A method and device for monitoring sump sludge thickness based on ultrasound

Abstract

The present application relates to the field of ultrasonic technology, and in particular to a method and device for monitoring the thickness of silt in a water tank based on ultrasound. The method comprises: obtaining the time difference between the ultrasonic sensor transmitting and receiving an ultrasonic wave at the current monitoring moment based on monitoring a specific frequency; determining the current ultrasonic wave propagation velocity, and calculating the distance between the ultrasonic sensor and the silt surface in the water tank based on the current ultrasonic wave propagation velocity and the time difference; verifying the distance to obtain a target distance based on a limiting filter algorithm and a statistical characteristic filter algorithm; obtaining the initial distance between the ultrasonic sensor and the bottom of the water tank, and calculating the distance difference between the initial distance and the target distance as the silt thickness in the water tank at the current monitoring moment. The present application can achieve real-time and accurate monitoring of silt thickness in the water tank.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic technology, and in particular to a method and device for monitoring sludge thickness in a water tank based on ultrasonic waves. Background Art

[0002] During coal mining operations, sump tanks play a crucial role in collecting and settling water inrush. Over time, silt accumulates within these tanks. If not promptly cleaned, this reduces the effective volume of the tanks, impacting drainage capacity and potentially threatening safe coal mine production.

[0003] As a critical component of mine drainage systems, the accuracy and real-time monitoring of sludge thickness in water sump systems are crucial factors impacting coal mine safety. Traditional sludge thickness monitoring methods have numerous drawbacks, including low manual measurement efficiency, large errors, and safety risks. Related technologies also utilize monitoring equipment for sludge monitoring, but these devices suffer from limited stability and accuracy in the complex environment of coal mine water sump systems. Summary of the Invention

[0004] In order to solve the problem of low accuracy in monitoring the thickness of sludge in a water tank in the prior art, the present application provides a method and device for monitoring the thickness of sludge in a water tank based on ultrasound.

[0005] In the first aspect, the present application provides a method for monitoring the thickness of silt in a water tank based on ultrasound, which adopts the following technical solutions:

[0006] A method for monitoring sludge thickness in a water tank based on ultrasound, comprising:

[0007] Based on monitoring specific frequencies, obtain the time difference between the ultrasonic sensor transmitting and receiving ultrasonic waves at the current monitoring moment;

[0008] Determining a current ultrasonic wave propagation velocity, and calculating a distance between the ultrasonic sensor and the sludge surface in the sump based on the current ultrasonic wave propagation velocity and the time difference;

[0009] Based on the limiting filtering algorithm and the statistical characteristic filtering algorithm, the distance is verified to obtain the target distance;

[0010] An initial distance between the ultrasonic sensor and the bottom of the water tank is obtained, and a distance difference between the initial distance and the target distance is calculated as the sump sludge thickness at the current monitoring moment.

[0011] By adopting the above technical solution, the time difference between ultrasonic emission and reception is obtained based on monitoring a specific frequency, and the distance from the sensor to the silt surface is calculated in combination with the current ultrasonic propagation speed. The distance data is verified using limiting filtering and statistical characteristic filtering algorithms to ensure the rationality and accuracy of the data. Finally, the silt thickness is calculated by the difference between the initial distance and the target distance. This can effectively eliminate the influence of noise and abnormal data, improve monitoring accuracy, and is suitable for real-time monitoring of silt thickness in water tanks under complex environments.

[0012] In a preferred example, the present application may be further configured as follows: verifying the distance based on the limiting filtering algorithm and the statistical characteristic filtering algorithm to obtain the target distance includes:

[0013] Comparing the distance with the initial distance to obtain a first comparison result;

[0014] Determining a distance growth rate between the current monitoring moment and the previous monitoring moment as the distance growth rate at the current monitoring moment;

[0015] Obtaining a 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;

[0016] 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.

[0017] By adopting the above technical solution, the current distance is compared with the initial distance using the limiting 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 used as the target distance, which can effectively filter out abnormal data and ensure the accuracy and stability of the monitoring results.

