Radar level gauge measurement method and system based on echo analysis

Abstract

The application provides a radar material level meter measurement method and system based on echo analysis, relates to the technical field of material level measurement, and is applied to the identification of false echo of suspended shed material in the discharging process of a steel material bin. The method obtains an expected material surface distance trajectory of a target measurement point and a candidate echo trajectory set under a discharging state, selects double-layer candidate echo trajectories that meet an interlayer distance condition within the same discharging period, combines the response residual of the expected material surface distance trajectory, the shielding attenuation characteristic quantity of the interlayer echo interval, and the adjacent reliable material surface band to determine the upper-layer shed material echo and the lower-layer real material surface echo, and calculates a material level measurement result accordingly. The scheme can improve the accuracy, continuity and stability of radar material level measurement under complex working conditions.

Description

Technical Field

[0001] This application relates to the field of material level measurement technology, and in particular to a radar level gauge measurement method and system based on echo analysis. Background Technology

[0002] Material level measurement technology is widely used in industrial settings such as steel, metallurgy, chemical, and petrochemical. Especially during the discharge process of steel silos, the material surface often generates multiple echo peaks due to factors such as bridging, bridging, local suspension, dust obstruction, and short-term collapse. True material surface echoes and false echoes coexist, and there may also be spatial differences in material level changes between different measuring points.

[0003] Existing radar level gauges typically rely on the strongest single echo, a fixed threshold, or simple comparison of nearby points to determine the material level position. This makes it difficult to reliably distinguish between the echo of the upper layer of material and the echo of the lower layer of actual material, which can easily lead to problems such as level jumps, misjudgments, and poor continuity.

[0004] Therefore, a radar level gauge measurement method is needed to improve the accuracy of level identification and operational stability during the discharge process of steel silos. Summary of the Invention

[0005] The purpose of this application is to provide a radar level gauge measurement method and system based on echo analysis to solve the problems of low level identification accuracy and poor operational stability in the steel silo discharge process in the prior art.

[0006] To address the aforementioned technical problems, in a first aspect, this application provides a radar level gauge measurement method based on echo analysis, the method comprising: In the steel silo discharge state, any one of the multiple measurement points is taken as the target measurement point, and the expected material surface distance trajectory and candidate echo trajectory set of the target measurement point are obtained; From the set of candidate echo trajectories, select a first candidate echo trajectory and a second candidate echo trajectory that coexist during the same feeding period and whose peak echo distance difference is greater than a preset interlayer spacing threshold. The peak echo distance of the first candidate echo trajectory is less than the peak echo distance of the second candidate echo trajectory. Using the desired material surface distance trajectory as the gating reference, the distance residuals of the first candidate echo trajectory and the second candidate echo trajectory are accumulated to obtain the first response residual and the second response residual. The occlusion attenuation characteristic quantity is generated by the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory. When the first response residual characterization does not increase with the material feeding distance, the second response residual characterization increases with the material feeding distance, the occlusion attenuation feature is located in the preset attenuation range, and the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer increasing trajectory of the adjacent measurement point, the first candidate echo trajectory is determined to be a suspended false echo, the second candidate echo trajectory is determined to be a reliable material surface echo, and the material level measurement result is calculated.

[0007] Optionally, the step of generating the occlusion attenuation characteristic from the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory includes: In each scanning cycle in which the first candidate echo trajectory and the second candidate echo trajectory coexist, the interlayer echo interval between the termination echo distance of the echo peak segment corresponding to the first candidate echo trajectory and the starting echo distance of the echo peak segment corresponding to the second candidate echo trajectory is determined. The background energy is determined based on the energy range in the radar echo curve that is not included in the echo peak segment. The background energy is then used to correct the valley energy in the interlayer echo range and the peak segment energy of the second candidate echo trajectory, respectively, to obtain the effective valley energy and the second effective peak segment energy. The single-cycle occlusion ratio is generated based on the ratio between the effective valley point energy and the second effective peak segment energy. The single-cycle occlusion ratio is then weighted and accumulated according to the peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory in each scanning cycle to obtain the occlusion attenuation characteristic.

[0008] Secondly, this application provides a radar level gauge measurement system based on echo analysis, the system comprising: The acquisition module is used to acquire the desired material surface distance trajectory and candidate echo trajectory set of any one of multiple measurement points as the target measurement point when the steel silo is discharging material. The selection module is used to select a first candidate echo trajectory and a second candidate echo trajectory from the candidate echo trajectory set, which coexist during the same feeding period and have a peak echo distance difference greater than a preset interlayer spacing threshold. The peak echo distance of the first candidate echo trajectory is less than the peak echo distance of the second candidate echo trajectory. The generation module is used to accumulate the distance residuals of the first candidate echo trajectory and the second candidate echo trajectory with the desired material surface distance trajectory as the gating reference, to obtain the first response residual and the second response residual, and to generate the occlusion attenuation characteristic quantity from the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory. The determination module is used to determine the first candidate echo trajectory as a false echo of suspended material and the second candidate echo trajectory as a reliable material surface echo when the first response residual characterization does not increase with the material release distance, the second response residual characterization increases with the material release distance, the occlusion attenuation feature is located in a preset attenuation range, and the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer distance increase trajectory of the adjacent measurement point. The module also calculates the material level measurement result.

[0009] Thirdly, this application provides an electronic device, comprising: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the steps of the radar level gauge measurement method based on echo analysis as described in the first aspect above.

[0010] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the radar level gauge measurement method based on echo analysis as described in the first aspect above.

[0011] The radar level gauge measurement method based on echo analysis provided in this application has the following beneficial effects: By establishing the desired material surface distance trajectory and gating the candidate echo trajectory, the true material surface echo that conforms to the material release trend can be distinguished from the false echo of the suspended material that does not increase with the material release distance, thus reducing the misjudgment caused by single peak value judgment; by jointly judging the interlayer echo interval, background energy correction and shading attenuation characteristics, the ability to identify the weak echo of the lower layer that is blocked by the upper layer of material can be enhanced; by introducing the neighborhood reliable material surface band, the spatial consistency of the target measuring point judgment and the neighboring measuring points can be correlated, thus suppressing the influence of dust, short-term impact and occasional noise on the material level calculation, thereby improving the continuity, stability and accuracy of material level measurement in the steel silo release process. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A flowchart illustrating a radar level gauge measurement method based on echo analysis, provided for an embodiment of this application; Figure 2 This is a schematic diagram of the process for generating occlusion attenuation features provided in an embodiment of this application; Figure 3This is a schematic diagram of a steel silo in the discharge state provided in an embodiment of this application; Figure 4 This is a schematic diagram of a radar level gauge measurement system based on echo analysis, provided as an embodiment of this application. Detailed Implementation

[0014] To address the challenges of distinguishing between false echoes and true echoes from suspended material during steel silo discharge, and the susceptibility of single-point threshold determination to obstruction and disturbances, this application provides a radar level gauge measurement method based on echo analysis. This method first establishes the desired material surface distance trajectory based on the operating parameters of the discharge equipment, then extracts candidate echo trajectories, and combines dual-layer echo determination, obstruction attenuation characteristics, and neighborhood reliable material surface bands for joint identification. This improves the accuracy of true material surface echo identification under complex working conditions, reduces the risk of material level jumps and misjudgments, and outputs stable material level measurement results.

[0015] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] The core of this application is to provide a radar level gauge measurement method based on echo analysis, and a flowchart of one specific implementation is shown below. Figure 1 As shown, the method includes: S11. In the state of discharging steel silo, take any one of the multiple measurement points as the target measurement point, and obtain the expected material surface distance trajectory and candidate echo trajectory set of the target measurement point.

