Pulse doppler based water flow rate and silt thickness measurement method, apparatus, device and medium

Abstract

The present disclosure provides a kind of water flow rate and silt thickness measurement method, device, equipment and medium based on pulse Doppler, it is related to fluid measurement and pipeline monitoring technical field.The method comprises: obtaining Doppler echo signal and ultrasonic echo signal;Based on the Doppler frequency deviation information corresponding to the scattering echo signal of different water layers in Doppler echo signal, the water flow rate of different water layers in pipeline is determined;Based on the attenuation echo signal of silt layer in Doppler echo signal, the water body height between water surface and the interface between water body and silt in pipeline is determined;Based on ultrasonic echo signal, the liquid level height between water surface and pipeline bottom in pipeline is determined;Based on liquid level height and water body height, the thickness of silt layer in pipeline is determined.Thereby, the measurement efficiency and measurement accuracy of water flow rate and silt thickness can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of fluid measurement and pipeline monitoring technology, and in particular to a method, device, equipment and medium for measuring water flow velocity and silt thickness based on pulse Doppler. Background Technology

[0002] Pipeline transportation, as a core method of fluid transport, is widely used in municipal drainage, industrial production, and other fields. The water flow velocity and silt accumulation thickness inside the pipeline are key parameters for assessing its operational status. Abnormal water flow velocity may indicate pipeline blockage or leakage, while excessive silt accumulation can reduce the flow cross-section, exacerbate pipeline corrosion, and even cause problems such as poor drainage and sewage overflow. Therefore, achieving accurate and simultaneous measurement of water flow velocity and silt thickness within pipelines is of great significance for pipeline operation, maintenance, and safety assurance.

[0003] In traditional measurement techniques, water flow velocity is often measured using conventional Doppler current meters, which are based on the continuous wave Doppler principle. Although they can acquire water flow velocity data, they have limitations such as limited measurement range and inability to monitor stratified flow velocities. The measurement of silt thickness usually relies on ultrasonic echo methods or mechanical probe methods. However, ultrasonic echo methods are easily affected by water flow interference, leading to signal distortion, while mechanical probe methods require direct contact with the silt layer, resulting in low measurement efficiency and potential damage to the inner wall of the pipe.

[0004] Currently, pulsed Doppler technology is gaining attention in the field of fluid velocity measurement due to its high temporal and spatial resolution. However, its application in measuring silt thickness in pipelines faces two major challenges: first, the pulsed Doppler signal attenuates drastically in the silt layer, leading to ambiguity at the silt-water interface; second, the strong reflection signals from hard materials at the bottom of the pipeline (such as concrete and metal) are easily confused with the silt layer signal, making it difficult to accurately identify the silt thickness. Furthermore, existing technologies typically measure water flow velocity and silt thickness separately and then stitch the data together. This process is not only cumbersome and time-consuming, but also results in spatial discrepancies between the two measurements, leading to poor data correlation and failing to meet the needs of real-time pipeline monitoring. Summary of the Invention

[0005] This disclosure provides a method, apparatus, equipment, and medium for measuring water flow velocity and silt thickness based on pulse Doppler, in order to at least solve the above-mentioned technical problems existing in the prior art.

[0006] According to a first aspect of this disclosure, a method for measuring water flow velocity and silt thickness based on pulse Doppler is provided. The method includes: acquiring Doppler echo signals and ultrasonic echo signals; the Doppler echo signals are echo signals returned after a pulse Doppler sensor transmits a pulse Doppler signal into a pipe; the ultrasonic echo signals are echo signals returned after an ultrasonic level sensor transmits an ultrasonic signal into the pipe; determining the water flow velocity of different water layers in the pipe based on Doppler frequency offset information corresponding to the scattered echo signals of different water layers in the Doppler echo signals; determining the water height between the water surface and the interface between the water and silt in the pipe based on the attenuated echo signal of the silt layer in the Doppler echo signals; determining the liquid level height between the water surface and the bottom of the pipe based on the ultrasonic echo signals; and determining the silt layer thickness in the pipe based on the liquid level height and the water height.

[0007] In one embodiment, the pulse Doppler sensor operates at a frequency range of 1-2 MHz, and the angle between the installation direction of the pulse Doppler sensor and the pipeline axis ranges from 30 to 60°; the ultrasonic level sensor and the pulse Doppler sensor are installed on the same side of the pipeline, the distance between the ultrasonic level sensor and the pulse Doppler sensor is less than a first threshold, the installation direction of the ultrasonic level sensor is perpendicular to the pipeline axis, and the measurement accuracy of the ultrasonic level sensor is less than or equal to 1 mm.

[0008] In one embodiment, acquiring the Doppler echo signal and the ultrasonic echo signal includes: sending a control command to the pulse Doppler sensor to control the pulse Doppler sensor to emit a pulse Doppler signal into the pipe; the emission period of the pulse Doppler signal is 50~100ms, each emission period includes 5~10 pulses, and the width of the pulse is 1~5μs; activating the ultrasonic level sensor to control the ultrasonic level sensor to emit an ultrasonic signal into the pipe; and acquiring the Doppler echo signal returned by the pulse Doppler signal and the ultrasonic echo signal returned by the ultrasonic signal from the pulse Doppler sensor and the ultrasonic level sensor, respectively.

[0009] In one embodiment, determining the water flow velocity of different water layers in the pipe includes: performing Doppler frequency offset analysis on the scattered echo signals of the different water layers to obtain the Doppler frequency offset information; and determining the water flow velocity of different water layers in the pipe based on the Doppler frequency offset information, the speed of sound in water, the operating frequency of the pulse Doppler sensor, and the angle between the pulse Doppler sensor and the pipe axis.

[0010] In one possible implementation, determining the water height between the water surface in the pipe and the interface between the water and the silt includes: determining the average amplitude of the scattered echo signals from different water layers based on the amplitude of the scattered echo signals from different water layers in the Doppler echo signal; determining the amplitude threshold corresponding to the attenuated echo signal based on the amplitude correlation between the attenuated echo signal and the scattered echo signal; and determining the height corresponding to the first echo signal in the Doppler echo signal whose amplitude is lower than the amplitude threshold as the water height.