[0018] In a preferred example, the present application may be further configured as follows: the process of determining the standard rate range includes:

[0019] 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;

[0020] determining a standard rate range based on a preset adjustment amplitude and the reference growth rate;

[0021] 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;

[0022] An updated standard rate range is obtained based on the preset adjustment amplitude and the updated reference growth rate.

[0023] By adopting the above technical solution, the baseline 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 rate at multiple consecutive monitoring moments exceeds the standard range, the baseline growth rate and the standard rate range are dynamically updated to ensure the rationality and adaptability of the rate range.

[0024] In a preferred example, the present application may be further configured as follows: obtaining the time difference between the ultrasonic sensor transmitting and receiving the ultrasonic wave at the current monitoring moment includes:

[0025] At the current monitoring moment, controlling the ultrasonic sensor to transmit ultrasonic waves a preset number of times, and obtaining an initial time difference between a receiving moment and a transmitting moment of each ultrasonic wave;

[0026] The operations of removing extreme values ​​and calculating an 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.

[0027] By adopting the above technical solution, the ultrasonic sensor is controlled to send multiple ultrasonic waves at the current monitoring moment, the time difference between the sending and receiving of each ultrasonic wave is recorded, and these time differences are removed from extreme values ​​and averaged to finally obtain the time difference at the current monitoring moment. This can effectively eliminate random errors and outliers in a single measurement and improve the accuracy and stability of the time difference data.

[0028] In a preferred example, the present application may be further configured as follows: determining the current ultrasonic wave propagation speed includes:

[0029] Collecting the current water temperature of the water tank at the current monitoring moment;

[0030] Obtaining a temperature coefficient, a reference temperature, and a reference ultrasonic propagation velocity at the reference temperature;

[0031] Calculating the temperature difference between the current water temperature and the reference temperature;

[0032] The current ultrasonic propagation velocity is calculated based on the reference ultrasonic propagation velocity, the temperature coefficient, and the temperature difference.

[0033] By adopting the above technical solution, the current water temperature is collected, and the current ultrasonic propagation velocity is calculated by combining the temperature coefficient, reference temperature and reference ultrasonic propagation velocity. The linear relationship between temperature and sound velocity is used to dynamically correct the sound velocity value. This can effectively eliminate the influence of temperature changes on ultrasonic propagation velocity and improve the accuracy of distance calculation.

[0034] In a preferred example, the present application may be further configured as follows: the method further includes:

[0035] The sludge thickness in the water tank at the current monitoring moment is compared with a preset thickness threshold. 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.

[0036] By adopting the above technical solution, changes in sludge thickness can be monitored in real time, and potential safety hazards or maintenance needs can be promptly warned, thereby improving the efficiency and safety of water tank management.

[0037] In a second aspect, the present application provides an ultrasonic-based sump sludge thickness monitoring device, which adopts the following technical solution:

[0038] An ultrasonic-based sump sludge thickness monitoring device comprises: an ultrasonic sensor, a data acquisition unit and electronic equipment;

[0039] The ultrasonic sensor is disposed below the water surface in the water tank and is used to transmit and receive ultrasonic waves and collect time difference data between the transmission and reception of the ultrasonic waves;

[0040] 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;

[0041] The electronic device is used to execute the ultrasonic-based water tank sludge thickness monitoring method as described in any one of the first aspects.

[0042] In a preferred example, the present application can be further configured as follows: 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 device.

[0043] In a preferred example, the present application may be further configured as follows: the electronic device includes:

[0044] at least one processor;

[0045] Memory;

[0046] 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 water tank sludge thickness monitoring method as described in any one of the first aspects.

[0047] In summary, this application has the following beneficial technical effects:

[0048] Based on monitoring the specific frequency, the time difference between ultrasonic emission and reception is obtained, and the distance from the sensor to the silt surface is calculated in combination with the current ultrasonic propagation speed. The distance data is verified using limiting filtering and statistical characteristic filtering algorithms to ensure the rationality and accuracy of the data. Finally, the silt thickness is calculated by the difference between the initial distance and the target distance. This method can effectively eliminate the influence of noise and abnormal data, improve monitoring accuracy, and is suitable for real-time monitoring of silt thickness in water tanks under complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 1 is a flow chart of a method for monitoring sludge thickness in a sump based on ultrasound provided in an embodiment of the present application;

[0050] Figure 2 This is a schematic diagram of the installation of an ultrasonic-based sump sludge thickness monitoring device provided in an embodiment of the present application;

[0051] Figure 3 Schematic diagram of the propagation path of ultrasonic waves under water provided in an embodiment of the present application;

[0052] Figure 4 is a schematic structural diagram of an ultrasonic sensor provided in an embodiment of the present application;

[0053] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following is combined with Figure 1 -Attached Figure 5 This application is described in further detail.

