Ultrasonic Echo Processing Method, System and Ultrasonic Ranging Device

Abstract

The present invention relates to the technical field of echo processing, and discloses an ultrasonic echo processing method, system and ultrasonic ranging device. The method includes: acquiring the original waveform of the collected ultrasonic echo; constructing an environment amplification baseline that decays with time based on the original waveform, subtracting the original waveform from the environment amplification baseline to obtain a waveform after baseline processing; performing environment echo suppression processing on the waveform after baseline processing to obtain a waveform to be processed; determining effective wave peaks based on the waveform to be processed. The present invention can effectively suppress false echoes, extract real echoes from the received original waveform, and improve the measurement accuracy of ultrasonic detection.

Description

Technical Field

[0001] The present invention relates to the technical field of echo processing, and in particular to an ultrasonic echo processing method, system and ultrasonic ranging device. Background Art

[0002] The working principle of an ultrasonic level gauge is to emit ultrasonic waves through a transducer. When the ultrasonic waves encounter the liquid surface, they are reflected, and then received by the transducer and converted into an electrical signal by a piezoelectric crystal or a magnetostrictive device. By calculating the time difference between the emission and reception of the ultrasonic waves, the distance from the transducer to the liquid surface can be determined.

[0003] However, ultrasonic waves are easily interfered in a specific environment. For example, when measuring the liquid level in a tank, protrusions or other obstacles on the inner wall of the tank will reflect false ultrasonic echoes. The amplitude of the echo signals of these false echoes is also relatively large, and some even exceed the amplitude of the echo signal of the liquid surface to be measured. The false echoes and the echoes reflected by the real liquid surface are mixed together and received by the transducer to generate echo signals. The echo signals of these obstacles will become interference signals in the echoes. Therefore, it is necessary to filter this part of the signals.

[0004] Due to the mixing of false echoes and real echoes, and the relatively large amplitude of the false echoes, it is difficult to suppress the false echoes, resulting in a reduction in the measurement accuracy of the ultrasonic level gauge. How to effectively suppress the false echoes and thus identify the effective peaks has become the key to improving the measurement accuracy of the ultrasonic level gauge. Summary of the Invention

[0005] In view of this, the present invention provides an ultrasonic echo processing method, system and ultrasonic ranging device to solve the technical problem of the poor effect of suppressing false echoes in the prior art.

[0006] In a first aspect, the present invention provides an ultrasonic echo processing method, including: acquiring an original waveform of the collected ultrasonic echo; constructing an environment amplification baseline that decays with time based on the original waveform, subtracting the original waveform from the environment amplification baseline to obtain a waveform after baseline processing; performing environment echo suppression processing on the waveform after baseline processing to obtain a waveform to be processed; and determining an effective wave peak based on the waveform to be processed.

[0007] In some alternative embodiments, constructing an ambient amplification baseline that decays over time based on the original waveform includes: traversing all sampling points in the original waveform; determining whether the ordinate of the previous sampling point of the current sampling point is greater than the ordinate of the current sampling point. If the ordinate of the previous sampling point is greater than the ordinate of the current sampling point, assign the ordinate of the current sampling point to the ordinate of the corresponding baseline point. If the ordinate of the previous sampling point is less than or equal to the ordinate of the current sampling point, assign the ordinate of the previous sampling point to the ordinate of the corresponding baseline point; compare the ordinate of the current assigned baseline point with the ordinate of the previous baseline point. If the ordinate of the current assigned baseline point is greater than the ordinate of the previous baseline point, adjust the ordinate of the current assigned baseline point to the ordinate of the previous baseline point; connect all baseline points in sequence to construct the ambient amplification baseline.

[0008] In some alternative embodiments, performing ambient echo suppression processing on the waveform after baseline processing to obtain a waveform to be processed includes: constructing a background threshold curve based on the waveform after baseline processing; subtracting the background threshold curve from the waveform after baseline processing to obtain the waveform to be processed.

[0009] In some alternative embodiments, constructing a background threshold curve based on the waveform after baseline processing includes: performing a linear operation on the part of the waveform after baseline processing that is located in a preset suppression interval to obtain a number of suppression threshold points located in the preset suppression interval; supplementing the suppression threshold points outside the preset interval, and connecting all the suppression threshold points in sequence to construct the background threshold curve, where the ordinates of the suppression threshold points outside the preset interval are all set to a first threshold.