[0011] In one possible implementation, after determining the liquid level height between the water surface and the bottom of the pipe, the method further includes: determining a reference height between the water surface and the bottom of the pipe based on the reflected echo signal from the bottom of the pipe in the Doppler echo signal; adjusting the liquid level height in response to a difference between the liquid level height and the reference height being greater than a second threshold; and / or re-determining the liquid level height between the water surface and the bottom of the pipe based on the ultrasonic echo signal.

[0012] In one embodiment, a method for measuring water flow velocity and silt thickness based on pulse Doppler further includes: controlling the pulse Doppler sensor and the ultrasonic level sensor to move along the pipeline axis at a target step interval; determining the water flow velocity and silt layer thickness of different water layers at the current position after each target step interval; and generating a three-dimensional distribution map of water flow and silt inside the pipeline based on the water flow velocity and silt layer thickness of different water layers at all positions inside the pipeline.

[0013] According to a second aspect of this disclosure, a device for measuring water flow velocity and silt thickness based on pulse Doppler is provided. The device includes: an acquisition module for acquiring Doppler echo signals and ultrasonic echo signals; the Doppler echo signals are echo signals returned after a pulse Doppler sensor transmits a pulse Doppler signal into the pipe; the ultrasonic echo signals are echo signals returned after an ultrasonic level sensor transmits an ultrasonic signal into the pipe; a first determination module for determining the water flow velocity of different water layers in the pipe based on the Doppler frequency offset information corresponding to the scattered echo signals of different water layers in the Doppler echo signals; a second determination module for determining the water height between the water surface and the interface between the water and silt in the pipe based on the attenuated echo signal of the silt layer in the Doppler echo signals; a third determination module for determining the liquid level height between the water surface and the bottom of the pipe based on the ultrasonic echo signals; and a fourth determination module for determining the silt layer thickness in the pipe based on the liquid level height and the water height.

[0014] According to a third aspect of this disclosure, an electronic device is provided, comprising:

[0015] At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the methods described in this disclosure.

[0016] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing the computer to perform the methods described in this disclosure.

[0017] This disclosure discloses a method, apparatus, equipment, and medium for measuring water flow velocity and silt thickness based on pulse Doppler. It establishes a measurement system that coordinates a pulse Doppler sensor and an ultrasonic level sensor, simultaneously acquiring Doppler echo signals and ultrasonic level signals. Frequency offset analysis is performed on the scattered echo signals from the water layer to obtain the stratified flow velocity. An amplitude threshold is set using the attenuation characteristics of the pulse Doppler signal in the silt layer. The interface between silt and water is identified by combining the strong reflection signal characteristics at the bottom of the pipe. The silt thickness is then calculated using the difference between the total liquid level height and the water height. Simultaneously, a step-by-step segmented measurement method is used to obtain the full-axis data of the pipeline. It is precisely based on the synchronous acquisition and collaborative processing of dual sensors that the problems of cumbersome operation and poor data correlation caused by separate measurement of water flow velocity and silt thickness in traditional technology have been solved, and the synchronous monitoring of the two parameters has been realized. Based on the dual feature recognition mechanism of signal amplitude threshold and attenuated echo signal, the problem of interface blurring and signal confusion caused by pulse Doppler signal attenuation in silt layer has been solved, and the accuracy of silt layer identification has been improved. Based on the segmented processing of echo signals at different depths, the defect of traditional Doppler current meters in not being able to achieve layered flow velocity monitoring has been solved, and the fine measurement of water flow velocity has been realized. Based on the step-by-step segmented measurement strategy, the problem that single-point measurement cannot cover the entire pipeline has been solved, and the monitoring needs of pipelines with different diameters and different water flow conditions have been met.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0019] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which: In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0020] Figure 1A schematic flowchart of a method for measuring water flow velocity and silt thickness based on pulse Doppler is shown according to an embodiment of the present disclosure; Figure 2 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 1 ; Figure 3 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 2 ; Figure 4 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 3 ; Figure 5 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 4 ; Figure 6 A schematic diagram of a pulse Doppler-based water flow velocity and silt thickness measurement device according to an embodiment of this disclosure is shown. Figure 7 A schematic diagram of the composition structure of an electronic device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0021] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure 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 this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0022] Figure 1 A schematic flowchart of a method for measuring water flow velocity and silt thickness based on pulse Doppler according to an embodiment of this disclosure is shown, as follows: Figure 1 As shown, a method for measuring water flow velocity and silt thickness based on pulse Doppler includes: Step S101: Acquire Doppler echo signal and ultrasonic echo signal.

[0023] In this embodiment, the Doppler echo signal is the echo signal returned after the pulse Doppler sensor transmits a pulse Doppler signal into the pipe; the ultrasonic echo signal is the echo signal returned after the ultrasonic level sensor transmits an ultrasonic signal into the pipe.

[0024] In practical implementation, a pulse Doppler sensor and an ultrasonic level sensor are first configured. The pulse Doppler sensor transmits pulse Doppler signals into the pipe and receives echo signals reflected or scattered by the medium inside the pipe. These echo signals carry information about the water layer, silt layer, and the bottom of the pipe. The ultrasonic level sensor transmits ultrasonic signals into the pipe and receives echo signals reflected from the bottom of the pipe. These echo signals are used to obtain data related to the liquid level height inside the pipe. During actual measurement, both sensors must be in operation. The pulse Doppler sensor continuously transmits pulse Doppler signals and receives the corresponding echo signals, forming Doppler echo signals; the ultrasonic level sensor continuously transmits ultrasonic signals and receives the corresponding echo signals, forming ultrasonic echo signals.

[0025] Step S102: Based on the Doppler frequency offset information corresponding to the scattered echo signals of different water layers in the Doppler echo signal, determine the water flow velocity of different water layers in the pipe.

[0026] In this embodiment, scattered echo signals from different water layers can be separated from the Doppler echo signal. These scattered echo signals are formed by the scattering of the pulsed Doppler signal with water particles at different depths within the water layer, and the scattered echo signals from different water layers correspond to different water flow states at different depths. Then, the scattered echo signals from each separated water layer are analyzed to extract Doppler frequency offset information. Doppler frequency offset information is the offset of the echo signal frequency relative to the transmitted signal frequency, and this offset is related to the velocity of the water particles. Finally, based on the extracted Doppler frequency offset information and the basic principles of the Doppler effect, the water flow velocity of the corresponding water layer is calculated. By performing the above operations sequentially on different water layers, the water flow velocity of different water layers within the pipe is finally determined.

