Mobile Submersible Medium Three-Dimensional Layer Interface Measurement System and Method

Abstract

This disclosure relates to a mobile, immersion-type three-dimensional layered interface measurement system and method for media, belonging to the field of media layering measurement technology. The system includes an insertion device, a signal measurement component, a driving mechanism, and a control module. The insertion device is used to insert / remove the signal measurement component to multiple target depths within the media in a container. The signal measurement component measures the media measurement information at the current position at each target depth. The driving mechanism drives the insertion device to move, thereby moving the signal measurement component horizontally within the container to obtain two-dimensional media measurement information at multiple first positions at each target depth. The control module fuses the two-dimensional media measurement information at multiple first positions at each target depth to obtain three-dimensional media measurement information for the entire container, and then analyzes the three-dimensional layering information of the media within the container. This disclosure enables three-dimensional measurement of the media layering interface within a container, improving measurement accuracy and efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of media layering measurement technology, specifically to a mobile, immersive media three-dimensional layering interface measurement system and method. Background Technology

[0002] With the development of industrial production and environmental monitoring, the demand for accurate detection of interfaces between multiple media within containers is increasing. In fields such as petrochemicals, environmental water treatment, and food processing, containers often contain multiple layers of media with different properties. Accurately measuring the location of the interfaces between these media, the thickness of each layer, and its volume is of great significance for production control and quality management.

[0003] Currently, submersible interface detection systems are widely used for detecting media stratification interfaces within various containers. However, existing submersible interface detection systems still face some technical challenges in practical applications: First, when the medium inside the container is in a flowing state, the signal measurement component is affected by the flow velocity and is positioned at a certain angle. This combined effect of flow velocity and tilt angle leads to low detection resolution and accuracy, making it impossible to accurately obtain the true stratification information of the medium. Second, the signal measurement component in existing technologies typically only moves in the vertical direction, limiting the number of measurement points and thus restricting measurement accuracy. Furthermore, existing technologies lack effective auxiliary information acquisition and data fusion mechanisms, making it impossible to obtain the precise position and orientation information of the signal measurement component within the container in real time, nor to effectively fuse this information with the medium measurement data, thereby affecting the accuracy and reliability of media stratification interface detection.

[0004] Therefore, how to effectively, cost-effectively, and accurately detect the layered interface of a medium, especially how to improve detection accuracy under medium flow conditions, and how to obtain three-dimensional distribution information of the medium inside the container, have become urgent technical problems to be solved. Summary of the Invention

[0005] This disclosure provides a mobile, immersive, three-dimensional layered interface measurement system and method for media, which addresses the technical problems of low detection accuracy, limited measurement points, and lack of effective, low-cost, and accurate detection of media layered interfaces in flowing media.

[0006] This disclosure provides a mobile, immersion-type three-dimensional layered interface measurement system for media, including: an immersion device, a signal measurement component, a drive mechanism, and a control module; The deployment device is used to drive the signal measurement component to move vertically in the medium inside the container, so that the signal measurement component is deployed / removed to multiple target depths in the medium inside the container; The signal measurement component is used to measure the medium measurement information at the current position at each target depth; The driving mechanism is used to drive the input device to move so that the signal measurement component can move horizontally in the medium inside the container, so that the signal measurement component can acquire two-dimensional measurement information of the medium at multiple first positions at each target depth in the horizontal direction. The control module is used to fuse two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain three-dimensional measurement information of the medium within the entire container, and to parse out the three-dimensional layering information of the medium within the container based on the three-dimensional measurement information of the medium.

[0007] According to at least one embodiment of the present disclosure, a mobile immersion-type medium three-dimensional layered interface measurement system is provided, wherein the signal measurement component performs at least one of linear motion, reciprocating motion, or circular motion in the horizontal direction within the medium of the container.

[0008] According to at least one embodiment of the mobile immersion-type medium three-dimensional layered interface measurement system of this disclosure, the signal measurement component moves vertically to H target depths in the medium inside the container under the drive of the immersion device, and at each target depth, the signal measurement component is driven horizontally by the immersion device to multiple first positions D under the drive of the drive mechanism. Then, the control module acquires N measurement points for the three-dimensional measurement information of the first medium inside the container; where N=H D, H≥1, D≥1, where H and D are both positive integers.

[0009] A mobile, immersion-type medium three-dimensional layered interface measurement system according to at least one embodiment of the present disclosure further includes a sensor module disposed on the immersion device, the signal measurement component, or the container, for real-time detection of auxiliary information of the signal measurement component at each target depth in the medium within the container.

[0010] According to at least one embodiment of the present disclosure, a mobile immersion-type medium three-dimensional layering interface measurement system is provided, wherein the control module is configured to calculate, based on auxiliary information at each target depth and medium measurement information at the current position at each target depth, to obtain medium measurement information at multiple second positions at each target depth within the container; the control module is further configured to fuse the medium measurement information at multiple second positions at each target depth to obtain second medium three-dimensional measurement information within the entire container, and to parse the true three-dimensional layering information of the medium within the container based on the first medium three-dimensional measurement information and the second medium three-dimensional measurement information.

[0011] According to at least one embodiment of the mobile immersion-type three-dimensional layered interface measurement system for media, the signal measurement component moves vertically to H target depths under the drive of the immersion device. Furthermore, the control module calculates media measurement information at multiple second positions D' at each target depth based on auxiliary information acquired by the sensor module at each target depth and media measurement information at the current position of each target depth acquired by the signal measurement component. Therefore, the control module acquires M measurement points for the three-dimensional measurement information of the second media within the entire container; where M = H. D', H≥1, D'≥1, where H and D' are both positive integers.

[0012] According to at least one embodiment of the mobile immersion-type medium three-dimensional layered interface measurement system of the present disclosure, the sensor module is at least one of an angle sensor, a rotation speed sensor, and a flow velocity sensor, and the auxiliary information is at least one of angle information, rotation speed information, and flow velocity information.

[0013] According to at least one embodiment of the present disclosure, in a mobile immersion-type medium three-dimensional layering interface measurement system, the control module is further configured to calibrate the target depth of the signal measurement component in the medium within the container based on the auxiliary information, and to perform calibration analysis based on the calibrated target depth true value and the medium two-dimensional measurement information at multiple first positions at each target depth to obtain the first medium three-dimensional measurement true information within the entire container, and to parse the true layering information of the medium within the container based on the first medium three-dimensional measurement true information.

[0014] According to at least one embodiment of the mobile immersion-type medium three-dimensional layered interface measurement system of the present disclosure, the control module calibrates the target depth of the signal measurement component in the container based on the auxiliary information to obtain the true value of the target depth of the signal measurement component as L'=F(L,c); where F(L,c) is any one of the parabolic function, catenary function, and linear function; L is the target depth of the signal measurement component in the container, and c is the auxiliary information of the sensor module in real time detecting the target depth of the signal measurement component in the medium in the container.

