Self-adaptive ultrasonic ranging method and device based on time sequence and storage medium

Abstract

The invention discloses a self-adaptive ultrasonic ranging method and device based on a time sequence and a storage medium, and the method comprises the following steps: building a reflection plane, transmitting ultrasonic waves, and enabling the ultrasonic waves to be reflected for multiple times between a to-be-measured water surface and the reflection plane; echo signals are received, and waveform starting time of all effective echo signals after the blind area time is recorded; selecting at least three effective waveforms from the effective echo signals according to a time sequence, recording corresponding starting time, calculating starting time differences of adjacent waveforms, and identifying a reflection frequency mode of the echo signals by comparing the starting time differences of the adjacent waveforms; establishing an equation set taking the one-way flight time and the reflection starting sequence number as variables, and obtaining the reflection starting sequence number and the one-way flight time corresponding to the minimum one-way flight time variance; and calculating the distance between the reflection plane and the to-be-measured water surface. The technical problem of how to effectively overcome the ultrasonic ranging blind area and achieve accurate and continuous monitoring of the water level in the blind area is solved.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic ranging technology, and in particular to a time-based adaptive ultrasonic ranging method, device, and storage medium. Background Technology

[0002] Ultrasonic ranging, as a non-contact measurement technology, is widely used in liquid and material level monitoring due to its advantages such as convenient installation, insensitivity to water quality, and moderate cost. In urban flood control scenarios, using ultrasonic sensors to monitor the water levels of underground pipe networks, rivers, and reservoirs is a key means to achieve early risk warning and intelligent scheduling.

[0003] However, traditional ultrasonic ranging technology has an inherent technical bottleneck—the ranging blind zone. After the ultrasonic probe emits sound waves, its piezoelectric crystal needs a recovery time to stabilize and receive the reflected echo. During this period, the probe cannot effectively identify nearby echo signals, resulting in the water level within a certain distance below the probe (i.e., within the blind zone) being unable to be accurately measured. The blind zone of commercial ultrasonic probes can typically reach 30 centimeters or even larger. For underground pipe network water level monitoring, the water level often falls within this blind zone during the initial stages of rainfall or when water levels are low. This prevents the system from capturing the initial rise in water level, causing it to miss the optimal time to assess the risk of flooding.

[0004] Patent document CN201911324948.1 discloses a ranging method based on an ultrasonic ranging system. After ranging begins, the control unit alternately sends start commands to the transmitting and receiving probes in different ultrasonic ranging modules. Upon receiving the start command, the transmitting and receiving probes simultaneously activate, and the receiving probe simultaneously starts a timer. The receiving probe stops timing upon receiving an echo signal and records the arrival time of the echo signal. The ultrasonic ranging module receiving the echo signal processes the time information data and sends the result to the control unit. After receiving the result, the control unit again sends start commands to the transmitting and receiving probes in different ultrasonic ranging modules, repeating the aforementioned steps to alternately activate the transmitting and receiving probes in different modules for ranging. Existing technology has not solved the above-mentioned technical problems. Therefore, there is an urgent need to propose a time-series-based adaptive ultrasonic ranging method, device, and storage medium to solve the technical problem of effectively overcoming the ultrasonic ranging blind zone and achieving accurate and continuous monitoring of water levels within the blind zone. Summary of the Invention

[0005] The main objective of this invention is to propose a time-based adaptive ultrasonic ranging method, device, and storage medium, aiming to solve the technical problem of how to effectively overcome the blind zone of ultrasonic ranging and achieve accurate and continuous monitoring of water levels within the blind zone.

[0006] To achieve the above objectives, the present invention provides a time-based adaptive ultrasonic ranging method, wherein the time-based adaptive ultrasonic ranging method includes the following steps:

[0007] S1. Establish a reflecting plane on the horizontal plane of the ultrasonic wave transmission point;

[0008] S2. A beam of ultrasonic waves is emitted from the ultrasonic transmission point, causing the ultrasonic waves to be reflected multiple times between the water surface to be tested and the reflecting plane.

