Water sump sludge thickness monitoring method and device based on ultrasonic waves

Abstract

The invention relates to the technical field of ultrasonic waves, in particular to a water sump sludge thickness monitoring method and device based on ultrasonic waves. The method comprises the following steps: based on monitoring a specific frequency, acquiring a time difference between ultrasonic wave transmitting and receiving of an ultrasonic sensor at a current monitoring moment; determining the current ultrasonic propagation speed, and calculating the distance from the ultrasonic sensor to the sludge surface of the water sump based on the current ultrasonic propagation speed and the time difference; based on an amplitude limiting filtering algorithm and a statistical property filtering algorithm, verifying the distance to obtain a target distance; the initial distance between the ultrasonic sensor and the bottom of the water sump is obtained, and the distance difference value between the initial distance and the target distance is calculated to serve as the water sump sludge thickness at the current monitoring moment. According to the invention, real-time and accurate monitoring of the thickness of the sludge in the water sump can be realized.

Description

Technical Field

[0001] This application relates to the field of ultrasonic technology, and in particular, to a method and device for monitoring the thickness of silt in a sump based on ultrasonic waves. Background Art

[0002] During the coal mine production process, the sump plays an important role in collecting and precipitating mine water inflow. As time goes by, silt accumulates in the sump. If not cleaned in time, it will lead to a reduction in the effective volume of the sump, affect the drainage capacity, and even threaten the safety production of the coal mine.

[0003] As a key link in the mine drainage system, the accuracy and real-time monitoring of the silt thickness in the sump become important factors affecting the safety production of the coal mine. Traditional methods for monitoring silt thickness have many drawbacks, such as low efficiency, large errors in manual measurement, and safety risks. Related technologies also use monitoring equipment to achieve silt monitoring, but in the complex environment of the coal mine sump, the stability and accuracy of the equipment are not good. Summary of the Invention

[0004] To solve the problem of low accuracy in monitoring the thickness of silt in the sump in the prior art, this application provides a method and device for monitoring the thickness of silt in a sump based on ultrasonic waves.

[0005] In a first aspect, this application provides a method for monitoring the thickness of silt in a sump based on ultrasonic waves, adopting the following technical solutions: A method for monitoring the thickness of silt in a sump based on ultrasonic waves includes: Based on a monitored specific frequency, obtaining the time difference between the emission and reception of ultrasonic waves by an ultrasonic sensor at the current monitoring moment; Determining the current ultrasonic wave propagation speed, and calculating the distance between the ultrasonic sensor and the surface of the silt in the sump based on the current ultrasonic wave propagation speed and the time difference; Based on a limit filtering algorithm and a statistical characteristic filtering algorithm, verifying the distance to obtain a target distance; Obtaining the initial distance between the ultrasonic sensor and the bottom of the sump, and calculating the distance difference between the initial distance and the target distance as the thickness of the silt in the sump at the current monitoring moment.

[0006] By adopting the above technical solutions, obtaining the time difference between the emission and reception of ultrasonic waves based on a monitored specific frequency, calculating the distance from the sensor to the silt surface in combination with the current ultrasonic wave propagation speed, using the limit filtering and statistical characteristic filtering algorithms to verify the distance data to ensure the rationality and accuracy of the data, and finally calculating the silt thickness through the difference between the initial distance and the target distance, it can effectively eliminate the influence of noise and abnormal data, improve the monitoring accuracy, and is applicable to the real-time monitoring of the silt thickness in the sump under complex environments.

[0007] In a preferred example, the present application can be further configured as follows: based on the clipping filtering algorithm and the statistical characteristic filtering algorithm, verifying the distance to obtain the target distance includes: Comparing the distance with the initial distance to obtain a first comparison result; Determining the distance growth rate between the current monitoring moment and the previous monitoring moment as the distance growth rate at the current monitoring moment; Obtaining the standard rate range at the current monitoring moment, and comparing the distance growth rate at the current monitoring moment with the standard rate range at the current monitoring moment to obtain a second comparison result; If the first comparison result is that the distance is not greater than the initial distance, and the second comparison result is that the distance growth rate at the current monitoring moment does not exceed the standard rate range at the current monitoring moment, then the distance is taken as the target distance.

[0008] By adopting the above technical solution, the current distance is compared with the initial distance by using the clipping filtering algorithm to ensure that the distance data is within a reasonable range. At the same time, the statistical characteristic filtering algorithm is used to calculate the current distance growth rate and compare it with the standard rate range to further verify the rationality of the data. If the distance does not exceed the initial distance and the growth rate is within the standard range, the current distance is taken as the target distance, which can effectively filter abnormal data and ensure the accuracy and stability of the monitoring results.