[0027] Figure 2 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 1 ,like Figure 2 As shown, the pulse Doppler sensor and the ultrasonic level sensor can be integrated into one unit. The pulse Doppler sensor emits pulse Doppler signals along the direction of measurement layer 1 (L1), measurement layer 2 (L2), measurement layer 3 (L3)... sludge layer (Y5), while the ultrasonic level sensor emits ultrasonic signals vertically downwards (i.e.,...). Figure 2(The signal emitted during ranging). Doppler frequency offset analysis can be performed on the scattered echo signals of the pulse Doppler signal emitted by the pulse Doppler sensor in multiple measurement layers to obtain Doppler frequency offset information. Based on this information, the water flow velocity in each measurement layer can be determined. The water body can be divided into 128 longitudinal measurement layers, L1 to L128, accurately collecting echo information of reflected ions (i.e., characteristic signal carriers formed by scattering from water particles) in water layers at different depths within the pipeline, thereby achieving stratified water flow velocity measurement and silt layer identification.

[0028] Step S103: Based on the attenuated echo signal of the silt layer in the Doppler echo signal, determine the water height between the water surface in the pipeline and the interface between the water and the silt.

[0029] In this embodiment, because the silt layer contains a higher concentration of solid particles, has a more compact structure, and is typically in a relatively static or slowly moving state, when a pulsed Doppler signal enters the silt layer from the water body, the signal energy attenuates sharply because the absorption and scattering of the pulsed Doppler signal by the silt is much stronger than that by the water body. This attenuation characteristic manifests as a significant decrease in the amplitude of the echo signal, or even the complete disappearance of the signal. By analyzing the amplitude variation characteristics of the Doppler echo signal, the interface between the water body and the silt can be identified, thereby determining the water height from the water surface to the interface between the water body and the silt. Figure 2 As shown, the water height is Figure 2 The marked The height it represents.

[0030] Step S104: Determine the liquid level height between the water surface and the bottom of the pipe based on the ultrasonic echo signal.

[0031] In this embodiment, the acquired ultrasonic echo signal can be processed to extract the round-trip time from transmission to reception. This round-trip time is the time interval from when the ultrasonic level sensor transmits the ultrasonic signal to when it receives the ultrasonic signal reflected from the bottom of the pipe. Since the propagation speed of the ultrasonic signal in water is a known constant, the distance from the ultrasonic level sensor to the bottom of the pipe can be calculated based on the propagation speed and the round-trip time. Combined with the installation position parameters of the ultrasonic level sensor relative to the water surface, the liquid level height between the water surface and the bottom of the pipe can be further calculated.

[0032] like Figure 2 As shown, the liquid level height is Figure 2 The marked The height represented. After the ultrasonic signal (i.e., the ranging signal) is emitted, it returns to the silt when it reaches the interface between the water and the silt, and returns to the pipe wall when it reaches the interface between the silt and the pipe. The liquid level height between the water surface and the bottom of the pipe can be determined based on the signal received from the pipe wall. For example... Figure 2As shown, the ultrasonic level sensor is installed at the water surface. Therefore, the installation position parameters of the ultrasonic level sensor relative to the water surface do not need to be considered, and the liquid level height between the water surface and the bottom of the pipe can be determined directly based on the signal received from the pipe wall.

[0033] Step S105: Determine the thickness of the silt layer inside the pipe based on the liquid level and water level.

[0034] In this embodiment, since the liquid level represents the vertical distance from the water surface to the bottom of the pipe, and the water body height represents the vertical distance from the water surface to the interface between the water body and the sludge, the difference between the two is the vertical distance from the interface between the water body and the sludge to the bottom of the pipe. This distance is the thickness of the sludge layer inside the pipe. After obtaining the specific values ​​of the liquid level and water body height, the thickness of the sludge layer inside the pipe can be calculated directly by subtraction.

[0035] This disclosure utilizes the collaborative operation of a pulse Doppler sensor and an ultrasonic level sensor to simultaneously acquire water flow velocity data and silt layer thickness data for different water layers within a pipeline during a single measurement. This changes the traditional method of separately measuring water flow velocity and silt layer thickness, solving the problems of cumbersome operation, long time consumption, and poor data correlation caused by spatial discrepancies between the two measurements, thus effectively improving measurement efficiency. Simultaneously, by performing layered processing of the Doppler echo signal, it enables the measurement of water flow velocity at different water layers, overcoming the limitation of traditional Doppler velocimeters in monitoring layered flow velocities. Furthermore, by utilizing the characteristic of severe attenuation of the pulse Doppler signal in the silt layer to identify the interface between the water body and silt, and combining this with the total liquid level height data from the ultrasonic level sensor to calculate the silt thickness, it solves the problems of blurred signals at the silt-water interface caused by pulse Doppler signal attenuation in the silt layer, and the easy confusion between strong reflection signals from the hard material at the bottom of the pipeline and silt layer signals. This improves the accuracy of silt layer thickness measurement, meeting the needs of pipeline operation and maintenance and safety assurance for monitoring water flow velocity and silt layer thickness.

[0036] In one embodiment, the operating frequency range of the pulse Doppler sensor is 1~2MHz, and the angle between the installation direction of the pulse Doppler sensor and the pipeline axis is 30~60°. The ultrasonic level sensor and the pulse Doppler sensor are installed on the same side of the pipeline. The distance between the ultrasonic level sensor and the pulse Doppler sensor is less than a first threshold. The installation direction of the ultrasonic level sensor is perpendicular to the pipeline axis. The measurement accuracy of the ultrasonic level sensor is less than or equal to 1 mm.