[0009] S3. Receive the echo signal after multiple reflections and record the waveform start time of all valid echo signals after the dead zone time;

[0010] S4. Select at least three valid waveforms in chronological order from the recorded valid echo signals and record the corresponding start times. Calculate the start time difference between adjacent waveforms and identify the reflection number pattern of the echo signal by comparing the start time difference between adjacent waveforms.

[0011] S5. Based on the reflection count pattern, establish a system of equations with one-way flight time and reflection start number as variables. By traversing different reflection start numbers, obtain the reflection start number and one-way flight time corresponding to the minimum variance of one-way flight time.

[0012] S6. Calculate the distance between the reflecting plane and the water surface to be measured based on the one-way flight time.

[0013] One preferred embodiment, step S4, specifically includes:

[0014] From the recorded valid echo signals, three valid waveforms are selected in chronological order, and their corresponding start times are recorded as follows: , and ;

[0015] Calculate the start time difference between adjacent waveforms, respectively. and ;

[0016] By comparing the start time difference of adjacent waveforms and The relationship is used to identify the reflection frequency pattern corresponding to the three valid waveforms.

[0017] One preferred embodiment is that the reflection frequency pattern corresponding to the effective waveform includes:

[0018] If satisfied = If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections, then they are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections, respectively.

[0019] If satisfied =2 If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and one echo signal of a reflection is missed between the second and third waveforms;

[0020] If 2 is satisfied = If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and an echo signal of one reflection was missed between the first and second waveforms;

[0021] If satisfied If the three valid waveforms are determined to be the echo signals of the m-th, m+x, and m+y (x≥1, y≥2) reflections respectively, and the echo signals of x reflections were missed between the first and second waveforms, and the echo signals of y reflections were missed between the second and third waveforms.

[0022] In one preferred embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0023] When it is determined to be a no-miss detection mode, that is, when the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections respectively;

[0024] The system of equations is as follows:

[0025]

[0026] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0027] The one-way flight time is:

[0028] .

[0029] In one preferred embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0030] When the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and one echo signal of a reflection is missed between the second and third waveforms;

[0031] The system of equations is as follows:

[0032]

[0033] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0034] The one-way flight time is:

[0035] .

[0036] In one preferred embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0037] When the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and an echo signal of one reflection is missed between the first and second waveforms;

[0038] The system of equations is as follows:

[0039]

[0040] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0041] The one-way flight time is:

[0042] .

[0043] In one preferred embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0044] When the three valid waveforms are determined to be the echo signals of the m-th, m+x, and m+y (x≥1, y≥2) reflections, and the echo signals of x reflections are missed between the first and second waveforms, and the echo signals of y reflections are missed between the second and third waveforms; the system of equations is as follows:

[0045]

[0046] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0047] The one-way flight time is:

[0048] .

[0049] In one preferred embodiment, the distance between the reflecting plane and the water surface to be measured is:

[0050]

[0051] in, The distance between the reflecting plane and the water surface to be measured is denoted as . This refers to the one-way flight time of the ultrasonic wave from the emitting surface to the water surface. The speed of sound is the ultrasonic wave.

[0052] A time-based adaptive ultrasonic ranging device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program executes the program, it implements the steps of the time-based adaptive ultrasonic ranging method as described above.

[0053] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of a time-based adaptive ultrasonic ranging method as described above.

[0054] In the above technical solution of the present invention, the time-series-based adaptive ultrasonic ranging method includes the following steps: establishing a reflecting plane on the horizontal plane of the ultrasonic transmitting point; emitting an ultrasonic beam from the ultrasonic transmitting point, causing the ultrasonic wave to reflect multiple times between the water surface to be measured and the reflecting plane; receiving the echo signals after multiple reflections, and recording the waveform start time of all valid echo signals after the blind zone time; selecting at least three valid waveforms in chronological order from the recorded valid echo signals, recording the corresponding start time, calculating the start time difference between adjacent waveforms, and identifying the reflection number pattern corresponding to the echo signal by comparing the start time difference between adjacent waveforms; establishing a system of equations with one-way flight time and reflection start number as variables according to the reflection number pattern, and obtaining the reflection start number and one-way flight time corresponding to the minimum variance of the one-way flight time by traversing different reflection start numbers; calculating the distance between the reflecting plane and the water surface to be measured according to the one-way flight time. The present invention solves the technical problem of how to effectively overcome the ultrasonic ranging blind zone and achieve accurate and continuous monitoring of the water level within the blind zone.