[0055] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but as long as they are within the scope of the claims of the present application, they are protected by the patent law.

[0056] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0057] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates an "or" relationship between the related objects.

[0058] It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, 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. In other words, if the embodiments of the present application involve data related to the object, it needs to be obtained through the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information requires the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained. The embodiments also need to be implemented with the authorization and consent of the object.

[0059] The present application provides a method for monitoring the thickness of silt in a water tank based on ultrasound. Figure 1 As shown, the method provided in the embodiment of the present application is performed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes steps S101 to S104, wherein:

[0060] S101. Based on the monitoring specific frequency, obtain the time difference between the ultrasonic sensor transmitting and receiving ultrasonic waves at the current monitoring moment.

[0061] The ultrasonic silt thickness monitoring method provided in this embodiment is applicable to the ultrasonic silt thickness monitoring device for water tanks. Figure 2 , which shows an installation diagram of an ultrasonic-based sump sludge thickness monitoring device provided in an embodiment of the present application. The device includes: an ultrasonic sensor, a data acquisition unit and an electronic device.

[0062] The number of ultrasonic sensors can be set according to actual needs ( Figure 2 For example, four ultrasonic sensors can monitor the silt thickness at different locations within the tank. These sensors, located below the water surface, transmit and receive ultrasonic waves and collect the time difference between transmission and reception. A data acquisition unit powers the ultrasonic sensors and transmits the collected time difference data to an electronic device. The electronic device then determines the silt thickness based on this time difference data.

[0063] This embodiment uses a single ultrasonic sensor as an example to illustrate the ultrasonic-based method for monitoring silt thickness in a silt tank. The same principles apply to the monitoring of silt thickness using multiple ultrasonic sensors. The specific monitoring frequency is set based on actual needs. Optionally, the specific monitoring frequency can be set once a day. A fixed daily monitoring time can be set, and a timer or scheduler can be used to trigger the ultrasonic sensor at each monitoring time. The ultrasonic sensor automatically detects the time difference between transmission and reception and transmits the resulting time difference data to the data acquisition unit.

[0064] S102: Determine the current ultrasonic wave propagation speed, and calculate the distance between the ultrasonic sensor and the sludge surface in the water tank based on the current ultrasonic wave propagation speed and the time difference.

[0065] The propagation speed of ultrasound in water is greatly affected by water temperature, especially in underground where the temperature is generally high. Therefore, the propagation speed needs to be compensated, and the corresponding water temperature needs to be obtained at each monitoring moment to accurately determine the current ultrasonic propagation speed at the current monitoring moment.

[0066] Specifically, the current water temperature of the water in the water tank 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 is not limited to this.

[0067] The system then obtains the temperature coefficient, reference temperature, and ultrasonic propagation velocity at the reference temperature (referred to as the reference ultrasonic propagation velocity) entered by the user through the electronic device's interactive interface. The temperature coefficient is related to water quality and salinity, typically ranging from 2.5 to 3.0, and can be flexibly adjusted by staff based on actual water quality. Based on the temperature coefficient, current water temperature, reference temperature, and reference ultrasonic propagation velocity, the current ultrasonic propagation velocity at the current monitoring moment is calculated.

[0068] See also Figure 3 , which shows a schematic diagram of the propagation path of ultrasonic waves under the water surface, Figure 3 The middle dotted line is the propagation path of the ultrasonic wave. The ultrasonic sensor transmits the ultrasonic wave vertically downward. The ultrasonic wave encounters the silt in the water tank and is reflected back to the ultrasonic sensor. The time difference between the ultrasonic wave transmission and reception is recorded as Δt, the current ultrasonic wave propagation speed is recorded as v, and the distance between the ultrasonic sensor and the silt surface in the water tank is L = v × t / 2.