[0010] In some alternative embodiments, determining valid wave peaks based on the waveform to be processed includes: performing threshold screening on the waveform to be processed to obtain a waveform for peak searching; determining a quantity threshold according to the abscissa of the highest point of the waveform for peak searching. The larger the abscissa of the highest point of the waveform for peak searching, the smaller the corresponding quantity threshold; respectively counting the number of target points of the sampling points on both sides of the peak point of each wave peak in the waveform for peak searching whose ordinates are greater than a second threshold. If the number of target points on both sides of the peak point is less than the quantity threshold, the corresponding wave peak is an invalid wave peak. If the number of target points on either side of the peak point is greater than or equal to the quantity threshold, the corresponding wave peak is a valid wave peak.

[0011] In some alternative embodiments, performing threshold screening on the waveform to be processed to obtain a waveform for peak searching includes: using the peak value of a preset proportion of the waveform to be processed as the screening threshold; subtracting the screening threshold from the ordinates of all sampling points of the waveform to be processed, and setting the ordinates of the sampling points whose differences are less than zero to zero to obtain the waveform for peak searching.

[0012] In some alternative embodiments, before constructing an environment amplification baseline that decays over time based on the original waveform, the following steps are further included: taking the median or average value of the first preset number of sampling points at the end of the original waveform as the background noise signal, subtracting the background noise signal from the original waveform to obtain the original waveform after background noise removal; determining whether the original waveform after background noise removal is valid. If the original waveform after background noise removal is valid, proceed to the step of constructing an environment amplification baseline that decays over time based on the original waveform. If the original waveform after background noise removal is invalid, output an error signal.

[0013] In some alternative embodiments, determining whether the original waveform after background noise removal is valid includes: obtaining the waveform peak value within a preset inspection interval in the original waveform after background noise removal; determining whether the waveform peak value within the preset inspection interval is greater than a third threshold. If it is greater than the third threshold, the original waveform after background noise removal is valid. If it is less than or equal to the third threshold, the original waveform after background noise removal is invalid.

[0014] In a second aspect, the present invention provides an ultrasonic echo processing system, including a processor configured to execute the ultrasonic echo processing method according to the first aspect or any corresponding embodiment thereof.

[0015] In a third aspect, the present invention provides an ultrasonic ranging device, including the ultrasonic echo processing system according to the second aspect.

[0016] From the above technical solutions, it can be seen that the present invention has the following advantages:

[0017] The ultrasonic echo processing method of the present invention reduces the influence of the reflected sound waves of the internal components of the ultrasonic wave on the echo by constructing an environment amplification baseline and performing baseline processing on the original waveform. Furthermore, by performing environment echo suppression processing on the waveform after baseline processing and extracting the effective wave peaks, it can effectively suppress false echoes, extract the true echo from the received original waveform, and improve the measurement accuracy of ultrasonic detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a flowchart of the ultrasonic echo processing method according to an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of the original waveform according to an embodiment of the present invention;

[0021] Figure 3 It is a schematic diagram of the waveform after noise removal according to an embodiment of the present invention;

[0022] Figure 4 It is a schematic diagram of the environmental amplification baseline according to an embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of the waveform after baseline processing according to an embodiment of the present invention;

[0024] Figure 6 It is a schematic diagram of the background threshold curve according to an embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of the waveform to be processed according to an embodiment of the present invention;

[0026] Figure 8 It is a schematic diagram of the hardware structure of the ultrasonic echo processing system according to an embodiment of the present invention. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] When using an ultrasonic level gauge to monitor the liquid level in a tank, due to the presence of some protrusions or other obstacles in the internal components of the ultrasonic level gauge and the inner wall of the tank, false ultrasonic echoes reflected by the obstacles exist in the echo signals collected by the ultrasonic transducer. To suppress the influence of false echoes on ultrasonic detection, the present invention proposes an ultrasonic echo processing method.