[0017] Specifically, obtaining the desired material surface distance trajectory and candidate echo trajectory set for the target measurement point includes the following process: Step 111: Obtain the operating parameters of the feeding equipment, and calculate the discharge volume between adjacent scanning cycles based on the operating parameters. The operating parameters of the feeding equipment include at least one of the following: feeding gate opening, feeder frequency, and belt scale flow rate.

[0018] The executing entity of this application may refer to the control unit. Specifically, for at least one of the following parameters—discharge gate opening, feeder frequency, belt scale instantaneous flow rate, or screw conveyor speed—a calibration curve or lookup table can be pre-established between the discharge rate per unit time and the discharge rate per unit time. After reading the operating parameters within the current scanning cycle, the control unit first obtains the corresponding discharge rate per unit time according to the calibration curve or lookup table, and then uses the product of the discharge rate per unit time and the time interval of the scanning cycle as the discharge amount between adjacent scanning cycles.

[0019] If the operating parameters output mass flow rate, it is first converted into volumetric flow rate based on the material bulk density before calculation; if the operating parameters output volumetric flow rate, the discharge amount is directly obtained by integrating the time interval between scan cycles. The discharge amount represents the actual reduction in material volume or mass in the silo between two scan times.

[0020] Step 112: Based on the spatial position and orientation of the target measurement point relative to the material outlet of the silo, and the reliable material surface echo change of adjacent measurement points in the previous material discharge period, determine the initial material discharge influence weight of the target measurement point, and use the initial material discharge influence weight to convert the discharge amount into the expected echo distance increment corresponding to the target measurement point.

[0021] Specifically, a silo geometric model is pre-constructed. The expression and construction method of this model can be referenced from relevant technologies and will not be elaborated here. First, the effective receiving area corresponding to the target measurement point is determined based on the silo geometric model. The effective receiving area is the area of ​​the partition corresponding to the target measurement point on the horizontal cross-section of the silo. When the discharge volume is in mass form, it is first converted into volume form based on the material bulk density. Then, the volume form discharge volume is divided by the effective receiving area to obtain the theoretical material level drop. When the discharge volume is in volume form, the volume form discharge volume is divided by the effective receiving area to obtain the theoretical material level drop.

[0022] A planar coordinate system is established with the center of the silo outlet. The horizontal distance from the target measurement point to the center of the outlet and the azimuth angle of the target measurement point relative to the outlet discharge direction are calculated. A distance influence coefficient is obtained based on the horizontal distance; the smaller the horizontal distance, the larger the distance influence coefficient. An azimuth influence coefficient is obtained based on the azimuth angle; the smaller the azimuth angle, the larger the azimuth influence coefficient. A historical correction coefficient is obtained based on the reliable material surface echo change of adjacent measurement points in the previous discharge period. The historical correction coefficient is used to reflect the degree of synchronization of the material surface change in the adjacent area with the discharge. Finally, the distance influence coefficient, azimuth influence coefficient, and historical correction coefficient are normalized and weighted to obtain the initial discharge influence weight.

[0023] Optionally, the initial feeding influence weight can be expressed as: ,in ,and The initial feeding influence weight is set to a value between 0 and 1 to represent the strength of the influence of the discharge port on the target measurement point. The closer the target measurement point is to the discharge port, the greater the initial feeding influence weight is. Finally, the theoretical material level drop is multiplied by the initial feeding influence weight to obtain the expected echo distance increment corresponding to the target measurement point.

[0024] Step 113: Starting from the reliable material surface echo distance determined in the previous scanning cycle, accumulate the expected echo distance increment according to the scanning cycle to obtain the expected material surface distance trajectory of the target measurement point.

[0025] The desired material surface distance trajectory is a sequence of predicted values ​​of the material surface echo distance at the target measurement point over time, obtained based on the operating parameters of the feeding equipment and the geometric model of the silo.

[0026] Specifically, the reliable material surface echo distance determined in the previous scanning cycle is denoted as... , No. The expected echo distance increment corresponding to each scan cycle is denoted as . Then the first The expected material surface distance at the target measurement point in each scanning cycle for ,in This represents the desired material surface distance corresponding to the previous scanning cycle; by recursively calculating according to the scanning cycle, we can obtain... , ... This forms the desired material surface distance trajectory. Its physical meaning is: under normal material feeding conditions, the actual material surface at the target measurement point will move away from the radar antenna periodically along the direction from the radar antenna to the bottom of the silo. The desired material surface distance trajectory is the theoretical expression of this actual movement trend, used as a gating benchmark for subsequently judging whether candidate echo trajectories truly reflect changes in the material surface.

[0027] Step 114: Search for energy valleys in the radar echo curves of the target measurement point in each scanning cycle. Take the curve interval between adjacent energy valleys as the echo peak segment. Then, associate the echo peak segments that meet the preset continuity condition and whose peak segment energy change does not exceed the preset sudden change threshold across cycles to obtain a set of candidate echo trajectories.

[0028] The preset mutation threshold is used to limit the upper limit of the peak energy change rate within adjacent scanning cycles. The peak energy change rate can be expressed as the ratio of the absolute value of the peak energy difference between two adjacent scanning cycles to the peak energy of the previous scanning cycle. The threshold can be determined according to the radar model, silo size, material dielectric properties and calibration sample statistics. For example, it can be 30% to 50%, preferably 50%.

[0029] The preset continuity condition is used to limit the continuous occurrence of echo peaks within adjacent scanning cycles. It includes the following: the target echo peak appears continuously within adjacent scanning cycles, and the change in peak echo distance corresponding to adjacent scanning cycles is not greater than a preset distance continuity threshold. Preferably, the number of scanning cycles in which the target echo peak appears continuously is not less than a preset number of continuous cycles, and the allowed number of interrupted cycles does not exceed a preset number of discontinuous cycles. The preset distance continuity threshold can be determined based on radar range resolution and the normal fluctuation amplitude of the material surface, for example, it can be 0.10m; the preset number of continuous cycles can be 3, and the preset number of discontinuous cycles can be 1.

[0030] For example, if the preset continuous distance threshold is 0.10m, the preset number of consecutive cycles is 3, and the preset abrupt change threshold is 50%, and the peak echo distance of a certain echo peak segment in the four scanning cycles S1, S2, S3, and S4 is 8.10m, 8.18m, 8.26m, and 8.35m respectively, and the changes in adjacent cycles are 0.08m, 0.08m, and 0.09m respectively, and the energy change rate of the peak segment is less than 50%, then the echo peak segment can be associated across cycles as the same candidate echo trajectory; if the peak echo distance of another echo peak segment changes by more than 0.10m in adjacent cycles, then it will not be included in the candidate echo trajectory.

[0031] This application first converts the equipment operating status into the expected material surface distance trajectory of the target measurement point, so that subsequent judgments are based on the theoretical material surface changes driven by the discharge rate, rather than empirical extrapolation or single-point static judgments commonly used in existing technologies. Then, by screening out cross-cycle candidate echo trajectories through continuity and energy stability, the situation where random noise peaks and short-time scattering peaks are mistakenly identified as material surfaces can be reduced.

[0032] S12. Select a first candidate echo trajectory and a second candidate echo trajectory from the candidate echo trajectory set, both existing during the same feeding period and with a peak echo distance difference greater than a preset interlayer spacing threshold. The peak echo distance of the first candidate echo trajectory is less than the peak echo distance of the second candidate echo trajectory.