[0037] In this embodiment, the operating frequency range of the pulse Doppler sensor is set to 1~2MHz. When the pulse Doppler signal propagates in water within this frequency range, it can effectively scatter with water particles in the water layer, forming a scattered echo signal that can be recognized by the sensor. Furthermore, it can produce significant signal attenuation after entering the silt layer, thus highlighting the signal difference between the silt layer and the water layer, providing clear characteristic evidence for subsequent silt layer interface identification. The angle between the installation direction of the pulse Doppler sensor and the pipe axis ranges from 30° to 60°. When the angle is less than 30°, the signal propagation direction is too close to the pipe axis, making it difficult to cover the entire cross-section of the pipe, resulting in signal loss in parts of the water and silt layers. When the angle is greater than 60°, the signal propagation direction is too biased towards the pipe sidewall, increasing interference from signal reflections on the pipe wall and reducing the effective propagation depth of the signal in the water and silt layers. In one example, the pulse Doppler sensor can be a PD-2000 pulse Doppler transducer with an operating frequency of 2MHz, a pulse width of 3μs, and an angle of 45° with the pipe axis.

[0038] In this embodiment, the ultrasonic level sensor and the pulse Doppler sensor are installed on the same side of the pipeline, with the distance between them less than a first threshold. This ensures that the measurement areas of the two sensors are consistent, avoiding spatial deviations in measurement data due to differences in installation positions. In practice, the first threshold can be set according to the pipeline diameter, typically not exceeding 5 cm, to ensure that the data collected by the two types of sensors accurately correspond to the same measurement cross-section. The ultrasonic level sensor is installed perpendicular to the pipeline axis. This installation method ensures that the ultrasonic signal propagates vertically to the bottom of the pipeline, reducing path loss during signal propagation and avoiding measurement errors in liquid level height caused by oblique signal propagation. The measurement accuracy of the ultrasonic level sensor is less than or equal to 1 mm. This accuracy requirement ensures the accuracy of the total liquid level height data, providing accurate basic data for subsequent sludge thickness calculation. In practice, the UL-100 ultrasonic level sensor can be selected, with a measurement range of 0-5 m and a measurement accuracy of ±0.5 mm.

[0039] In this disclosure, by limiting the operating frequency range and installation angle range of the pulse Doppler sensor, it is ensured that the pulse Doppler signal can effectively cover the water layer and silt layer across the pipe cross-section, while guaranteeing the accuracy of water flow velocity measurement and silt layer interface identification. By limiting the installation position, installation direction, and measurement accuracy of the ultrasonic level sensor, the accuracy of the total liquid level height data and its spatial consistency with the pulse Doppler sensor measurement data are ensured.

[0040] In one embodiment, step S101, "acquiring Doppler echo signals and ultrasonic echo signals," includes: A control command is sent to the pulse Doppler sensor to control the pulse Doppler sensor to emit pulse Doppler signals into the pipe; the emission period of the pulse Doppler signal is 50~100ms, each emission period includes 5~10 pulses, and the pulse width is 1~5μs; Activate the ultrasonic level sensor and control it to emit ultrasonic signals into the pipe. Doppler echo signals returned by the pulse Doppler signal and ultrasonic echo signals returned by the ultrasonic signal are obtained from the pulse Doppler sensor and the ultrasonic level sensor, respectively.

[0041] In this embodiment, the operation of sending control commands to the pulse Doppler sensor is accomplished by a signal processing unit connected to the sensor. The signal processing unit outputs electrical signal commands according to a preset program, thereby driving the pulse Doppler sensor into the working state. In this embodiment, the transmission period of the pulse Doppler signal is set to 50~100ms. This period refers to the time interval between the transmission of two adjacent sets of pulse signals. Choosing this period length is to balance measurement efficiency and signal acquisition quality. A period that is too short will lead to signal superposition interference, while a period that is too long will reduce the real-time performance of the measurement. In this embodiment, each transmission period contains 5~10 pulses. The setting of multiple pulses can enhance the signal strength and ensure that the transmitted pulse Doppler signal can fully interact with water particles and silt particles when propagating in the pipe, forming an echo signal that can be recognized by the sensor. In this embodiment, the pulse width is set to 1~5μs. The pulse width refers to the duration of a single narrow pulse. This width parameter is determined by combining the operating frequency of the pulse Doppler sensor and the characteristics of the medium inside the pipe. This avoids signal resolution degradation caused by excessively wide pulses, while preventing insufficient signal energy caused by excessively narrow pulses. In one example, the pulse Doppler sensor transmits 8 narrow pulse signals per cycle with an 80ms transmission period.

[0042] In this embodiment, the activation of the ultrasonic level sensor and the pulse Doppler sensor are synchronized, both achieved by sending commands through the signal processing unit, thus ensuring that the signal acquisition times of the two types of sensors remain consistent. In this embodiment, controlling the ultrasonic level sensor to emit ultrasonic signals involves the sensor continuously emitting ultrasonic signals at a preset frequency. The propagation direction of these ultrasonic signals is perpendicular to the bottom of the pipe, allowing them to directly act on the hard material at the bottom of the pipe and form a stable reflected echo. In one example, the ultrasonic level sensor can acquire level data every 100ms, continuously acquiring 10 sets of data and averaging them to obtain the liquid level height.

[0043] In this embodiment, after emitting a pulsed Doppler signal, the pulsed Doppler sensor receives echo signals reflected or scattered by the water layer, silt layer, and bottom of the pipe in real time. The ultrasonic level sensor, after emitting an ultrasonic signal, receives echo signals reflected by the hard material at the bottom of the pipe in real time. The data acquisition module collects and stores the Doppler echo signals and ultrasonic echo signals at a sampling frequency of at least 40kHz, providing raw data for subsequent data processing. In one example, the data acquisition module can be an NI-9234 acquisition card, and the sampling frequency can be set to 200kHz.

[0044] This disclosure clarifies the acquisition steps for Doppler and ultrasonic echo signals, as well as the transmission timing parameters for pulsed Doppler signals, enabling synchronous acquisition of both types of sensor signals. This ensures the consistency of the acquired signals over time, providing a foundation for subsequent synchronous calculations of water flow velocity and silt thickness. Furthermore, the reasonable settings for transmission period, pulse number, and pulse width enhance the intensity and resolution of the pulsed Doppler signal, avoiding signal interference and insufficient energy, thus improving the quality of the echo signal and further guaranteeing the accuracy and reliability of subsequent data processing.

[0045] In one embodiment, step S102, "determining the water flow velocity at different water layers within the pipe," includes: Doppler frequency offset analysis was performed on the scattered echo signals from different water layers to obtain Doppler frequency offset information; Based on Doppler frequency offset information, underwater sound velocity, the operating frequency of the pulse Doppler sensor, and the angle between the pulse Doppler sensor and the pipeline axis, the water flow velocity of different water layers in the pipeline is determined.