[0029] According to an embodiment of the present invention, there is provided an embodiment of an ultrasonic echo processing method. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0030] In this embodiment, there is provided an ultrasonic echo processing method, which can be used for ultrasonic ranging devices such as ultrasonic level gauges, as Figure 1 shown, the process includes the following steps:

[0031] Step S101, obtain the original waveform of the collected ultrasonic echo.

[0032] After emitting ultrasonic waves to the liquid level to be measured, the received echo signal is processed and sampled by an Analog-to-Digital Converter (ADC), and an original waveform is constructed based on each discrete point obtained by sampling. Since the sampling time and sampling frequency of the echo signal are the same, the total duration of the original waveform received each time ultrasonic waves are emitted is the same.

[0033] The original waveform includes a number of discrete sampling points densely distributed in the coordinate system, as Figure 2 shown. The horizontal axis of the original waveform coordinate is the distance converted according to the reception time, and the vertical axis is the amplitude of the received ultrasonic wave. In this embodiment, the vertical coordinate corresponds to a voltage amplitude of 0 - 3.3V with a code value of 0 - 4096, and the horizontal coordinate spacing of each discrete point in the original waveform is the same.

[0034] Step S102: Based on the original waveform, construct an ambient amplification baseline that decays with time, and subtract the original waveform from the ambient amplification baseline to obtain a waveform after baseline processing.

[0035] Specifically, the amplitude of ultrasonic waves will decay with time. After the transducer emits ultrasonic waves, the components inside the ultrasonic level gauge will reflect the ultrasonic waves, causing echoes. The amplitudes of these echoes are generally large, even larger than the amplitude of the real echo. By constructing an ambient amplification baseline according to the original waveform, the influence of the echoes reflected by the components inside the ultrasonic level gauge on the subsequent detection of the real echo can be reduced.

[0036] Step S103: Perform ambient echo suppression processing on the waveform after baseline processing to obtain a waveform to be processed.

[0037] When measuring the liquid level height in a shielded container such as a tank using an ultrasonic level gauge, since interference echoes will be caused by interference objects in the tank, etc., it is necessary to perform ambient echo suppression processing on the waveform after baseline processing to eliminate the influence of interference echoes.

[0038] Step S104: Determine the effective wave peaks based on the waveform to be processed.

[0039] Specifically, the waveform to be processed obtained after the above processing may include more than one wave peak. Therefore, it is necessary to distinguish each wave peak in the waveform to be processed to obtain the effective wave peaks. For example, the wave peak with the highest peak value can be used as the effective wave peak, or the wave peak with the largest wave peak area can be used as the effective wave peak.

[0040] After determining the effective wave peaks, the height of the liquid level can be calculated according to the abscissa of the peak value of the effective wave peaks.

[0041] The ultrasonic echo processing method according to the embodiment of the present invention can reduce the influence of the reflected sound waves of the internal components of the ultrasonic wave on the echo by constructing an environmental amplification baseline and performing baseline processing on the original waveform. Then, environmental echo suppression processing is performed on the waveform after baseline processing, and effective wave peaks are extracted, which can effectively suppress false echoes, extract real echoes from the received original waveform, and improve the measurement accuracy of ultrasonic detection.

[0042] In some embodiments, before constructing an environmental amplification baseline that decays with time based on the original waveform, it further includes:

[0043] Step S201: Use the median or average value of the first preset number of sampling points at the end of the original waveform as the background noise signal, and subtract the background noise signal from the original waveform to obtain the original waveform after background noise removal.

[0044] The first preset number can be selected according to the actual situation, for example, it can be 100, 200, 300, etc.

[0045] In an example, take the last 256 sampling points, calculate the average value or median of these 256 sampling points, and use the calculated average value or median as the background noise signal.

[0046] The original waveform after background noise removal is as Figure 3 shown. The amplitudes of the sampling points at the end of the original waveform are relatively low, which can better represent the waveform background noise. By taking the average value or median of several sampling points as the background noise signal and subtracting this background noise signal from the ordinates of each sampling point in the original waveform, the entire original waveform is shifted downward along the vertical axis by the unit length of the background noise amplitude, which can effectively remove the influence of the background noise on the signal.