[0033] The coexistence of the same feeding period means that the first candidate echo trajectory and the second candidate echo trajectory both have corresponding echo peak segments in at least two identical scanning cycles, and both appear continuously in the same scanning cycle; the peak echo distance difference means the difference between the peak echo distance of the second candidate echo trajectory and the peak echo distance of the first candidate echo trajectory in the same scanning cycle; the preset layer spacing threshold is used to determine whether the two echo trajectories belong to spatially distinguishable double-layer echoes, and can be exemplarily taken as 0.30m.

[0034] If multiple candidate echo trajectories satisfy the aforementioned conditions exist in the candidate echo trajectory set, the trajectory group with the larger peak echo distance difference and closer to the expected material surface distance of the current target measurement point is preferentially selected as the first candidate echo trajectory and the second candidate echo trajectory. The trajectory with the smaller peak echo distance is selected as the first candidate echo trajectory, and the trajectory with the larger peak echo distance is selected as the second candidate echo trajectory. Thus, the first candidate echo trajectory typically corresponds to the upper layer of material echo closer to the radar antenna, while the second candidate echo trajectory typically corresponds to the lower layer of actual material surface echo farther from the radar antenna, providing a dual-layer echo object for subsequent residual judgment and calculation of obstruction attenuation characteristics.

[0035] S13. Using the desired material surface distance trajectory as the gating reference, accumulate the distance residuals of the first candidate echo trajectory and the second candidate echo trajectory to obtain the first response residual and the second response residual, and generate the occlusion attenuation characteristic quantity from the valley point energy between the two candidate echo trajectories and the peak segment energy of the second candidate echo trajectory.

[0036] Among them, the distance residual is the difference between the peak echo distance of the candidate echo trajectory and the predicted value of the expected material surface distance trajectory within the same scanning period; the first response residual and the second response residual are the cumulative results of their respective differences within the continuous scanning window, which are used to characterize the degree of deviation of the candidate echo trajectory from the expected material surface distance trajectory.

[0037] As an optional implementation method, such as Figure 2 As shown, the process for generating occlusion attenuation features includes: S131. In each scanning cycle in which the first candidate echo trajectory and the second candidate echo trajectory coexist, determine the interlayer echo interval between the termination echo distance of the echo peak segment corresponding to the first candidate echo trajectory and the starting echo distance of the echo peak segment corresponding to the second candidate echo trajectory.

[0038] The interlayer echo interval refers to the echo distance range between the first echo peak and the second echo peak within the same scanning period, and is not an independent component in the actual physical space. The starting echo distance is the boundary distance of the corresponding echo peak near the radar antenna, and the ending echo distance is the boundary distance of the corresponding echo peak near the bottom of the storage compartment.

[0039] Specifically, in the first Within each scan cycle, the echo peak segment corresponding to the first candidate echo trajectory is denoted as the first echo peak segment, and the echo peak segment corresponding to the second candidate echo trajectory is denoted as the second echo peak segment; if the termination echo distance of the first echo peak segment is denoted as... The initial echo distance of the second echo peak segment is denoted as... ,but to The range of echo distances between the two echo peaks is the interlayer echo interval within that scanning cycle. This interval is used to subsequently search for the energy valley between the two echo peaks to determine whether there is a double-layer echo separation feature formed by the obstruction of the upper layer of shed material between the two candidate echo trajectories.

[0040] S132. Determine the background energy based on the energy range in the radar echo curve that is not included in the echo peak segment, and use the background energy to correct the valley point energy in the interlayer echo interval and the peak segment energy of the second candidate echo trajectory, respectively, to obtain the effective valley point energy and the second effective peak segment energy.

[0041] The background energy represents the basic energy level formed by noise, dust scattering, and stationary clutter within the current scanning period. Specifically, a sampling interval not included in any echo peak segment can be selected from the radar echo curve of the current scanning period, and the average value of the echo energy at each sampling point within this sampling interval is recorded as the background energy. The background energy This is used to subtract the basic energy component from the valley point energy and peak segment energy, so that the subsequent effective valley point energy and second effective peak segment energy mainly reflect the energy state of the echo peak itself and the residual echo between layers.

[0042] In the above scheme, the correction process in S132 includes: step a1, selecting the continuous sampling window with the lowest echo energy in the interlayer echo interval, and taking the average echo energy in the continuous sampling window as the valley point energy in the interlayer echo interval.

[0043] Specifically, in the first Within each scan cycle, to The sampling window is moved between points of a preset length, and the average echo energy of each sampling point within each sampling window is calculated. The sampling window with the smallest average value is selected as the valley point window; the average echo energy within this valley point window is recorded as the valley point energy. The valley point energy Used to characterize the residual energy level between the first and second echo peaks.

[0044] Step a2: Determine the second echo peak segment corresponding to the second candidate echo trajectory within the same scanning period, and accumulate the echo energy of each sampling point within the second echo peak segment to obtain the peak segment energy of the second candidate echo trajectory.

[0045] Specifically, the first Within each scan cycle, the sampling points between the start and end echo distances of the second echo peak segment are taken as the set of sampling points for the second echo peak segment. The echo energy of each sampling point in this set is accumulated to obtain the peak segment energy of the second candidate echo trajectory. The peak energy This is used to represent the total energy of the lower echo peak corresponding to the second candidate echo trajectory within the current scan period.

[0046] Step a3: Subtract the background energy from the valley energy in the interlayer echo interval to obtain the background corrected valley energy, and subtract the product of the background energy and the number of sampling points of the second echo peak segment from the peak segment energy of the second candidate echo trajectory to obtain the background corrected peak segment energy.

[0047] Specifically, the background correction valley point energy is denoted as ,but The number of sampling points in the second echo peak segment is denoted as... The background correction peak energy is denoted as ,but The above corrections can reduce the impact of the current scanning cycle's basic noise and fixed clutter on the energy determination of interlayer valleys and second echo peaks.

[0048] Step a4: Determine the propagation attenuation compensation coefficient based on the peak echo distance of the second echo peak segment, and use the propagation attenuation compensation coefficient to correct the background correction peak segment energy to obtain the second effective peak segment energy; The valley point propagation compensation coefficient is determined based on the valley point echo distance corresponding to the interlayer echo interval, and the valley point energy is corrected by using the valley point propagation compensation coefficient to correct the background and obtain the effective valley point energy.

[0049] Specifically, the peak echo distance of the second echo peak segment is denoted as... Based on the calibration relationship of radar echo intensity attenuation with propagation distance, the correlation with... Corresponding propagation attenuation compensation coefficient The energy of the second effective peak segment is then denoted as... and order The energy of the second effective peak segment Used to represent the energy of the second echo peak after deducting background energy and compensating for the effects of propagation distance.

[0050] This application separates noise, dust scattering, and distance attenuation from valley energy and peak energy through background subtraction and propagation attenuation compensation in steps a1 to a4, enabling lateral comparison of energy between different periods and different measurement points. The resulting effective valley energy and second effective peak energy are no longer significantly affected by changes in the single measurement environment, making them more stable than existing technologies that rely solely on the original energy value for differentiation.

[0051] S133. Generate a single-cycle occlusion ratio based on the ratio between the effective valley point energy and the second effective peak segment energy, and accumulate the single-cycle occlusion ratio by weighting according to the peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory in each scanning cycle to obtain the occlusion attenuation characteristic quantity.

[0052] The single-cycle occlusion ratio is a dimensionless index generated for a single scan cycle, used to represent the double-layer occlusion state between the first candidate echo trajectory and the second candidate echo trajectory within that scan cycle; the occlusion attenuation feature is a dimensionless comprehensive index obtained by weighted accumulation of the single-cycle occlusion ratios of multiple scan cycles, used to determine whether the occlusion state persists.