[0069] S103 : Based on the amplitude limiting filtering algorithm and the statistical characteristic filtering algorithm, the distance is verified to obtain the target distance.

[0070] Specifically, when there is interference or network failure in the equipment, the data obtained may be abnormal. The limiting filtering algorithm and the statistical characteristic filtering algorithm are used to determine whether there is an abnormality in the obtained distance. If there is no abnormality, the obtained distance is used as the target distance obtained at the current monitoring time (the distance between the ultrasonic sensor and the sludge surface in the water tank). If there is an abnormality, it indicates that there is a large error in the distance obtained at the current monitoring time. The distance data is discarded. The monitoring time can be re-determined before the next monitoring time set based on the specific monitoring frequency, or monitoring can be performed again directly at the next monitoring time set based on the specific monitoring frequency. This is not limited in this embodiment.

[0071] S104: Obtain an initial distance between the ultrasonic sensor and the bottom of the water tank, and calculate the distance difference between the initial distance and the target distance as the sump sludge thickness at the current monitoring moment.

[0072] See also Figure 3 The initial distance is the installation height H of the ultrasonic sensor from the bottom of the water tank. The difference between the initial distance H and the target distance L is calculated to obtain the sludge thickness of the water tank at the current monitoring moment.

[0073] This embodiment obtains the time difference between ultrasonic emission and reception based on monitoring a specific frequency, calculates the distance from the sensor to the silt surface in combination with the current ultrasonic propagation speed, verifies the distance data using limiting filtering and statistical characteristic filtering algorithms to ensure the rationality and accuracy of the data, and finally calculates the silt thickness by the difference between the initial distance and the target distance. This can effectively eliminate the influence of noise and abnormal data, improve monitoring accuracy, and is suitable for real-time monitoring of silt thickness in water tanks under complex environments.

[0074] A possible implementation of the embodiment of the present application is to obtain the time difference between the ultrasonic sensor transmitting and receiving the ultrasonic wave at the current monitoring moment, including:

[0075] At the current monitoring moment, the ultrasonic sensor is controlled to send a preset number of ultrasonic waves, and an initial time difference between the receiving moment and the sending moment of each ultrasonic wave is obtained;

[0076] The extreme value removal and averaging operations 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 ultrasonic waves at the current monitoring moment.

[0077] In this embodiment, when the water contains impurities, ultrasonic echo data may jump. To avoid data jumps, a preset number of data points can be collected continuously over a short period of time. Each data point includes the time of ultrasonic transmission and reception. The ultrasonic sensor can use a built-in program to calculate the time difference between ultrasonic transmission and reception as the initial time difference. The preset number of data points is no less than four.

[0078] Then, the maximum and minimum values ​​of the preset number of initial time differences are eliminated, and the remaining initial time differences are averaged to obtain the data closest to the true value as the time difference between the ultrasonic sensor transmitting and receiving ultrasonic waves at the current monitoring moment.

[0079] This embodiment controls the ultrasonic sensor to send multiple ultrasonic waves at the current monitoring moment, records the time difference between the sending and receiving of each ultrasonic wave, and removes extreme values ​​and calculates the average value of these time differences to finally obtain the time difference at the current monitoring moment. This can effectively eliminate random errors and outliers in a single measurement and improve the accuracy and stability of the time difference data.

[0080] A possible implementation of the embodiment of the present application is to determine the current ultrasonic propagation speed, including:

[0081] Collect the current water temperature of the water tank at the current monitoring moment;

[0082] Obtaining a temperature coefficient, a reference temperature, and a reference ultrasonic propagation velocity at the reference temperature;

[0083] Calculate the temperature difference between the current water temperature and the reference temperature;

[0084] The current ultrasonic propagation velocity is calculated based on the reference ultrasonic propagation velocity, the temperature coefficient and the temperature difference.

[0085] In this embodiment, the formula for calculating the current ultrasonic wave propagation speed is:

[0086] ν=ν0+k×(Τ-Τ0);

[0087] Where v represents the current ultrasonic propagation velocity in m / s, ν0 represents the reference ultrasonic propagation velocity 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, corresponding to a reference ultrasonic propagation velocity of 1482 m / s.