[0047] Step S202: Determine whether the original waveform after background noise removal is valid. If the original waveform after background noise removal is valid, enter the step of constructing an environmental amplification baseline that decays with time based on the original waveform. If the original waveform after background noise removal is invalid, output an error signal.

[0048] Specifically, the method for determining whether the original waveform after background noise removal is valid is:

[0049] Obtain the waveform peak value within the preset test interval in the original waveform after background noise removal.

[0050] Specifically, the preset test interval can be set by oneself according to empirical values. In an example, the preset test interval is the interval where the first several points of the waveform after background noise removal are located, for example, the interval where the first 128 points are located.

[0051] Determine whether the waveform peak value within the preset test interval is greater than the third threshold. If it is greater than the third threshold, the original waveform after background noise removal is valid. If it is less than or equal to the third threshold, the original waveform after background noise removal is invalid.

[0052] The third threshold can be set according to experience for a preset inspection interval. For example, when the preset inspection interval is the interval where the current 128 points are located, the code value converted by the third threshold is 2500. Compare the waveform peak value in the preset inspection interval with the third threshold. If the waveform peak value is less than or equal to the third threshold, it indicates that the echo amplitude is abnormal and there may be a transducer failure. Therefore, an error needs to be reported and an error signal is output to alert the user. If the waveform peak value is greater than the third threshold, it indicates that the waveform after denoising is valid, and the subsequent steps are entered.

[0053] Before constructing the environmental amplification baseline, perform validity judgment on the original waveform after bottom noise removal to detect system failures or abnormal conditions, improve the stability and reliability of the system, and avoid unnecessary subsequent processing procedures.

[0054] In some embodiments, constructing the environmental amplification baseline that decays with time based on the original waveform in step S102 includes:

[0055] Step S1021, traverse all sampling points in the original waveform;

[0056] Step S1022, determine whether the ordinate of the previous sampling point of the current sampling point is greater than the ordinate of the current sampling point. If the ordinate of the previous sampling point is greater than the ordinate of the current sampling point, assign the ordinate of the current sampling point to the ordinate of the corresponding baseline point. If the ordinate of the previous sampling point is less than or equal to the ordinate of the current sampling point, assign the ordinate of the previous sampling point to the ordinate of the corresponding baseline point;

[0057] Step S1023, compare the ordinate of the current assigned baseline point with the ordinate of the previous baseline point. If the ordinate of the current assigned baseline point is greater than the ordinate of the previous baseline point, adjust the ordinate of the current assigned baseline point to the ordinate of the previous baseline point;

[0058] Step S1024, connect all baseline points in sequence to construct the environmental amplification baseline.

[0059] Specifically, after bottom noise removal and waveform validity judgment, traverse the sampling points in the original waveform from left to right. To reduce the calculation amount, the traversed sampling points are limited to non-zero sampling points.

[0060] Figure 4 is a schematic diagram of the environmental amplification baseline. Figure 5It is the waveform diagram obtained after baseline processing. During ultrasonic measurement, the amplitude increase of the ultrasonic wave reflected by the internal components of the ultrasonic level gauge for the received signal decreases with time. Therefore, it is necessary to construct an environmental amplitude increase baseline to reduce the interference of the reflected ultrasonic wave signal. By comparing the front and back sampling points, the ordinate value of the baseline is dynamically adjusted, and the baseline is constrained to decrease monotonically, so that the constructed environmental amplitude increase baseline can adaptively track the slow change characteristics of environmental noise, and can accurately construct an environmental amplitude increase baseline as shown in Figure 4 to ensure that the baseline can truly reflect the characteristics of environmental noise, avoid overfitting the effective signal by the baseline, and effectively eliminate the influence of the environmental echo amplitude increase on the ultrasonic echo.

[0061] In some embodiments, in step S103, the waveform after baseline processing is subjected to environmental echo suppression processing to obtain a waveform to be processed, including:

[0062] Step S1031, constructing a background threshold curve based on the waveform after baseline processing.

[0063] Figure 6 It is the waveform diagram of the background threshold curve. The background threshold curve is also called the TVT curve. The background threshold curve is a threshold curve formed according to the interference echo caused by the interference objects in the shielding container.