[0053] In the above scheme, the single-cycle occlusion ratio generation process in S133 includes: step b1, taking the first echo peak segment corresponding to the first candidate echo trajectory in the same scanning cycle, and determining the double-layer echo energy difference based on the peak segment energy of the first echo peak segment and the second effective peak segment energy.

[0054] Specifically, the first The peak energy of the first echo peak segment within each scan cycle is denoted as . The energy of the second effective peak segment is denoted as The absolute value of the difference between the two is denoted as the double-layer echo energy difference. ,Right now The double-layer echo energy difference is used to represent the energy difference between the upper echo peak and the lower echo peak.

[0055] Step b2: Determine the ratio of the effective valley point energy to the second effective peak segment energy as the interlayer energy leakage ratio.

[0056] The interlayer energy leakage ratio This is a dimensionless ratio used to represent the proportion of residual energy between the first and second echo peaks to the energy of the second effective peak. This ratio describes the energy ratio, not the geometric length of the inter-echo interval itself.

[0057] Step b3: Generate a single-cycle blocking ratio based on the double-layer echo energy difference and the interlayer energy leakage ratio.

[0058] Specifically, first, the energy difference between the two layers of echo... Energy difference index normalized to between 0 and 1 , then 1- As a trough separation indicator; the first The single-cycle occlusion ratio for each scan cycle is denoted as: ,but ,in The weighting coefficient is between 0 and 1. The larger the value, the more significant the energy difference between the upper and lower echoes within the current scanning cycle, and the more pronounced the valley separation between the two peaks. The smaller the value, the less stable the double-layer occlusion feature is within the current scanning period. Subsequently, according to the... Peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory within a scan cycle Determine weights , and according to Obtain the occlusion attenuation characteristic. ,in , It is a dimensionless value between 0 and 1.

[0059] This application generates a single-cycle shading ratio by combining the energy difference between the two layers of echo and the interlayer energy leakage ratio through steps b1 to b3. This is equivalent to simultaneously considering whether the difference between peaks is open or closed, and the depth of the valley between two peaks, thus more accurately characterizing the degree of shading by the canopy material. Unlike existing technologies that simply look at the valley value or only the peak value, this application provides a more complete description of the separation state of the two layers of echo.

[0060] S14. When the first response residual characterization does not increase with the material feeding distance, the second response residual characterization increases with the material feeding distance, the occlusion attenuation feature is located in the preset attenuation range, and the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer increasing distance trajectory of the adjacent measurement point, the first candidate echo trajectory is determined to be a suspended false echo of the shed material, the second candidate echo trajectory is determined to be a reliable material surface echo, and the material level measurement result is calculated.

[0061] The aforementioned "suspended false echo" refers to an echo formed by reflections from overhead material, bridging material, or partially suspended material. This echo is a real reflected signal, but it corresponds to suspended material rather than a descending actual material surface, and therefore is not used as a basis for material level calculation. The "credible material surface echo" refers to a candidate echo trajectory that meets all the objective judgment conditions in this step; "credible" is not a subjective evaluation, but rather indicates that the echo trajectory has passed three categories of judgments: material release response, occlusion attenuation, and neighborhood consistency.

[0062] The neighborhood reliable material surface band is formed by using the neighborhood predicted material surface distance as the center and the bandwidth as the upper and lower boundaries to form a distance interval. The bandwidth is determined by the dispersion of the peak echo distance of each single-layer incremental trajectory relative to the neighborhood predicted material surface distance. During the determination, the relationship between the peak echo distance of the second candidate echo trajectory in the current scan cycle and the distance interval is first compared. If it falls into the interval, it is determined that it satisfies single-cycle neighborhood consistency. Then, it is compared whether it continuously falls into the interval in multiple consecutive scan cycles. If it continuously falls into the interval, it is confirmed that it satisfies stable neighborhood consistency. If it only falls into the interval occasionally in a single scan cycle and deviates from it in subsequent cycles, it is not determined as an echo within the neighborhood reliable material surface band.

[0063] The function of the neighborhood reliable material surface band is to constrain the second candidate echo trajectory of the target measurement point with the normal material surface variation range of the neighboring measurement points, so that the second candidate echo trajectory not only satisfies the temporal consistency with the increase of material discharge distance, but also satisfies the spatial consistency with the neighboring measurement points.

[0064] In this step, if the second candidate echo trajectory is in the... Peak echo distance per scan cycle satisfy - ≤ ≤ ,in, For the first Within each scanning cycle, the neighborhood predicted material surface distance of the target measurement point. If the bandwidth of the neighborhood reliable data plane band is defined, then the second candidate echo trajectory is determined to fall within the neighborhood reliable data plane band in the current scan cycle. If the second candidate echo trajectory falls within the corresponding neighborhood reliable data plane band for at least a preset number of neighborhood confirmation cycles, then it is confirmed to have stable neighborhood consistency. The preset number of neighborhood confirmation cycles can be 3. If the second candidate echo trajectory only accidentally falls within this distance range in a single scan cycle, and the subsequent scan cycles significantly deviate from this distance range, then it is not confirmed to have stable neighborhood consistency.

[0065] When judging the first response residual and the second response residual, the cumulative increase in distance of the first candidate echo trajectory within the continuous scanning window can be denoted as... The cumulative increase in distance of the second candidate echo trajectory within the same continuous scanning window is denoted as... The cumulative increase in distance between the desired material surface and the trajectory within the same continuous scanning window is denoted as... .like Less than If the distance increases by 20% or less than the preset stability threshold (e.g., 0.02m / cycle), then the first response residual characterization is determined not to increase with the material feeding distance; if Not less than If the distance residual of the second candidate echo trajectory relative to the expected material surface distance trajectory in each scanning cycle is not greater than the preset allowable residual, such as 0.15m, then the second response residual characterizes the distance as the material is released increases.

[0066] When determining the occlusion attenuation characteristic, the occlusion attenuation characteristic obtained in S133 is used. Compare with a preset attenuation range. The preset attenuation range represents the typical attenuation state where the echo from the lower material surface can still be received even after being blocked by the upper material. It can be determined statistically through on-site calibration samples, for example, it can be taken as 0.65 to 0.85. If... If the second candidate echo trajectory is located within the preset attenuation range, it is considered to conform to the echo characteristics of the lower material surface after being blocked by the upper shed material.

[0067] When the first candidate echo trajectory satisfies the condition of not increasing distance with material release, the second candidate echo trajectory satisfies the condition of increasing distance with material release, the occlusion attenuation characteristic is located in the preset attenuation range, and the second candidate echo trajectory has stable neighborhood consistency, the first candidate echo trajectory is determined to be a false echo of suspended material, and the second candidate echo trajectory is determined to be a reliable material surface echo.

[0068] This application defines the interlayer echo interval between the first and second candidate echo trajectories by executing steps S131-S133, and then fixes the key observation area of ​​the double-layer echo between the two peaks, rather than only looking at the peak value itself. Therefore, it is easier to identify the shading relationship between the upper layer of material and the lower layer of material. Compared with the existing technology that directly compares the peak amplitude of a single cycle, the shading attenuation characteristic can reflect the continuous shading state and has a stronger resistance to occasional fluctuations.

[0069] As an optional implementation, the process of calculating the material level measurement result is as follows: Step 141, remove the peak echo distance corresponding to the first candidate echo trajectory, and use the peak echo distance corresponding to the second candidate echo trajectory as the effective echo distance of the target measurement point; Step 142, obtain the material surface height of the target measurement point based on the difference between the radar antenna installation height corresponding to the target measurement point and the effective echo distance of the target measurement point; Step 143, determine the material level measurement result based on the material surface height of the target measurement point.