[0009] In a preferred example, the present application can be further configured as follows: the process of determining the standard rate range includes: After starting the monitoring of the thickness of the silt in the sump, determining the distance growth rate between the first monitoring moment and the second monitoring moment as the reference growth rate; Determining the standard rate range based on the preset adjustment amplitude and the reference growth rate; When the distance growth rates of consecutive preset numbers of monitoring moments all exceed the standard rate range, taking the distance growth rate at the last monitoring moment as the updated reference growth rate; Obtaining the updated standard rate range based on the preset adjustment amplitude and the updated reference growth rate.

[0010] By adopting the above technical solution, the reference growth rate is determined based on the distance growth rate at the initial monitoring moment, and the standard rate range is set in combination with the preset adjustment amplitude. When the rates of consecutive multiple monitoring moments exceed the standard range, the reference growth rate and the standard rate range are dynamically updated to ensure the rationality and adaptability of the rate range.

[0011] In a preferred example, the present application can be further configured as follows: The obtaining of the time difference between the transmission and reception of ultrasonic waves by the ultrasonic sensor at the current monitoring moment includes: At the current monitoring moment, controlling the ultrasonic sensor to send ultrasonic waves a preset number of times, and obtaining the initial time difference between the reception moment and the transmission moment of each ultrasonic wave; Performing an operation of removing extreme values and calculating the average value on the initial time differences of the preset number of times, and taking the obtained average value as the time difference between the transmission and reception of ultrasonic waves by the ultrasonic sensor at the current monitoring moment.

[0012] By adopting the above technical solution, at the current monitoring moment, controlling the ultrasonic sensor to send ultrasonic waves multiple times, recording the time difference between the transmission and reception of each ultrasonic wave, and performing an operation of removing extreme values and calculating the average value on these time differences, finally obtaining the time difference at the current monitoring moment, which can effectively eliminate random errors and outliers in single measurement and improve the accuracy and stability of the time difference data.

[0013] In a preferred example, the present application can be further configured as follows: The determining of the current ultrasonic wave propagation speed includes: Collecting the current water temperature of the water sump at the current monitoring moment; Obtaining the temperature coefficient, the reference temperature, and the reference ultrasonic wave propagation speed at the reference temperature; Calculating the temperature difference between the current water temperature and the reference temperature; Based on the reference ultrasonic wave propagation speed, the temperature coefficient, and the temperature difference, calculating the current ultrasonic wave propagation speed.

[0014] By adopting the above technical solution, collecting the current water temperature, combining the temperature coefficient, the reference temperature, and the reference ultrasonic wave propagation speed, calculating the current ultrasonic wave propagation speed, and dynamically correcting the sound speed value by using the linear relationship between temperature and sound speed, can effectively eliminate the influence of temperature change on the ultrasonic wave propagation speed and improve the accuracy of distance calculation.

[0015] In a preferred example, the present application can be further configured as follows: The method further includes: Comparing the sludge thickness of the water sump at the current monitoring moment with a preset thickness threshold, and when the sludge thickness of the water sump reaches the preset thickness threshold, sending an alarm signal to the terminal device of the staff.

[0016] By adopting the above technical solution, it is possible to monitor the change of the sludge thickness in real time, timely warn of potential safety hazards or maintenance requirements, and improve the efficiency and safety of the water sump management.

[0017] In a second aspect, the present application provides an ultrasonic-based water sump sludge thickness monitoring device, adopting the following technical solution: An ultrasonic-based monitoring device for the thickness of silt in a water sump, comprising: an ultrasonic sensor, a data acquisition unit, and an electronic device; The ultrasonic sensor is disposed below the water surface inside the water sump, and is configured to transmit and receive ultrasonic waves, and collect the time difference data between the transmission and reception of the ultrasonic waves; The data acquisition unit is configured to supply power to the ultrasonic sensor and transmit the acquisition data of the ultrasonic sensor to the electronic device; The electronic device is configured to execute the ultrasonic-based monitoring method for the thickness of silt in a water sump according to any one of the first aspects.

[0018] In a preferred example of the present application, it can be further configured that: the data acquisition unit adopts an explosion-proof and intrinsically safe power supply and communicates with the ultrasonic sensor and the electronic device by using an RS485 bus.

[0019] In a preferred example of the present application, it can be further configured that: the electronic device includes: At least one processor; A memory; At least one application program, wherein at least one application program is stored in the memory and is configured to be executed by at least one processor, and the at least one application program is configured to: execute the ultrasonic-based monitoring method for the thickness of silt in a water sump according to any one of the first aspects.