[0088] This embodiment collects the current water temperature, combines the temperature coefficient, reference temperature and reference ultrasonic propagation speed to calculate the current ultrasonic propagation speed, and uses the linear relationship between temperature and sound speed to dynamically correct the sound speed value, which can effectively eliminate the influence of temperature changes on ultrasonic propagation speed and improve the accuracy of distance calculation.

[0089] In a possible implementation of the embodiment of the present application, the method further includes:

[0090] The sludge thickness in the water tank at the current monitoring moment is compared with the preset thickness threshold. 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.

[0091] The preset thickness threshold is set by the operator based on actual experience and input into the electronic device. When the silt thickness detected by any ultrasonic sensor reaches the preset threshold, an alarm signal is sent to the operator's terminal device. The alarm signal can be an audible or visual alarm signal, prompting the operator to take timely cleaning measures.

[0092] This embodiment can monitor changes in sludge thickness in real time, promptly warn of potential safety hazards or maintenance needs, and improve the efficiency and safety of water tank management.

[0093] A possible implementation of the embodiment of the present application is to verify the distance based on a limiting filtering algorithm and a statistical characteristic filtering algorithm to obtain the target distance, including:

[0094] Compare the distance with the initial distance to obtain a first comparison result;

[0095] 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;

[0096] Obtaining a 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;

[0097] 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, the distance is taken as the target distance.

[0098] In this embodiment, the limiting filtering algorithm determines that the distance cannot exceed the initial distance from the ultrasonic sensor to the bottom of the water tank, so as to eliminate abnormal large data.

[0099] The statistical filtering algorithm uses historical data to determine a standard range of distance growth rates. Under normal circumstances, the distance growth rate between two adjacent monitoring moments is within this standard range. If it exceeds this range, the data is abnormal and the distance obtained at the current monitoring moment is discarded. Specifically, if the first comparison result indicates that the distance is greater than the initial distance, or if the second comparison result indicates that the distance growth rate at the current monitoring moment exceeds the standard range, the data is abnormal, the distance determined at the current monitoring moment is discarded, and the silt thickness monitoring process for that time is terminated.

[0100] This embodiment uses a limiting filter algorithm to compare the current distance with the initial distance to ensure that the distance data is within a reasonable range. At the same time, a statistical characteristic filter 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 used as the target distance. This can effectively filter out abnormal data and ensure the accuracy and stability of the monitoring results.

[0101] In one possible implementation of the embodiment of the present application, a process for determining a standard rate range includes:

[0102] 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;

[0103] Determine a standard rate range based on a preset adjustment amplitude and a benchmark growth rate;

[0104] When the distance growth rate exceeds the standard rate range for a number of consecutive preset monitoring moments, the distance growth rate at the last monitoring moment is used as the updated benchmark growth rate;

[0105] An updated standard rate range is obtained based on the preset adjustment amplitude and the updated reference growth rate.

[0106] In this embodiment, the first monitoring moment is the first monitoring moment after the monitoring of the sludge thickness in the sump begins, and the second monitoring moment is the monitoring moment adjacent to the first monitoring moment after the first monitoring moment. The difference between the distance obtained at the second monitoring moment and the distance obtained at the first monitoring moment, as well as the time difference between the second monitoring moment and the first monitoring moment are determined, and the ratio of the calculated distance difference and the time difference is used as the benchmark growth rate.

[0107] The preset adjustment amplitude is determined by the staff based on actual 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 baseline growth rate and the lower adjustment amplitude is used as the lower limit of the standard rate range, and the sum of the baseline growth rate and the upper adjustment amplitude is used as the upper limit of the standard rate range.

[0108] For each monitoring moment after the second monitoring moment, the distance growth rate between the current monitoring moment and the previous monitoring moment is calculated and used as the distance growth rate for the current monitoring moment. If the distance growth rate for a preset number of consecutive monitoring moments exceeds the standard rate range, the baseline growth rate and standard rate range are updated. The rate at the last monitoring moment is used as the new baseline growth rate, and the standard rate range is recalculated.

[0109] This embodiment determines the baseline growth rate based on the distance growth rate at the initial monitoring moment, and sets the standard rate range in combination with the preset adjustment amplitude. When the rate at multiple consecutive monitoring moments exceeds the standard range, the baseline growth rate and the standard rate range are dynamically updated to ensure the rationality and adaptability of the rate range.

