figure 8 A specific flow chart of updating the target distance corresponding to the target signal peak provided in the embodiment of the present application;

[0154] Fig. 9 for Figure 8 A specific flow chart of step S803 in the illustrated embodiment;

[0155] Fig.10 A schematic diagram of the structure of a material height measuring device provided in an embodiment of the present application;

[0156] Fig.11 A schematic diagram of the structure of a level meter provided in an embodiment of the present application. DETAILED DESCRIPTION

[0157] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0158] In the process of measuring the material height by the level meter, under normal circumstances, if Figure 1 As shown, the radar detection component transmits a radar signal to the material surface. The radar signal is scattered on the material surface. The radar detection component receives the echo signal scattered from the material surface, and then analyzes the received echo signal. Multiple signal peaks can be obtained from the echo signal, from which the signal peak with the highest amplitude can be selected. The distance between the material surface and the level meter is calculated according to the transmission time corresponding to the signal peak, and then the height of the material is calculated based on the distance.

[0159] However, when the level meter is measuring the material height, the probability of multi-harmonic scenes occurring is relatively high, and the front end housing of the radar detection component may scatter and reflect the radar signal. Figure 2As shown, the radar detection component transmits a radar signal to the material surface, and the radar signal is scattered on the material surface. The metal shell of the radar detection component can receive the radar signal scattered from the material surface, and then the metal shell of the radar detection component reflects the radar signal to the material surface, and the radar signal continues to scatter on the material surface. The radar detection component receives the echo signal scattered from the material surface, and the echo signal is multiple echo signals at this time. For another example, the radar signal path may be radar detection component transmission-material surface-front end shell-material surface-front end shell-material surface-radar detection component reception. There are multiple echo signal interferences in all of the above, which affects the determination of the signal peak in one echo, so that the calculated material height has low accuracy.

[0160] In order to improve the accuracy of material height measurement, the embodiments of the present application provide a material height measurement method, device, level meter, computer readable storage medium and computer program product. The following first introduces a material height measurement method provided by the embodiments of the present application. The material height measurement method provided by the embodiments of the present application can be applied to the processor of the level meter.

[0161] like Figure 3 As shown, a method for measuring material height, the method comprising:

[0162] S301, obtaining an echo signal frame of a radar signal emitted by a level meter to a measured material, and parsing the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame;

[0163] S302, determining a multi-harmonic signal combination satisfying a preset multi-harmonic signal condition from the multiple signal peaks;

[0164] The preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signals.

[0165] S303: Determine the height of the material to be measured based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination.

[0166] It can be seen that in the scheme provided by the embodiment of the present application, after obtaining the multiple signal peaks included in the echo signal frame, a multi-harmonic signal combination that meets the preset multi-harmonic signal condition can be determined from the multiple signal peaks, that is, multiple signal peaks whose relationship between the transmission path lengths of the corresponding echo signals meets the relationship between the transmission path lengths of the multi-harmonic signals can be found from the multiple signal peaks, and the multiple echo signals corresponding to the multiple signal peaks constitute a multi-harmonic signal combination. Then, the signal peaks corresponding to the multiple echoes and the signal peaks corresponding to the non-multiple echoes can be determined from the multi-harmonic signal combination, thereby accurately correlating to the signal peaks corresponding to the non-multiple echoes, eliminating the influence of the multi-harmonic signal, and ensuring the accuracy of the associated signal peaks. In this way, the distance between the level meter and the measured material is calculated based on the accurately correlated signal peaks corresponding to the non-multiple echoes, which can improve the accuracy of the material height measurement.

[0167] In step S301, the processor may obtain an echo signal frame of a radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame. The level meter may include a radar detection component, which emits a radar signal and receives a reflected signal. The material measured by the level meter may be a solid material or a liquid material.

[0168] For example, the level meter monitors the liquid level of the reservoir. The radar detection component can periodically transmit radar signals to the reservoir surface and receive echo signals reflected from the reservoir surface. If the echo signal includes three echo signals, then when the processor obtains the echo signal frame, the echo signal frame can be parsed to obtain the three signal peaks included in the echo signal frame. Of course, other target interference echoes may also be included, but since the amplitudes of other interference echoes are small, they are generally not mistakenly located at the interference target positions.

[0169] In one embodiment, the level meter may include a peak detection module for transmitting signals, receiving signals, and processing signals. Specifically, the detection module can receive and process the echo signal frame to obtain one-dimensional FFT (Fast Fourier Transform) data, and then perform background difference processing and signal peak extraction on the FFT data. Background difference processing is to use the FFT data collected by the radar for a period of time as the background, and use the FFT data corresponding to the echo signal frame as the background difference. After the processed FFT data is obtained by the background difference processing, the signal peak is extracted by using methods such as CFAR or local extreme value, so as to obtain multiple signal peaks included in the echo signal frame.

[0170] When the processor obtains multiple signal peaks included in the echo signal frame, a multi-harmonic signal combination that meets the preset multi-harmonic signal condition can be determined from the multiple signal peaks, that is, step S302 is executed. The multi-harmonic signal combination includes multiple echo signals, and the preset multi-harmonic signal condition may include: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks meets the relationship between the transmission path lengths of the multi-harmonic signal, and the relationship between the transmission path lengths of the multi-harmonic signal can be an arithmetic progression relationship.

[0171] If there is a multi-harmonic scenario during the process of the level meter measuring the material height, and there is a certain relationship between the transmission path lengths of the radar signals corresponding to each signal peak, the processor can determine whether there is a multi-harmonic signal combination in the multiple signal peaks based on the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks. If the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signals, the multi-harmonic signal combination can be determined from the multiple signal peaks.

[0172] For example, when the level meter measures the material height, three echoes occur and there are three signal peaks. Of course, other target interference echoes may also be included. However, since the amplitudes of other interference echoes are small, they are generally not mistakenly located at the positions of these interference targets.

[0173] Then for the three signal peaks corresponding to the three echoes, namely the first signal peak, the second signal peak and the third signal peak, there is a certain relationship between the transmission path lengths of the corresponding radar signals. If the relationship between the transmission path lengths of the radar signals corresponding to the first signal peak, the second signal peak and the third signal peak satisfies an arithmetic progression relationship, the first echo, second echo and third echo signal combinations can be determined based on the first signal peak, the second signal peak and the third signal peak.

[0174] In step S303, after determining the multi-harmonic signal combination, the processor can determine the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the multi-harmonic signal combination. In one embodiment, the multi-harmonic signal combination includes a primary echo signal, and after determining the multi-harmonic signal combination, the processor can determine the height of the measured material based on the signal peak corresponding to the primary echo in the multi-harmonic signal combination.

[0175] As an implementation method, the processor can calculate the distance between the material surface and the level meter based on the transmission time and speed corresponding to the signal peak corresponding to the non-multiple echoes, and then calculate the height of the material based on the distance. For example, if the multi-harmonic signal combination determined by the processor includes a primary echo, a secondary echo, and a tertiary echo, then the distance between the material surface and the level meter can be calculated based on the transmission time and speed corresponding to the signal peak corresponding to the primary echo, and then the height of the material can be calculated based on the distance.

[0176] In the scheme of the present embodiment, after obtaining the multiple signal peaks included in the echo signal frame, the multi-harmonic signal combination can be determined from the multiple signal peaks based on the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks and whether the relationship between the transmission path lengths of the multi-harmonic signal is satisfied. Then, the signal peaks corresponding to the multiple echoes and the signal peaks corresponding to the non-multiple echoes can be determined from the multi-harmonic signal combination, thereby accurately correlating to the signal peaks corresponding to the non-multiple echoes, thereby eliminating the influence of the multi-harmonic signal and ensuring the accuracy of the correlated signal peaks. In this way, the distance between the level meter and the measured material can be calculated based on the signal peaks corresponding to the accurately correlated non-multiple echoes, thereby improving the accuracy of the material height measurement.

[0177] In this way, for scenarios with multiple harmonics, the level meter can make a judgment in advance before associating the signal peaks to ensure that it will not be mistakenly associated with the signal peaks corresponding to the multiple harmonics, or mistakenly locate the target distance corresponding to the signal peaks corresponding to the multiple harmonics after power-on.

[0178] As an implementation method of the present application, Figure 4 As shown, the above step S302, i.e., the step of determining a multi-harmonic signal combination satisfying a preset multi-harmonic signal condition from the multiple signal peaks, may include:

[0179] S401, for a target signal peak with the largest amplitude among the multiple signal peaks, dividing the target signal peak into peaks corresponding to k to 1 echoes, and each time the target signal peak is taken as the peak corresponding to the i-th echo, determining whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path lengths of the radar signals corresponding to other signal peaks is an arithmetic progression;

[0180] Wherein, k is a preset number, and i is a positive integer belonging to [k, 1].

[0181] The relationship between the transmission path lengths of the multi-harmonic signals can be an arithmetic progression relationship. Therefore, after obtaining the multiple signal peaks included in the echo signal frame, the processor can determine whether the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the arithmetic progression relationship.

[0182] For example, taking the multi-harmonic signal as a third echo signal as an example, if in an ideal case, the echo signal obtained by the level meter is a single echo, such as Figure 5 As shown in FIG. 1 , the radar detection component transmits a radar signal (such as an actual beam) from the transmitting and receiving surface to the surface of the material being measured. The radar signal is scattered on the surface of the material being measured. The radar signal can return to the transmitting and receiving surface of the radar detection component after scattering. Then the path of the radar signal is ABD (i.e., the path of one echo), as shown in FIG. Figure 6 As shown in the figure, the distance between the transmitting and receiving surface of the radar detection component and the radar front shell is B, the distance between the radar front shell and the surface of the material to be measured is h, and the transmission path length of the radar signal is B+h+h+B (i.e., the transmission path length corresponding to one echo).