[0055] In this invention, by utilizing multiple reflections and algorithm compensation, the actual effective blind zone of ultrasonic ranging can be reduced to 1 / 4 of the original blind zone, greatly improving the measurement capability for close-range targets.

[0056] In this invention, by automatically identifying the pattern of the echo signal, i.e. whether a missed detection has occurred, and adaptively adjusting the calculation equations, the anti-interference capability is strong and the measurement results are more reliable.

[0057] In this invention, by selecting multiple echo data for joint calculation and using the principle of minimum variance for optimization, the calculation accuracy of one-way flight time is effectively improved, thereby enhancing the accuracy of the final distance measurement. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of a time-based adaptive ultrasonic ranging method according to an embodiment of the present invention.

[0060] The realization of the objective, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0063] See Figure 1 According to one aspect of the present invention, the present invention provides a time-based adaptive ultrasonic ranging method, wherein the time-based adaptive ultrasonic ranging method includes the following steps:

[0064] S1. Establish a reflecting plane on the horizontal plane of the ultrasonic wave transmission point;

[0065] S2. A beam of ultrasonic waves is emitted from the ultrasonic transmission point, causing the ultrasonic waves to be reflected multiple times between the water surface to be tested and the reflecting plane.

[0066] S3. Receive the echo signal after multiple reflections and record the waveform start time of all valid echo signals after the dead zone time;

[0067] S4. Select at least three valid waveforms in chronological order from the recorded valid echo signals and record the corresponding start times. Calculate the start time difference between adjacent waveforms and identify the reflection number pattern of the echo signal by comparing the start time difference between adjacent waveforms.

[0068] S5. Based on the reflection count pattern, establish a system of equations with one-way flight time and reflection start number as variables. By traversing different reflection start numbers, obtain the reflection start number and one-way flight time corresponding to the minimum variance of one-way flight time.

[0069] S6. Calculate the distance between the reflecting plane and the water surface to be measured based on the one-way flight time.

[0070] Specifically, in this embodiment, the time-based adaptive ultrasonic ranging method of the present invention is applied to water level monitoring of urban groundwater pipe networks. The ultrasonic probe is installed vertically downwards on the top of the pipe, and a metal plate can be fixedly installed below its acoustic path as a reflective plane. The present invention does not impose specific limitations, and the specific settings can be made as needed. The reflective plane is kept parallel to the top of the pipe and is at a fixed known distance from the probe. The ultrasonic probe emits a beam of ultrasonic waves towards the reflective plane. The ultrasonic waves reflect back and forth between the reflective plane and the water surface. Each reflection will return a portion of the energy to the probe. The probe receives the echo signal. Due to the blind zone effect, the echo signals of the first few reflections are discarded. The system records the start time of a series of effective waveforms that can be clearly identified after the blind zone time.

[0071] Specifically, in this embodiment, step S4 is as follows:

[0072] From the recorded valid echo signals, three valid waveforms are selected in chronological order, and their corresponding start times are recorded as follows: , and ;

[0073] Calculate the start time difference between adjacent waveforms, respectively. and ;

[0074] By comparing the start time difference of adjacent waveforms and The relationship is used to identify the reflection frequency pattern corresponding to the three valid waveforms.

[0075] Specifically, in this embodiment, the reflection frequency pattern corresponding to the effective waveform includes:

[0076] If satisfied = If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections respectively, then there are no missed detections.

[0077] If satisfied =2 If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and one echo signal of a reflection is missed between the second and third waveforms;

[0078] If 2 is satisfied = If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and an echo signal of one reflection was missed between the first and second waveforms;

[0079] If satisfied If the three valid waveforms are determined to be the echo signals of the m-th, m+x, and m+y (x≥1, y≥2) reflections respectively, and the echo signals of x reflections were missed between the first and second waveforms, and the echo signals of y reflections were missed between the second and third waveforms.