[0020] In summary, the present application includes the following beneficial technical effects: Based on monitoring the time difference between the transmission and reception of ultrasonic waves by acquiring a specific frequency, combining the current ultrasonic wave propagation speed to calculate the distance from the sensor to the silt surface, and using a limit filtering and statistical characteristic filtering algorithm to verify the distance data to ensure the rationality and accuracy of the data. Finally, the thickness of the silt is calculated by the difference between the initial distance and the target distance, which can effectively eliminate the influence of noise and abnormal data, improve the monitoring accuracy, and is applicable to the real-time monitoring of the thickness of silt in a water sump under complex environments. Description of the Drawings

[0021] Figure 1 is a schematic flowchart of an ultrasonic-based monitoring method for the thickness of silt in a water sump provided by an embodiment of the present application; Figure 2 is an installation schematic diagram of an ultrasonic-based monitoring device for the thickness of silt in a water sump provided by an embodiment of the present application; Figure 3 is a schematic diagram of the propagation path of ultrasonic waves under the water surface provided by an embodiment of the present application; Figure 4 is a schematic structural diagram of an ultrasonic sensor provided by an embodiment of the present application; Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0022] The following will further describe the present application in detail with reference to the Figure 1 - appended Figure 5 drawings.

[0023] This specific embodiment is only an interpretation of the present application and does not limit the present application. After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as it is within the scope of the claims of the present application, it is protected by the patent law.

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0025] In addition, the term "and / or" herein is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after, unless otherwise specified.

[0026] It should be noted that in the optional embodiments of the present application, for relevant data such as object information, when the embodiments in the present application are applied to specific products or technologies, permission or consent of the object needs to be obtained, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. That is to say, if the embodiments of the present application involve data related to an object, it needs to be obtained under the authorization and consent of the object, the authorization and consent of the relevant department, and in compliance with the relevant laws, regulations and standards of the relevant countries and regions. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained, and the embodiments also need to be implemented under the authorization and consent of the object.

[0027] An embodiment of the present application provides a method for monitoring the thickness of silt in a water sump based on ultrasonic waves, as Figure 1As shown, the method provided in the embodiment of the present application is executed by an electronic device, which can be a server or a terminal device. Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, which are not limited in the embodiment of the present application. The method includes steps S101-S104, where: S101. Based on monitoring a specific frequency, obtain the time difference between the ultrasonic sensor transmitting and receiving ultrasonic waves at the current monitoring moment.

[0028] The method for monitoring the thickness of silt in a water sump based on ultrasonic waves provided in this embodiment is applicable to a device for monitoring the thickness of silt in a water sump based on ultrasonic waves. Refer to Figure 2 , which shows an installation schematic diagram of a device for monitoring the thickness of silt in a water sump based on ultrasonic waves provided in the embodiment of the present application. The device includes: an ultrasonic sensor, a data acquisition unit, and an electronic device.

[0029] The number of ultrasonic sensors can be set to multiple according to actual needs ( Figure 2 taking four ultrasonic sensors as an example), and the thickness of silt at different positions in the water sump can be monitored. The ultrasonic sensors are arranged under the water surface of the water sump, used to transmit and receive ultrasonic waves, and collect the time difference data between ultrasonic wave transmission and reception. The data acquisition unit is used to supply power to the ultrasonic sensors and transmit the time difference data collected by the ultrasonic sensors to the electronic device. The electronic device is used to determine the thickness of silt in the water sump based on the time difference data collected by the ultrasonic sensors.

[0030] In this embodiment, the method for monitoring the thickness of silt in a water sump based on ultrasonic waves is described by taking a single ultrasonic sensor as an example. The method for each ultrasonic sensor to monitor the thickness of silt in the water sump is the same. The monitoring specific frequency is set according to actual needs. Optionally, the monitoring specific frequency is 1 time per day, and a fixed time point every day can be set as the monitoring moment. Through a timer or a scheduling program, the ultrasonic sensor is triggered to work at each monitoring moment. The ultrasonic sensor automatically obtains the time difference between transmission and reception and transmits the obtained time difference data to the data acquisition unit.

[0031] S102. Determine the current ultrasonic wave propagation speed, and calculate the distance between the ultrasonic sensor and the surface of the silt in the water sump based on the current ultrasonic wave propagation speed and the time difference.

[0032] The propagation speed of ultrasonic waves in water is greatly affected by the water temperature. Especially in underground wells where the temperature is generally high, it is necessary to compensate for the propagation speed. At each monitoring moment, the corresponding water temperature is obtained, and then the current ultrasonic wave propagation speed at the current monitoring moment is accurately determined.