[0070] In steps 141-142 above, within the current scanning period, the peak echo distance of the second candidate echo trajectory is... Effective echo distance of the target measurement point The peak echo distance of the first candidate echo trajectory is not included in subsequent material level calculations. Then, the radar antenna installation height corresponding to the target measurement point is recorded as... The height of the material surface at the target measurement point is recorded as... ,but The radar antenna installation height is the installation height of the radar antenna relative to the reference plane at the bottom of the silo.

[0071] In the above scheme, step 143 includes the following process: Step c1, determining the credibility weight of the target measurement point based on the positional deviation of the second candidate echo trajectory falling into the neighborhood credible material surface band and the response residual of the second candidate echo trajectory and the expected material surface distance trajectory; specifically, the absolute deviation between the peak echo distance of the second candidate echo trajectory and the neighborhood predicted material surface distance is denoted as... And use the bandwidth of the neighborhood trusted material surface band. Normalize it; denote the distance residual between the second candidate echo trajectory and the desired material surface distance trajectory as . The results are then normalized using a preset allowable residual. Confidence weights are calculated based on the normalized positional deviation and response residual. ;For example, ,in The weighting coefficients are between 0 and 1. This is the preset allowable residual. The closer it is to 1, the more suitable the effective echo distance of the target measurement point is as an input for material level calculation.

[0072] Step c2: Based on the horizontal partition area of ​​the silo corresponding to each measurement point, the material level height of the target measurement point and the material level height of adjacent measurement points are weighted by area, and the average material level of the silo is calculated by combining the confidence weight of each measurement point; specifically, the first... The material surface height at each measuring point is denoted as . The area of ​​the horizontal partition corresponding to the measurement point is denoted as The confidence weight of this measurement point is denoted as The average material level in the silo Press ) / The results were calculated. Therefore, measurement points with higher confidence weights and larger partition areas contribute more to the average material level in the silo.

[0073] Step c3: Calculate the storage volume of the silo based on the average material level and geometric parameters of the silo, and use this as the material level measurement result. Specifically, when the horizontal cross-sectional area of ​​the silo is approximately constant in the height direction, the horizontal cross-sectional area of ​​the silo can be denoted as... , and according to Calculate the storage volume; when the cross-sectional area of ​​the silo changes with the height, it can be calculated based on the height in the silo's geometric model. Corresponding cross-sectional area function , press the right The storage volume is calculated using an integral method. The material level measurement result can be the average material level in the silo. Storage volume Or a combination of the two.

[0074] This application, by first eliminating false echoes from suspended material in silos using steps 141-143, and then calculating the material level height using reliable material surface echoes, avoids mistaking strong echoes near the antenna for actual material levels, thus reducing the risk of overestimating material levels at the source. Furthermore, by combining reliable weights, area weighting, and geometric parameters to calculate the average material level and storage volume, compared to the single-point measurement method of existing technologies, it is better able to adapt to uneven material surfaces, localized accumulation, and differences between multiple measurement points within the silo.

[0075] This application establishes a decision chain by executing steps S11-S14, which integrates the operating parameters of the material discharge equipment, the desired material surface distance trajectory, dual-layer echo screening, occlusion attenuation characteristics, and the neighborhood reliable material surface band. Unlike existing technologies that rely solely on the strongest single echo or a fixed threshold to directly determine the material surface, this application performs layered identification of the false echoes from the suspended material and the echoes from the real material surface. Therefore, it is more suitable for dual-layer echo scenarios during the discharge process of steel silos. This process can reduce misjudgments of material level caused by silo blockages, dust, and local bridging, and improve the stability of material level measurement under complex working conditions.

[0076] Furthermore, after determining the first candidate echo trajectory as a false echo of the suspended material, the method further includes: Step 151: When the first candidate echo trajectory disappears within a continuous scanning cycle, and the peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory changes from being greater than a preset interlayer spacing threshold to being less than a preset collapse spacing threshold, a shed material collapse event is generated. Specifically, if the first candidate echo trajectory fails to be associated with the corresponding echo peak segment within a continuous scanning cycle of no less than a preset disappearance cycle, and within the adjacent scanning window before its disappearance, the peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory gradually decreases from being greater than the preset interlayer spacing threshold to being less than the preset collapse spacing threshold, then it is determined that the upper shed material has collapsed. The preset collapse spacing threshold is less than the preset interlayer spacing threshold; for example, when the preset interlayer spacing threshold is 0.30m, the preset collapse spacing threshold can be 0.12m.

[0077] Step 152: After generating the shed collapse event, detect whether the peak energy of the second candidate echo trajectory increases and whether the second candidate echo trajectory still falls within the neighborhood reliable material surface band; specifically, the average peak energy of the second candidate echo trajectory before the shed collapse event is recorded as... The average peak energy of the second candidate echo trajectory within the continuous scanning window after the collapse of the shed material is generated is denoted as... ;like Compared to If the increase in energy level is not less than a preset energy increase threshold, such as 10% to 20%, then the peak energy of the second candidate echo trajectory is determined to have increased. At the same time, the neighborhood reliable material surface band is updated according to steps 161 to 163, and it is determined whether the second candidate echo trajectory still falls within the updated neighborhood reliable material surface band.

[0078] Step 153: When the peak energy of the second candidate echo trajectory increases but still falls within the neighborhood reliable material surface band, the second candidate echo trajectory is maintained as a reliable material surface echo, and short-term impact echoes generated during the collapse of the shed material are prohibited from being used as new reliable material surface echoes. Specifically, if a short-term echo peak segment appears during the collapse of the shed material, lasting only one or a few scan cycles, failing to meet the preset continuity condition, and failing to stably fall within the neighborhood reliable material surface band, then this short-term echo peak segment is marked as a short-term impact echo, and it is prohibited from replacing the second candidate echo trajectory in the material level calculation. This avoids the impact scattering echo generated at the moment of shed material collapse causing jumps in the material level measurement results.

[0079] By continuing to monitor the peak energy and neighborhood consistency of the second candidate echo trajectory after the collapse of the shed material, the short-term impact echo at the moment of collapse can be prevented from being mistaken for a reliable material surface. Compared with existing technologies that are prone to sudden jumps in material level before and after the collapse of the shed material, this application can maintain the continuity of reliable echoes and improve the measurement stability during the material discharge process.

[0080] Furthermore, before the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer spacing trajectory of the adjacent measurement points, the method further includes steps 161 to 163: Step 161: Determine a single-layer increasing distance trajectory based on candidate echo trajectories from neighboring measurement points that do not form double-layer echoes and respond to increasing material feeding distance. Specifically, measurement points within a preset neighborhood around the target measurement point are considered neighboring measurement points. For any neighboring measurement point, if its candidate echo trajectory set does not contain two trajectories that coexist during the same material feeding period and whose peak echo distance difference is greater than a preset interlayer spacing threshold, and its main candidate echo trajectory satisfies the condition of increasing material feeding distance, then the main candidate echo trajectory is determined as a single-layer increasing distance trajectory. The single-layer increasing distance trajectory is used to represent the normal material surface change at the neighboring measurement point that is not disturbed by the double-layer echoes of the shed material.