[0080] Specifically, in this embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0081] When it is determined to be a no-miss detection mode, that is, when the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections respectively;

[0082] The system of equations is as follows:

[0083]

[0084] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0085] The one-way flight time is:

[0086]

[0087] By iterating through all reasonable m values, the m value with the smallest variance in one-way flight time is calculated. At this point, the mean of these three numbers is the one-way flight time from the ultrasonic transmitting surface to the water surface. Finally, by multiplying the one-way flight time by the speed of sound in the current environment, the distance from the reflecting plane to the water surface can be obtained. Combined with the fixed installation distance from the reflecting plane to the probe, the water level can be calculated.

[0088] Specifically, in this embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0089] When the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and one echo signal of a reflection is missed between the second and third waveforms;

[0090] The system of equations is as follows:

[0091]

[0092] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0093] The one-way flight time is:

[0094]

[0095] By iterating through all reasonable m values, the m value with the smallest variance in one-way flight time is calculated. At this point, the mean of these three numbers is the one-way flight time from the ultrasonic transmitting surface to the water surface. Finally, by multiplying the one-way flight time by the speed of sound in the current environment, the distance from the reflecting plane to the water surface can be obtained. Combined with the fixed installation distance from the reflecting plane to the probe, the water level can be calculated.

[0096] Specifically, in this embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0097] When the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and an echo signal of one reflection is missed between the first and second waveforms;

[0098] The system of equations is as follows:

[0099]

[0100] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0101] The one-way flight time is:

[0102]

[0103] By iterating through all reasonable m values, the m value with the smallest variance in one-way flight time is calculated. At this point, the mean of these three numbers is the one-way flight time from the ultrasonic transmitting surface to the water surface. Finally, by multiplying the one-way flight time by the speed of sound in the current environment, the distance from the reflecting plane to the water surface can be obtained. Combined with the fixed installation distance from the reflecting plane to the probe, the water level can be calculated.

[0104] Specifically, in this embodiment, step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including:

[0105] When the three valid waveforms are determined to be the echo signals of the m-th, m+x, and m+y (x≥1, y≥2) reflections, and the echo signals of x reflections are missed between the first and second waveforms, and the echo signals of y reflections are missed between the second and third waveforms; the system of equations is as follows:

[0106]

[0107] in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface;

[0108] The one-way flight time is:

[0109]

[0110] By iterating through all reasonable m values, the m value with the smallest variance in one-way flight time is calculated. At this point, the mean of these three numbers is the one-way flight time from the ultrasonic transmitting surface to the water surface. Finally, by multiplying the one-way flight time by the speed of sound in the current environment, the distance from the reflecting plane to the water surface can be obtained. Combined with the fixed installation distance from the reflecting plane to the probe, the water level can be calculated.

[0111] Specifically, in this embodiment, the start time is used as the starting time. It is 4707us. It is 5111us. Taking 5536us as an example, referring to Table 1, which shows the reflection start number traversal process, it can be seen that the reflection start number is 11 when the variance of the one-way flight time is the smallest.

[0112] Table 1 Reflection Starting Sequence Traversal

[0113]

[0114] Specifically, in this embodiment, the distance between the reflecting plane and the water surface to be measured is:

[0115]

[0116] in, The distance between the reflecting plane and the water surface to be measured is denoted as . This refers to the one-way flight time of the ultrasonic wave from the emitting surface to the water surface. The speed of sound is the ultrasonic wave.

[0117] According to another aspect of the present invention, the present invention provides a time-based adaptive ultrasonic ranging device, wherein the time-based adaptive ultrasonic ranging device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executing the program, implements the steps of the time-based adaptive ultrasonic ranging method as described above.

[0118] According to another aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of a time-based adaptive ultrasonic ranging method as described above.