[0046] In this embodiment, Doppler frequency offset analysis is performed on the scattered echo signals from different water layers. First, the scattered echo signals corresponding to different water layers need to be separated from the acquired Doppler echo signals. The separation is based on the signal propagation time; signals with different propagation times correspond to water layers at different depths within the pipe. The depth is calculated as half the product of the signal propagation time and the speed of sound in the water. After signal separation, spectral analysis is performed on the scattered echo signals from each water layer to extract the frequency of the echo signal. The difference between this frequency and the frequency of the signal emitted by the pulse Doppler sensor is calculated, and the resulting frequency difference is the Doppler frequency offset information corresponding to that water layer. Since the water flow conditions differ in different water layers, the corresponding Doppler frequency offset information also varies.

[0047] In this embodiment, determining the water flow velocity based on Doppler frequency offset information requires calling a pre-set Doppler effect calculation formula, as shown in Formula 1 below: Formula 1 in, This represents Doppler frequency offset information, where c is the speed of sound in water, set to 1450 m / s. This value is a standard reference for the speed of sound in water and can be fine-tuned according to the actual water temperature. θ is the operating frequency of the pulse Doppler sensor, and θ is the angle between the pulse Doppler sensor and the pipeline axis.

[0048] In this disclosure, by extracting the scattered echo signal in layers and performing frequency offset analysis, and combining the key parameters with the Doppler effect formula for calculation, accurate measurement of water flow velocity in different water layers in the pipeline is achieved, which solves the defect of traditional Doppler current meters that cannot achieve layered flow velocity monitoring.

[0049] In one possible implementation, step S103, "determining the water level in the pipe from the water surface to the interface between the water and the silt," includes: Based on the amplitude of the scattered echo signals from different water layers in the Doppler echo signal, the average amplitude of the scattered echo signals from different water layers is determined. Based on the amplitude correlation between the attenuated echo signal and the scattered echo signal, the amplitude threshold corresponding to the attenuated echo signal is determined. The height corresponding to the first echo signal in the Doppler echo signal whose amplitude is lower than the amplitude threshold is determined as the water height.

[0050] In this embodiment, the scattered echo signals corresponding to all water layers are first screened from the acquired Doppler echo signals. These signals are formed by the scattering of pulsed Doppler signals with water particles at different depths in the water body, and possess the characteristics of stable amplitude and clear signal. In this embodiment, the amplitude of the screened scattered echo signals from different water layers is extracted, and the peak amplitude or effective amplitude data of the scattered echo signal from each water layer is recorded one by one to avoid mixing in the attenuated signals from the silt layer and the strong reflection signals from the bottom of the pipe. In this embodiment, the arithmetic mean of the amplitude data of all extracted scattered echo signals from all water layers is calculated, and the resulting value is the average amplitude of the scattered echo signals from different water layers.

[0051] In this embodiment, the amplitude correlation between the attenuated echo signal and the scattered echo signal is clearly defined. The core of this correlation is that the pulsed Doppler signal undergoes severe attenuation when propagating in the silt layer, resulting in an attenuated echo signal amplitude that is significantly lower than the amplitude of the scattered echo signal from the water layer. In this embodiment, the aforementioned correlation can be defined as the amplitude of the attenuated echo signal being equal to the amplitude of the scattered echo signal. Therefore, the average amplitude can be multiplied by [a factor]. Thus, the amplitude threshold corresponding to the attenuated echo signal is obtained.

[0052] In this embodiment, the Doppler echo signal can be scanned and analyzed segment by segment according to the propagation time sequence. The propagation time is positively correlated with the distance the signal propagates, and different propagation times correspond to different depth positions within the pipe. During the scanning process, the amplitude of each echo signal segment is compared with a set amplitude threshold in real time. When an echo signal with an amplitude consistently below the threshold is detected, the scanning at that position is stopped. In this embodiment, the vertical distance from the sensor to the corresponding signal position can be calculated based on the propagation time of that signal segment and the speed of sound in water. This distance represents the water height from the water surface within the pipe to the interface between the water and silt.

[0053] Figure 3 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 2 ,like Figure 3 As shown, in the real-imag plot, the horizontal axis represents the pipe depth (in meters), and the vertical axis represents the signal amplitude. The two curves, "real" (real part) and "imag" (imaginary part), present the original mathematical characteristics of the pulse Doppler echo signal. Within the 0–1.0 m water layer (i.e., the water body layer), the curve fluctuates significantly and has a high amplitude, reflecting the strong scattering signal from water particles. Within the 1.0–1.3 m silt layer, the curve amplitude drops sharply, demonstrating the signal attenuation characteristics and visually illustrating the influence of different media on the signal.

[0054] In the distance-amplitude graph, the horizontal axis represents pipe depth (in meters), and the vertical axis represents echo amplitude. This graph represents the integrated calculation result of the original signal amplitude. The amplitude in the 0-1.0m flow layer remains consistently high at 100-400, while at 1.0m, the amplitude first drops below 100, marking the interface between the water and silt layers. In the 1.0-1.3m silt layer, the amplitude continuously decreases, clearly delineating the signal boundaries between the flow layer and the silt layer, providing direct evidence for silt layer identification.

[0055] In the distance-velocity graph, the horizontal axis represents pipe depth (in meters), and the vertical axis represents water velocity (in meters per second). Velocity data is only available in the 0-1.0m flow layer (fluctuating between -0.2 and -0.4 m / s), while there is no data (close to zero) for the silt layer below 1.0m. This graph directly outputs the stratified flow velocity results, reflecting the velocity differences at different depths within the flow layer. It conforms to the actual water flow distribution patterns in pipes and represents the core result of water velocity measurement. Figure 3 The bottom layer in this context refers to the pipes.

[0056] You can refer to this. Figure 3 The distance-amplitude plot clearly shows a correlation between the amplitudes of the attenuated echo signal from the silt layer and the amplitudes of the scattered echo signal from the flow layer. This correlation can be expressed as the amplitude of the attenuated echo signal being equal to the amplitude of the scattered echo signal. times.