[0081] Step 162: Based on the peak echo distance of the single-layer distance-increasing trajectory and the spatial position of neighboring measurement points relative to the target measurement point, interpolate to obtain the neighborhood predicted material surface distance of the target measurement point; specifically, in the first... Within the first scan cycle, the first... The peak echo distance of the single-layer distance-increasing trajectory of each neighboring measurement point is denoted as . The horizontal distance between the neighboring measurement point and the target measurement point is denoted as . The interpolation weights can be determined based on the reciprocal of the distance. ,For example Press again The target measurement point is obtained at the 1st The neighborhood prediction material surface distance for each scan cycle The neighborhood predicted material surface distance is used to represent the actual material surface echo distance at the target measurement point, calculated from the surrounding normal measurement points.

[0082] Step 163: Determine the bandwidth of the neighborhood reliable material surface band based on the dispersion between the single-layer incrementing trajectories, and generate the neighborhood reliable material surface band. Relative the peak echo distance of each single-layer incrementing trajectory to the neighborhood predicted material surface distance. The deviation is denoted as The bandwidth can be determined by taking the maximum value, average value, standard deviation, or a combination thereof of the aforementioned deviation. ;For example, Can be taken as ) and preset minimum bandwidth The larger value in the range. Therefore, the neighborhood reliable material surface band is represented as [ - , The echo distance range is defined as follows: This range is not the actual physical band, but rather the determination range of the target measurement point on the echo distance axis.

[0083] This application adaptively generates a neighborhood reliable material surface band using a single-layer incremental trajectory from adjacent measurement points. Instead of using a fixed tolerance window, it dynamically determines the allowable range based on the current local normal material surface changes in the silo, making it more suitable for different silo geometries and different material surface morphologies. This allows the second candidate echo trajectory of the target measurement point to be aligned with the changing trend of the surrounding normal area, enhancing the spatial consistency judgment capability.

[0084] In summary, this application transforms the traditional material level measurement method that relies solely on single-point echo intensity, fixed thresholds, or empirical rules into a layered judgment method for false echo scenarios in suspended material storage silos. Therefore, it is more suitable for the complex echo environment during the discharge process of steel silos.

[0085] In this embodiment, as Figure 3 As shown, the actuator is the control unit of the radar level gauge. Multiple measuring points are set up inside the steel silo. , , , , ,in The target measurement point consists of bulk materials such as iron ore powder, coke, and sinter from a steel industry silo. Radar antenna installation height. The range is 18.00m, the scanning period is 1s, and the reliable material surface echo distance is determined by the previous scanning period. It is 8.00m.

[0086] In the steel silo discharge state, As the target measurement point, obtain The expected material surface distance trajectory and candidate echo trajectory set are obtained. Specifically, in step 111, the operating parameters of the feeding equipment are set as follows: feeding gate opening 35%, feeder frequency 28Hz, and the control unit obtains a discharge rate of 0.030 per unit time based on the pre-established calibration curve. Therefore, the feed rate between adjacent scanning cycles is 0.030. In step 112, the geometric model of the silo is used to determine... The corresponding effective receiving area is 0.30. Therefore, the theoretical material level drop is 0.10m; after establishing a plane coordinate system with the center of the silo outlet, we obtain... Distance influence coefficient The azimuth influence coefficient is 0.95. The historical correction factor is 0.94. It is 0.92, take , , The initial feeding affects the weight. =0.938. Therefore, Corresponding expected echo distance increment It is approximately 0.094m, rounded to 0.09m.

[0087] In step 113, the reliable material surface echo distance determined in the previous scanning cycle is used. Starting from this point, we can recursively derive the following results: m、 m、 m、 m, forming The expected material surface distance trajectory. This trajectory is used to characterize the theoretical trend of the actual material surface moving away from the radar antenna periodically along the direction from the radar antenna to the bottom of the silo under normal feeding conditions. In step 114, for Energy valleys are searched in the radar echo curves during the four scanning cycles from S1 to S4. The curve intervals between adjacent energy valleys are taken as echo peak segments. Echo peak segments whose peak echo distances meet preset continuity conditions and whose peak segment energy changes do not exceed preset abrupt change thresholds are correlated across cycles to obtain a set of candidate echo trajectories. The preset distance continuity threshold is 0.10m, the preset number of continuous cycles is 3, and the preset abrupt change threshold is 50%.

[0088] In this embodiment, the candidate echo trajectory set forms two trajectories: the first candidate echo trajectory. The peak echo distances were 6.18m, 6.19m, 6.18m, and 6.20m, respectively; the second candidate echo trajectory The peak echo distances were 8.11m, 8.22m, 8.31m, and 8.41m, respectively.

[0089] The first candidate echo trajectory is selected from the set of candidate echo trajectories that coexist during the same feeding period and whose peak echo distance difference is greater than a preset interlayer spacing threshold. Second candidate echo trajectory The first candidate echo trajectory The peak echo distance is less than that of the second candidate echo trajectory. The peak echo distance. The coexistence of the same material feeding period refers to... and In at least two identical scan cycles from S1 to S4, corresponding echo peak segments exist and appear consecutively; the peak echo distance difference refers to the distance between the peak echo segments within the same scan cycle. and The difference in peak echo distance. In this embodiment, the preset interlayer spacing threshold is 0.30m. and The peak echo distance differences in each scanning period were 1.93m, 2.03m, 2.13m, and 2.21m, respectively, all greater than 0.30m. Therefore, the two constitute a double-layer echo object. Corresponding to the echo from the upper layer of shed material near the radar antenna, This corresponds to the echo from the actual material surface at a distance from the radar antenna.

[0090] Using the desired material surface distance trajectory as the gating reference, the cumulative... and The distance residual is used to obtain the first response residual and the second response residual, and then... and Valley point energy and The peak segment energy generation occlusion attenuation characteristic. Specifically, in S131, in and Within each of the concurrent scanning cycles, determine The termination echo distance corresponding to the echo peak segment and The interlayer echo interval between the initial echo distance of the corresponding echo peak segment. In this embodiment, taking S2 as an example, It is 6.30m. If the distance is 8.03m, then the echo distance range between 6.30m and 8.03m is the interlayer echo interval within this scanning cycle.

[0091] In S132, the background energy is determined based on the energy range in the radar echo curve that is not included in the echo peak segment. The value is 0.10, and the valley energy within the interlayer echo interval is corrected using background energy. The peak segment energy is used to obtain the effective valley point energy and the second effective peak segment energy. Specifically, within the inter-layer echo interval, the continuous sampling window with the lowest echo energy is selected, and its average echo energy is... If the value is 7.40, then the background correction valley energy is... ; Peak energy corresponding to the second echo peak segment The value is 50.0, and the number of sampling points is [missing information]. If the value is 40, then the background correction peak energy is... ;according to Peak echo distance Determine the propagation attenuation compensation coefficient If the value is 1.00, then the energy of the second effective peak segment is... The value is 46.0; based on the valley echo distance corresponding to the interlayer echo interval, the valley propagation compensation coefficient is determined to be 1.00, and the effective valley energy is 7.30.

[0092] In S133, the single-cycle occlusion ratio is generated based on the ratio between the effective valley energy and the second effective peak energy, and then calculated according to the ratio within each scanning cycle. and The peak echo distance difference is weighted and accumulated with the single-cycle occlusion ratio to obtain the occlusion attenuation characteristic. In this embodiment, the energy of the first echo peak segment is taken. If the value is 20.0, then the energy difference between the two layers of echo is... ; Obtained according to the preset normalization rules Interlayer energy leakage ratio ≈0.159, take Then the single-cycle occlusion ratio ≈0.736. The single-cycle blocking ratios for the four cycles from S1 to S4 can be taken as 0.73, 0.74, 0.75, and 0.74 respectively, and are obtained after weighted accumulation based on the peak echo distance difference. ≈0.74. The preset attenuation range is 0.65 to 0.85, therefore... Located within a preset attenuation range. In this embodiment, The cumulative increase in distance from S1 to S4 is only 0.02m, which is significantly less than the cumulative increase in distance of 0.36m for the expected material surface distance trajectory from D0 to S4. Therefore, the first response residual characterization does not increase with the material release distance. The cumulative distance increase within S1 to S4 is 0.30m, and the distance residuals of each scanning cycle relative to the expected material surface distance trajectory are 0.02m, 0.04m, 0.04m, and 0.05m, respectively, all of which are not greater than the preset allowable residual of 0.15m. Therefore, the second response residual characterizes the distance increase with the material feeding.