[0183] If a secondary echo occurs, such as Figure 5 As shown, the radar detection component transmits radar signals from the transmitting and receiving surface to the surface of the material to be measured. The radar signals are scattered on the surface of the material to be measured. The scattered radar signals are reflected by the radar front shell to the surface of the material to be measured. The radar signals are scattered again on the surface of the material to be measured. The radar signals are transmitted to the transmitting and receiving surface of the radar detection component. Then the path of the radar signal is ABCEG (i.e., the path of the secondary echo). Figure 6 As shown, the transmission path length of the radar signal is B+h+h+h+h+h+B (i.e., the transmission path length corresponding to the secondary echo). At this time, the path of the radar signal has CEF more than the primary echo, and the transmission path length is h+h longer.

[0184] If a triple echo occurs, the radar signal is transmitted in a way that adds one more reflection and one more scattering than a double echo, e.g. Figure 5 As shown, the path of the radar signal is ABCEFHI (i.e., the path of three echoes), such as Figure 6 As shown, the transmission path length of the radar signal is B+h+h+h+h+h+h+h+B (i.e., the transmission path length corresponding to the third echo). At this time, the path of the radar signal is FHJ longer than the secondary echo, and the transmission path length is h+h longer.

[0185] Then, for the transmission path lengths of the radar signals corresponding to the signal peaks included in the primary echo, the secondary echo, and the tertiary echo, an arithmetic progression relationship can be formed.

[0186] In one embodiment, the processor may first focus on the signal peak with the largest amplitude among multiple signal peaks as the target signal peak, and use the target signal peak as the peak corresponding to the kth to 1st echo. Each time the target signal peak is used as the peak corresponding to the ith echo, it is determined whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path length of the radar signal corresponding to other signal peaks is an arithmetic progression. Wherein k is a preset number. For example, it can be 3, 4, 5, etc., which is not specifically limited here.

[0187] Exemplarily, the processor determines that the echo signal frame includes 3 signal peaks, k is 3, the index of the signal peak with the largest amplitude among the multiple signal peaks is Index, and the indexes of the other two signal peaks are i and j. The target signal peak indexed as Index can be used as the peak of the third echo, the peak of the second echo, and the peak of the first echo in sequence, as shown in the following Table 1. Then, it is determined whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak indexed as Index and the transmission path length of the radar signal corresponding to the other signal peaks is an arithmetic progression.

[0188] Table 1

[0189]

[0190]

[0191] Assume that the target signal peak with index i is actually the peak of the primary echo, the corresponding radar signal transmission path length is B+h+h+B, the target signal peak with index Index is actually the peak of the secondary echo, the corresponding radar signal transmission path length is B+h+h+h+h+B, and the target signal peak with index j is actually the peak of the third echo, and the corresponding radar signal transmission path length is B+h+h+h+h+h+h+B.

[0192] In order to verify whether the signal peak combination is a multi-harmonic signal combination by determining whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak indexed as Index and the transmission path length of the radar signal corresponding to other signal peaks is an arithmetic progression. As recorded in the fourth row of Table 1, the target signal peak indexed as Index can be used as the peak of the third echo, the target signal peak indexed as i can be used as the peak of the first echo, and the target signal peak indexed as j can be used as the peak of the second echo. The difference between the transmission path length of the radar signal corresponding to the target signal peak indexed as Index and the transmission path length of the radar signal corresponding to the target signal peak indexed as j is -2h, and the difference between the transmission path length of the radar signal corresponding to the target signal peak indexed as j and the transmission path length of the radar signal corresponding to the target signal peak indexed as i is 4h, that is, the three transmission path lengths do not form an arithmetic progression relationship. Therefore, this combination is not a multi-harmonic signal combination.

[0193] As recorded in the third row of Table 1, the target signal peak indexed as Index is taken as the peak of the secondary echo, the target signal peak indexed as i is taken as the peak of the primary echo, and the target signal peak indexed as j is taken as the peak of the tertiary echo. Then the difference between the transmission path length of the radar signal corresponding to the target signal peak indexed as Index and the transmission path length of the radar signal corresponding to the target signal peak indexed as i is 2h, and the difference between the transmission path length of the radar signal corresponding to the target signal peak indexed as j and the transmission path length of the radar signal corresponding to the target signal peak indexed as Index is 2h, that is, the three transmission path lengths form an arithmetic progression relationship. Therefore, this combination is a multi-harmonic signal combination. At this time, it is not necessary to continue to verify as recorded in the second row of Table 1, taking the target signal peak indexed as Index as the peak of the primary echo, the target signal peak indexed as i as the peak of the secondary echo, and the target signal peak indexed as j as the peak of the tertiary echo.

[0194] Considering that the radar signal may be subject to some interference during the transmission process and the transmission path length has a certain deviation, the difference between the two transmission path lengths may not be exactly the same, that is, the difference between the two differences is within a certain threshold. Specifically, as shown in the following formula, the difference dist_1 between the transmission path length peakPos(Index) of the radar signal corresponding to the target signal peak with index Index and the transmission path length peakPos(i) of the radar signal corresponding to the target signal peak with index i, the difference dist_2 between the transmission path length peakPos(j) of the radar signal corresponding to the target signal peak with index j and the transmission path length peakPos(Index) of the radar signal corresponding to the target signal peak with index Index, the absolute value of the difference between dist_1 and dist_2 is within the preset threshold thresh_err, that is, it constitutes an arithmetic progression relationship.

[0195] dist_1=peakPos(Index)-peakPos(i);

[0196] dist_2=peakPos(j)-peakPos(Index);

[0197] Fabs(dist_1-dist_2) <thresh_err。

[0198] S402, when the relationship is an arithmetic progression relationship, determine that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a multi-harmonic signal combination, and stop using the target signal peak as the peak corresponding to the i-1th echo.

[0199] If the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path length of the radar signal corresponding to other signal peaks is an arithmetic progression, the processor can determine that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals, and stop verifying the target signal peak as the peak corresponding to the i-1th echo.

[0200] For example, following the example in step S401, if the relationship between the transmission path length of the radar signal corresponding to the target signal peak indexed as Index, the transmission path length of the radar signal corresponding to the target signal peak indexed as j, and the transmission path length of the radar signal corresponding to the target signal peak indexed as j constitutes an arithmetic progression relationship, then the target signal peak indexed as Index, the target signal peak indexed as i, and the target signal peak indexed as j can be combined as a multi-harmonic signal.

[0201] That is, the multi-harmonic signal is a third-order echo signal, wherein the target signal peak with index i is the peak of the first echo, the target signal peak with index Index is the peak of the second echo, and the target signal peak with index j is the peak of the third echo.

[0202] Similarly, in the judgment of the fourth echo or other multi-harmonic signals, as long as there is any combination of transmission path lengths that satisfy the arithmetic progression relationship in the process of traversing other signals based on the target signal peak with the maximum amplitude, it can be determined that there are multi-harmonic signal combinations in multiple signal peaks.

[0203] In one embodiment, after determining the multi-harmonic signal combination, the multi-harmonic flags of the signal peaks corresponding to the multiple echo signals can be updated, and the multi-harmonic flags of the signal peaks that do not satisfy the arithmetic progression relationship can be updated to 1 or other set non-multi-harmonic flags, that is, the multi-harmonic flags can be stored together with the determination of the multi-harmonic signal combination.

[0204] Since the multiple signal peaks included in the echo signal frame include both multi-harmonic signal peaks and may also include signal peaks of interference targets, in order to ensure the accuracy of the determined multi-harmonic signal combination, as an implementation method, after the target signal peaks are sequentially used as the peaks corresponding to the k-th echo and the multi-harmonic combination that satisfies the arithmetic progression is determined, more echo signal peaks can be continued to be searched based on the determined multiple echo signal peaks.

[0205] For example, assuming that k is 4, and the processor determines that the target signal peak is the peak corresponding to the 4th echo, then based on the determined peaks corresponding to the 3rd and 4th echoes, it can be found whether there is a peak corresponding to the 5th echo that has a relationship with the transmission path length of the peaks corresponding to the 3rd and 4th echoes. If so, continue to search for a peak corresponding to the 6th echo that has a relationship with the transmission path length of the peaks corresponding to the 4th and 5th echoes based on the peaks corresponding to the 4th and 5th echoes, and so on, until all signal peaks are traversed to ensure that all multi-harmonics are detected. However, the subsequent multi-harmonics of the kth order generally do not pose a risk to ensuring the accuracy of detection, because the amplitude is generally not larger than the amplitude of the signal peak corresponding to the real target.

[0206] It can be seen that in this embodiment, for the target signal peak with the largest amplitude among the multiple signal peaks, the target signal peak is divided into peaks corresponding to the 1st to kth echoes, and it is determined whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path length of the radar signal corresponding to other signal peaks is an arithmetic progression. In the case where the relationship is an arithmetic progression relationship, it is determined that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a multi-harmonic signal combination. By determining the multi-harmonic signal combination in this way, it is also possible to determine the signal peaks corresponding to multiple echoes and the signal peaks corresponding to non-multiple echoes from the multi-harmonic signal combination, and then accurately associate them with the signal peaks corresponding to the non-multiple echoes, eliminating the influence of the multi-harmonic signal, and ensuring the accuracy of the associated signal peaks.

[0207] As an implementation of an embodiment of the present application, before the step of determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals, the method may further include:

[0208] In the case where the relationship is an arithmetic progression relationship, it is determined whether the amplitude ratio between the amplitude of the signal peak of the 1st echo and the amplitude of the target signal peak reaches a preset ratio when the target signal peak is taken as the wave peak corresponding to the i-th echo; when the amplitude ratio reaches the preset ratio, the above-mentioned step of determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a multi-harmonic signal combination is performed.

[0209] When the processor determines the target signal peak as the peak corresponding to the i-th echo, if the above relationship is an arithmetic progression relationship, the amplitude ratio between the amplitude of the first echo and the amplitude of the target signal peak can be calculated when the target signal peak is the peak corresponding to the i-th echo.