[0015] According to at least one embodiment of the present disclosure, a mobile immersion-type medium three-dimensional layered interface measurement system is provided, wherein there are multiple signal measurement components, and the multiple signal measurement components are distributed at different positions in the horizontal direction of the container through the driving mechanism. Each signal measurement component is immersed / retrieved to multiple target depths in the medium inside the container under the drive of the immersion device. The control module is further configured to fuse two-dimensional medium measurement information at multiple first positions at multiple target depths obtained by multiple signal measurement components to obtain three-dimensional medium measurement information within the entire container, and to parse three-dimensional layering information of the medium within the container based on the three-dimensional medium measurement information.

[0016] According to at least one embodiment of the present disclosure, a mobile immersion-type medium three-dimensional layered interface measurement system is provided, wherein the control module controls a plurality of the signal measurement components to be inserted / removed synchronously or asynchronously to a plurality of target depths in the medium within the container.

[0017] According to at least one embodiment of the mobile immersion-type medium three-dimensional layered interface measurement system of the present disclosure, the control module is further configured to perform three-dimensional modeling and display of the medium three-dimensional measurement information or the medium layered information.

[0018] According to at least one embodiment of the present disclosure, a mobile immersion-type medium three-dimensional layered interface measurement system is provided, wherein the control module is used to analyze and process the three-dimensional measurement information of the first medium to obtain medium feature information at multiple first locations, and to determine the three-dimensional layered information of the medium inside the container based on the differences in the medium feature information at the multiple first locations.

[0019] According to at least one embodiment of the mobile immersion-type three-dimensional layered interface measurement system for media, the media measurement information at the current position at each target depth includes at least one of the following: signal strength information, signal energy spectrum information, signal attenuation information, signal count information, time-of-flight difference, signal phase difference, reflectivity / transmittance, Doppler frequency shift, echo width / duration, and signal propagation speed. The medium characteristic information includes at least one of the following: density data, concentration data, dielectric constant information, conductivity / resistivity information, ultrasonic propagation speed and attenuation coefficient information, pressure gradient information, viscosity information, temperature information, particle size distribution information, and turbidity / transmittance information. The layering information of the medium includes at least one of the following: the location of the interface between each layer, the height of each layer, and the volume of each layer.

[0020] A mobile, immersion-type medium three-dimensional layered interface measurement method according to another embodiment of the present disclosure includes the following steps: The signal measurement component is driven by the insertion device to perform vertical movement in the medium inside the container, so that the signal measurement component is inserted / extracted to multiple target depths in the medium inside the container; The signal measurement component measures the medium measurement information at the current position at each target depth; The input device is moved by the drive mechanism to drive the signal measurement component to move horizontally in the medium inside the container, so that the signal measurement component can acquire two-dimensional measurement information of the medium at multiple first positions at each target depth in the horizontal direction. The control module fuses two-dimensional measurement information of the medium at multiple first locations at each target depth to obtain three-dimensional measurement information of the medium within the entire container, and then parses the three-dimensional layering information of the medium within the container based on the three-dimensional measurement information of the medium.

[0021] The mobile, immersion-type three-dimensional layered interface measurement system and method provided in this disclosure have the following technical advantages compared with the prior art: 1. In this disclosure, a driving mechanism is set up to drive the signal measurement component to acquire medium measurement information at multiple first positions at a target depth in the horizontal direction. At the same time, the deployment device drives the signal measurement component to be deployed / extended in the vertical direction to multiple target depths inside the container. The control module fuses the two-dimensional medium measurement information at multiple first positions at each target depth to obtain three-dimensional medium measurement information inside the container. Then, based on the three-dimensional medium measurement information, the three-dimensional layering information of the medium is obtained. This detection can effectively, cost-effectively and accurately detect the three-dimensional layering interface of the medium, improving detection accuracy and efficiency.

[0022] 2. This disclosure also sets up a sensor module to measure auxiliary information of the signal measurement component at the target depth in the medium inside the container. Then, by combining the medium measurement information of the current position measured by the signal measurement component at different target depths, it calculates and obtains medium measurement information of multiple second positions at multiple target depths. Finally, by fusing the medium measurement information of multiple second positions at each target depth, it obtains the second three-dimensional measurement information of the medium inside the entire container. Thus, the three-dimensional layering information of the medium inside the container can be analyzed based on the second three-dimensional measurement information. The measurement result has high detection accuracy and the obtained medium layering interface is more accurate.

[0023] 3. In this disclosure, multiple signal measurement components are set up to obtain medium measurement information at multiple locations at different target depths, and the components are driven by a drive mechanism to move continuously in the horizontal direction. In this way, more accurate three-dimensional medium measurement information can be obtained by using multiple sets of medium measurement information at multiple locations at different target depths. This detection can make the obtained three-dimensional layer information of the medium more accurate and the detection accuracy higher.

[0024] 4. This disclosure also sets up a sensor module to measure auxiliary information of the signal measurement component at the target depth in the medium inside the container, and performs calibration processing on the target depth of the signal measurement component in the medium inside the container based on the auxiliary information. Furthermore, it performs calibration analysis based on the calibrated true value of the target depth and the two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain the true three-dimensional measurement information of the first medium inside the entire container, and parses the true three-dimensional layering information of the medium inside the container based on the true three-dimensional measurement information of the first medium. This measurement result has high detection accuracy and the obtained three-dimensional layering interface of the medium is more accurate. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This disclosure provides a schematic diagram of the structure of a mobile, immersive, three-dimensional layered interface measurement system for media. Figure 1 ; Figure 2 This is a partial structural schematic diagram of a mobile, immersive, three-dimensional layered interface measurement system for media provided in this disclosure; Figure 3 This disclosure provides a schematic diagram of the structure of a mobile, immersive, three-dimensional layered interface measurement system for media. Figure 2 ; Figure 4 This disclosure provides a schematic diagram of the structure of a mobile, immersive, three-dimensional layered interface measurement system for media. Figure 3 ; Figure 5 This is a flowchart illustrating a mobile, immersive method for measuring three-dimensional layered interfaces of a medium.

[0026] Summary of attached image labels: 11. Signal measurement components; 12. Sensor module; 13. Input device; 14. Control module; 15. Container; 16. Drive mechanism. Detailed Implementation

[0027] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0028] Example 1 Figure 1 This disclosure provides a schematic diagram of the structure of a mobile, immersive, three-dimensional layered interface measurement system for media. Figure 1 . Figure 2This is a partial structural schematic diagram of a mobile, immersion-type, three-dimensional layered interface measurement system for media provided in this disclosure. Specifically, as shown... Figure 1 and 2 As shown, the mobile immersion-type three-dimensional layered interface measurement system of this disclosure includes: an immersion device 13, a signal measurement component 11, a drive mechanism 16, and a control module 14.