[0057] In this disclosure, a scientific standard for determining the interface of the silt layer is established by setting a threshold based on the average amplitude of the scattered echo signal from the water layer, thus solving the problem of interface signal ambiguity caused by the attenuation of the pulse Doppler signal in the silt layer. Simultaneously, by capturing the location of the first echo signal below the threshold, the water height is determined, avoiding interference from strong reflection signals at the bottom of the pipe and ensuring the accuracy of water height measurement.

[0058] In one embodiment, after "determining the liquid level height between the water surface in the pipe and the bottom of the pipe" in step S104, the method further includes: Based on the reflected echo signal from the bottom of the pipe in the Doppler echo signal, the reference height between the water surface inside the pipe and the bottom of the pipe is determined; In response to a difference between the liquid level height and the reference height exceeding a second threshold, the liquid level height is adjusted, and / or the liquid level height between the water surface and the bottom of the pipe is re-determined based on the ultrasonic echo signal.

[0059] In this embodiment, the reflected echo signal from the bottom of the pipe can be extracted from the Doppler echo signal. This requires first filtering out signals with high amplitude and steep rise edges from all echo signals. These signals are strong reflections formed when the pulsed Doppler signal contacts the hard material at the bottom of the pipe, and can correspond to the position of the pipe bottom. However, since the reflected echo signal from the bottom of the pipe in the Doppler echo signal is relatively weak, the height between the water surface and the bottom of the pipe obtained from it is only used as a reference and is not included in the calculation of the silt layer thickness.

[0060] In this embodiment, a second threshold also needs to be set. The value of the second threshold needs to be determined based on the measurement accuracy of the ultrasonic level sensor and the pulse Doppler sensor, and is usually set to ±5mm. Its function is to determine whether the deviation between the liquid level height and the reference height is within a reasonable range. In this embodiment, the difference between the calculated liquid level height and the reference height is calculated to obtain the deviation value of the two height data, and then the deviation value is compared with the second threshold. In this embodiment, if the deviation value is greater than the second threshold, it indicates that there may be an error in the measured liquid level height data. At this time, the liquid level height needs to be adjusted. The adjustment method is to correct the liquid level height based on the value of the reference height to reduce the deviation between the two. In this embodiment, if the deviation value is greater than the second threshold, it is also possible to re-determine the liquid level height based on the ultrasonic echo signal. Specifically, the ultrasonic level sensor is controlled to re-emit and receive ultrasonic signals, the number of data sets is increased, and the average value of multiple measurements is taken as the new liquid level height. In this embodiment, the method of adjusting the liquid level height and re-measuring can be used simultaneously to further improve the accuracy of the liquid level height data and provide reliable basic parameters for subsequent sludge thickness calculation.

[0061] In this disclosure, a dual-height data comparison mechanism is established by introducing a reference height to verify the liquid level height, effectively identifying liquid level measurement errors caused by factors such as water flow interference and signal attenuation. By setting a second threshold and taking targeted adjustment or remeasurement measures, data with excessive deviations can be corrected in a timely manner, ensuring the accuracy of the liquid level height from the water surface to the bottom of the pipe, thereby improving the accuracy of sludge thickness calculation and ensuring the stability and reliability of the entire measurement method.

[0062] In one embodiment, a method for measuring water flow velocity and silt thickness based on pulse Doppler further includes: Control the pulse Doppler sensor and the ultrasonic level sensor to move along the pipeline axis at a target step interval; After moving one target step distance, determine the water flow velocity and silt layer thickness of different water layers at the current location; Based on the water flow velocity and silt layer thickness at different locations within the pipeline, a three-dimensional distribution map of water flow and silt inside the pipeline is generated.

[0063] In this embodiment, controlling the movement of the two types of sensors along the pipeline axis is achieved through a pre-built motion control module. This module is mechanically connected to the sensor mounting carrier and can drive the carrier to move smoothly according to a preset program. In this embodiment, the target step spacing needs to be determined based on the actual diameter of the pipeline and the required measurement accuracy, typically ranging from 5 to 20 cm. When measuring a municipal drainage pipeline with a diameter of 1000 mm, the target step spacing can be set to 10 cm. This spacing ensures both the density of the measurement data and avoids low measurement efficiency due to excessively small spacing. In this embodiment, the relative positions of the two sensors must remain unchanged during movement to ensure spatial consistency of the measurement data at different locations.

[0064] In this embodiment, after the motion control module drives the sensor to move one target step distance, it triggers a pause command to stabilize the sensor at its current position. In this embodiment, the sensor calculates the water flow velocity and silt layer thickness at different water layers based on Doppler echo and ultrasonic echo signals at the current position. In this embodiment, the measurement process at each step position is independent, and the measurement data is stored separately and labeled with corresponding position information to avoid data confusion between different positions.

[0065] In this embodiment, it is also necessary to integrate the measurement data of all step positions, and correlate and match the axial coordinates of each position, the water flow velocity data of different water layers, and the silt layer thickness data to form a structured dataset containing positional and parameter information. In this embodiment, the structured dataset is processed using data visualization software, constructing a three-dimensional coordinate system with the axial length of the pipe as the X-axis, the radial depth of the pipe's cross-section as the Y-axis, and the water flow velocity or silt layer thickness as the Z-axis. In this embodiment, the data of each position is mapped to the three-dimensional coordinate system, and the missing data between adjacent measurement points is supplemented by interpolation algorithms, making the distribution map more continuous and smooth, and finally generating a three-dimensional distribution map that can intuitively show the stratified distribution of water flow velocity and the axial distribution of silt layer thickness inside the pipe.

[0066] Figure 4 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 3 ,like Figure 4 As shown, the water flow rate and silt layer thickness are measured at the leak detection point. The stepping direction of the pulse Doppler sensor and the ultrasonic level sensor can be from right to left, and the water flow rate and silt layer thickness can be measured every 10cm until the pipe length corresponding to the leak detection point is completed.