[0110] In addition, the above method uses electronic equipment as the executing body to monitor the thickness of the sump sludge. The distance can also be determined by the built-in processor of the ultrasonic sensor, and the distance is verified based on the limiting filtering algorithm and the statistical characteristic filtering algorithm to obtain the target distance. The target distance is used as the output data of the ultrasonic sensor, and the electronic equipment further calculates the thickness of the sump sludge.

[0111] The embodiment of the present application provides a water tank sludge thickness monitoring device based on ultrasound, the device comprising: an ultrasonic sensor, a data acquisition unit and an electronic device;

[0112] The ultrasonic sensor is installed under the water surface in the water tank, and is used to transmit and receive ultrasonic waves and collect the time difference data between ultrasonic transmission and reception;

[0113] A data acquisition unit, used to supply power to the ultrasonic sensor and transmit the collected data of the ultrasonic sensor to the electronic device;

[0114] Electronic equipment for determining the thickness of sludge in a sump based on the collected data.

[0115] Among them, the electronic device can generate a sludge thickness change curve based on the sludge thickness in the water tank determined at each monitoring moment, and display it to the staff through a display interface.

[0116] The water quality in coal mine tanks is uncertain. When the water is turbid, particulate matter in the water will diffusely reflect ultrasonic waves. At the same transmission distance, the reflected waves received by the receiving transducer are very weak. Therefore, it is necessary to increase the transmit power of the ultrasonic sensor to address reliability issues. Generally, when measuring at a distance of 1 meter in water, a sensor probe with a 5-meter range is required to ensure that the transmitted ultrasonic waves have greater penetration in turbid water.

[0117] The arrangement of sensors needs to be based on the geometric shape of the water tank and the characteristics of the water flow. One or more ultrasonic sensors should be arranged in the area at the bottom of the water tank where silt is prone to accumulation, so as to accurately obtain the silt thickness information at different locations.

[0118] Because ultrasonic sensors of the same model have the same transmit and receive frequencies, simultaneous measurements between closely mounted sensors can cause interference. This means the acoustic signal emitted by sensor A will be received by sensor B, resulting in garbled measurement data. There are two ways to address this issue: First, maximize the distance between the two sensors to eliminate interference. Second, use a sequential measurement method for ultrasonic sensors within a water tank. Wait until the previous sensor completes its measurement before powering on the next sensor. This completely eliminates interference between adjacent sensors.

[0119] See also Figure 4 The ultrasonic sensor is secured using a custom three-degree-of-freedom adjustable bracket made of stainless steel for excellent corrosion resistance and strength. The bracket's flange can be fixed to the pool bottom, tank roof, or tank wall using expansion screws to ensure a secure installation. The bracket's three degrees of freedom allow for horizontal rotation, vertical pitch, and height adjustment, ensuring the ultrasonic sensor is always pointed perpendicularly toward the pool bottom mud regardless of mounting method. After adjustments are complete, the sensor is secured in the desired position by tightening the bracket's adjusting nuts to ensure stability during measurement.

[0120] It's important to note that the ultrasonic sensor's beam has a specific angle, generally within 16 degrees, as shown by the red line in the figure below. This conical area is the ultrasonic measurement area and must be clear of any obstructions. The ultrasonic propagation path mentioned in this embodiment refers to the propagation path of the ultrasonic beam's centerline.

[0121] Before using an ultrasonic sensor to monitor silt thickness in a silo, installation and commissioning are required. Specifically, after locating the silo, securely fasten the three-degree-of-freedom adjustable bracket to the silo wall or roof, ensuring it can withstand the weight of the bracket and sensor, as well as external forces such as water flow and vibration within the silo. Next, mount the ultrasonic sensor on the bracket and adjust the bracket's joints to ensure the sensor's transmission angle is perpendicular to the silo bottom and clear of obstructions within a 16-degree cone.

[0122] After the sensors are installed, system debugging is required. First, a water tank is set up within the main station. A sensor profile is created based on the number of sensors installed and their ID numbers. Data such as the ultrasonic sensor's hoisting height (i.e., initial height), silt thickness warning value (i.e., preset thickness threshold), and reading interval (i.e., the reciprocal of the specific monitoring frequency) are entered into the electronic device.