[0029] The insertion device 13 is used to drive the signal measurement component 11 to move vertically in the medium inside the container 15, so that the signal measurement component 11 is inserted / extracted to multiple target depths in the medium inside the container 15. The signal measurement component 11 is used to transmit detection signals and receive reflected signals within the container 15, and to generate medium measurement information for the current position at each target depth based on the reflected signals. The driving mechanism 16 is used to drive the input device 13 to move so as to drive the signal measurement component 11 to move horizontally in the medium in the container 15, so that the signal measurement component 11 acquires two-dimensional measurement information of the medium at multiple first positions at each target depth in the horizontal direction. The control module 14 is used to fuse the two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain the first three-dimensional measurement information of the medium within the entire container 15, and to parse the three-dimensional layering information of the medium within the container 15 based on the first three-dimensional measurement information of the medium.

[0030] The control module 14 is electrically connected to the input device 13, the signal measurement component 11, and the drive mechanism 16. The control module 14 is used to enable the input device 13 or the drive mechanism 16 to perform operations according to a certain working logic or a preset working logic. The control module 14 is also used to receive information such as the medium measurement information transmitted by the signal measurement component 11, the target depth of the input device 13, and the trajectory of the drive mechanism 16.

[0031] In practical applications, the signal measurement component 11 is the core measurement unit of the system, used to emit detection signals and receive reflected signals within the container 15, and generate medium measurement information based on the reflected signals. In this disclosure, the signal measurement component 11 may include, but is not limited to, an ultrasonic measurement unit, an optical measurement unit, or other measurement units suitable for detecting medium properties. For example, the ultrasonic measurement unit can emit ultrasonic signals and receive their reflected signals, generating medium measurement information by analyzing parameters such as the sound velocity, attenuation coefficient, or amplitude spectrum of the reflected signals. The optical measurement unit can emit infrared light or other optical signals and receive reflected light signals, generating medium measurement information by analyzing parameters such as light intensity, wavelength, or spectrum. The medium measurement information reflects the physical properties of the medium within the container 15 (such as the medium's density, sound velocity, resistivity, and refractive index), providing basic data for subsequent layered information analysis.

[0032] The aforementioned control module 14 is used to analyze and process the three-dimensional measurement information of the first medium to obtain medium characteristic information at multiple first locations, and to determine the three-dimensional layering information of the medium within the container based on the differences in the medium characteristic information at the multiple first locations. Preferably, the medium measurement information at the current location at each target depth includes at least one of the following: signal strength information, signal energy spectrum information, signal attenuation information, signal count information, time-of-flight difference, signal phase difference, reflectivity / transmittance, Doppler frequency shift, echo width / duration, and signal propagation speed. The medium characteristic information includes at least one of the following: density data, concentration data, dielectric constant information, conductivity / resistivity information, ultrasonic propagation speed and attenuation coefficient information, pressure gradient information, viscosity information, temperature information, particle size distribution information, and turbidity / transmittance information; the layering information of the medium includes at least one of the following: the interface position between each layer of medium, the height of each layer of medium, and the volume of each layer of medium.

[0033] The insertion device 13 is used to insert or remove the signal measurement component 11 to a target depth within the container 15. For example, the insertion device 13 can be a winch, hoist, or other mechanical device capable of controlling the descent (insertion) or descent (removal) of the signal measurement component 11, adjusting its depth position within the container 15 by controlling the length of the cable or support. Specifically, in this disclosure, the insertion device 13 may include components such as a cable, a cable reel, and a drive motor. One end of the cable is connected to the signal measurement component 11, and the other end is connected to the drive motor via the cable reel. The drive motor is driven by the control module 14, controlling the vertical movement of the signal measurement component 11 within the container 15 according to preset motion logic (such as moving at set intervals or distances), thereby achieving media measurement at different depths or positions. The insertion device 13 may employ acid- and alkali-resistant, wear-resistant cable sheaths to protect the cable, ensuring reliability and durability in complex industrial environments.

[0034] The drive mechanism 16, which can be an electric slide rail, a rotating arm, or a track system, is mounted on top of the container 15. It can place the signal measurement component 11 at any position on the cross-section of the container 15 and drive the signal measurement component 11 to move horizontally to acquire medium measurement information at multiple first positions at each target depth. The deployment device 13 also drives the signal measurement component 11 to move vertically within the container 15, enabling the signal measurement component 11 to acquire medium measurement information at multiple first positions at different target depths in the vertical direction. Through the combined horizontal and vertical movement, the system can achieve omnidirectional three-dimensional scanning measurement of the medium within the container 15.

[0035] It should be noted that the signal measurement component 11 is fixedly connected to the input device 13 and is driven by the input device 13 to be input / output to multiple target depths in the medium within the container 15. Furthermore, in order for the signal measurement component 11 to perform horizontal movement under the drive of the drive mechanism 16, the input device 13 can be mounted on the drive mechanism 16. The drive mechanism 16 drives the input device 13 to move along its slide rail to synchronously move the signal measurement component 11 horizontally (the signal measurement component 11 may also move vertically during horizontal movement, or it may not move vertically. Preferably, the signal measurement component 11 does not move vertically during horizontal movement, but only horizontally, which facilitates the acquisition of medium measurement information at multiple first horizontal positions at the current target depth).

[0036] Specifically, the drive mechanism 16 drives the input device 13 and simultaneously moves the signal measurement component 11 horizontally along the movable part of the drive mechanism 16. The signal measurement component 11 is not limited to horizontal movement; it can move systematically. For example, if the drive mechanism 16 is installed at a certain angle, the plane formed by the multiple first-position medium measurement information at each target depth will have an angle with the vertical surface, which can be 90 degrees or other angles. This disclosure primarily obtains first medium three-dimensional information by acquiring two-dimensional medium measurement information at multiple first positions at multiple target depths. This first medium three-dimensional measurement information allows for the acquisition of relatively accurate three-dimensional layering information of the medium. In other words, the system can identify non-horizontally layered interfaces, such as inclined interfaces, wavy interfaces, and other complex shapes. The drive mechanism 16 can move the signal measurement component 11 systematically, specifically in the form of linear motion, reciprocating motion, or circular motion; the direction can be horizontal, horizontally inclined, or other near-horizontal directions. For such complex interfaces, the system employs an adaptive interface tracking algorithm, using iterative calculations to determine the precise shape and position of the interface.

[0037] The signal measurement component 11 moves vertically to H target depths in the medium inside the container 15 under the drive of the input device 13, and at each target depth, the signal measurement component 11 is driven horizontally by the input device 13 under the drive of the drive mechanism 16 to multiple first positions D. Then, the control module 14 acquires N measurement points for the three-dimensional measurement information of the first medium inside the entire container. Where N=H D, H≥1, D≥1, where H and D are both positive integers.