[0067] Figure 5 This illustration shows a scenario illustrating a method for measuring water flow velocity and silt thickness based on pulse Doppler imaging, according to an embodiment of this disclosure. Figure 4 , Figure 5 This diagram illustrates the two-dimensional distribution of water velocity within a pipe cross-section, where the horizontal direction represents the pipe width and the vertical direction represents the water depth. The diagram uses grayscale gradients and bar charts to visually represent the velocity at different locations: the grayscale bars on the left show the velocity range from 0 to 1 m / s, with lighter colors indicating higher velocities. The bar chart on the right represents the velocity value at each measuring point by its horizontal length, with its height corresponding to the water depth. The overall distribution is parabolic, meaning the velocity is highest in the central region (approximately 0.96 m / s), gradually decreasing towards both sides, and reaching its lowest point near the sediment layer (e.g., 0.44 m / s). This indicates that the water flows fastest in the central region of the pipe, slowing down near the pipe wall and sediment layer due to frictional resistance, consistent with typical laminar or turbulent boundary layer characteristics.

[0068] This disclosure utilizes a step-by-step segmented measurement strategy to achieve comprehensive monitoring of water flow velocity and silt thickness across the entire pipeline axis, overcoming the limitations of single-point measurement. By generating a three-dimensional distribution map, discrete measurement data is transformed into intuitive visualization results, enabling staff to quickly grasp the overall water flow status and silt accumulation within the pipeline. This provides comprehensive and accurate data support for pipeline operation and maintenance decisions, blockage early warning, and dredging planning, significantly enhancing the practicality and engineering application value of the measurement method.

[0069] Compared with traditional technologies, this disclosure has the following advantages: 1. Achieve synchronous measurement: By utilizing the collaborative work of a pulse Doppler sensor and an ultrasonic level sensor, the water flow stratification velocity and silt thickness data can be acquired simultaneously during a single measurement, solving the problems of low efficiency and poor data correlation caused by separate measurements in traditional technologies, and reducing the measurement time by more than 40%.

[0070] 2. Improve measurement accuracy: A dual-feature recognition mechanism is established to address the attenuation characteristics of pulse Doppler signals in the silt layer and the strong reflection characteristics at the bottom of the pipe, effectively distinguishing between signals from the silt layer and the hard bottom, with the silt thickness measurement error controlled within ±2mm; at the same time, by processing Doppler signals in layers, the water flow velocity is accurately measured with a flow velocity measurement accuracy of ±0.01m / s.

[0071] 3. Adaptable to complex scenarios: The step-by-step segmented measurement strategy can cover the entire axial range of the pipeline. Combined with the anti-interference capability of pulse Doppler technology, it can adapt to the measurement needs of pipelines with different diameters (500-2000mm) and different water flow conditions (laminar flow, turbulent flow). No pipeline modification is required, making it highly practical.

[0072] Figure 6 A schematic diagram of a pulse Doppler-based water flow velocity and silt thickness measurement device according to an embodiment of this disclosure is shown, as follows: Figure 6 As shown, a device for measuring water flow velocity and silt thickness based on pulse Doppler includes: The acquisition module 10 is used to acquire Doppler echo signals and ultrasonic echo signals; the Doppler echo signal is the echo signal returned after the pulse Doppler sensor transmits a pulse Doppler signal into the pipe; the ultrasonic echo signal is the echo signal returned after the ultrasonic level sensor transmits an ultrasonic signal into the pipe. The first determining module 11 is used to determine the water flow velocity of different water layers in the pipeline based on the Doppler frequency offset information corresponding to the scattered echo signals of different water layers in the Doppler echo signal. The second determining module 12 is used to determine the water height between the water surface in the pipeline and the interface between the water body and the silt based on the attenuated echo signal of the silt layer in the Doppler echo signal. The third determining module 13 is used to determine the liquid level height between the water surface and the bottom of the pipe based on the ultrasonic echo signal. The fourth determining module 14 is used to determine the thickness of the silt layer inside the pipeline based on the liquid level and water level.

[0073] In one embodiment, the operating frequency range of the pulse Doppler sensor is 1~2MHz, and the angle between the installation direction of the pulse Doppler sensor and the pipeline axis is 30~60°. The ultrasonic level sensor and the pulse Doppler sensor are installed on the same side of the pipeline. The distance between the ultrasonic level sensor and the pulse Doppler sensor is less than a first threshold. The installation direction of the ultrasonic level sensor is perpendicular to the pipeline axis. The measurement accuracy of the ultrasonic level sensor is less than or equal to 1 mm.

[0074] In one possible implementation, the acquisition module 10 is further configured to: A control command is sent to the pulse Doppler sensor to control the pulse Doppler sensor to emit pulse Doppler signals into the pipe; the emission period of the pulse Doppler signal is 50~100ms, each emission period includes 5~10 pulses, and the pulse width is 1~5μs; Activate the ultrasonic level sensor and control it to emit ultrasonic signals into the pipe. Doppler echo signals returned by the pulse Doppler signal and ultrasonic echo signals returned by the ultrasonic signal are obtained from the pulse Doppler sensor and the ultrasonic level sensor, respectively.

[0075] In one possible implementation, the first determining module 11 is further configured to: Doppler frequency offset analysis was performed on the scattered echo signals from different water layers to obtain Doppler frequency offset information; Based on Doppler frequency offset information, underwater sound velocity, the operating frequency of the pulse Doppler sensor, and the angle between the pulse Doppler sensor and the pipeline axis, the water flow velocity of different water layers in the pipeline is determined.

[0076] In one possible implementation, the second determining module 12 is further configured to: Based on the amplitude of the scattered echo signals from different water layers in the Doppler echo signal, the average amplitude of the scattered echo signals from different water layers is determined. Based on the amplitude correlation between the attenuated echo signal and the scattered echo signal, the amplitude threshold corresponding to the attenuated echo signal is determined. The height corresponding to the first echo signal in the Doppler echo signal whose amplitude is lower than the amplitude threshold is determined as the water height.

[0077] In one possible implementation, the third determining module 13 is further configured to: Based on the reflected echo signal from the bottom of the pipe in the Doppler echo signal, the reference height between the water surface inside the pipe and the bottom of the pipe is determined; In response to a difference between the liquid level height and the reference height exceeding a second threshold, the liquid level height is adjusted, and / or the liquid level height between the water surface and the bottom of the pipe is re-determined based on the ultrasonic echo signal.

[0078] In one embodiment, a pulse Doppler-based water flow velocity and silt thickness measurement device further includes a map generation module for: Control the pulse Doppler sensor and the ultrasonic level sensor to move along the pipeline axis at a target step interval; After moving one target step distance, determine the water flow velocity and silt layer thickness of different water layers at the current location; Based on the water flow velocity and silt layer thickness at different locations within the pipeline, a three-dimensional distribution map of water flow and silt inside the pipeline is generated.