[0064] The generation process of the background threshold curve includes:

[0065] Step S10311, performing a linear operation on the part of the waveform after baseline processing located in the preset suppression interval to obtain a number of suppression threshold points located in the preset suppression interval.

[0066] The purpose of setting the preset suppression interval is that when actually using ultrasonic ranging, since there are various obstacles at positions relatively close to the ultrasonic level gauge in the scene, these obstacles will all reflect echoes, and the echo signal amplitudes of these echoes are also large. These echoes will also be received by the transducer and generate echo signals. The echo signals of these obstacles will become interference signals in the echoes. Therefore, it is necessary to filter this part of the signals.

[0067] The preset suppression interval is generally the front part of the waveform after baseline processing. Exemplarily, the interval of the reflected waveform within 4 meters of the waveform after baseline processing is taken as the preset suppression interval.

[0068] The linear operation includes processes such as translation and amplification. For example, the part of the preset suppression interval is translated upward by a distance of 100 code values.

[0069] Step S10312, supplementing the suppression threshold points outside the preset interval, and connecting all the suppression threshold points in sequence to construct the background threshold curve, where the ordinate of the suppression threshold points outside the preset interval is set to the first threshold.

[0070] Specifically, supplementing the suppression threshold points outside the preset interval makes the number of discrete points on the background threshold curve correspond to the discrete points in the waveform after baseline processing.

[0071] Since the intensity of the interference signal outside the preset interval is low, the ordinate values of the supplemented suppression threshold points are low. For example, the ordinates of the suppression threshold points outside the preset interval can be set to zero.

[0072] Step S1032: Subtract the background threshold curve from the waveform after baseline processing to obtain the waveform to be processed.

[0073] Perform echo suppression processing on the waveform after baseline removal through the background threshold curve, that is, subtract the corresponding suppression threshold points on the background threshold curve from the waveform after baseline removal, so as to obtain the waveform after echo suppression, that is, the waveform to be processed. The obtained waveform to be processed is as Figure 7 shown.

[0074] By performing linear operations on the waveform within the preset suppression interval to obtain the suppression threshold points and supplementing the suppression threshold points outside the preset interval, the background threshold curve can be flexibly constructed according to the actual situation of the signal, making it more conform to the actual noise distribution.

[0075] In some embodiments, step S104: Determine the effective wave peaks based on the waveform to be processed, including:

[0076] Step S1041: Perform threshold screening on the waveform to be processed to obtain the waveform for peak searching.

[0077] Specifically, use the peak value of a preset proportion of the waveform to be processed as the screening threshold; subtract the screening threshold from the ordinates of all sampling points of the waveform to be processed, and set the ordinates of the sampling points with a difference less than zero to zero to obtain the waveform for peak searching.

[0078] The peak value of the waveform to be processed is the ordinate corresponding to the highest point in the waveform to be processed. The preset proportion ranges from 0.5 to 0.9. In one example, the preset proportion is 0.8, that is, take 0.8 times the peak value as the screening threshold, subtract 0.8 times the peak value from the ordinates of all sampling points in the waveform to be processed, retain the differences greater than 0, and set the parts with differences less than 0 to zero to obtain the waveform for peak searching.

[0079] Step S1042: Determine the quantity threshold according to the abscissa of the highest point of the waveform for peak searching, where the larger the abscissa of the highest point of the waveform for peak searching, the smaller the corresponding quantity threshold.

[0080] Specifically, a preset position threshold is set. When the abscissa of the highest point of the waveform to be peak-searched is greater than the preset position threshold, the quantity threshold is the first quantity threshold. When the abscissa of the highest point of the waveform to be peak-searched is not greater than the preset position threshold, the quantity threshold is the second quantity threshold. The first quantity threshold is less than the second quantity threshold. For example, the first quantity threshold can be set to 2, 3, or 4, etc., and the second quantity threshold can be set to 5, 6, or 7, etc.

[0081] In one example, the preset position threshold is the value of the abscissa corresponding to an actual distance of 10 meters. Since when the distance between the liquid level and the ultrasonic level gauge is greater than 10 meters, the peak value and amplitude of the echo of the liquid level are smaller compared to the echo of the liquid level within 10 meters, different quantity thresholds need to be set for the echoes within 10 meters and outside 10 meters.