[0210] For example, when the target signal peak is the peak corresponding to the 4th echo, the relationship between it and the transmission path length of the radar signal corresponding to signal peak a-signal peak c satisfies an arithmetic progression relationship, where signal peak a is the signal peak of the 3rd echo, signal peak b is the signal peak of the 2nd echo, and signal peak c is the signal peak of the 1st echo. Then the processor can calculate the amplitude ratio between the amplitude of signal peak c and the amplitude of the target signal peak.

[0211] Furthermore, the processing can determine the size relationship between the calculated amplitude ratio and the preset ratio, wherein the preset ratio can be set according to the general ratio between the amplitude of the signal peak of the 1st echo in the actual multi-harmonic signal and the maximum amplitude of the signal peak, for example, it can be 0.6, 0.7, 0.75, etc., and is not specifically limited here.

[0212] If the amplitude ratio reaches the preset ratio, it means that the amplitude of the signal peak of the first echo is larger at this time, and it is likely to be the signal peak of the echo corresponding to the real target, then the above step of determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals can be continued.

[0213] If the amplitude ratio does not reach the preset ratio, it means that the amplitude of the signal peak of the 1st echo is small at this time, and it is likely to be the signal peak of the echo corresponding to the interference target. Then, it means that the multiple echoes that satisfy the arithmetic progression between the corresponding transmission path lengths that have been determined are not the multi-harmonic signal combination corresponding to the real target. Therefore, the target signal peak can be used as the peak corresponding to the i-1th echo, and the accurate multi-harmonic signal combination can be continued to be found.

[0214] It can be seen that in this embodiment, the processor can determine whether the amplitude ratio between the amplitude of the signal peak of the 1st echo and the amplitude of the target signal peak reaches the preset ratio when the target signal peak is taken as the peak corresponding to the i-th echo, and then, based on the size relationship between the amplitude ratio and the preset ratio, accurately determine the multi-harmonic signal combination, try to eliminate the interference of the interference target, and ensure the accuracy of the subsequent determination of the height of the measured material.

[0215] As an implementation of the embodiment of the present application, the level meter can continuously measure the measured material, and the echo signal frame is the current signal frame. For example, if the material measured by the material meter is water in a reservoir, then in order to prevent the water level of the reservoir from being too high or too low, continuous measurement is required to effectively monitor the water level.

[0216] Before the step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination, as follows Figure 7 As shown, the above method may also include:

[0217] S701, for each signal peak, based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak, determine whether the signal peak has an association relationship with each determined candidate signal peak;

[0218] Wherein, the determined candidate signal peaks are determined based on the signal peaks included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material;

[0219] Since the level meter needs to accurately associate each echo signal frame with the signal peak corresponding to the non-multiple echoes when continuously measuring the measured material, when the current signal frame is obtained, it can be first associated with the signal peak corresponding to the non-multiple echoes in the historical signal frame to ensure the accuracy of the associated signal peak.

[0220] After the processor obtains multiple signal peaks of the current signal frame, it can determine whether each signal peak has an association relationship with the candidate signal peaks determined in the historical signal frame. In one embodiment, for each signal peak, the processor can determine whether the signal peak has an association relationship with each determined candidate signal peak based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak.

[0221] As an implementation mode, for each signal peak, the processor can traverse each determined candidate signal peak, calculate whether the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak is less than a preset distance difference, and if the difference between the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak is less than the preset distance difference, it can be determined that the signal peak has an association relationship with the determined candidate signal peak. The preset distance difference can be set according to actual experience, such as being set to 2, etc., and is not specifically limited here.

[0222] Among them, each determined candidate signal peak is determined based on the signal peak included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material. As an implementation method, each determined candidate signal peak can be recorded in an array, and the signal peak index position, amplitude, multi-harmonic flag, etc. associated with each candidate signal peak are stored in the array, which is not specifically limited here.

[0223] For example, there are N candidate signal peaks determined, the second candidate signal peak is trackInfo(ii), that is, the second array member, the target distance corresponding to trackInfo(ii) is trackInfo(ii).pos, the processor obtains 3 signal peaks, and the target distance corresponding to the third signal peak is peakPos(iii). If the difference between the target distance trackInfo(ii).pos corresponding to the second candidate signal peak and the target distance peakPos(iii) corresponding to the third signal peak satisfies the following formula:

[0224] Fabs(trackInfo(ii).pos–peakPos(iii)) <thresh1;

[0225] That is, if the absolute value of the difference is less than the preset distance difference thresh1, it can be determined that the third signal peak is associated with the second candidate signal peak. Thresh1 can also be called the preset tracking width threshold, which reflects the jitter error of the radar signal corresponding to the target signal peak and the displacement deviation caused by movement, and can be set to 2 based on actual experience.

[0226] S702: When the signal peak is associated with a determined candidate signal peak, update the number of associated signal frames of the determined candidate signal peak that is associated with the signal peak.

[0227] For a signal peak, if the signal peak is associated with a determined candidate signal peak, the number of associated signal frames of the determined candidate signal peak that is associated with the signal peak may be updated.

[0228] For example, if the number of signal frames associated with the second candidate signal peak is 3, then when it is determined that there is a signal peak in the current signal frame that is associated with the candidate signal peak, the number of signal frames associated with the candidate signal peak may be updated to 4.

[0229] The step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination may include:

[0230] In the case that the determined candidate signal peaks satisfy a preset condition, a target signal peak is determined from the determined candidate signal peaks that satisfy the preset condition, wherein the preset condition is: the number of associated signal frames of the determined candidate signal peak reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame; based on the target signal peak, the height of the measured material is determined.

[0231] After updating the number of associated signal frames of the determined candidate signal peaks, the processor may screen the determined candidate signal peaks to determine whether there is a target signal peak among the determined candidate signal peaks. In one embodiment, the processor may first screen the determined candidate signal peaks that meet the preset conditions from the determined candidate signal peaks according to the preset conditions, and then determine the target signal peak from the screened determined candidate signal peaks. Then, based on the target signal peak, the height of the measured material is determined.

[0232] Among them, the preset condition is that the number of associated signal frames of the determined candidate signal peak reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame. Among them, the first preset number can be set according to actual conditions and is not specifically limited here. In other words, the number of associated signal frames of the determined candidate signal peak reaches a certain number, and the echoes corresponding to the signal peaks corresponding to the historical signal frames and the current signal frame that are associated with the determined candidate signal peak are not multiple echoes.

[0233] For example, the first preset number is 3. If there are 5 determined candidate signal peaks, among which the number of associated signal frames of 2 determined candidate signal peaks is greater than 3, and they are not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame, then the target signal peak can be determined from the 2 determined candidate signal peaks.

[0234] Since there may be multiple determined candidate signal peaks that meet the preset conditions, the target signal peak may be determined from the determined candidate signal peaks that meet the preset conditions.

[0235] As an implementation method of an embodiment of the present application, when the number of determined candidate signal peaks that meet the preset conditions is one, the determined candidate signal peak can be determined as the target signal peak. When the number of determined candidate signal peaks that meet the preset conditions is multiple, the multiple determined candidate signal peaks can be arranged according to the corresponding target distances to obtain an arrangement order; or, the multiple determined candidate signal peaks can be arranged according to the amplitude to obtain an arrangement order, and then based on the arrangement order, a determined candidate signal peak is selected from the multiple determined candidate signal peaks as the target signal peak.

[0236] Specifically, the processor may arrange the multiple determined candidate signal peaks in descending order according to the corresponding target distances, and then use the determined candidate signal peak with the largest target distance as the target signal peak. The processor may also arrange the multiple determined candidate signal peaks in descending order according to the amplitudes, and then use the determined candidate signal peak with the largest amplitude as the target signal peak.

[0237] In order to determine the target signal peak, in another embodiment, the processor may first screen out a portion of the determined candidate signal peaks according to the number of associated signal frames of the determined candidate signal peaks, and then determine the target signal peak from the portion of the determined candidate signal peaks. From a probability perspective, the determined candidate signal peaks that meet the number of associated signal frames have a greater probability of becoming the target signal peak, so the target signal peak can be further determined from the screened determined candidate signal peaks.

[0238] Specifically, the processor may first determine that the number of associated signal frames reaches a first preset number of determined candidate signal peaks. If the number of associated signal frames reaches the first preset number of determined candidate signal peaks is one, then it may be further determined whether the determined candidate signal peak is associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame. If not, the determined candidate signal peak may be directly used as the target signal peak.

[0239] If there are multiple determined candidate signal peaks whose number of associated signal frames reaches a first preset number, the processor may further screen the multiple determined candidate signal peaks using a distance priority mode or an amplitude priority mode.

[0240] If the distance priority mode is used to screen multiple determined candidate signal peaks, the processor can arrange the multiple determined candidate signal peaks in order of corresponding target distances from near to far, and then start from the determined candidate signal peak with the closest target distance to determine whether the determined candidate signal peak is associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame; if not, the determined candidate signal peak is used as the target signal peak; otherwise, the next determined candidate signal peak is continued to be determined until a determined candidate signal peak that is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame is found as the target signal peak.

[0241] If the amplitude priority mode is used to screen multiple determined candidate signal peaks, the processor can arrange the multiple determined candidate signal peaks in order of amplitude from large to small, and then start from the determined candidate signal peak with the largest amplitude to determine whether the determined candidate signal peak is associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame; if not, the determined candidate signal peak is used as the target signal peak; otherwise, the next determined candidate signal peak is continued to be determined until a determined candidate signal peak that is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame is found as the target signal peak.

[0242] The processor can select the mode according to the application scenario whether to use the distance priority mode or the amplitude priority mode to screen the determined candidate signal peaks. Generally, for solid materials, which are slightly far away from the radar, the amplitude priority mode can be selected, and for liquid materials, the distance priority mode can be selected.

[0243] It can be seen that in this embodiment, the level meter performs continuous measurement of the measured material, and can update the number of associated signal frames associated with each candidate signal peak according to the association relationship between each signal peak in the current signal frame and each determined candidate signal peak, thereby screening out a part of the determined candidate signal peaks that meet the preset conditions from the determined candidate signal peaks according to the preset conditions, and then further determining the target signal peak according to the target distance or amplitude, so that the signal peak associated with the current signal frame is consistent with the signal peak associated with the historical signal frame, and can be accurately associated with the signal peak corresponding to non-multiple echoes, ensuring the accuracy of the associated signal peak. In addition, different target signal peak screening schemes are adopted according to different scenarios, which can be adapted to a variety of complex scenarios, thereby ensuring the reliability of determining the target signal peak.