[0038] In further embodiments of this disclosure, such as Figure 1 and 2 As shown, the mobile immersion-type medium three-dimensional layered interface measurement system may further include a sensor module 12, which is disposed on the immersion device 13, the signal measurement component 11, or the container 15, and is used to detect in real time the auxiliary information of the signal measurement component 11 at each target depth in the medium within the container 15. At this time, the control module 14 is used to calculate, based on the auxiliary information at each target depth and the medium measurement information at the current position of each target depth, to obtain medium measurement information at multiple second positions at each target depth within the container 15. Furthermore, under the action of the sensor module 12 and the signal measurement component 11, the control module 14 is also used to fuse the medium measurement information at multiple second positions at each target depth to obtain second medium three-dimensional measurement information within the entire container, and to parse the true three-dimensional layered information of the medium within the container based on the first medium three-dimensional measurement information and the second medium three-dimensional measurement information. Alternatively, under the action of the sensor module 12 and the signal measurement component 11, the control module 14 is further used to fuse the medium measurement information of multiple second positions at each target depth to obtain the second medium three-dimensional measurement information in the entire container, and to parse the layer information of the medium in the container based on the second medium three-dimensional measurement information.

[0039] The signal measurement component 11 moves vertically to H target depths under the drive of the input device 13. The control module 14 calculates the medium measurement information at multiple second positions D' at each target depth based on the auxiliary information at each target depth obtained by the sensor module 12 and the medium measurement information at the current position of each target depth obtained by the signal measurement component 11. Then, the control module 14 obtains M measurement points for the three-dimensional measurement information of the second medium in the entire container. Where M=H D', H≥1, D'≥1, where H and D' are both positive integers.

[0040] In this context, auxiliary information refers to relevant factors that can affect the measurement information of the medium measured by the signal measurement component 11. These relevant factors can be used to assist the signal measurement component 11 in acquiring medium measurement signals at multiple locations at each target depth. In this embodiment, the sensor module 12 can be one or more combinations of an angle sensor, a rotational speed sensor, or a flow velocity sensor. The types of sensor modules 12 are described in detail below.

[0041] Angle sensor: Installed on the input device 13 or the signal measurement component 11, it is used to detect the angle θ of the signal measurement component 11 relative to the vertical direction in real time. The angle sensor can be implemented using technologies such as gyroscopes, accelerometers, or magnetometers. If directly installed on the signal measurement component 11, it can accurately measure the tilt angle and azimuth angle of the signal measurement component 11 relative to the container 15, and can indirectly deduce the flow velocity information v of the signal measurement component 11. The measurement accuracy of the angle sensor can reach ±0.1°, and the measurement frequency is above 10Hz, ensuring that it can capture subtle angular changes of the signal measurement component 11 in the medium.

[0042] Flow velocity sensor: Installed in the inner wall of the signal measurement assembly 11 or container 15, it is used to detect the flow velocity information v of the medium inside the container 15 in real time. The flow velocity information v reflects the dynamic characteristics of the medium and can also indirectly calculate the tilt angle or positional offset of the signal measurement assembly 11. The flow velocity sensor can be implemented using Doppler effect, hot-wire, or electromagnetic technologies. If installed on the outer shell of the signal measurement assembly 11, it can measure the flow velocity of the medium surrounding the signal measurement assembly 11. The flow velocity sensor has a measurement range of 0-5 m / s, an accuracy of ±0.05 m / s, and a response time of less than 100 ms.

[0043] Rotational speed sensor: Installed on container 15 or signal measurement component 11, it is used to detect in real time the rotational speed r of the medium within container 15 (such as the rotational speed caused by a stirring device). The rotational speed sensor can be implemented using technologies such as Hall effect, photoelectric, or magnetoelectric induction. For example, it can be installed on the rotating part of signal measurement component 11 to measure the rotational speed of signal measurement component 11 around its own axis; or it can be placed in container 15 to measure the rotational speed of the medium. The rotational speed sensor has a measurement range of 0-100 rpm, an accuracy of ±1 rpm, and a sampling frequency of 20 Hz or higher.

[0044] In practical applications, the medium in container 15 may flow when water, raw materials, or other media are added, or during stirring. This causes the signal measurement component 11 to shift under the influence of the medium flow. By collecting auxiliary information in real time through sensor module 12, the possible positions of the signal measurement component 11 in the medium at different times can be accurately captured, providing a reliable data foundation for subsequently obtaining medium measurement information of multiple second positions of the signal measurement component 11 at each target depth.

[0045] It should be noted that the control module 14 in this disclosure is the core processing unit of the system. It receives medium measurement information at the current position of each target depth acquired by the signal measurement component 11, as well as auxiliary information detected and acquired by the sensor module 12. It then uses the auxiliary information to acquire medium measurement information at different positions within each target depth, and by fusing medium measurement information from multiple second positions at different target depths, it parses the layering information of the medium within the container 15. For example, the control module 14 can be hardware such as an industrial control computer, a programmable logic controller (PLC), or a microcontroller, along with corresponding data processing algorithms.

[0046] Furthermore, the medium referred to here is a mixture of multiple media. Due to differences in density, different media may stratify within container 15. The purpose of this disclosure is to measure the actual stratification locations of the different media within container 15.

[0047] As can be seen from the above-disclosed scheme, during actual engineering operations, the signal measurement component 11 may deviate from its expected position due to fluid thrust or mechanical vibration, resulting in a deviation between the acquired medium measurement information and the actual situation. This deviation directly affects the resolution accuracy of the layer information, especially in scenarios where the interface position is unclear or the differences in medium properties are small, which may lead to misjudgment of the interface or thickness measurement errors. The sensor module 12 provides the control module 14 with dynamic data of the actual position or depth of the signal measurement component 11 by real-time detection of auxiliary information (angle, flow velocity, rotational speed). Through the auxiliary information, two-dimensional measurement information of the medium at multiple second positions at multiple target depths can be obtained.

[0048] When the sensor module 12 is an angle sensor, the control module 14 is further configured to calculate the flow velocity information of the signal measurement component 11 within the container 15 based on the angle information; and to calculate the medium measurement information at multiple second positions within the container 15 at each target depth based on the flow velocity information and the medium measurement information at the current position at each target depth. The control module 14 employs a differential calculation method to calculate the moving speed of the signal measurement component 11 through continuously measured angle change rate, and then deduce the medium measurement information at different positions.

[0049] When the sensor module 12 is a flow velocity sensor, the control module 14 is further configured to calculate, based on the flow velocity information and the medium measurement information at the current position at each target depth, to obtain medium measurement information at multiple second positions within the container 15 at each target depth. The control module 14 calculates the displacement trajectory of the signal measurement component 11 based on the flow velocity information, mapping the continuously acquired data to a three-dimensional spatial coordinate system within the container 15, thereby acquiring medium measurement information at multiple second positions at each target depth.

[0050] When sensor module 12 is a rotation speed sensor, control module 14 is further configured to calculate, based on rotation speed information and media measurement information at the current position at each target depth, multiple second positions within container 15 for media measurement. Control module 14 acquires media measurement data at different angles by rotating signal measurement component 11, achieving omnidirectional scanning of different positions at the same depth, thereby obtaining media measurement information at multiple second positions at each target depth.