[0033] Specifically, the current water temperature in the sump at the current monitoring moment is collected. This step can be achieved by setting a temperature sensor in the water body. The temperature sensor can be connected to the data acquisition unit by wire or directly connected to the electronic device wirelessly. This embodiment does not make a limitation.

[0034] Furthermore, the temperature coefficient, reference temperature, and ultrasonic wave propagation speed at the reference temperature (denoted as the reference ultrasonic wave propagation speed) input by the user through the electronic device interaction interface are obtained. The temperature coefficient is related to the water quality and salt content, and its general value range is 2.5 - 3.0, which can be flexibly adjusted by the staff according to the actual water quality situation. Based on the temperature coefficient, current water temperature, reference temperature, and reference ultrasonic wave propagation speed, the current ultrasonic wave propagation speed at the current monitoring moment is calculated.

[0035] See Figure 3 , which shows a schematic diagram of the propagation path of ultrasonic waves under the water surface. Figure 3 The dotted line in is the propagation path of the ultrasonic wave. The ultrasonic sensor emits ultrasonic waves vertically downward. The ultrasonic wave reflects back to the ultrasonic sensor when it encounters the sludge in the sump. The time difference between the ultrasonic wave emission and reception is denoted as Δt, the current ultrasonic wave propagation speed is denoted as v, and the distance L between the ultrasonic sensor and the surface of the sump sludge is L = v×t / 2.

[0036] S103. Based on the limit filtering algorithm and statistical characteristic filtering algorithm, the distance is verified to obtain the target distance.

[0037] Specifically, when there is interference or network failure in the device, the obtained data may be abnormal. The limit filtering algorithm and statistical characteristic filtering algorithm are used to determine whether the obtained distance is abnormal. If it is not abnormal, the obtained distance is used as the target distance (the distance between the ultrasonic sensor and the surface of the sump sludge) obtained at the current monitoring moment. If it is abnormal, it indicates that there is a large error in the distance obtained at the current monitoring moment, and the data of the distance is discarded. It is possible to re - determine the monitoring moment before the next monitoring moment set based on the monitoring specific frequency, or directly monitor again at the next monitoring moment set based on the monitoring specific frequency. This embodiment does not make a limitation.

[0038] S104. Obtain the initial distance between the ultrasonic sensor and the bottom of the sump, and calculate the distance difference between the initial distance and the target distance as the sump sludge thickness at the current monitoring moment.

[0039] See Figure 3, the initial distance is the installation height H of the ultrasonic sensor from the bottom of the water sump. Calculate the distance difference between the initial distance H and the target distance L to obtain the thickness of the silt in the water sump at the current monitoring moment.

[0040] This embodiment is based on monitoring a specific frequency to obtain the time difference between ultrasonic wave emission and reception, calculates the distance from the sensor to the silt surface in combination with the current ultrasonic wave propagation speed, and uses the limit filtering and statistical characteristic filtering algorithms to verify the distance data to ensure the rationality and accuracy of the data. Finally, the thickness of the silt is calculated by the difference between the initial distance and the target distance, which can effectively eliminate the influence of noise and abnormal data, improve the monitoring accuracy, and is applicable to the real-time monitoring of the silt thickness in the water sump under complex environments.

[0041] A possible implementation manner of the embodiment of the present application to obtain the time difference between the ultrasonic wave emission and reception of the ultrasonic sensor at the current monitoring moment includes: At the current monitoring moment, control the ultrasonic sensor to send ultrasonic waves a preset number of times to obtain the initial time difference between the reception moment and the transmission moment of each ultrasonic wave; Perform the operations of removing extreme values and averaging the initial time differences of the preset number of times, and use the obtained average value as the time difference between the ultrasonic wave emission and reception of the ultrasonic sensor at the current monitoring moment.

[0042] In this embodiment, when there are impurities in the water body, the echo data of the ultrasonic wave will jump. To avoid data jump, data of a preset number of times can be continuously collected within a short time. Each data includes the transmission moment and the reception moment of the ultrasonic wave. The ultrasonic sensor can use the built-in program to calculate the time difference between the emission and reception of the ultrasonic wave as the initial time difference. Among them, the preset number is not less than 4.

[0043] Furthermore, remove the maximum value and the minimum value from the initial time differences of the preset number of times, and average the remaining initial time differences to obtain the data closest to the true value as the time difference between the ultrasonic wave emission and reception of the ultrasonic sensor at the current monitoring moment.