[0082] In an actual application scenario, multiple preset position thresholds can also be set as needed to distinguish different distance intervals, and quantity thresholds are correspondingly set for different distance intervals.

[0083] Step S1043: respectively count the number of target points of the sampling points on both sides of the peak point of each wave peak in the waveform to be peak-searched whose ordinate is greater than the second threshold. If the number of target points on both sides of the peak point is less than the quantity threshold, the corresponding wave peak is an invalid wave peak. If the number of target points on either side of the peak point is greater than or equal to the quantity threshold, the corresponding wave peak is a valid wave peak.

[0084] Specifically, the second threshold can be set according to the actual situation. In one example, the second threshold is set to 0.

[0085] Taking the preset position threshold of 10 meters as an example, when the abscissa of the highest point of the waveform to be peak-searched is greater than 10 meters, the quantity threshold is 4. When the abscissa of the highest point of the waveform to be peak-searched is not greater than 10 meters, the quantity threshold is 6. Determine whether the abscissa of the highest peak in the waveform to be peak-searched is greater than 10 meters;

[0086] If it is greater than 10 meters, make the following judgments on several wave peaks in the peak-searched waveform in sequence. Determine whether the sampling points on both sides of the peak point whose amplitude is greater than the second threshold are all less than 4. If so, the wave peak is an invalid wave peak; if not, the wave peak is a valid wave peak;

[0087] If it is not greater than 10 meters, make the following judgments on several wave peaks in the peak-searched waveform in sequence. Determine whether the sampling points on both sides of the peak point whose amplitude is greater than the second threshold are all less than 6. If so, the wave peak is an invalid wave peak; if not, the wave peak is a valid wave peak.

[0088] The embodiment of the present invention determines the quantity threshold according to the abscissa of the highest point of the waveform to be peak-searched, and can correspondingly reduce the standard for determining valid wave peaks due to signal distance attenuation, so as to better adapt to the actual environment and the selected valid wave peaks are more accurate.

[0089] An embodiment of the present invention further provides an ultrasonic echo processing system, as Figure 8 shown, including a processor, which is used to execute the ultrasonic echo processing method of any of the above embodiments.

[0090] Specifically, the processor can be a central processing unit, a network processor, or a combination thereof. Among them, the processor can further include a hardware chip. The above hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0091] In one example, the processor uses a microcontroller with a Cortex M0 core.

[0092] The ultrasonic echo processing system further includes a transmitting unit, a matching unit, an ultrasonic transducer, an amplifying unit, a band-pass filter, a logarithmic amplifying unit, and an A / D unit. The processor outputs control signals to the ultrasonic transducer through the control of the transmitting unit and the matching unit to generate ultrasonic signals. After the ultrasonic waves are emitted and return through the liquid level to be measured, the received ultrasonic waves are successively amplified, band-pass filtered, logarithmically amplified, and analog-to-digital converted, and then input to the processor for processing.

[0093] The ultrasonic echo processing system is also integrated with components such as a human-machine interface, a relay, and a power supply. The power supply provides working voltage for the processor and other devices.

[0094] The processor realizes relay control by outputting a 4-20mA signal or an RS485 signal.

[0095] The human-machine interface includes an input device and an output device. The input device includes a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick. The output device can include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor), etc. The above display device includes, but is not limited to, a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0096] Furthermore, the present invention also provides an ultrasonic ranging device. The ultrasonic ranging device can be devices such as an ultrasonic level gauge, an ultrasonic distance sensor, etc., and includes the ultrasonic echo processing system of the above embodiment.

[0097] It should be understood that a part of the present invention can be applied as a computer program product, for example, computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present invention can be invoked or provided. Those skilled in the art should understand that the forms in which computer program instructions exist in a computer-readable medium include but are not limited to source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0098] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope protected by the present invention.