[0244] As an implementation of an embodiment of the present application, before the step of determining the height of the measured material based on the target signal peak, the method may further include:

[0245] Based on the first preset weight, a weighted sum is performed on the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak, and the target distance corresponding to the determined candidate signal peak is updated with the obtained sum.

[0246] For a signal peak, if the signal peak has an association relationship with a determined candidate signal peak, the target distance corresponding to the determined candidate signal peak may be updated.

[0247] In one embodiment, the processor may perform a weighted sum of the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak based on a first preset weight, and update the target distance corresponding to the determined candidate signal peak with the obtained sum value. The first preset weight may be set according to actual conditions or experience.

[0248] As an implementation manner, the processor may calculate the weighted sum trackInfo(i).pos1 of the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak according to the following formula:

[0249] trackInfo(i).pos1=trackInfo(i).pos*(1–weight1)+peakPos(j)*weight1;

[0250] Among them, the determined candidate signal peak is the i-th member in the array, the signal peak is the j-th signal peak among multiple signal peaks, trackInfo(i).pos is the target distance corresponding to the determined candidate signal peak trackInfo(i), which means the optimal output estimated by the previous signal frame, peakPos(j) is the target distance corresponding to the j-th signal peak, which means the signal peak detected by a single frame, and weight1 is the first preset weight, which is used as an update factor and can be between 0 and 1. The calculated trackInfo(i).pos1 means the optimal output estimated for the current frame based on the optimal output estimated by the previous signal frame and the peak value associated with the current frame.

[0251] The step of determining the height of the measured material based on the target signal peak may include:

[0252] The height of the measured material is determined based on the target distance corresponding to the target signal peak.

[0253] After the processor updates the target distance corresponding to the determined candidate signal peak with the obtained sum value and determines the determined candidate signal peak as the target signal peak, the processor can determine the height of the measured material based on the target distance corresponding to the target signal peak. That is, the height of the measured material is determined based on the target distance corresponding to the determined candidate signal peak after being updated with the obtained sum value.

[0254] For example, trackInfo(i).pos is the target distance corresponding to the determined candidate signal peak, and trackInfo(i).pos1 is the weighted sum value calculated according to the formula trackInfo(i).pos*(1–weight1)+peakPos(j)*weight1. Then, after trackInfo(i) is determined as the target signal peak, the processor can determine the height of the measured material based on trackInfo(i).pos1.

[0255] It can be seen that in this embodiment, when there is a signal peak among multiple signal peaks that has an association relationship with the determined candidate signal peak, the target distance corresponding to the determined candidate signal peak can be updated, and then when the updated determined candidate signal peak is determined as the target signal peak, the height of the measured material is determined based on the target distance corresponding to the target signal peak. In this way, the target signal peak can be combined with the target distance corresponding to the signal peak corresponding to the non-multiple echoes in the historical signal frame and the current signal frame, so that the target distance corresponding to the signal peak corresponding to the associated non-multiple echoes is more accurate, thereby improving the accuracy of material measurement.

[0256] As an implementation of the embodiment of the present application, the above method may also include:

[0257] When there is no correlation relationship between the signal peak and the determined candidate signal peak, the signal peak is regarded as the determined candidate signal peak.

[0258] If for a signal peak, the processor determines that the signal peak has no correlation with any of the determined candidate signal peaks, then the signal peak can be used as a determined candidate signal peak, that is, the signal peak is added to the array composed of the determined candidate signal peaks, so that subsequent updates can be performed when the processor obtains the next signal frame.

[0259] The amplitude, peak position and multi-harmonic mark of the signal peak that has been determined as a candidate signal peak will be stored in a preset position, and the number of frames to which the signal peak has been associated and the number of lost tracking frames will be recorded. Lost tracking means that the signal peak is not associated with any signal peak in the current echo frame. If the signal peak is not associated with any signal peak in a certain number of echo signal frames, the array corresponding to the determined candidate signal peak can be released.

[0260] It can be seen that in this embodiment, when there is no association relationship between the signal peak and the determined candidate signal peak, the signal peak is used as the determined candidate signal peak. In this way, when the processor obtains the next signal frame, it can be further associated with the next signal frame. If the number of unassociated frames reaches a certain number, the array corresponding to the determined candidate signal peak can be released, that is, there is no need to consider the signal peak, thereby freeing up space.

[0261] As an implementation of the embodiment of the present application, the measured material is a moving material. For example, the measured material is a cargo, and during the loading and unloading process of the cargo, the height of the cargo changes in real time.

[0262] Before the step of determining the height of the measured material based on the target distance corresponding to the target signal peak, as Figure 8 As shown, the above method may also include:

[0263] S801, calculating a speed of change in the height of the measured material according to the height of the measured material corresponding to the historical signal frame;

[0264] Since only one target needs to be focused on during the process of the level meter measuring the height of the moving material, after the target signal peak is determined, it can be subsequently confirmed, that is, whether the target signal peak in the subsequent echo signal frame can still be used as the target signal peak, and other determined candidate signal peaks can be associated and updated. When the target signal peak can no longer be used as the target signal peak, that is, the stable target signal peak disappears, the target signal peak can be re-determined from other determined candidate signal peaks.

[0265] Then, in order to subsequently confirm the target signal peak, the target distance corresponding to the target signal peak of the next signal frame can be predicted first. The embodiment of the present application adopts a uniform speed model, the curve can be considered as a small straight line segment at the minimum, and the moving material can be considered as uniform motion in a short time. Therefore, the instantaneous speed of the height change can be estimated by the short-term displacement of the moving material, and then based on the speed and the target distance corresponding to the target signal peak of the echo signal frame, the target distance corresponding to the target signal peak of the next signal frame is predicted.

[0266] In order to predict the target distance corresponding to the target signal peak of the next signal frame, it is first necessary to calculate the speed of the height change of the measured material. The processor can calculate the speed of the height change of the measured material based on the height of the measured material corresponding to the historical signal frame. Exemplarily, it is calculated based on the difference of the target distance corresponding to N frames of historical signal frames.

[0267] In one embodiment, the processor may calculate the speed V of the height change of the measured material according to the following formula;

[0268] V=(endPos-startPos) / (N / 2);

[0269] Among them, endPos is the average of the target distances corresponding to the last N / 2 historical signal frames in the historical signal frame, startPos is the average of the target distances corresponding to the first N / 2 historical signal frames in the historical signal frame, and N is the number of historical signal frames.

[0270] S802, predicting a target distance corresponding to a target signal peak of a next signal frame as a predicted distance according to the speed and the target distance corresponding to the target signal peak in the echo signal frame;

[0271] After the processor calculates the speed of the height change of the measured material, it can predict the distance moved by the target signal peak of the next signal frame based on the speed and the cycle time of each frame, and then predict the target distance corresponding to the target signal peak of the next signal frame based on the moving distance and the target distance corresponding to the target signal peak in the echo signal frame as the predicted distance.

[0272] In one implementation, the processor may calculate the target distance prePos corresponding to the target signal peak of the next signal frame as the predicted distance according to the following formula;

[0273] prePos = stablePos + V*T;

[0274] Among them, stablePos is the target distance corresponding to the target signal peak in the echo signal frame, V is the speed of the height change of the measured material, T is the cycle time of each frame, and V*T is the distance moved by the target signal peak in the next signal frame.

[0275] S803, determining an associated signal peak from signal peaks included in the echo signal frame based on a difference between the predicted distance and a target distance corresponding to each signal peak in the echo signal frame;

[0276] In order to determine which signal peak among the signal peaks included in the echo signal frame has an associated relationship with the target signal peak associated with the next signal frame, so as to update the target distance corresponding to the target signal peak in the echo signal frame, the association relationship between each signal peak in the echo signal frame and the target signal peak of the next signal frame may be determined first. The processor may determine the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame.

[0277] In one embodiment, the processor can determine the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame, that is, when the difference meets certain conditions, the signal peak is determined as the associated signal peak.

[0278] For example, the predicted distance is prePos, and the target distance corresponding to the j-th signal peak is peakPos(j), then the processor can calculate the difference between the predicted distance prePos and the target distance peakPos(j) corresponding to the j-th signal peak in the echo signal frame to determine whether the signal peak is an associated signal peak. If the difference between prePos and peakPos(j) meets certain conditions, it can be determined that the signal peak is an associated signal peak.

[0279] S804: Update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance.

[0280] After determining the associated signal peak, the processor may update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance, and the target distance may represent the target distance corresponding to the real target signal peak in the echo signal frame.

[0281] In one embodiment, the processor can perform weighted summation of the target distance corresponding to the associated signal peak and the predicted distance based on the second preset weight to obtain and update the target distance corresponding to the target signal peak. The second preset weight can be set according to actual conditions or experience. In another embodiment, the processor can use a Kalman filter method to update the target distance corresponding to the target signal peak. The above methods are all reasonable and are not specifically limited in this application.

[0282] As an implementation method, the processor may calculate the weighted sum of the target distance and the predicted distance corresponding to the associated signal peak according to the following formula, stablePos1:

[0283] stablePos1=(1–weight2)*peakPos(j)+weight2*prePos;

[0284] Among them, peakPos(j) is the target distance corresponding to the associated signal peak, that is, it refers to the signal peak that is optimally associated with the current frame, prePos is the predicted distance, and weight2 is the second preset weight, that is, as an update factor, the value can be between 0-1. For example, if weight2 is 0.1, then stablePos1=0.9*peakPos(j)+0.1*prePos. The calculated stablePos1 is the reliable output finally reported. The calculation performed using this formula is filtering by exponential filtering.