[0044] This embodiment controls the ultrasonic sensor to send ultrasonic waves multiple times at the current monitoring moment, records the time differences between the transmission and reception of each ultrasonic wave, and performs the operations of removing extreme values and averaging these time differences. Finally, the time difference at the current monitoring moment is obtained, which can effectively eliminate the random error and abnormal values in a single measurement and improve the accuracy and stability of the time difference data.

[0045] A possible implementation manner of the embodiment of the present application to determine the current ultrasonic wave propagation speed includes: Collect the current water temperature of the water sump at the current monitoring moment; Obtain the temperature coefficient, the reference temperature, and the reference ultrasonic wave propagation speed at the reference temperature; Calculate the temperature difference between the current water temperature and the reference temperature; Based on the reference ultrasonic wave propagation speed, temperature coefficient, and temperature difference, calculate the current ultrasonic wave propagation speed.

[0046] In this embodiment, the formula for calculating the current ultrasonic wave propagation speed is: ν = ν0 + k×(Τ - Τ0); Where, v represents the current ultrasonic wave propagation speed, with the unit of m / s, ν0 represents the reference ultrasonic wave propagation speed at the reference temperature, k represents the temperature coefficient, T represents the current water temperature, Τ0 represents the reference temperature, and Τ - Τ0 represents the temperature difference between the current water temperature and the reference temperature. Τ0 can be 20°C, and the corresponding reference ultrasonic wave propagation speed is 1482 m / s.

[0047] In this embodiment, by collecting the current water temperature, combining the temperature coefficient, reference temperature, and reference ultrasonic wave propagation speed, calculating the current ultrasonic wave propagation speed, and dynamically correcting the sound speed value using the linear relationship between temperature and sound speed, it can effectively eliminate the influence of temperature change on the ultrasonic wave propagation speed and improve the accuracy of distance calculation.

[0048] A possible implementation manner of the embodiment of this application, the method further includes: Compare the thickness of the water sump silt at the current monitoring moment with a preset thickness threshold. When the thickness of the water sump silt reaches the preset thickness threshold, send an alarm signal to the terminal device of the staff.

[0049] Wherein, the preset thickness threshold is preset by the staff based on actual experience and input into the electronic device. When the thickness of the water sump silt monitored by any ultrasonic sensor reaches the preset thickness threshold, send an alarm signal to the terminal device of the staff. The alarm signal can be an audible and visual alarm signal to remind the staff to take cleaning measures in time.

[0050] This embodiment can monitor the change of the silt thickness in real time, timely warn of potential safety hazards or maintenance requirements, and improve the efficiency and safety of water sump management.

[0051] A possible implementation manner of the embodiment of this application, based on the limit filtering algorithm and the statistical characteristic filtering algorithm, verify the distance to obtain the target distance, including: Compare the distance with the initial distance to obtain a first comparison result; Determine the distance growth rate between the current monitoring moment and the previous monitoring moment as the distance growth rate at the current monitoring moment; Obtain the standard rate range at the current monitoring moment, and compare the distance growth rate at the current monitoring moment with the standard rate range at the current monitoring moment to obtain a second comparison result; If the first comparison result shows that the distance is not greater than the initial distance, and the second comparison result shows that the distance growth rate at the current monitoring moment does not exceed the standard rate range at the current monitoring moment, then the distance is taken as the target distance.

[0052] In this embodiment, the amplitude-limiting filtering algorithm means that the determined distance cannot exceed the initial distance from the ultrasonic sensor to the bottom of the water sump, so as to eliminate abnormal large data.

[0053] The statistical characteristic filtering algorithm determines the standard growth rate range of the distance through historical data. Under normal circumstances, the distance growth rate between two adjacent monitoring moments is within the standard growth rate range. If it exceeds, it indicates that the data is abnormal, and the distance obtained at the current monitoring moment is discarded. That is, if the first comparison result shows that the distance is greater than the initial distance, or the second comparison result shows that the distance growth rate at the current monitoring moment exceeds the standard rate range at the current monitoring moment, it means that the data is abnormal, the distance determined at the current monitoring moment is discarded, and the monitoring process of the silt thickness in the water sump at this time is stopped.