[0093] When the first response residual characterization does not increase with the material feeding distance, and the second response residual characterization increases with the material feeding distance, the occlusion attenuation feature is located within the preset attenuation range, and the second candidate echo trajectory... When the first candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer extended trajectory of the adjacent measurement points, the first candidate echo trajectory will be... The echo was determined to be a false echo due to the material being suspended in mid-air. The second candidate echo trajectory was then used. The material surface echo was identified as reliable, and the material level measurement results were calculated.

[0094] Specifically, in step 161, according to , , , Candidate echo trajectories that do not form double-layer echoes and respond to material feeding increase distance are used to determine single-layer increase distance trajectories; at S4... , , , The peak echo distances of the single-layer extension trajectory were 8.36m, 8.43m, 8.45m, and 8.38m, respectively. In step 162, based on the peak echo distance of the single-layer extension trajectory and the relative distances of neighboring measurement points... Spatial location, interpolation to obtain The neighborhood predicted material surface distance It is 8.40m.

[0095] In step 163, the bandwidth of the neighborhood reliable material surface band is determined based on the degree of dispersion between the single-layer incrementing trajectories. Since the value is 0.12m, the reliable material surface band in the neighborhood is [8.28m, 8.52m]. The peak echo distance of S4 is 8.41m, falling within the aforementioned interval; therefore, it is determined to have stable neighborhood consistency. Furthermore, if... It disappears within consecutive scan cycles, and and If the peak echo distance difference between layers changes from being greater than a preset interlayer spacing threshold to being less than a preset collapse spacing threshold, a shed material collapse event is generated; in this embodiment, the preset collapse spacing threshold is 0.12m. If the peak energy increases from 46.0 to 52.5 within a continuous scanning cycle after the collapse, and still falls within the updated neighborhood confidence level band, then it remains... The material surface echo is considered a reliable echo, and short-term impact echoes generated during the collapse process are prohibited from being used as new reliable material surface echoes.

[0096] Finally, in step 141, the following steps are removed. The corresponding peak echo distance, and with The peak echo distance of S4 is 8.41m. The effective echo distance; in step 142, Material surface height m m m; In step 143, the distance between the second candidate echo trajectory and the expected material surface is determined based on the positional deviation of the second candidate echo trajectory falling into the neighborhood reliable material surface band and the response residual of the second candidate echo trajectory and the expected material surface distance trajectory. Credibility weight It is 0.95. to The confidence weights are all 1.00. If , , , , The corresponding horizontal zones of the silos have the same area, and the material surface heights at each point are 9.59m, 9.58m, 9.61m, 9.60m, and 9.57m, respectively. Therefore, the average material level in the silos is... Approximately 9.59m; if the equivalent horizontal cross-sectional area of ​​the silo... 100 The storage volume of the silo Approximately 959 and average material level in the silo Or storage volume Output as the result of material level measurement.

[0097] As can be seen from the above embodiments, this application first establishes based on the operating parameters of the feeding equipment. The expected material surface distance trajectory is obtained, and then a set of candidate echo trajectories is extracted from the echo curve. Subsequently, the true and false echoes are determined by using double-layer echo, occlusion attenuation characteristic, and neighborhood reliable material surface band. Finally, the material level measurement result is calculated using the reliable material surface echo. This example maps each step, parameter value, judgment process, and calculation result in the original process one by one, making it easier to understand the interrelationship between various technical features.

[0098] Figure 4 This is a schematic diagram illustrating a specific implementation of a radar level gauge measurement system based on echo analysis, as provided in this application. (Refer to...) Figure 4 The system may include an acquisition module 41, a selection module 42, a generation module 43, and a determination module 44 connected in sequence. The acquisition module 41 is used to acquire the expected material surface distance trajectory and candidate echo trajectory set of any one of the multiple measurement points as the target measurement point when the steel silo is discharging material.

[0099] The selection module 42 is used to select a first candidate echo trajectory and a second candidate echo trajectory from the candidate echo trajectory set, which coexist in the same feeding period and have a peak echo distance difference greater than a preset interlayer spacing threshold. The peak echo distance of the first candidate echo trajectory is less than the peak echo distance of the second candidate echo trajectory.

[0100] The generation module 43 is used to accumulate the distance residuals of the first candidate echo trajectory and the second candidate echo trajectory with the desired material surface distance trajectory as the gating reference, to obtain the first response residual and the second response residual, and to generate the occlusion attenuation characteristic quantity from the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory.

[0101] The determination module 44 is used to determine the first candidate echo trajectory as a false echo of suspended material and the second candidate echo trajectory as a reliable material surface echo when the first response residual characterization does not increase with the material release distance, the second response residual characterization increases with the material release distance, the occlusion attenuation feature is located in a preset attenuation range, and the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer distance increase trajectory of the adjacent measurement point. The module also calculates the material level measurement result.

[0102] The radar level gauge measurement system based on echo analysis in this application is used to implement the aforementioned radar level gauge measurement method based on echo analysis. Therefore, the specific implementation of the radar level gauge measurement system based on echo analysis can be found in the embodiment section of the radar level gauge measurement method based on echo analysis above. The specific implementation can be referred to the description of the corresponding embodiments, which will not be repeated here.

[0103] This application also provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of any of the above-described radar level gauge measurement methods based on echo analysis.

[0104] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the above-described radar level gauge measurement methods based on echo analysis.

[0105] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, random access memory, portable hard drives, magnetic disks, or optical disks.

[0106] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the embodiments of the radar level gauge measurement method based on echo analysis described above.

[0107] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] The above provides a detailed description of the radar level gauge measurement method and system based on echo analysis provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A radar level gauge measurement method based on echo analysis, characterized in that, include: In the steel silo discharge state, any one of the multiple measurement points is taken as the target measurement point, and the expected material surface distance trajectory and candidate echo trajectory set of the target measurement point are obtained; From the set of candidate echo trajectories, select a first candidate echo trajectory and a second candidate echo trajectory that coexist during the same feeding period and whose peak echo distance difference is greater than a preset interlayer spacing threshold. The peak echo distance of the first candidate echo trajectory is less than the peak echo distance of the second candidate echo trajectory. Using the desired material surface distance trajectory as the gating reference, the distance residuals of the first candidate echo trajectory and the second candidate echo trajectory are accumulated to obtain the first response residual and the second response residual. The occlusion attenuation characteristic quantity is generated by the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory. When the first response residual characterization does not increase with the material feeding distance, the second response residual characterization increases with the material feeding distance, the occlusion attenuation feature is located in the preset attenuation range, and the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer increasing trajectory of the adjacent measurement point, the first candidate echo trajectory is determined to be a suspended false echo, the second candidate echo trajectory is determined to be a reliable material surface echo, and the material level measurement result is calculated.