[0285] It can be seen that in this embodiment, when the measured material is a moving material, the processor can update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance. In this way, the target distance corresponding to the updated target signal peak can be combined with the predicted target distance corresponding to the signal peak corresponding to the non-multiple echoes in the next signal frame and the echo signal frame, so that the target distance corresponding to the signal peak corresponding to the associated non-multiple echoes is more accurate, thereby improving the accuracy of material measurement.

[0286] As an implementation method of the present application, Fig. 9 As shown, the above step S803, i.e., the step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame, may include:

[0287] S901, for each signal peak in the echo signal frame, determining whether a difference between a target distance corresponding to the signal peak and the predicted distance is less than a preset difference;

[0288] The processor determines the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame. In one embodiment, for each signal peak in the echo signal frame, the processor can calculate the difference between the target distance corresponding to the signal peak and the predicted distance, and determine whether the difference is less than a preset difference. If the difference between the target distance corresponding to the signal peak and the predicted distance is less than the preset difference, it can be determined that the signal peak has an associated relationship with the target signal peak of the next signal frame. The preset difference can be set according to actual experience, such as being set to 2, etc., and is not specifically limited here.

[0289] Exemplarily, the echo signal frame includes N signal peaks, the jth signal peak is peakPos(j), the predicted distance is prePos, and the difference between the target distance corresponding to the signal peak and the predicted distance is calculated. If the difference satisfies the following formula:

[0290] Fabs(prePos–peakPos(j)) <thresh2;

[0291] That is, if the absolute value of the difference is less than the preset difference thresh2, it can be determined that the signal peak is associated with the target signal peak of the next signal frame. If there is no association, the number of lost tracking frames is recorded. When the number of lost tracking frames reaches a certain number, the target signal peak is released and the target signal peak is re-determined from other determined candidate signal peaks.

[0292] S902, when the number of candidate signal peaks whose corresponding difference is less than the preset difference is one, determining the candidate signal peak as a correlation signal peak;

[0293] Among the signal peaks included in the echo signal frame, there may be multiple signal peaks whose differences between the target distance and the predicted distance are less than a preset difference. In this case, the signal peaks satisfying the difference condition may be used as candidate signal peaks.

[0294] If the number of candidate signal peaks whose corresponding difference values ​​are smaller than the preset difference value is one, the processor may determine the candidate signal peak as the associated signal peak.

[0295] S903, when there are multiple candidate signal peaks whose corresponding difference is less than the preset difference, calculate the confidence of each candidate signal peak based on the parameter information of the candidate signal peak and in accordance with a preset peak selection method;

[0296] If there are multiple candidate signal peaks whose corresponding difference is less than the preset difference, the processor may select one candidate signal peak from the multiple candidate signal peaks as the associated signal peak. In one embodiment, when there are multiple candidate signal peaks whose corresponding difference is less than the preset difference, the processor may calculate the confidence of each candidate signal peak based on the parameter information of the candidate signal peak and in accordance with the preset peak selection method.

[0297] The parameter information may include the amplitude of the signal peak, the corresponding target distance, the difference between the corresponding target distance and the predicted distance, etc., which are not specifically limited here. The preset peak selection modes include amplitude priority mode, distance priority mode, nearest neighbor mode, etc.

[0298] For example, when the number of candidate signal peaks whose corresponding differences are less than a preset difference is N, the processor may calculate the confidence of each candidate signal peak based on the amplitude of the candidate signal peak and in accordance with an amplitude-first peak selection method.

[0299] S904: Determine the candidate signal peak corresponding to the maximum confidence among the confidences as the associated signal peak.

[0300] After the processor calculates the confidence of each candidate signal peak, the candidate signal peak corresponding to the maximum confidence among the confidences can be determined as the associated signal peak. For example, the number of candidate signal peaks whose corresponding difference is less than the preset difference is N, and the confidence of each candidate signal peak is calculated respectively, and the results are confidence 1, confidence 2...confidence N, where confidence 2 is the maximum confidence, then the processor can determine the candidate signal peak with confidence 2 as the associated signal peak.

[0301] It can be seen that in this embodiment, for each signal peak in the echo signal frame, the processor can determine whether the difference between the target distance corresponding to the signal peak and the predicted distance is less than the preset difference. When the number of candidate signal peaks whose corresponding difference is less than the preset difference is not one, the associated signal peak is further determined based on the calculated confidence level of each candidate signal peak. In this way, the associated signal peak can be accurately determined, and then the target distance corresponding to the target signal peak can be updated based on the target distance corresponding to the associated signal peak and the predicted distance, thereby improving the accuracy of material measurement.

[0302] As an implementation manner of an embodiment of the present application, the above step of calculating the confidence of each candidate signal peak based on the parameter information of the candidate signal peak according to a preset peak selection method may include at least one of the following:

[0303] According to the target distance corresponding to each candidate signal peak, the confidence of each candidate signal peak is calculated according to the distance priority mode; according to the amplitude corresponding to each candidate signal peak, the confidence of each candidate signal peak is calculated according to the amplitude priority mode; according to the difference between the target distance corresponding to each candidate signal peak and the predicted distance, the confidence of each candidate signal peak is calculated according to the nearest neighbor mode.

[0304] Since there may be multiple candidate signal peaks whose corresponding differences are less than the preset difference, different peak selection modes can be used to calculate the confidence of the candidate signal peaks according to different application scenarios, and then determine the associated signal peaks from the candidate signal peaks based on the confidence.

[0305] In one embodiment, the processor may calculate the confidence of each candidate signal peak according to the target distance corresponding to each candidate signal peak in a distance priority mode. For example, for a scenario of measuring the height of a material in an obstacle avoidance mode, if the height of the material is too high, there may be a certain risk, then the distance priority mode may be considered to calculate the confidence of each candidate signal peak.

[0306] In another embodiment, the processor may calculate the confidence of each candidate signal peak according to the amplitude corresponding to each candidate signal peak in an amplitude priority mode. In general scenarios, the confidence of each candidate signal peak may be calculated in an amplitude priority mode.

[0307] In another embodiment, the processor may calculate the confidence of each candidate signal peak according to the difference between the target distance and the predicted distance corresponding to each candidate signal peak in accordance with the nearest neighbor mode. For example, for a stage where the material is in motion and may pass through a fixed obstacle, the motion characteristics and position information may be given priority, and the confidence of each candidate signal peak may be calculated using the nearest neighbor mode.

[0308] Regardless of which peak selection mode is used, an array can be set based on the candidate signal peaks to record the confidence of the candidate signal peaks. For example, the array is in the form of scoreList[][], the first dimension is the index of the candidate signal peak, and the second dimension is the selected peak selection mode, such as 1 for selecting the distance priority mode, that is, the confidence is calculated according to the target distance corresponding to each candidate signal peak.

[0309] If the distance priority mode is used to calculate the confidence of each candidate signal peak, the processor can arrange multiple candidate signal peaks in order of the corresponding target distance from near to far, and then calculate the confidence from the candidate peak with the closest target distance, and the closer the distance, the lower the confidence. As an implementation method, the processor can calculate the confidence of each candidate signal peak according to the following formula;

[0310]

[0311] Among them, scorePeakIndex(i) is the confidence of the i-th candidate signal peak after each candidate signal peak is arranged according to the corresponding target distance, sortIndex(i) is the index of the i-th candidate signal peak after each candidate signal peak is arranged from near to far according to the corresponding target distance, validPeakNum is the maximum target distance among the target distances corresponding to multiple candidate signal peaks, and scorePeakIndex(i) is distributed between (0, 1).

[0312] If the confidence of each candidate signal peak is calculated in amplitude priority mode, the processor may arrange multiple candidate signal peaks in descending order according to their corresponding amplitudes, and then calculate the confidence starting from the candidate peak with the largest amplitude, where the larger the amplitude, the lower the confidence. As an implementation method, the processor may calculate the confidence of each candidate signal peak according to the following formula;

[0313]

[0314] Among them, scorePeakValue(i) is the confidence of the i-th candidate signal peak after each candidate signal peak is arranged according to the amplitude, peakValue(i) is the index of the i-th candidate signal peak after each candidate signal peak is arranged according to the amplitude, maxValue is the maximum amplitude among the amplitudes of multiple candidate signal peaks, and scorePeakValue(i) is distributed between (0, 1).

[0315] If the nearest neighbor mode is used to calculate the confidence of each candidate signal peak, the processor can arrange multiple candidate signal peaks in ascending order according to the difference between the target distance and the predicted distance corresponding to each signal peak, and then calculate the confidence starting from the candidate peak corresponding to the smallest difference, and the smaller the amplitude, the lower the confidence. As an implementation method, the processor can calculate the confidence of each candidate signal peak according to the following formula;

[0316]

[0317] Among them, scoreDist(i) is the confidence of the i-th candidate signal peak after being arranged according to the corresponding difference, dist(i) is the difference between the target distance and the predicted distance corresponding to the i-th candidate signal peak after being arranged according to the corresponding difference, and thresh is the predicted distance difference. scoreDist(i) is distributed between (0, 1).

[0318] It can be seen that in this embodiment, when there are multiple candidate signal peaks whose corresponding difference is less than the preset difference, different peak selection modes can be used to calculate the confidence of the candidate signal peaks according to different application scenarios, and then the associated signal peaks can be determined from the candidate signal peaks based on the confidence, so that the determined associated signal peaks are more accurate. At the same time, different peak selection schemes can be adaptively matched according to different scenarios, so as to adapt to a variety of complex scenarios, and the reliability of determining the associated signal peaks can be guaranteed.

[0319] As an implementation of the embodiment of the present application, the above method may also include:

[0320] When the number of candidate signal peaks whose corresponding difference values ​​are less than the preset difference value is 0, the target distance corresponding to the target signal peak is taken as the predicted distance, and the step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame is returned to be executed.

[0321] For multiple signal peaks in the echo signal frame, there may be a situation where the differences between the target distances corresponding to the multiple signal peaks and the predicted distances are not less than the preset difference, that is, the number of candidate signal peaks whose corresponding differences are less than the preset difference is 0. In this case, the processor can use the target distance corresponding to the target signal peak as the predicted distance, and return to execute the step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame.