[0054] In this embodiment, the amplitude-limiting filtering algorithm is used to compare the current distance with the initial distance to ensure that the distance data is within a reasonable range. At the same time, the statistical characteristic filtering algorithm is used to calculate the current distance growth rate and compare it with the standard rate range to further verify the rationality of the data. If the distance does not exceed the initial distance and the growth rate is within the standard range, the current distance is taken as the target distance, which can effectively filter abnormal data and ensure the accuracy and stability of the monitoring results. A possible implementation manner of the embodiment of the present application, the process of determining the standard rate range includes: After starting the monitoring of the silt thickness in the water sump, determine the distance growth rate between the first monitoring moment and the second monitoring moment as the reference growth rate; Determine the standard rate range based on the preset adjustment amplitude and the reference growth rate; When the distance growth rates of consecutive preset numbers of monitoring moments all exceed the standard rate range, take the distance growth rate of the last monitoring moment as the updated reference growth rate; Obtain the updated standard rate range based on the preset adjustment amplitude and the updated reference growth rate.

[0055] In this embodiment, the first monitoring moment is the first monitoring moment after starting the monitoring of the silt thickness in the water sump, and the second monitoring moment is the monitoring moment adjacent to the first monitoring moment after the first monitoring moment. Determine the difference between the distance obtained at the second monitoring moment and the distance obtained at the first monitoring moment, and the time difference between the second monitoring moment and the first monitoring moment. The ratio of the calculated difference in distance and the time difference is used as the reference growth rate.

[0056] The preset adjustment amplitude is determined by the staff based on practical experience and pre-entered into the electronic device. The preset adjustment amplitude includes an upper adjustment amplitude and a lower adjustment amplitude. The difference between the reference growth rate and the lower adjustment amplitude is used as the lower limit of the standard rate range, and the sum of the reference growth rate and the upper adjustment amplitude is used as the upper limit of the standard rate range.

[0057] For each monitoring moment after the second monitoring moment, calculate the distance growth rate between the current monitoring moment and its previous monitoring moment as the distance growth rate of the current monitoring moment. If the distance growth rates of a continuous preset number of monitoring moments all exceed the standard rate range, update the reference growth rate and the standard rate range. Take the rate of the last monitoring moment as the new reference growth rate and recalculate the standard rate range.

[0058] In this embodiment, the reference growth rate is determined based on the distance growth rate at the initial monitoring moment, and the standard rate range is set in combination with the preset adjustment amplitude. When the rates of multiple consecutive monitoring moments exceed the standard range, the reference growth rate and the standard rate range are dynamically updated to ensure the rationality and adaptability of the rate range.

[0059] In addition, the above method uses an electronic device as the execution entity to monitor the thickness of the silt in the sump. It can also determine the distance through the processor built in the ultrasonic sensor, and based on the amplitude-limiting filtering algorithm and the statistical characteristic filtering algorithm, verify the distance to obtain the target distance. The target distance is used as the output data of the ultrasonic sensor, and the electronic device further calculates the thickness of the silt in the sump.

[0060] An embodiment of the present application provides an ultrasonic-based monitoring device for the thickness of the silt in the sump. The device includes: an ultrasonic sensor, a data acquisition unit, and an electronic device; The ultrasonic sensor is arranged under the water surface inside the sump and is used for transmitting and receiving ultrasonic waves and collecting the time difference data between the ultrasonic wave transmission and reception; The data acquisition unit is used for supplying power to the ultrasonic sensor and transmitting the acquisition data of the ultrasonic sensor to the electronic device; The electronic device is used for determining the thickness of the silt in the sump based on the acquisition data.

[0061] Among them, the electronic device can generate a silt thickness change curve based on the thickness of the silt in the sump determined at each monitoring moment and display it to the staff through the display interface.

[0062] The water quality in the coal mine sump is uncertain. When the water quality is turbid, particulate impurities in the water will cause certain diffuse reflection to ultrasonic waves. At the same propagation distance, the reflected waves received by the transducer at the receiving end are very weak. Therefore, it is necessary to increase the transmission power of the ultrasonic sensor to solve the reliability problem. Generally speaking, when the measured distance in water is 1 meter, a sensor probe with a range of 5 meters needs to be selected to ensure that the emitted ultrasonic waves have greater penetration in turbid water.

[0063] The arrangement of the sensors needs to be based on the geometric shape and water flow characteristics of the sump. One or more ultrasonic sensors should be arranged in the area where silt is likely to accumulate at the bottom of the sump, so as to accurately obtain the silt thickness information at different positions.

[0064] Since the transmitting and receiving frequencies of ultrasonic sensors of the same model are the same, there will be an acoustic interference problem when sensors installed at a relatively close distance are measured simultaneously. That is, the acoustic signal emitted by sensor A will be received by sensor B, resulting in chaotic measurement data. There are two ways to solve this problem: one is to try to increase the distance between the two sensors to eliminate the interference between transmission and reception. The other is to adopt a sequential measurement method for the ultrasonic sensors in a sump. After the previous sensor has completed the measurement, then turn on the power of the next sensor and conduct the measurement. In this way, the interference problem between adjacent sensors can be completely eliminated.