[0051] like Figure 3 As shown, in a further embodiment of this disclosure, multiple signal measurement components 11 can be configured (two signal measurement components are shown in the figure). These multiple signal measurement components 11 are distributed at different positions in the horizontal direction of the container 15 via a driving mechanism 16. Each signal measurement component 11 is inserted / removed to multiple target depths in the medium within the container 15 under the drive of the insertion device 13, and can also be moved horizontally to multiple positions by the insertion device 13 under the drive of the driving mechanism 16. Preferably, the multiple signal measurement components 11 can be evenly distributed on the cross-section of the container 15 to form a measurement array, with each signal measurement component 11 responsible for measuring the medium measurement information at its location. The control module 14 is also used to fuse the two-dimensional medium measurement information at different positions at multiple target depths obtained by the multiple signal measurement components 11 to obtain three-dimensional medium measurement information within the entire container 15, and to parse the layering information of the medium within the container 15 based on the three-dimensional medium measurement information. The control module 14 employs spatial interpolation algorithms and data fusion technology to reconstruct a continuous three-dimensional medium distribution model from discrete measurement point data.

[0052] The control module 14 controls the deployment device 13 to drive multiple signal measurement components 11 to be deployed / removed synchronously or asynchronously to multiple target depths in the medium within the container 15. In synchronous mode, all signal measurement components 11 descend or rise simultaneously to the same depth for measurement; in asynchronous mode, different signal measurement components 11 can be located at different depths for measurement, adapting to the needs of different measurement strategies.

[0053] It should be noted that in this embodiment, after the signal measurement component 11 moves vertically to H target depths under the drive of the input device 13 and measures the medium measurement information at the current position of each target depth, the control module 14 estimates or calculates the medium two-dimensional measurement information points at multiple horizontal second positions D' at each target depth based on the auxiliary information at each target depth detected and acquired by the sensor module 12 and the medium measurement information acquired by the signal measurement component 11 at the current position of each target depth. This results in the acquisition of M medium measurement information points at multiple second positions D' (multiple horizontal positions corresponding to each target depth) at multiple target depths (H target depths). In other words, the control module acquires M measurement points for the three-dimensional measurement information of the second medium within the entire container (where M = H). D', in the prior art, only the medium measurement information of H points is measured; and, in this disclosure, the driving mechanism 16 and the input device 13 are used to realize the medium measurement information points N of the signal measurement component 11 at multiple first positions D (multiple horizontal positions corresponding to each target depth) at multiple target depths (H target depths) (where N=H D, in existing technologies, only the medium measurement information of H points is measured. Therefore, under the combined action of the input device 13, the drive mechanism 16, and the sensor module 12, the medium measurement information points of the signal measurement component 11 in three dimensions are M. With N points, the medium measurement information points are more densely packed, resulting in more accurate three-dimensional measurement information and layering information of the medium, thus greatly improving the accuracy of the medium interface measurement.

[0054] The layering information of the medium inside container 15 includes at least one of the following: the location of the interface between each layer, the height of each layer, and the volume of each layer. For example, the interface location can be accurate to the millimeter level, with the bottom of container 15 as a reference point; the height of each layer can also be accurate to the millimeter level; the volume of each layer is calculated based on the shape of container 15 and the height of each layer, thereby greatly improving the accuracy of the layering information of the medium inside container 15.

[0055] The control module 14 is also used to perform three-dimensional modeling and display of the three-dimensional measurement information of the first medium, the three-dimensional measurement information of the second medium, and the layering information of the medium. The control module 14 employs three-dimensional visualization technology to transform the measurement data into an intuitive three-dimensional model, displaying the spatial distribution, interface morphology, and volume percentage of different medium layers. The three-dimensional model can be rotated, scaled, and viewed in cross-sections, facilitating operators' comprehensive understanding of the layering state of the medium within the container 15.

[0056] When the system is in operation, the insertion device 13 first inserts the signal measurement component 11 vertically into one of the target depths inside the container 15. At this time, the signal measurement component 11 emits a detection signal and receives a reflected signal. Then, the drive mechanism 16 drives the insertion device 13 to move, causing the signal measurement component 11 to move horizontally. Then, the system controls the signal measurement component 11 to continue repeating the above steps (moving multiple times in the horizontal and vertical directions) at other target depths inside the container 15 through the insertion device 13 and the drive mechanism 16, so as to realize the three-dimensional scanning of the medium inside the container and obtain the medium measurement information at different locations. Finally, the control module 14 fuses this information to generate a three-dimensional distribution model of the medium inside the container 15, and analyzes the layer information such as the interface position, height and volume of each medium layer, and presents it to the user in a three-dimensional visualization manner.

[0057] Example 2 The main difference between this embodiment and Embodiment 1 lies in the calibration of the target depth of the signal measurement component 11 within the medium of the container 15 using the control module 14 and the sensor module 12. In Embodiment 1, the control module 14 and sensor module 12 primarily acquire medium measurement information at multiple second positions at each target depth within the medium of the container 15. Specifically, the control module 14 calculates or estimates the medium measurement information at multiple second positions within the container based on the auxiliary information acquired by the sensor module 12 and the current medium measurement information at each target depth.

[0058] As described above, during the interface detection process, the sensor module 12 provides the control module 14 with dynamic data on the actual position or depth of the signal measurement component 11 by real-time detection of auxiliary information (angle, flow velocity, rotational speed), thereby making the measurement result of the target depth of the interface more accurate. At this time, the control module 14 can be used to calibrate the target depth of the signal measurement component 11 in the medium within the container 15 based on the auxiliary information, and to perform calibration analysis based on the calibrated true value of the target depth and the two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain the true three-dimensional measurement information of the first medium within the entire container. Furthermore, it can parse the true layering information of the medium within the container based on the true three-dimensional measurement information of the first medium and model and display it on the display interface.

[0059] The aforementioned calibration process refers to using auxiliary information to correct or calibrate the target depth recorded by the signal measurement component 11 in order to obtain a calibrated true target depth value that is closer to the actual value.

[0060] Specifically, the control module 14 calibrates the target depth of the signal measurement component 11 within the container based on the auxiliary information to obtain the true target depth value of the signal measurement component 11 as L'=F(L,c); where F(L,c) is any one of a parabolic function, a catenary function, and a linear function; L is the target depth of the signal measurement component within the container, and c is the auxiliary information (angle θ, flow velocity v, rotational speed r) of the signal measurement component at the target depth in the medium within the container, detected in real time by the sensor module.

[0061] The sensor module 12 is mounted on the feeding device 13, the signal measurement component 11, or the container 15, and is used to detect auxiliary information about the target depth of the signal measurement component 11 in the medium within the container in real time. The auxiliary information refers to measurement data that reflects the actual position or depth deviation of the signal measurement component 11, and is used to correct measurement errors caused by factors such as medium flow, tilting of the signal measurement component, or agitation within the container.