[0123] Then, begin filling the tank with water, ensuring that the water level is high enough to submerge the ultrasonic sensor. Turn on the power and check the operating status of each device to ensure proper startup. The master station should now be able to read the distance measurements from each sensor within the tank and calculate the sludge thickness. The initial sludge thickness should be zero. The distance determined based on the ultrasonic sensor's data should be within ±5mm of the initial distance. If this accuracy is not achieved, remeasure the installation height and ensure the tank bottom is perfectly flat. If the problem persists, replace the ultrasonic sensor.

[0124] In a possible implementation of the embodiment of the present application, 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.

[0125] The data acquisition unit utilizes a flameproof and intrinsically safe power supply, providing stable power to multiple data acquisition units and sensors. Its maximum output is 12V / 1.5A, meeting safety requirements for underground coal mine use. To prevent acoustic interference between sensors, the data acquisition unit uses a round-robin system to power multiple ultrasonic sensors, waiting for them to stabilize before reading data.

[0126] An electronic device is provided in an embodiment of the present application, such as Figure 5 As shown, Figure 5 The electronic device 500 shown includes a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, for example, via a bus 502. Optionally, the electronic device 500 may further include a transceiver 504. It should be noted that in actual applications, the number of transceivers 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of the present application.

[0127] Processor 501 can 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 the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 501 can 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.

[0128] Bus 502 may include a path for transmitting information between the above components. Bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus.

[0129] The memory 503 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0130] The memory 503 is used to store application code for executing the solution of the present application, and is controlled by the processor 501. The processor 501 is used to execute the application code stored in the memory 503 to implement the content shown in the embodiment of the ultrasonic-based water tank silt thickness monitoring method.

[0131] Figure 5 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0132] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer-readable storage medium is run on a computer, the computer can execute the contents shown in the aforementioned embodiment of the ultrasonic-based water tank sludge thickness monitoring method.

[0133] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and 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 in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0134] An embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the contents shown in the aforementioned embodiment of the ultrasonic-based water tank sludge thickness monitoring method are implemented.

[0135] The above are only some of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for monitoring sump sludge thickness 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; Determining a current ultrasonic wave propagation velocity, and calculating a distance between the ultrasonic sensor and the sludge surface in the sump based on the current ultrasonic wave propagation velocity 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; Obtaining an initial distance between the ultrasonic sensor and the bottom of the water tank, and calculating a distance difference between the initial distance and the target distance as the sump sludge thickness at the current monitoring moment; 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; Determining 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 a 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 used as the target distance; 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.

2. The ultrasonic-based sump sludge thickness monitoring method according to claim 1, characterized in that: The step of obtaining the time difference between the ultrasonic sensor transmitting and receiving ultrasonic waves at the current monitoring moment includes: At the current monitoring moment, controlling the ultrasonic sensor to transmit ultrasonic waves a preset number of times, and obtaining an initial time difference between a receiving moment and a transmitting moment of each ultrasonic wave; The operations of removing extreme values ​​and calculating an 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.

3. The ultrasonic-based sump sludge thickness monitoring method according to claim 1, characterized in that: Determining the current ultrasonic wave propagation speed includes: Collecting the current water temperature of the water tank at the current monitoring moment; Obtaining a temperature coefficient, a reference temperature, and a reference ultrasonic propagation velocity at the reference temperature; Calculating the temperature difference between the current water 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.

4. The ultrasonic-based sump sludge thickness monitoring method 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. 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.

5. An ultrasonic-based sump sludge thickness monitoring device, characterized in that: The device includes: an ultrasonic sensor, a data acquisition unit and electronic equipment; The ultrasonic sensor is disposed below the water surface in the water tank and is used to transmit and receive ultrasonic waves and collect 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 according to any one of claims 1 to 4.

6. The ultrasonic-based sump sludge thickness monitoring device according to claim 5, 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.

7. The ultrasonic-based sump sludge thickness monitoring device according to claim 5, 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 water tank sludge thickness monitoring method according to any one of claims 1-4.

Images