[0065] See Figure 4 For the fixation of the ultrasonic sensor, a special three-degree-of-freedom adjustment bracket is used. This bracket is made of stainless steel and has good corrosion resistance and strength. The flange at the bottom of the bracket can be fixed to the bottom of the pool, the top of the sump or the wall of the sump through expansion screws to ensure stable installation. The three degrees of freedom of the bracket are horizontal rotation, vertical pitch and height adjustment, so that the ultrasonic sensor can vertically point to the silt at the bottom of the pool under different fixation methods. After the adjustment is completed, fix the sensor at the required position by tightening the adjustment nuts on the bracket to ensure the stability of the sensor during the measurement process.

[0066] It should be noted that the beam emitted by the ultrasonic sensor has a certain angle, generally within 16 degrees, as shown by the red line in the following figure. This conical area is the measurement area of the ultrasonic wave, and there should be no obstacles. The propagation path of the ultrasonic wave mentioned in this embodiment refers to the propagation path of the center line of the ultrasonic beam.

[0067] Before using the ultrasonic sensor to monitor the silt thickness in the sump, installation and debugging are required. Specifically, after determining the sump, the three-degree-of-freedom adjustment bracket needs to be firmly fixed on the wall or top of the sump to ensure that it can withstand the weight of the bracket and the sensor as well as external forces such as water flow and vibration in the sump. Then install the ultrasonic sensor on the bracket and adjust the joints on the bracket to ensure that the emission angle of the sensor is perpendicular to the bottom of the sump and there are no interfering objects within the 16-degree conical range.

[0068] After the sensors are installed, system debugging is required. First, create a sump in the main station, and establish a sensor file according to the actual number and ID numbers of the installed sensors. Input data such as the hoisting height (i.e., the initial height), the warning value of the sludge thickness (i.e., the preset thickness threshold), and the reading interval time (i.e., the reciprocal of the monitoring specific frequency) of the ultrasonic sensor into the electronic device.

[0069] Subsequently, the sump starts to fill with water and ensure that the water surface can submerge the ultrasonic sensor. Turn on the power and check the working status of each device to ensure normal startup. At this time, the main station should be able to read the distance measurement values of each sensor in the sump and calculate the sludge thickness. The initial sludge thickness should be zero, and the error between the distance determined based on the collected data of the ultrasonic sensor and the initial distance should be controlled within ±5mm. If this accuracy cannot be achieved, the installation height needs to be re-measured, and it is necessary to ensure good flatness of the bottom of the pool. If the problem remains unresolved, the ultrasonic sensor needs to be replaced.

[0070] In a possible implementation manner of the embodiment of the present application, the data acquisition unit uses an explosion-proof and intrinsically safe power supply and communicates with the ultrasonic sensor and the electronic device through an RS485 bus.

[0071] The data acquisition unit uses an explosion-proof and intrinsically safe power supply, which can provide stable power for multiple data acquisition units and sensors. The maximum output is 12V / 1.5A, meeting the safety requirements for use in coal mines. To prevent acoustic interference between sensors, the data acquisition unit powers multiple ultrasonic sensors in a polling sequence, and reads the data after they are stable.

[0072] In the embodiment of the present application, an electronic device is provided, as Figure 5 shown, Figure 5 The electronic device 500 shown includes: a processor 501 and a memory 503. Among them, the processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the electronic device 500 may further include a transceiver 504. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation to the embodiment of the present application.

[0073] The processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0074] The bus 502 may include a path for transmitting information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0075] The memory 503 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0076] The memory 503 is used to store the application program code for executing the solution of this application, and is controlled by the processor 501 for execution. The processor 501 is used to execute the application program code stored in the memory 503 to implement the content shown in the foregoing embodiments of the method for monitoring the thickness of silt in a water sump based on ultrasonic waves.

[0077] Figure 5 The illustrated electronic device is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of this application.

[0078] The embodiments of this application provide a computer-readable storage medium, on which a computer program is stored. When the computer program runs on a computer, it enables the computer to execute the content shown in the foregoing embodiments of the method for monitoring the thickness of silt in a water sump based on ultrasonic waves.

[0079] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps does not have a strict order limitation, and they can be executed in other orders. Moreover, at least some of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0080] The embodiments of this application provide a computer program product, including a computer program. When the computer program is executed by a processor, it implements the content shown in the foregoing embodiments of the method for monitoring the thickness of silt in a water sump based on ultrasonic waves.