[0062] The sensor module 12 mentioned here may include, for example, the following types: Angle sensor 121: Mounted on the input device 13 or the signal measurement assembly 11, it is used to detect the angle θ between the signal measurement assembly 11 and the vertical direction in real time. In a flowing or agitated environment, the signal measurement assembly 11 may tilt, causing the recorded target depth to deviate from the actual value. The angle information θ can be used to correct this deviation.

[0063] Flow velocity sensor 122: Installed on signal measurement component 11 or container 15, it is used to detect the flow velocity information v of the medium inside container 15 in real time. The flow velocity information reflects the dynamic characteristics of the medium and can indirectly deduce the tilt angle or positional offset of signal measurement component 11.

[0064] Rotational speed sensor 123: Installed on container 15, used to detect the rotational speed r of the medium inside container 15 in real time (such as the rotational speed caused by a stirring device). The rotational speed information can be further used to calculate the medium flow rate and the tilt angle of signal measurement component 11.

[0065] In practical applications, the medium in container 15 may flow when water, raw materials, or other media are added, or during stirring. This flow causes the signal measurement component 11 to shift due to the medium's movement. In other words, the length of the lowered cable may exceed the expected depth of the signal measurement component 11 in the medium. By acquiring auxiliary information in real time through sensor module 12, the actual position or depth deviation of the signal measurement component 11 can be accurately captured, providing a reliable data foundation for subsequent calibration.

[0066] Furthermore, the medium referred to here is a mixture of multiple media. Due to differences in density, different media may stratify within the container. The purpose of this disclosure is to measure the actual stratification locations of the different media within the container 15.

[0067] Based on the aforementioned publicly available solution, it is known that during actual engineering operations, the medium inside container 15 may experience significant flow or agitation. The signal measurement component 11 may deviate from its expected position due to fluid thrust or mechanical vibration, resulting in a discrepancy between the recorded target depth and the actual value. This deviation directly affects the accuracy of the layering information, especially in scenarios where the interface position is ambiguous or the medium properties differ only slightly, potentially leading to misjudgment of the interface or thickness measurement errors. The sensor module 12 provides the control module 14 with dynamic data on the actual position or depth of the signal measurement component 11 by real-time detection of auxiliary information (angle, flow velocity, rotational speed).

[0068] In real-world industrial scenarios, such as settling tanks in alumina production or coal washing plants, the signal measurement component 11 is typically moved vertically via an input device 13 (such as a cable and a drive motor) to measure the characteristics of the medium at different depths. However, due to medium flow, the action of agitation equipment, or mechanical vibration of the cable, the signal measurement component 11 may tilt, causing its actual position to deviate from the expected vertical direction. In this case, the recorded target depth L (usually calculated from the movement distance of the input device 13) deviates from the actual depth, affecting the accuracy of the resolution of layered information (such as interface location and medium thickness).

[0069] In a further embodiment of this disclosure, the control module 14 calculates the true value of the target depth of the signal measurement component 11 in the medium inside the container 15 as L'=F(L,c) based on the auxiliary information c and the target depth L of the signal measurement component 11 in the container 15 (obtained directly by the cable length). The function F(L,c) is any one of the following: parabolic function, catenary function, and straight line function. The angle information θ is the angle between the signal measurement component 11 and the vertical direction.

[0070] The target depth L mentioned here is the depth value L that the control module 14 controls the signal measurement component 11 to enter into the container 15. As mentioned above, the signal measurement component 11 can be an ultrasonic measurement unit, an optical measurement unit, etc. In practical applications, one or more types of signal measurement components 11 can be selected as needed.

[0071] Under ideal operating conditions, the signal measurement component 11 should remain vertical. However, as Figure 4As shown, when the medium is flowing, the signal measurement component 11 is subjected to the force of the flowing medium, causing it to tilt. That is, the signal measurement component 11 no longer maintains a vertical position. This results in the signal emitted by the signal measurement component 11 not being perpendicular to the surface of the medium inside the container 15 or the bottom of the container, or in other words, the emitted signal not being perpendicular to the interface of the medium. In this case, the direct measurement result is inaccurate, and it is necessary to correct the measurement result using auxiliary information c obtained by an angle sensor, flow rate sensor, or rotation speed sensor.

[0072] The control module 14 calculates the true value of the target depth of the signal measurement component 11, L'=F(L,c), based on the auxiliary information c and the target depth L of the signal measurement component 11 in the container 15. F(L,c) is a calibration function based on the auxiliary information c and the target depth L, which can be any one of a parabolic function, a catenary function, or a linear function.

[0073] The purpose of the F function is to correct the target depth L using auxiliary information c, thereby obtaining a more accurate depth value L'. In different application scenarios, the specific form of the F function depends on the motion trajectory of the signal measurement component 11 and the characteristics of the surrounding environment. The following examples illustrate three possible forms of the F function: Linear function: Applicable to low flow rates (v < 0.2 m / s) or low viscosity media, F(L,c) = Lcos(c). This formula is based on geometric relationships and corrects for depth errors caused by the tilt of the signal measurement component 11. For example, when the auxiliary information c is the angle information θ or the angle information θ is calculated from the rotational speed information r / flow rate information v, if L = 1 m and θ = 15°, then L' = 1cos(15°) ≈ 0.9659 m, correcting an error of approximately 3.4%. In practical applications, in low flow rate environments, the fluid thrust is small, and the tilt of the signal measurement component 11 is mainly caused by cable tension or mechanical vibration, with the motion trajectory approaching a straight line. The control module 14 selects the linear function L' = Lcos(θ) to simplify calculations and ensure high-precision measurement.

[0074] Parabolic function: Under conditions of high medium velocity or complex flow field, the trajectory of the signal measurement component 11 may exhibit parabolic characteristics. In this case, F(L,c) can be based on a parabolic model, such as L'=AL²+BLc+C, where coefficients A, B, and C are determined based on experimental data or fluid dynamics models. This form considers the nonlinear offset of the signal measurement component 11 under fluid thrust and is suitable for dynamic environments. For example, in an alumina settling tank, the medium velocity may cause the trajectory of the signal measurement component 11 to deviate from a straight line; the parabolic function can more accurately describe the depth deviation by fitting experimental data.

[0075] Catenary Function: In scenarios where cables are long and significantly affected by fluid resistance, the trajectory of the signal measurement component 11 may approximate a catenary. F(L,c) can be expressed as a catenary function, such as L'=Lcosh(kθ), where k is a constant and cosh is a hyperbolic cosine function. This form is suitable for long-distance measurements or high-velocity environments and can more accurately correct for depth deviations. For example, in deep settling tanks, cables may form a catenary shape due to medium resistance; the parameters of the catenary function can be determined through theoretical models or experimental calibration.

[0076] It should be noted that the three functions listed here are for illustrative purposes only and do not constitute a limitation on the technical solution disclosed herein. In practical applications, users can choose the appropriate function type according to their needs.