2. The method according to claim 1, characterized in that, The generation of the occlusion attenuation characteristic from the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory includes: In each scanning cycle in which the first candidate echo trajectory and the second candidate echo trajectory coexist, the interlayer echo interval between the termination echo distance of the echo peak segment corresponding to the first candidate echo trajectory and the starting echo distance of the echo peak segment corresponding to the second candidate echo trajectory is determined. The background energy is determined based on the energy range in the radar echo curve that is not included in the echo peak segment. The background energy is then used to correct the valley energy in the interlayer echo range and the peak segment energy of the second candidate echo trajectory, respectively, to obtain the effective valley energy and the second effective peak segment energy. The single-cycle occlusion ratio is generated based on the ratio between the effective valley point energy and the second effective peak segment energy. The single-cycle occlusion ratio is then weighted and accumulated according to the peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory in each scanning cycle to obtain the occlusion attenuation characteristic.

3. The method according to claim 2, characterized in that, The step of using the background energy to correct the valley energy and the peak energy of the second candidate echo trajectory within the interlayer echo interval to obtain the effective valley energy and the second effective peak energy includes: Within the interlayer echo interval, a continuous sampling window with the lowest echo energy is selected, and the average echo energy within the continuous sampling window is taken as the valley point energy within the interlayer echo interval. Determine the second echo peak segment corresponding to the second candidate echo trajectory within the same scanning period, and accumulate the echo energy of each sampling point within the second echo peak segment to obtain the peak segment energy of the second candidate echo trajectory; Subtracting the background energy from the valley energy in the interlayer echo interval yields the background corrected valley energy, and subtracting the product of the background energy and the number of sampling points of the second echo peak segment from the peak segment energy of the second candidate echo trajectory yields the background corrected peak segment energy. The propagation attenuation compensation coefficient is determined based on the peak echo distance of the second echo peak segment, and the background correction peak segment energy is corrected using the propagation attenuation compensation coefficient to obtain the second effective peak segment energy. The valley point propagation compensation coefficient is determined based on the valley point echo distance corresponding to the interlayer echo interval, and the valley point energy is corrected by using the valley point propagation compensation coefficient to correct the background and obtain the effective valley point energy.

4. The method according to claim 2, characterized in that, The step of generating a single-cycle occlusion ratio based on the ratio between the effective valley energy and the second effective peak energy includes: Obtain the first echo peak segment corresponding to the first candidate echo trajectory within the same scanning period, and determine the double-layer echo energy difference based on the peak segment energy of the first echo peak segment and the second effective peak segment energy. The ratio of the effective valley point energy to the second effective peak segment energy is determined as the interlayer energy leakage ratio; A single-cycle blocking ratio is generated based on the double-layer echo energy difference and the interlayer energy leakage ratio.

5. The method according to claim 1, characterized in that, The calculated material level measurement results include: The peak echo distance corresponding to the first candidate echo trajectory is removed, and the peak echo distance corresponding to the second candidate echo trajectory is used as the effective echo distance of the target measurement point. The material surface height of the target measurement point is obtained by comparing the installation height of the radar antenna corresponding to the target measurement point with the effective echo distance of the target measurement point. The material level measurement result is determined based on the material surface height at the target measurement point.

6. The method according to claim 5, characterized in that, The step of determining the material level measurement result based on the material surface height at the target measurement point includes: The confidence weight of the target measurement point is determined based on the positional deviation of the second candidate echo trajectory falling into the neighborhood confidence material surface band and the response residual between the second candidate echo trajectory and the expected material surface distance trajectory. Based on the horizontal partition area of ​​the silo corresponding to each measurement point, the material level height of the target measurement point and the material level height of the adjacent measurement points are weighted by area, and the average material level of the silo is calculated by combining the confidence weight of each measurement point. The material storage volume of the silo is calculated based on the average material level and geometric parameters of the silo, and used as the material level measurement result.

7. The method according to claim 1, characterized in that, The acquisition of the desired material surface distance trajectory and candidate echo trajectory set of the target measurement point includes: Obtain the operating parameters of the feeding equipment, and calculate the discharge volume between adjacent scanning cycles based on the operating parameters of the feeding equipment; Based on the spatial position and orientation of the target measurement point relative to the silo outlet, and the reliable material surface echo change of adjacent measurement points in the previous discharge period, the initial discharge influence weight of the target measurement point is determined, and the discharge volume is converted into the expected echo distance increment corresponding to the target measurement point using the initial discharge influence weight. Starting from the reliable material surface echo distance determined in the previous scanning cycle, the expected echo distance increment is accumulated according to the scanning cycle to obtain the expected material surface distance trajectory of the target measurement point; Energy valleys are searched for in the radar echo curves of the target measurement point in each scanning cycle. The curve interval between adjacent energy valleys is taken as the echo peak segment. The echo peak segments that meet the preset continuity condition and whose peak segment energy change does not exceed the preset abrupt change threshold are correlated across cycles to obtain a set of candidate echo trajectories.

8. The method according to claim 1, characterized in that, After determining the first candidate echo trajectory as a false echo of the suspended material, the method further includes: When the first candidate echo trajectory disappears within a continuous scanning cycle, and the peak echo distance difference between the first candidate echo trajectory and the second candidate echo trajectory changes from being greater than a preset interlayer spacing threshold to being less than a preset collapse spacing threshold, a shed material collapse event is generated. After generating the shed collapse event, detect whether the peak energy of the second candidate echo trajectory increases and whether the second candidate echo trajectory still falls within the neighborhood reliable material surface band; When the peak energy of the second candidate echo trajectory increases but still falls within the neighborhood reliable material surface band, the second candidate echo trajectory is maintained as a reliable material surface echo, and the short-term impact echo generated during the collapse of the shed material is prohibited from being used as a new reliable material surface echo.

9. The method according to claim 1, characterized in that, Before the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer extended trajectory of the adjacent measurement points, the method further includes: Based on the candidate echo trajectories of nearby measurement points that do not form double-layer echoes and respond to material feeding increase distance, determine the single-layer increase distance trajectory; Based on the peak echo distance of the single-layer extension trajectory and the spatial position of the neighboring measurement points relative to the target measurement point, the neighborhood predicted material surface distance of the target measurement point is obtained by interpolation. The bandwidth of the neighborhood reliable material surface band is determined based on the degree of dispersion between single-layer incremental trajectories, and the neighborhood reliable material surface band is generated.

10. A radar level gauge measurement system based on echo analysis, characterized in that, include: The acquisition module is used to acquire the desired material surface distance trajectory and candidate echo trajectory set of any one of multiple measurement points as the target measurement point when the steel silo is discharging material. The selection module is used to select a first candidate echo trajectory and a second candidate echo trajectory from the candidate echo trajectory set, which coexist during the same feeding period and have a peak echo distance difference greater than a preset interlayer spacing threshold. The peak echo distance of the first candidate echo trajectory is less than the peak echo distance of the second candidate echo trajectory. The generation module is used to accumulate the distance residuals of the first candidate echo trajectory and the second candidate echo trajectory with the desired material surface distance trajectory as the gating reference, to obtain the first response residual and the second response residual, and to generate the occlusion attenuation characteristic quantity from the valley energy between the two candidate echo trajectories and the peak energy of the second candidate echo trajectory. The determination module is used to determine the first candidate echo trajectory as a false echo of suspended material and the second candidate echo trajectory as a reliable material surface echo when the first response residual characterization does not increase with the material release distance, the second response residual characterization increases with the material release distance, the occlusion attenuation feature is located in a preset attenuation range, and the second candidate echo trajectory falls into the neighborhood reliable material surface band formed by the single-layer distance increase trajectory of the adjacent measurement point. The module also calculates the material level measurement result.

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