[0081] The above are only some implementation manners of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A method for monitoring sludge thickness in a water tank based on ultrasound, characterized in that: include: Based on monitoring specific frequencies, obtain the time difference between the ultrasonic sensor transmitting and receiving ultrasonic waves at the current monitoring moment; Determine a current ultrasonic wave propagation speed, and calculate a distance between the ultrasonic sensor and the sludge surface of the sump based on the current ultrasonic wave propagation speed and the time difference; Based on the limiting filtering algorithm and the statistical characteristic filtering algorithm, the distance is verified to obtain the target distance; The initial distance between the ultrasonic sensor and the bottom of the water tank is obtained, and the distance difference between the initial distance and the target distance is calculated as the sludge thickness of the water tank at the current monitoring moment.

2. The method for monitoring sump sludge thickness based on ultrasound according to claim 1, characterized in that: The step of verifying the distance based on the limiting filtering algorithm and the statistical characteristic filtering algorithm to obtain the target distance includes: Comparing the distance with the initial distance to obtain a first comparison result; Determine a distance growth rate between the current monitoring moment and the previous monitoring moment as the distance growth rate at the current monitoring moment; Obtaining the standard rate range at the current monitoring time, and comparing the distance growth rate at the current monitoring time with the standard rate range at the current monitoring time to obtain a second comparison result; If the first comparison result is that the distance is not greater than the initial distance, and the second comparison result is that the distance growth rate at the current monitoring moment does not exceed the standard rate range at the current monitoring moment, then the distance is taken as the target distance.

3. The method for monitoring sump sludge thickness based on ultrasound according to claim 2, characterized in that: The process of determining the standard rate range includes: After the monitoring of the sump sludge thickness begins, determining a distance growth rate between a first monitoring moment and a second monitoring moment as a reference growth rate; Determining a standard rate range based on a preset adjustment amplitude and the reference growth rate; When the distance growth rate at a preset number of consecutive monitoring moments exceeds the standard rate range, the distance growth rate at the last monitoring moment is used as the updated benchmark growth rate; An updated standard rate range is obtained based on the preset adjustment amplitude and the updated reference growth rate.

4. The method for monitoring sump sludge thickness based on ultrasound according to claim 1, characterized in that: The step of obtaining the time difference between the ultrasonic sensor transmitting and receiving the ultrasonic wave at the current monitoring moment includes: At the current monitoring moment, controlling the ultrasonic sensor to send a preset number of ultrasonic waves to obtain an initial time difference between the receiving moment and the sending moment of each ultrasonic wave; The operations of removing extreme values ​​and calculating the average value are performed on the initial time differences of the preset number of times, and the obtained average value is used as the time difference between the ultrasonic sensor transmitting and receiving the ultrasonic wave at the current monitoring moment.

5. The method for monitoring sump sludge thickness based on ultrasound according to claim 1, characterized in that: The determining of the current ultrasonic wave propagation speed comprises: Collecting the current water temperature of the water tank at the current monitoring moment; Acquiring a temperature coefficient, a reference temperature, and a reference ultrasonic wave propagation velocity at the reference temperature; Calculating the temperature difference between the current water body temperature and the reference temperature; The current ultrasonic propagation velocity is calculated based on the reference ultrasonic propagation velocity, the temperature coefficient and the temperature difference.

6. The method for monitoring sump sludge thickness based on ultrasound according to claim 1, characterized in that: The method further comprises: The sludge thickness in the water tank at the current monitoring moment is compared with a preset thickness threshold, and when the sludge thickness in the water tank reaches the preset thickness threshold, an alarm signal is sent to the terminal device of the staff.

7. An ultrasonic-based sludge thickness monitoring device for a water tank, characterized in that: The device comprises: an ultrasonic sensor, a data acquisition unit and electronic equipment; The ultrasonic sensor is arranged under the water surface inside the water tank, and is used to transmit and receive ultrasonic waves, and collect the time difference data between the transmission and reception of the ultrasonic waves; The data acquisition unit is used to supply power to the ultrasonic sensor and transmit the collected data of the ultrasonic sensor to the electronic device; The electronic device is used to execute the ultrasonic-based sump sludge thickness monitoring method as described in any one of claims 1-6.

8. The ultrasonic-based sump sludge thickness monitoring device according to claim 7 is characterized in that: The data acquisition unit adopts a flameproof and intrinsically safe power supply, and uses an RS485 bus to communicate with the ultrasonic sensor and the electronic equipment.

9. The ultrasonic-based sump sludge thickness monitoring device according to claim 7, characterized in that: The electronic device comprises: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the ultrasonic-based sump sludge thickness monitoring method as described in any one of claims 1-6.

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