[0077] The control module 14 uses a built-in algorithm to select an appropriate F-function form for calculation based on angle information θ, flow velocity information v, rotational speed information r, and target depth L. In practical applications, the control module 14 can pre-store multiple F-function models and dynamically select one based on the medium type, flow velocity, or container 15 characteristics. For example, a linear function is preferentially used in low-flow-rate environments, while a parabolic or catenary function is switched to in high-flow-rate or stirred environments. Furthermore, the control module 14 can combine historical measurement data or on-site calibration data to optimize the parameters of the F-function to improve calibration accuracy.

[0078] Specifically, based on the selection of the medium type: the medium type (such as liquid, solid-liquid mixture, or high-viscosity slurry) significantly affects the motion trajectory and tilting behavior of the signal measurement component 11. For example, in an alumina settling tank, the medium is typically divided into a clear liquid layer (low solids content, low viscosity), a settling layer (medium solids content, medium viscosity), and a mud layer (high solids content, high viscosity). The control module 14 can preliminarily determine the current medium type based on medium measurement information (such as the attenuation coefficient of the ultrasonic signal or the intensity of the optical signal) and select the corresponding F-function model.

[0079] Specifically, in the clear liquid layer (low viscosity medium): the clear liquid layer typically has low fluid resistance, and the tilt of the signal measurement component 11 is mainly caused by cable tension or slight fluid thrust, with the motion trajectory being close to a straight line. In this case, the control module 14 preferentially selects a linear function model, such as L'=Lcos(θ), to quickly correct the depth error caused by the tilt.

[0080] Settling layer (medium viscosity medium): The settling layer contains suspended particles, which increases fluid resistance, and the motion trajectory of the signal measurement component 11 may exhibit slight nonlinear characteristics. The control module 14 can select a parabolic function model, such as L'=AL²+BLc+C, where the coefficients A, B, and C are determined through experimental data or fluid dynamics models to adapt to scenarios with medium fluid resistance.

[0081] Mud layer (high viscosity medium): The high viscosity and solid content of the mud layer cause the signal measurement component 11 to experience significant resistance, and its trajectory may approach a catenary. The control module 14 selects a catenary function model, such as L'=Lcosh(kc), specifically L'=Lcosh(kθ), where k is a constant determined by the viscosity and density characteristics of the mud layer.

[0082] By using the dynamic selection function model described above, the measurement accuracy of auxiliary information c can be effectively improved, thereby making the corrected depth value more accurate.

[0083] The calibrated true target depth value L' is combined with the medium measurement information generated by the signal measurement component 11 to analyze the layering information of the medium within the container 15. The medium measurement information (such as the attenuation coefficient of an ultrasonic signal or the intensity of an optical signal) reflects changes in the medium's physical properties, while L' provides the precise measurement location. By analyzing abrupt changes in the medium measurement information at different L' values ​​(such as a sudden drop in amplitude or a change in physical properties), the control module 14 can determine the true layering information between each medium layer (true interface location, true thickness, and volume of different layers).

[0084] Example 3 like Figure 5 As shown, this disclosure also provides a mobile, immersion-type medium three-dimensional layered interface measurement method. This method is used to measure the layered interface of different media within a container and is achieved through the following steps: Step S501: Drive the signal measurement component to move vertically in the medium inside the container by the insertion device, so that the signal measurement component is inserted / extracted to multiple target depths in the medium inside the container.

[0085] In this embodiment, the deployment device may include a hoisting mechanism, a guiding mechanism, and a control mechanism. The hoisting mechanism is driven by an electric motor and can precisely control the descent and ascent speeds of the signal measurement component. The descent speed can be adjusted between 0.1 and 2 meters per second, and the ascent speed can be adjusted between 0.2 and 3 meters per second. The guiding mechanism includes multiple guide wheels and guide arms to ensure the signal measurement component moves smoothly along a predetermined trajectory. The control mechanism employs a PLC control system, which can preset multiple target depth points to achieve automated deployment and retrieval.

[0086] In practice, multiple target depth points are first determined based on the container's height, typically 3-15 depth points are evenly selected within the container's height range. For a container with a height of 10 meters, five target depth points can be selected at depths of 1 meter, 3 meters, 5 meters, 7 meters, and 9 meters. During deployment, the signal measurement component descends to each target depth point at a constant speed of 0.5 meters per second and remains at each target depth point for 30-120 seconds to perform measurements.

[0087] Step S502: The signal measurement component measures the medium measurement information at the current position of each target depth.

[0088] The signal measurement component can employ ultrasonic, electromagnetic, optical, or other signal transmitting and receiving devices suitable for the medium's properties. This component can measure the medium's physical properties such as density, sound velocity, resistivity, and refractive index, thereby distinguishing different types of medium layers. Specifically, when the signal measurement component uses ultrasonic principles, it includes an ultrasonic transmitter, an ultrasonic receiver, and a signal processing unit. The ultrasonic transmitter emits ultrasonic signals with a frequency of 20-200kHz, and the signal wavelength can be automatically adjusted according to the medium's properties. The ultrasonic receiver uses a multi-channel array design, capable of simultaneously receiving reflected signals from different directions. The signal processing unit filters, amplifies, and digitizes the received reflected signals.

[0089] Step S503: Drive the input device to move by the drive mechanism to drive the signal measurement component to move horizontally in the medium inside the container, so that the signal measurement component acquires two-dimensional measurement information of the medium at multiple first positions at each target depth in the horizontal direction.

[0090] At each target depth point, the signal measurement component can perform a 360° rotational scan driven by the drive mechanism, emitting a detection signal every 5-15 degrees, collecting reflected signal data from 24-72 directions. For each direction, the system records parameters such as signal strength, reflection time, and waveform characteristics, generating a medium measurement information matrix for the current location. This information includes key parameters such as medium density, acoustic impedance, and interface distance.

[0091] Step S504: The control module fuses the two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain the three-dimensional measurement information of the medium in the entire container, and parses the three-dimensional layering information of the medium in the container based on the three-dimensional measurement information of the medium.

[0092] Information fusion employs a multi-level fusion strategy. First, measurement information from different locations at the same depth is horizontally fused to generate a medium distribution planar map at that depth. Second, planar maps from different depths are vertically fused to construct a three-dimensional distribution model of the medium within the container. Finally, feature extraction algorithms are used to identify the medium layering interfaces from the three-dimensional distribution model.

[0093] During the layered interface identification process, the system identifies layered interfaces based on abrupt changes in medium measurement information. When the difference in medium density between adjacent measurement points exceeds a preset threshold (typically 5-15%), the system marks it as a potential interface point. Through cluster analysis, interface points at similar depths are grouped into the same layered interface, and the three-dimensional morphology of the interface is fitted using the least squares method.

[0094] In another preferred embodiment, the system can monitor the dynamic changes of the media layering interface in real time. By setting a periodic measurement plan, the system repeatedly executes the measurement process at predetermined intervals (e.g., 1 hour, 4 hours, or 12 hours) to acquire continuous time-series data. Based on this data, the system can analyze the trend of interface position changes over time, predict the direction and speed of interface movement, and provide decision support for industrial production processes.