[0322] That is to say, the processor does not need to predict the target distance corresponding to the target signal peak of the next signal frame based on the speed of height change of the measured material, the cycle time of each frame, and the target distance corresponding to the target signal peak in the echo signal frame. The target distance corresponding to the target signal peak can be directly used as the predicted distance, and the associated signal peak can be determined from the signal peaks included in the echo signal frame.

[0323] It can be seen that in this embodiment, when the number of candidate signal peaks whose corresponding differences are less than the preset difference is 0, the processor can use the target distance corresponding to the target signal peak as the predicted distance, that is, determine the associated signal peak from the signal peaks included in the echo signal frame, and then update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance, so that the target distance corresponding to the target signal peak is more accurate, thereby improving the accuracy of material measurement.

[0324] Corresponding to the above-mentioned material height measurement method, the embodiment of the present application further provides a material height measurement device. The following is an introduction to a material height measurement device provided in the embodiment of the present application.

[0325] like Fig.10 As shown, a material height measuring device, the device comprises:

[0326] The signal peak acquisition module 1010 is used to acquire the echo signal frame of the radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame;

[0327] A multi-harmonic signal combination determination module 1020, configured to determine, from the plurality of signal peaks, a multi-harmonic signal combination that satisfies a preset multi-harmonic signal condition;

[0328] The preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signals.

[0329] The measured material height determination module 1030 is used to determine the height of the measured material based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination.

[0330] It can be seen that in the scheme provided by the embodiment of the present application, the processor can obtain the echo signal frame of the radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain multiple signal peaks included in the echo signal frame, and determine the multi-harmonic signal combination that meets the preset multi-harmonic signal condition from the multiple signal peaks, wherein the preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signal, and the height of the measured material is determined based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination. After obtaining the multiple signal peaks included in the echo signal frame, the multi-harmonic signal combination that meets the preset multi-harmonic signal condition can be determined from the multiple signal peaks, that is, multiple signal peaks whose relationship between the transmission path lengths of the corresponding echo signals satisfies the relationship between the transmission path lengths of the multi-harmonic signal can be found from the multiple signal peaks, and the multiple echo signals corresponding to the multiple signal peaks constitute the multi-harmonic signal combination. Furthermore, the signal peaks corresponding to the multiple echoes and the signal peaks corresponding to the non-multiple echoes can be determined from the multi-harmonic signal combination, thereby accurately correlating to the signal peaks corresponding to the non-multiple echoes, eliminating the influence of the multi-harmonic signal, and ensuring the accuracy of the correlated signal peaks. In this way, the distance between the level meter and the measured material is calculated based on the signal peaks corresponding to the accurately correlated non-multiple echoes, which can improve the accuracy of the material height measurement.

[0331] As an implementation of the embodiment of the present application, the multi-harmonic signal combination determination module 1020 may include:

[0332] an arithmetic progression relationship determination submodule, for determining, for a target signal peak having the largest amplitude among the multiple signal peaks, the target signal peaks as wave peaks corresponding to the kth to 1st echoes in sequence, and each time the target signal peak is used as the wave peak corresponding to the ith echo, determining whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path lengths of the radar signals corresponding to other signal peaks is an arithmetic progression relationship, wherein k is a preset number and i is a positive integer belonging to [k, 1];

[0333] A harmonic signal combination determination submodule, for determining, when the relationship is an arithmetic progression relationship, that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a multi-harmonic signal combination, and stopping using the target signal peak as a peak corresponding to the i-1th echo;

[0334] The device also includes:

[0335] An amplitude ratio calculation module, used for determining, before determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals, if the relationship is an arithmetic progression relationship, whether the amplitude ratio between the amplitude of the signal peak of the 1st echo and the amplitude between the target signal peaks reaches a preset ratio when the target signal peak is used as the peak corresponding to the i-th echo;

[0336] A trigger module is used to trigger the harmonic signal combination determination submodule when the amplitude ratio reaches the preset ratio.

[0337] As an implementation manner of the embodiment of the present application, the level meter continuously measures the measured material, and the echo signal frame is the current signal frame;

[0338] The above device may also include:

[0339] an association relationship determination module, for determining, for each signal peak, whether there is an association relationship between the signal peak and each determined candidate signal peak, before determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination, based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak, wherein the determined candidate signal peaks are determined based on the signal peaks included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material;

[0340] The associated signal frame quantity updating module is used to update the quantity of associated signal frames of the determined candidate signal peak that is associated with the signal peak when the signal peak is associated with the determined candidate signal peak.

[0341] The material height determination module 1030 may include:

[0342] A target signal peak determination submodule, for determining a target signal peak from the determined candidate signal peaks that meet a preset condition, when the determined candidate signal peaks meet the preset condition, wherein the preset condition is: the number of associated signal frames of the determined candidate signal peak reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame;

[0343] The measured material height determination submodule is used to determine the height of the measured material based on the target signal peak.

[0344] As an implementation of the embodiment of the present application, the above device may further include:

[0345] A target distance updating module, used for, before the step of determining the height of the measured material based on the target signal peak, performing a weighted sum of the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak based on a first preset weight, and updating the target distance corresponding to the determined candidate signal peak with the obtained sum;

[0346] The material height measurement and determination submodule comprises:

[0347] The measured material height determination unit is used to determine the height of the measured material based on the target distance corresponding to the target signal peak.

[0348] As an implementation of an embodiment of the present application, the target signal peak determination submodule may include:

[0349] a first target signal peak determining unit, configured to determine the determined candidate signal peak as a target signal peak when the number of the determined candidate signal peaks satisfying the preset condition is one;

[0350] An arrangement order acquisition unit is used to arrange the multiple determined candidate signal peaks according to the corresponding target distances to obtain an arrangement order when there are multiple determined candidate signal peaks that meet the preset condition; or to arrange the multiple determined candidate signal peaks according to amplitudes to obtain an arrangement order;

[0351] The second target signal peak determination unit is used to select a determined candidate signal peak from a plurality of determined candidate signal peaks as a target signal peak based on the arrangement order.

[0352] As an implementation of the embodiment of the present application, the above device may also include:

[0353] The determined candidate signal peak determining unit is used to take the signal peak as the determined candidate signal peak when there is no correlation relationship between the signal peak and the determined candidate signal peak.

[0354] As an implementation method of the embodiment of the present application, the above-mentioned measured material is a moving material;

[0355] The above device may also include:

[0356] A speed calculation module, used for calculating the speed of the height change of the measured material according to the height of the measured material corresponding to the historical signal frame before the step of determining the height of the measured material based on the target distance corresponding to the target signal peak;

[0357] A predicted distance prediction module, used to predict the target distance corresponding to the target signal peak of the next signal frame according to the speed and the target distance corresponding to the target signal peak in the echo signal frame as the predicted distance;

[0358] an associated signal peak determination module, configured to determine an associated signal peak from signal peaks included in the echo signal frame based on a difference between the predicted distance and a target distance corresponding to each signal peak in the echo signal frame;

[0359] The target distance updating module is used to update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance.

[0360] As an implementation of the embodiment of the present application, the speed calculation module may include:

[0361] A first calculation submodule is used to calculate the speed V of the height change of the measured material according to the following formula;

[0362] V=(endPos-startPos) / (N / 2);

[0363] Wherein, endPos is the average of the target distances corresponding to the last N / 2 historical signal frames in the historical signal frame, startPos is the average of the target distances corresponding to the first N / 2 historical signal frames in the historical signal frame, and N is the number of the historical signal frames;

[0364] The predicted distance prediction module comprises:

[0365] The second calculation module is used to calculate the target distance prePos corresponding to the target signal peak of the next signal frame as the predicted distance according to the following formula;

[0366] prePos = stablePos + V*T;

[0367] Among them, stablePos is the target distance corresponding to the target signal peak in the echo signal frame, V is the speed, and T is the frame cycle time.

[0368] As an implementation of an embodiment of the present application, the above-mentioned correlation signal peak determination module may include:

[0369] A difference determination submodule, used for determining, for each signal peak in the echo signal frame, whether the difference between the target distance corresponding to the signal peak and the predicted distance is less than a preset difference;

[0370] A first determination submodule, configured to determine the candidate signal peak as a correlation signal peak when the number of candidate signal peaks corresponding to the difference value that is less than the preset difference value is one;

[0371] A confidence calculation submodule, configured to calculate the confidence of each candidate signal peak according to a preset peak selection method based on parameter information of the candidate signal peak when there are multiple candidate signal peaks whose corresponding difference is less than the preset difference;

[0372] The second determination submodule is used to determine the candidate signal peak corresponding to the maximum confidence among the confidences as the associated signal peak.

[0373] As an implementation of an embodiment of the present application, the above-mentioned confidence calculation submodule may include at least one of the following:

[0374] A first confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the target distance corresponding to each candidate signal peak in a distance priority mode;

[0375] A second confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the amplitude corresponding to each candidate signal peak in an amplitude priority mode;

[0376] The third confidence calculation unit is used to calculate the confidence of each candidate signal peak according to the difference between the target distance corresponding to each candidate signal peak and the predicted distance in accordance with the nearest neighbor mode.

[0377] As an implementation of an embodiment of the present application, the first confidence calculation unit may include:

[0378] The first confidence calculation subunit is used to calculate the confidence of each candidate signal peak according to the following formula;

[0379]

[0380] Wherein, scorePeakIndex(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, sortIndex(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, and validPeakNum is the maximum target distance among the target distances corresponding to multiple candidate signal peaks;

[0381] The second confidence calculation unit includes:

[0382] A second confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the following formula;

[0383]

[0384] Wherein, scorePeakValue(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, peakValue(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, and maxValue is the maximum amplitude among the amplitudes of the multiple candidate signal peaks;

[0385] The third confidence calculation unit comprises:

[0386] A third confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the following formula;

[0387]

[0388] Among them, scoreDist(i) is the confidence of the i-th candidate signal peak after being arranged according to the corresponding difference, dist(i) is the difference between the target distance corresponding to the i-th candidate signal peak and the predicted distance after being arranged according to the corresponding difference, and thresh is the predicted distance difference.