[0119] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A time-series-based adaptive ultrasonic ranging method, characterized in that, Includes the following steps: S1. Establish a reflecting plane on the horizontal plane of the ultrasonic wave transmission point; S2. A beam of ultrasonic waves is emitted from the ultrasonic transmission point, causing the ultrasonic waves to be reflected multiple times between the water surface to be tested and the reflecting plane. S3. Receive the echo signal after multiple reflections and record the waveform start time of all valid echo signals after the dead zone time; S4. Select at least three valid waveforms in chronological order from the recorded valid echo signals and record the corresponding start times. Calculate the start time difference between adjacent waveforms and identify the reflection number pattern of the echo signal by comparing the start time difference between adjacent waveforms. S5. Based on the reflection count pattern, establish a system of equations with one-way flight time and reflection start number as variables. By traversing different reflection start numbers, obtain the reflection start number and one-way flight time corresponding to the minimum variance of one-way flight time. S6. Calculate the distance between the reflecting plane and the water surface to be measured based on the one-way flight time.

2. The time-based adaptive ultrasonic ranging method according to claim 1, characterized in that, Step S4 specifically includes: From the recorded valid echo signals, three valid waveforms are selected in chronological order, and their corresponding start times are recorded as follows: , and ; Calculate the start time difference between adjacent waveforms, respectively. and ; By comparing the start time difference of adjacent waveforms and The relationship is used to identify the reflection frequency pattern corresponding to the three valid waveforms.

3. The time-series-based adaptive ultrasonic ranging method according to claim 2, characterized in that, The reflection frequency patterns corresponding to the effective waveform include: If satisfied = If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections, then they are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections, respectively. If satisfied =2 If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and one echo signal of a reflection is missed between the second and third waveforms; If 2 is satisfied = If the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and an echo signal of one reflection was missed between the first and second waveforms; If satisfied If the three valid waveforms are determined to be the echo signals of the m-th, m+x, and m+y (x≥1, y≥2) reflections respectively, and the echo signals of x reflections were missed between the first and second waveforms, and the echo signals of y reflections were missed between the second and third waveforms.

4. The time-series-based adaptive ultrasonic ranging method according to claim 3, characterized in that, Step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including: When it is determined to be a no-miss detection mode, that is, when the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+2-th reflections respectively; The system of equations is as follows: ； in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface; The one-way flight time is: 。 5. The time-series-based adaptive ultrasonic ranging method according to claim 3, characterized in that, Step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including: When the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and one echo signal of a reflection is missed between the second and third waveforms; The system of equations is as follows: ； in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface; The one-way flight time is: 。 6. The time-series-based adaptive ultrasonic ranging method according to claim 3, characterized in that, Step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including: When the three valid waveforms are determined to be the echo signals of the m-th, m+1-th, and m+3-th reflections respectively, and an echo signal of one reflection is missed between the first and second waveforms; The system of equations is as follows: ； in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface; The one-way flight time is: 。 7. The time-series-based adaptive ultrasonic ranging method according to claim 3, characterized in that, Step S5 establishes a system of equations with one-way flight time and reflection start number as variables based on the reflection count pattern, including: When the three valid waveforms are determined to be the echo signals of the m-th, m+x, and m+y (x≥1, y≥2) reflections, and the echo signals of x reflections are missed between the first and second waveforms, and the echo signals of y reflections are missed between the second and third waveforms; the system of equations is as follows: ； in, The start time of the first valid waveform. The start time of the second valid waveform. The start time of the third valid waveform. This is the starting index of the reflection. The time it takes for the ultrasonic wave to travel one way from the emitting surface to the water surface; The one-way flight time is: 。 8. A time-based adaptive ultrasonic ranging method according to any one of claims 1-7, characterized in that, The distance between the reflecting plane and the water surface to be measured is: ； in, The distance between the reflecting plane and the water surface to be measured is denoted as . This refers to the one-way flight time of the ultrasonic wave from the emitting surface to the water surface. The speed of sound is the ultrasonic wave.

9. A time-based adaptive ultrasonic ranging device, characterized in that, The time-based adaptive ultrasonic ranging device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program executes the program, it implements the steps of the time-based adaptive ultrasonic ranging method as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of a time-based adaptive ultrasonic ranging method as described in any one of claims 1-8.

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