[0095] Through the above steps, this mobile, immersion-type three-dimensional media stratification interface measurement method can accurately measure the stratification of media within a container, with a measurement accuracy of ±1 cm. It is applicable to various storage tanks and reactors in industries such as petroleum, chemical, and metallurgy. Compared with traditional measurement methods, this method has advantages such as high measurement accuracy, strong adaptability, and high degree of automation, and can meet the needs of precise monitoring of media stratification interfaces in industrial production.

[0096] In this embodiment, the signal measurement component performs medium measurement at multiple positions in the horizontal direction inside the container through the driving mechanism, while the insertion device performs medium measurement at multiple target depths in the vertical direction inside the container through the signal measurement component. By combining horizontal and vertical measurements, a comprehensive three-dimensional scanning measurement of the medium inside the container is achieved.

[0097] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0098] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0099] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A mobile, immersion-type three-dimensional layered interface measurement system for media, characterized in that, include: Input device, signal measurement components, drive mechanism and control module; The deployment device is used to drive the signal measurement component to move vertically in the medium inside the container, so that the signal measurement component is deployed / removed to multiple target depths in the medium inside the container; The signal measurement component is used to measure the medium measurement information at the current position at each target depth; The driving mechanism is used to drive the input device to move so that the signal measurement component can move horizontally in the medium inside the container, so that the signal measurement component can acquire two-dimensional measurement information of the medium at multiple first positions at each target depth in the horizontal direction. The control module is used to fuse two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain three-dimensional measurement information of the medium within the entire container, and to parse out the three-dimensional layering information of the medium within the container based on the three-dimensional measurement information of the medium.

2. The mobile, immersion-type, three-dimensional layered interface measurement system for media according to claim 1, characterized in that, The signal measurement component performs at least one of linear motion, reciprocating motion, or circular motion in the horizontal direction within the medium of the container.

3. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 1, characterized in that, The signal measurement component moves vertically to H target depths in the medium inside the container under the drive of the input device, and at each target depth, the signal measurement component moves horizontally to multiple first positions D under the drive of the drive mechanism and the input device. Then, the control module obtains N measurement points for the three-dimensional measurement information of the first medium inside the entire container. Where N=H D, H≥1, D≥1, where H and D are both positive integers.

4. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 1, characterized in that, It also includes a sensor module, which is mounted on the delivery device, the signal measurement component, or the container, for real-time detection of auxiliary information from the signal measurement component at each target depth in the medium within the container. Preferably, the control module is used to calculate, based on auxiliary information at each target depth and medium measurement information at the current position at each target depth, to obtain medium measurement information at multiple second positions within the container at each target depth; the control module is further used to fuse the medium measurement information at multiple second positions at each target depth to obtain second three-dimensional medium measurement information within the entire container, and to parse the true three-dimensional layering information of the medium within the container based on the first three-dimensional medium measurement information and the second three-dimensional medium measurement information. Preferably, the signal measurement component moves vertically to H target depths under the drive of the deployment device. The control module calculates the medium measurement information at multiple second positions D' at each target depth based on the auxiliary information obtained by the sensor module at each target depth and the medium measurement information at the current position of each target depth obtained by the signal measurement component. Therefore, the control module obtains M measurement points for the three-dimensional measurement information of the second medium within the entire container; where M = H. D', H≥1, D'≥1, where H and D' are both positive integers.

5. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 4, characterized in that, The sensor module is at least one of an angle sensor, a rotation speed sensor, and a flow velocity sensor, and the auxiliary information is at least one of angle information, rotation speed information, and flow velocity information.

6. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 4, characterized in that, The control module is further configured to calibrate the target depth of the signal measurement component in the medium within the container based on the auxiliary information, and to perform calibration analysis based on the calibrated true target depth value and the two-dimensional measurement information of the medium at multiple first positions at each target depth to obtain the true three-dimensional measurement information of the first medium within the entire container, and to parse the true three-dimensional layering information of the medium within the container based on the true three-dimensional measurement information of the first medium. Preferably, the control module calibrates the target depth of the signal measurement component within the container based on the auxiliary information to obtain the true target depth value of the signal measurement component as L'=F(L,c); where F(L,c) is any one of a parabolic function, a catenary function, and a linear function; L is the target depth of the signal measurement component within the container, and c is the auxiliary information detected in real time by the sensor module at the target depth of the signal measurement component in the medium within the container.

7. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 1 or 4, characterized in that, The signal measurement components are multiple, and are distributed at different positions in the horizontal direction of the container via the driving mechanism. Each signal measurement component is deployed / removed to multiple target depths in the medium within the container under the drive of the deployment device. The control module is further configured to fuse the two-dimensional measurement information of the medium at multiple first positions at multiple target depths obtained by the multiple signal measurement components to obtain first three-dimensional measurement information of the medium within the entire container, and to parse the three-dimensional layering information of the medium within the container based on the first three-dimensional measurement information. Preferably, the control module controls multiple signal measurement components to be inserted / removed synchronously or asynchronously to multiple target depths in the medium within the container.

8. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 1, characterized in that, The control module is also used to perform three-dimensional modeling and display of the three-dimensional measurement information of the first medium or the three-dimensional layering information of the medium.

9. The mobile, immersion-type three-dimensional layered interface measurement system for media according to claim 1, characterized in that, The control module is used to analyze and process the three-dimensional measurement information of the first medium to obtain medium feature information at multiple first locations, and to determine the three-dimensional layering information of the medium inside the container based on the differences in the medium feature information at the multiple first locations. Preferably, the medium measurement information at the current position at each target depth includes at least one of the following: signal strength information, signal energy spectrum information, signal attenuation information, signal count information, time-of-flight difference, signal phase difference, reflectivity / transmittance, Doppler frequency shift, echo width / duration, and signal propagation speed. Preferably, the medium characteristic information includes at least one of the following: density data, concentration data, dielectric constant information, conductivity / resistivity information, ultrasonic propagation speed and attenuation coefficient information, pressure gradient information, viscosity information, temperature information, particle size distribution information, and turbidity / transmittance information; Preferably, the layering information of the medium includes at least one of the following: the location of the interface between each layer, the height of each layer, and the volume of each layer.

10. A mobile, immersion-type method for measuring three-dimensional layered interfaces of a medium, characterized in that, Includes the following steps: The signal measurement component is driven by the insertion device to perform vertical movement in the medium inside the container, so that the signal measurement component is inserted / extracted to multiple target depths in the medium inside the container; The signal measurement component measures the medium measurement information at the current position at each target depth; The input device is moved by the drive mechanism to drive the signal measurement component to move horizontally in the medium inside the container, so that the signal measurement component can acquire two-dimensional measurement information of the medium at multiple first positions at each target depth in the horizontal direction. The control module fuses two-dimensional measurement information of the medium at multiple first locations at each target depth to obtain three-dimensional measurement information of the medium within the entire container, and then parses the three-dimensional layering information of the medium within the container based on the three-dimensional measurement information of the medium.

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