[0389] As an implementation of the embodiment of the present application, the above device may further include:

[0390] The predicted distance acquisition module is used to use the target distance corresponding to the target signal peak as the predicted distance and trigger the associated signal peak determination module when the number of candidate signal peaks whose corresponding differences are less than the preset difference is 0.

[0391] As an implementation of an embodiment of the present application, the target distance updating module may include:

[0392] The target distance updating submodule is used to perform weighted summation on the target distance corresponding to the associated signal peak and the predicted distance based on a second preset weight, so as to obtain a sum to update the target distance corresponding to the target signal peak.

[0393] The present application also provides a level meter, such as Fig.11 As shown, it includes a memory 1101, a processor 1102 and a radar detection component 1103:

[0394] The radar detection component 1103 is used to transmit radar signals to the measured material and receive echo signal frames;

[0395] The memory 1101 is used to store computer programs;

[0396] The processor 1102 is used to implement the material height measurement method described in any of the above embodiments when executing the program stored in the memory.

[0397] In addition, the level meter may further include a communication bus and / or a communication interface, and the processor 1102, the communication interface, and the memory 1101 communicate with each other via the communication bus.

[0398] It can be seen that in the scheme provided by the embodiment of the present application, the processor can obtain the echo signal frame of the radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain multiple signal peaks included in the echo signal frame, and determine the multi-harmonic signal combination that meets the preset multi-harmonic signal condition from the multiple signal peaks, wherein the preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signal, and the height of the measured material is determined based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination. After obtaining the multiple signal peaks included in the echo signal frame, the multi-harmonic signal combination that meets the preset multi-harmonic signal condition can be determined from the multiple signal peaks, that is, multiple signal peaks whose relationship between the transmission path lengths of the corresponding echo signals satisfies the relationship between the transmission path lengths of the multi-harmonic signal can be found from the multiple signal peaks, and the multiple echo signals corresponding to the multiple signal peaks constitute the multi-harmonic signal combination. Furthermore, the signal peaks corresponding to the multiple echoes and the signal peaks corresponding to the non-multiple echoes can be determined from the multi-harmonic signal combination, thereby accurately correlating to the signal peaks corresponding to the non-multiple echoes, eliminating the influence of the multi-harmonic signal, and ensuring the accuracy of the correlated signal peaks. In this way, the distance between the level meter and the measured material is calculated based on the signal peaks corresponding to the accurately correlated non-multiple echoes, which can improve the accuracy of the material height measurement.

[0399] The communication bus mentioned in the above-mentioned level meter can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0400] The communication interface is used for communication between the above-mentioned level meter and other devices.

[0401] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0402] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0403] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned material height measurement methods are implemented.

[0404] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the material height measurement methods in the above embodiments.

[0405] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0406] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0407] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, level meter, computer-readable storage medium and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0408] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for measuring material height, characterized in that: The method comprises: Acquire an echo signal frame of a radar signal emitted by the level meter to the measured material, and parse the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame; Determine, from the multiple signal peaks, a multi-harmonic signal combination that satisfies a preset multi-harmonic signal condition, wherein the preset multi-harmonic signal condition includes: a relationship between transmission path lengths of radar signals corresponding to the multiple signal peaks satisfies a relationship between transmission path lengths of multi-harmonic signals; The height of the measured material is determined based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination.

2. The method according to claim 1, characterized in that: The step of determining a multi-harmonic signal combination satisfying a preset multi-harmonic signal condition from the multiple signal peaks comprises: For a target signal peak with the largest amplitude among the multiple signal peaks, the target signal peak is sequentially used as the wave peak corresponding to the kth to 1st echoes, and each time the target signal peak is used as the wave peak corresponding to the ith echo, it is determined whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path lengths of the radar signals corresponding to other signal peaks is an arithmetic progression, wherein k is a preset number and i is a positive integer belonging to [k, 1]; When the relationship is an arithmetic progression relationship, the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are determined to be a multi-harmonic signal combination, and the target signal peak is stopped as the peak corresponding to the i-1th echo.

3. The method according to claim 2, characterized in that Before the step of determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals, the method further includes: In the case where the relationship is an arithmetic progression relationship, determining whether the amplitude ratio between the amplitude of the signal peak of one echo and the amplitude of the target signal peak reaches a preset ratio when the target signal peak is taken as the peak corresponding to the i-th echo; When the amplitude ratio reaches the preset ratio, the step of determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multiple harmonic signals is performed.

4. The method according to claim 1, characterized in that: The level meter continuously measures the measured material, and the echo signal frame is the current signal frame; Before the step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination, the method further includes: For each signal peak, based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak, determine whether the signal peak has an associated relationship with each determined candidate signal peak, wherein the determined candidate signal peaks are determined based on the signal peaks included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material; When the signal peak is associated with a determined candidate signal peak, updating the number of associated signal frames of the determined candidate signal peak that is associated with the signal peak; The step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination comprises: In the case where the determined candidate signal peaks satisfy a preset condition, determining a target signal peak from the determined candidate signal peaks satisfying the preset condition, wherein the preset condition is: the number of associated signal frames of the determined candidate signal peaks reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame; Based on the target signal peak, the height of the measurement material is determined.

5. The method according to claim 4, characterized in that Before the step of determining the height of the measured material based on the target signal peak, the method further includes: Based on a first preset weight, weighted sum is performed on the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak, and the target distance corresponding to the determined candidate signal peak is updated with the obtained sum; The step of determining the height of the measured material based on the target signal peak comprises: The height of the measured material is determined based on the target distance corresponding to the target signal peak.

6. The method according to claim 4, characterized in that The step of determining a target signal peak from the determined candidate signal peaks that meet the preset conditions comprises: When the number of the determined candidate signal peaks satisfying the preset condition is one, determining the determined candidate signal peak as the target signal peak; In the case where there are multiple determined candidate signal peaks that meet the preset condition, the multiple determined candidate signal peaks are arranged according to the corresponding target distances to obtain an arrangement order; or, the multiple determined candidate signal peaks are arranged according to the amplitudes to obtain an arrangement order; Based on the arrangement order, a determined candidate signal peak is selected from a plurality of determined candidate signal peaks as a target signal peak.

7. The method according to claim 4, characterized in that The method further comprises: When there is no correlation relationship between the signal peak and the determined candidate signal peak, the signal peak is regarded as the determined candidate signal peak.

8. The method according to any one of claims 4 to 7, characterized in that: The measured material is a moving material; Before the step of determining the height of the measured material based on the target distance corresponding to the target signal peak, the method further includes: Calculating a speed of change in the height of the measured material according to the height of the measured material corresponding to the historical signal frame; According to the speed and the target distance corresponding to the target signal peak in the echo signal frame, predicting the target distance corresponding to the target signal peak of the next signal frame as the predicted distance; Determine a correlated signal peak from the signal peaks included in the echo signal frame based on a difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame; The target distance corresponding to the target signal peak is updated according to the target distance corresponding to the associated signal peak and the predicted distance.

9. The method according to claim 8, characterized in that The step of calculating the speed of change of the height of the measured material according to the height of the measured material corresponding to the historical signal frame comprises: The speed V of the height change of the measured material is calculated according to the following formula; V=(endPos-startPos) / (N / 2); Wherein, endPos is the average of the target distances corresponding to the last N / 2 historical signal frames in the historical signal frame, startPos is the average of the target distances corresponding to the first N / 2 historical signal frames in the historical signal frame, and N is the number of the historical signal frames; The step of predicting the target distance corresponding to the target signal peak of the next signal frame according to the speed and the target distance corresponding to the target signal peak in the echo signal frame as a distance prediction step includes: According to the following formula, the target distance prePos corresponding to the target signal peak of the next signal frame is calculated as the predicted distance; prePos = stablePos + V*T; Among them, stablePos is the target distance corresponding to the target signal peak in the echo signal frame, V is the speed, and T is the cycle time of each frame.

10. The method according to claim 8, characterized in that The step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame comprises: For each signal peak in the echo signal frame, determining whether a difference between the target distance corresponding to the signal peak and the predicted distance is less than a preset difference; When the number of candidate signal peaks whose corresponding difference values ​​are smaller than the preset difference value is one, determining the candidate signal peak as a correlation signal peak; When there are multiple candidate signal peaks whose corresponding difference values ​​are less than the preset difference value, the confidence of each candidate signal peak is calculated based on the parameter information of the candidate signal peaks and in accordance with a preset peak selection method; The candidate signal peak corresponding to the maximum confidence among the confidences is determined as the associated signal peak.

11. The method according to claim 10, characterized in that The step of calculating the confidence of each candidate signal peak based on the parameter information of the candidate signal peak and in accordance with a preset peak selection method comprises at least one of the following: According to the target distance corresponding to each candidate signal peak, the confidence of each candidate signal peak is calculated in accordance with the distance priority mode; According to the amplitude corresponding to each candidate signal peak, the confidence of each candidate signal peak is calculated according to the amplitude priority mode; According to the difference between the target distance corresponding to each candidate signal peak and the predicted distance, the confidence of each candidate signal peak is calculated according to the nearest neighbor mode.

12. The method according to claim 11, characterized in that The step of calculating the confidence of each candidate signal peak according to the target distance corresponding to each candidate signal peak in a distance priority mode comprises: Calculate the confidence of each candidate signal peak according to the following formula; Wherein, scorePeakIndex(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, sortIndex(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, and validPeakNum is the maximum target distance among the target distances corresponding to multiple candidate signal peaks; The step of calculating the confidence of each candidate signal peak according to the amplitude corresponding to each candidate signal peak in an amplitude priority mode comprises: Calculate the confidence of each candidate signal peak according to the following formula; Wherein, scorePeakValue(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, peakValue(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, and maxValue is the maximum amplitude among the amplitudes of the multiple candidate signal peaks; The step of calculating the confidence of each candidate signal peak according to the difference between the target distance corresponding to each candidate signal peak and the predicted distance in accordance with the nearest neighbor mode comprises: The confidence of each candidate signal peak is calculated according to the following formula; Among them, scoreDist(i) is the confidence of the i-th candidate signal peak after being arranged according to the corresponding differences, dist(i) is the difference between the target distance corresponding to the i-th candidate signal peak and the predicted distance after being arranged according to the corresponding differences, and thresh is the predicted distance difference.