Claims

1. An ultrasonic echo processing method, characterized in that, Including: Obtain the original waveform of the collected ultrasonic echo; Construct an ambient amplification baseline that decays with time based on the original waveform, subtract the original waveform from the ambient amplification baseline to obtain a waveform after baseline processing; Perform ambient echo suppression processing on the waveform after baseline processing to obtain a waveform to be processed; Determine valid wave peaks based on the waveform to be processed; Among them, constructing an ambient amplification baseline that decays with time based on the original waveform includes: Traverse all sampling points in the original waveform; Judge whether the ordinate of the previous sampling point of the current sampling point is greater than the ordinate of the current sampling point. If the ordinate of the previous sampling point is greater than the ordinate of the current sampling point, assign the ordinate of the current sampling point to the ordinate of the corresponding baseline point. If the ordinate of the previous sampling point is less than or equal to the ordinate of the current sampling point, assign the ordinate of the previous sampling point to the ordinate of the corresponding baseline point; Compare the ordinate of the current assigned baseline point with the ordinate of the previous baseline point. If the ordinate of the current assigned baseline point is greater than the ordinate of the previous baseline point, adjust the ordinate of the current assigned baseline point to the ordinate of the previous baseline point; Connect all baseline points in sequence to construct an ambient amplification baseline.

2. The ultrasonic echo processing method according to claim 1, wherein Performing ambient echo suppression processing on the waveform after baseline processing to obtain a waveform to be processed includes: Construct a background threshold curve based on the waveform after baseline processing; Subtract the background threshold curve from the waveform after baseline processing to obtain a waveform to be processed.

3. The ultrasonic echo processing method according to claim 2, characterized in that Constructing a background threshold curve based on the waveform after baseline processing includes: Perform a linear operation on the part of the waveform after baseline processing that is within a preset suppression interval to obtain several suppression threshold points within the preset suppression interval; Supplement the suppression threshold points outside the preset interval, and connect all the suppression threshold points in sequence to construct the background threshold curve, where the ordinates of the suppression threshold points outside the preset interval are all set to a first threshold.

4. The ultrasonic echo processing method according to claim 1, characterized in that, Determining valid wave peaks based on the waveform to be processed includes: Perform threshold screening on the waveform to be processed to obtain a waveform for peak searching; Determine a quantity threshold according to the abscissa of the highest point of the waveform for peak searching, where the larger the abscissa of the highest point of the waveform for peak searching, the smaller the corresponding quantity threshold; Respectively count the number of target points of the sampling points on both sides of the peak point of each wave peak in the waveform for peak searching whose ordinates are greater than a second threshold. If the number of target points on both sides of the peak point is less than the quantity threshold, the corresponding wave peak is an invalid wave peak. If the number of target points on either side of the peak point is greater than or equal to the quantity threshold, the corresponding wave peak is a valid wave peak.

5. The ultrasonic echo processing method according to claim 4, wherein Performing threshold screening on the waveform to be processed to obtain a waveform for peak searching includes: Use the peak value of a preset proportion of the waveform to be processed as the screening threshold; Subtract the screening threshold from the ordinates of all sampling points of the waveform to be processed, and set the ordinates of the sampling points with a difference less than zero to zero to obtain a waveform for peak searching.

6. The ultrasonic echo processing method according to claim 1, wherein Before constructing an ambient amplification baseline that decays with time based on the original waveform, it further includes: Use the median or average value of the first preset number of sampling points at the end of the original waveform as the background noise signal, and subtract the background noise signal from the original waveform to obtain the original waveform after background noise removal; Determine whether the original waveform after background noise removal is valid. If the original waveform after background noise removal is valid, proceed to the step of constructing an environment amplification baseline that decays with time based on the original waveform. If the original waveform after background noise removal is invalid, output an error signal.

7. The ultrasonic echo processing method according to claim 6, wherein Determining whether the original waveform after background noise removal is valid includes: Obtain the waveform peak value within a preset inspection interval in the original waveform after background noise removal; Determine whether the waveform peak value within the preset inspection interval is greater than a third threshold. If it is greater than the third threshold, the original waveform after background noise removal is valid. If it is less than or equal to the third threshold, the original waveform after background noise removal is invalid.

8. An ultrasonic echo processing system, characterized in that, It includes a processor, and the processor is configured to execute the ultrasonic echo processing method according to any one of claims 1 to 7.

9. An ultrasonic ranging device, characterized in that, It includes the ultrasonic echo processing system according to claim 8.

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