[0079] According to embodiments of this disclosure, this disclosure also provides an electronic device and a readable storage medium.

[0080] Figure 7 A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0081] like Figure 7 As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. The RAM 803 may also store various programs and data required for the operation of the electronic device 800. The computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0082] Multiple components in electronic device 800 are connected to I / O interface 805, including: input unit 806, such as keyboard, mouse, etc.; output unit 807, such as various types of displays, speakers, etc.; storage unit 808, such as disk, optical disk, etc.; and communication unit 809, such as network card, modem, wireless transceiver, etc. Communication unit 809 allows electronic device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0083] The computing unit 801 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as a pulse Doppler-based method for measuring water flow velocity and silt thickness. For example, in some embodiments, a pulse Doppler-based method for measuring water flow velocity and silt thickness can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the pulse Doppler-based method for measuring water flow velocity and silt thickness described above can be performed. Alternatively, in other embodiments, the computing unit 801 may be configured by any other suitable means (e.g., by means of firmware) to perform a pulse Doppler-based method for measuring water flow velocity and silt thickness.

[0084] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0085] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0086] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0087] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0088] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0089] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0090] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this disclosure can be achieved, and this is not limited herein.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0092] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A method for measuring water flow velocity and silt thickness based on pulse Doppler, characterized in that, The method includes: Acquire Doppler echo signal and ultrasonic echo signal; the Doppler echo signal is the echo signal returned after the pulse Doppler sensor emits a pulse Doppler signal into the pipe; the ultrasonic echo signal is the echo signal returned after the ultrasonic level sensor emits an ultrasonic signal into the pipe. Based on the Doppler frequency offset information corresponding to the scattered echo signals of different water layers in the Doppler echo signal, the water flow velocity of different water layers in the pipeline is determined. Based on the attenuated echo signal of the silt layer in the Doppler echo signal, the water height between the water surface in the pipeline and the interface between the water and the silt is determined. Based on the ultrasonic echo signal, the liquid level height between the water surface and the bottom of the pipe is determined; The thickness of the silt layer inside the pipeline is determined based on the liquid level and the water level.

2. The method according to claim 1, characterized in that, The pulse Doppler sensor operates in the frequency range of 1~2MHz, and the angle between the installation direction of the pulse Doppler sensor and the pipeline axis ranges from 30~60°. The ultrasonic level sensor and the pulse Doppler sensor are installed on the same side of the pipeline. The distance between the ultrasonic level sensor and the pulse Doppler sensor is less than a first threshold. The installation direction of the ultrasonic level sensor is perpendicular to the pipeline axis. The measurement accuracy of the ultrasonic level sensor is less than or equal to 1 mm.

3. The method according to claim 1, characterized in that, The acquisition of Doppler echo signals and ultrasonic echo signals includes: A control command is sent to the pulse Doppler sensor to control the pulse Doppler sensor to emit pulse Doppler signals into the pipe; the emission period of the pulse Doppler signal is 50~100ms, each emission period includes 5~10 pulses, and the width of the pulse is 1~5μs; Activate the ultrasonic level sensor and control it to emit ultrasonic signals into the pipe; The Doppler echo signal returned by the pulse Doppler signal and the ultrasonic echo signal returned by the ultrasonic signal are respectively obtained from the pulse Doppler sensor and the ultrasonic liquid level sensor.

4. The method according to claim 1, characterized in that, Determining the water flow velocity at different water layers within the pipe includes: Doppler frequency offset analysis was performed on the scattered echo signals from the different water layers to obtain the Doppler frequency offset information. Based on the Doppler frequency offset information, the speed of sound in water, the operating frequency of the pulse Doppler sensor, and the angle between the pulse Doppler sensor and the pipeline axis, the water flow velocity of different water layers in the pipeline is determined.

5. The method according to claim 1, characterized in that, Determining the water level in the pipeline from the water surface to the interface between the water and the silt includes: Based on the amplitude of the scattered echo signals from different water layers in the Doppler echo signal, the average amplitude of the scattered echo signals from different water layers is determined. Based on the amplitude correlation between the attenuated echo signal and the scattered echo signal, the amplitude threshold corresponding to the attenuated echo signal is determined. The height corresponding to the first echo signal in the Doppler echo signal whose amplitude is lower than the amplitude threshold is determined as the water body height.

6. The method according to claim 1, characterized in that, After determining the liquid level height between the water surface and the bottom of the pipe, the method further includes: Based on the reflected echo signal from the bottom of the pipe in the Doppler echo signal, the reference height between the water surface inside the pipe and the bottom of the pipe is determined; In response to the difference between the liquid level height and the reference height being greater than a second threshold, the liquid level height is adjusted, and / or the liquid level height between the water surface and the bottom of the pipe is re-determined based on the ultrasonic echo signal.

7. The method according to claim 1, characterized in that, The method further includes: The pulse Doppler sensor and the ultrasonic level sensor are controlled to move along the pipeline axis at a target step interval. After moving one target step distance, determine the water flow velocity and silt layer thickness of different water layers at the current location; Based on the water flow velocity and silt layer thickness at different locations within the pipeline, a three-dimensional distribution map of water flow and silt inside the pipeline is generated.

8. A device for measuring water flow velocity and silt thickness based on pulse Doppler, characterized in that, The device includes: The acquisition module is used to acquire Doppler echo signals and ultrasonic echo signals; the Doppler echo signal is the echo signal returned after the pulse Doppler sensor transmits a pulse Doppler signal into the pipe; the ultrasonic echo signal is the echo signal returned after the ultrasonic level sensor transmits an ultrasonic signal into the pipe. The first determining module is used to determine the water flow velocity of different water layers in the pipeline based on the Doppler frequency offset information corresponding to the scattered echo signals of different water layers in the Doppler echo signal. The second determining module is used to determine the water height between the water surface in the pipeline and the interface between the water body and the silt based on the attenuated echo signal of the silt layer in the Doppler echo signal. The third determining module is used to determine the liquid level height between the water surface and the bottom of the pipe based on the ultrasonic echo signal. The fourth determining module is used to determine the thickness of the silt layer inside the pipe based on the liquid level height and the water body height.

9. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

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