13. The method according to claim 10, characterized in that The method further comprises: When the number of candidate signal peaks whose corresponding difference values ​​are less than the preset difference value is 0, the target distance corresponding to the target signal peak is taken as the predicted distance, and the step of determining the associated signal peak from the signal peaks included in the echo signal frame based on the difference between the predicted distance and the target distance corresponding to each signal peak in the echo signal frame is returned to be executed.

14. The method according to claim 8, characterized in that The step of updating the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance comprises: Based on a second preset weight, a weighted sum is performed on the target distance corresponding to the associated signal peak and the predicted distance, so as to update the target distance corresponding to the target signal peak with the obtained sum.

15. A material height measuring device, characterized in that: The device comprises: A signal peak acquisition module is used to acquire an echo signal frame of a radar signal emitted by the level meter to the measured material, and to parse the echo signal frame to obtain a plurality of signal peaks included in the echo signal frame; A multi-harmonic signal combination determination module is used to determine a multi-harmonic signal combination that satisfies a preset multi-harmonic signal condition from the multiple signal peaks, wherein the preset multi-harmonic signal condition includes: the relationship between the transmission path lengths of the radar signals corresponding to the multiple signal peaks satisfies the relationship between the transmission path lengths of the multi-harmonic signals; The measured material height determination module is used to determine the height of the measured material based on the signal peaks corresponding to the non-multiple echoes in the determined multi-harmonic signal combination.

16. The device according to claim 15, characterized in that The multi-harmonic signal combination determination module comprises: an arithmetic progression relationship determination submodule, for determining, for a target signal peak having the largest amplitude among the multiple signal peaks, the target signal peaks as wave peaks corresponding to the kth to 1st echoes in sequence, and each time the target signal peak is used as the wave peak corresponding to the ith echo, determining whether the relationship between the transmission path length of the radar signal corresponding to the target signal peak and the transmission path lengths of the radar signals corresponding to other signal peaks is an arithmetic progression relationship, wherein k is a preset number and i is a positive integer belonging to [k, 1]; a harmonic signal combination determination submodule, for determining, when the relationship is an arithmetic progression relationship, that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a multi-harmonic signal combination, and stopping using the target signal peak as the peak corresponding to the i-1th echo; and / or, The device also includes: An amplitude ratio calculation module, used for determining, before determining that the target signal peak and other signal peaks corresponding to the arithmetic progression relationship are a combination of multi-harmonic signals, if the relationship is an arithmetic progression relationship, whether the amplitude ratio between the amplitude of the signal peak of the 1st echo and the amplitude between the target signal peaks reaches a preset ratio when the target signal peak is used as the peak corresponding to the i-th echo; a trigger module, configured to trigger the harmonic signal combination determination submodule when the amplitude ratio reaches the preset ratio; and / or, The level meter continuously measures the measured material, and the echo signal frame is the current signal frame; The device also includes: an association relationship determination module, used for determining, for each signal peak, whether there is an association relationship between the signal peak and each determined candidate signal peak based on the difference between the target distance corresponding to the signal peak and the target distance corresponding to each determined candidate signal peak before the step of determining the height of the measured material based on the signal peak corresponding to the non-multiple echoes in the determined multi-harmonic signal combination, wherein the determined candidate signal peaks are determined based on the signal peaks included in the historical signal frame, and the target distance is the distance between the level meter represented by the corresponding signal peak and the measured material; An associated signal frame quantity updating module, used for updating the quantity of associated signal frames of the determined candidate signal peak that is associated with the signal peak, when the signal peak is associated with the determined candidate signal peak; The material height measurement and determination module comprises: A target signal peak determination submodule, for determining a target signal peak from the determined candidate signal peaks that meet a preset condition, when the determined candidate signal peaks meet the preset condition, wherein the preset condition is: the number of associated signal frames of the determined candidate signal peak reaches a first preset number, and is not associated with multiple echoes in the multi-harmonic signal combination corresponding to the historical signal frame and the current signal frame; a measured material height determination submodule, used to determine the height of the measured material based on the target signal peak; and / or, The device also includes: A target distance updating module is used for, before determining the height of the measured material based on the target signal peak, performing a weighted sum of the target distance corresponding to the signal peak and the target distance corresponding to the determined candidate signal peak based on a first preset weight, and updating the target distance corresponding to the determined candidate signal peak with the obtained sum; The material height measurement and determination submodule comprises: a measured material height determination unit, used to determine the height of the measured material based on the target distance corresponding to the target signal peak; and / or, The target signal peak determination submodule comprises: a first target signal peak determining unit, configured to determine the determined candidate signal peak as a target signal peak when the number of the determined candidate signal peaks satisfying the preset condition is one; An arrangement order acquisition unit is used to arrange the multiple determined candidate signal peaks according to the corresponding target distances to obtain an arrangement order when there are multiple determined candidate signal peaks that meet the preset condition; or to arrange the multiple determined candidate signal peaks according to amplitudes to obtain an arrangement order; a second target signal peak determination unit, configured to select, based on the arrangement order, from a plurality of determined candidate signal peaks, a determined candidate signal peak as a target signal peak; and / or, The device also includes: a determined candidate signal peak determining unit, configured to, if there is no association between the signal peak and the determined candidate signal peak, use the signal peak as the determined candidate signal peak; and / or, The measured material is a moving material; The device also includes: A speed calculation module, used for calculating the speed of the height change of the measured material according to the height of the measured material corresponding to the historical signal frame before the step of determining the height of the measured material based on the target distance corresponding to the target signal peak; A predicted distance prediction module, used to predict the target distance corresponding to the target signal peak of the next signal frame according to the speed and the target distance corresponding to the target signal peak in the echo signal frame as the predicted distance; an associated signal peak determination module, configured to determine an associated signal peak from signal peaks included in the echo signal frame based on a difference between the predicted distance and a target distance corresponding to each signal peak in the echo signal frame; a target distance updating module, configured to update the target distance corresponding to the target signal peak according to the target distance corresponding to the associated signal peak and the predicted distance; and / or, The speed calculation module comprises: A first calculation submodule is used to calculate the speed V of the height change of the measured material according to the following formula; V=(endPos-startPos) / (N / 2); Wherein, endPos is the average of the target distances corresponding to the last N / 2 historical signal frames in the historical signal frame, startPos is the average of the target distances corresponding to the first N / 2 historical signal frames in the historical signal frame, and N is the number of the historical signal frames; The predicted distance prediction module comprises: The second calculation module is used to calculate the target distance prePos corresponding to the target signal peak of the next signal frame as the predicted distance according to the following formula; prePos = stablePos + V*T; Wherein, stablePos is the target distance corresponding to the target signal peak in the echo signal frame, V is the speed, and T is the frame cycle time; and / or, The correlation signal peak determination module comprises: A difference determination submodule, used for determining, for each signal peak in the echo signal frame, whether the difference between the target distance corresponding to the signal peak and the predicted distance is less than a preset difference; A first determination submodule, configured to determine the candidate signal peak as a correlation signal peak when the number of candidate signal peaks corresponding to the difference value that is less than the preset difference value is one; A confidence calculation submodule, configured to calculate the confidence of each candidate signal peak according to a preset peak selection method based on parameter information of the candidate signal peak when there are multiple candidate signal peaks whose corresponding difference is less than the preset difference; A second determination submodule is used to determine the candidate signal peak corresponding to the maximum confidence among the confidences as the associated signal peak; and / or, The confidence calculation submodule includes at least one of the following: A first confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the target distance corresponding to each candidate signal peak in a distance priority mode; A second confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the amplitude corresponding to each candidate signal peak in an amplitude priority mode; a third confidence calculation unit, configured to calculate the confidence of each candidate signal peak according to the difference between the target distance corresponding to each candidate signal peak and the predicted distance in accordance with a nearest neighbor mode; and / or, The first confidence calculation unit includes: The first confidence calculation subunit is used to calculate the confidence of each candidate signal peak according to the following formula; Wherein, scorePeakIndex(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, sortIndex(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the corresponding target distance, and validPeakNum is the maximum target distance among the target distances corresponding to multiple candidate signal peaks; The second confidence calculation unit includes: A second confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the following formula; Wherein, scorePeakValue(i) is the confidence of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, peakValue(i) is the index of the i-th candidate signal peak after arranging each candidate signal peak according to the amplitude, and maxValue is the maximum amplitude among the amplitudes of the multiple candidate signal peaks; The third confidence calculation unit comprises: A third confidence calculation unit, used to calculate the confidence of each candidate signal peak according to the following formula; Wherein, scoreDist(i) is the confidence of the i-th candidate signal peak after being arranged according to the corresponding difference, dist(i) is the difference between the target distance corresponding to the i-th candidate signal peak and the predicted distance after being arranged according to the corresponding difference, and thresh is the predicted distance difference; and / or, The device also includes: a predicted distance acquisition module, configured to, when the number of candidate signal peaks whose corresponding difference is less than the preset difference is 0, use the target distance corresponding to the target signal peak as the predicted distance and trigger the associated signal peak determination module; and / or, The target distance updating module comprises: The target distance updating submodule is used to perform weighted summation on the target distance corresponding to the associated signal peak and the predicted distance based on a second preset weight, so as to obtain a sum to update the target distance corresponding to the target signal peak.

17. A level meter, characterized in that: Including processor, memory and radar detection components: The radar detection component is used to transmit radar signals to the measured material and receive echo signal frames; The memory is used to store computer programs; The processor is used to implement any method described in claims 1-14 when executing a program stored in the memory.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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