CN-122015997-A - Non-contact liquid level measurement method and device integrating attitude information

CN122015997ACN 122015997 ACN122015997 ACN 122015997ACN-122015997-A

Abstract

The invention relates to a non-contact type liquid level measurement method and device integrating gesture information, which belong to the technical field of liquid level measurement and comprise the steps of placing equipment to be measured on a horizontal plane, collecting gesture data of the equipment to be measured in real time by a gesture sensor, displaying the gesture data by a display unit, carrying out gesture resolving on the gesture data of the equipment to be measured to obtain an inclination angle of the equipment to be measured relative to the horizontal plane, judging whether the inclination angle is smaller than a preset inclination angle threshold value or not according to a judgment result, judging whether the liquid level sensor is triggered or not according to the judgment result, collecting the liquid level data of the equipment to be measured according to the judgment result, carrying out liquid level integration resolving on the liquid level data of the equipment to be measured and the inclination angle of the equipment to be measured relative to the horizontal plane to obtain a vertical liquid level, and displaying the vertical liquid level. According to the invention, the high-precision solution is realized by integrating the inclination angle into the liquid level algorithm, so that the robust and high-precision liquid level detection effect is realized.

Inventors

WANG TANGLIN
LI LI
XUE CHENHAO
PENG LIXIANG
ZHENG WEIXIN

Assignees

天翼物联科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260401

Claims (10)

1. The non-contact liquid level measurement method integrating the gesture information is characterized by comprising the following steps of: Placing the equipment to be tested on a horizontal plane, acquiring gesture data of the equipment to be tested in real time by a gesture sensor, and displaying the gesture data by a display unit; carrying out gesture resolving on gesture data of the equipment to be detected to obtain an inclination angle of the equipment to be detected relative to a horizontal plane; Judging the magnitude of the inclination angle and a preset inclination angle threshold value; When the judging result is that the inclination angle is smaller than the preset inclination angle threshold value, judging whether the liquid level sensor is triggered or not; When the judgment result is that the liquid level sensor is triggered, the liquid level sensor collects liquid level data of the equipment to be tested; And carrying out liquid level fusion calculation on the liquid level data of the equipment to be tested and the inclination angle of the equipment to be tested relative to the horizontal plane to obtain a vertical liquid level, and displaying the vertical liquid level by a display unit.
2. The non-contact liquid level measurement method of claim 1, wherein the step of performing gesture calculation on gesture data of the device to be measured to obtain an inclination angle of the device to be measured with respect to a horizontal plane comprises: calculating an initial attitude angle according to accelerometer data in attitude data of the device to be tested; calculating the gesture according to the gyroscope data integral in the gesture data of the device to be detected; and the attitude sensor calculating algorithm calculates the inclination angle of the equipment to be measured relative to the horizontal plane in real time according to the initial attitude angle and the attitude.
3. The non-contact liquid level measurement method of fusing gesture information of claim 1, further comprising: When the judging result is that the inclination angle is larger than or equal to a preset inclination angle threshold value, triggering an alarm and displaying alarm information; the content of the alarm information is that the inclination angle of the equipment to be detected is larger than or equal to a preset inclination angle threshold value.
4. The non-contact liquid level measurement method of fusing gesture information of claim 1, further comprising: and when the judgment result is that the liquid level sensor is not triggered, displaying the inclination angle of the equipment to be tested relative to the horizontal plane in real time.
5. The non-contact liquid level measurement method of fusing gesture information of claim 1, further comprising: the attitude sensor carries out zero offset correction before acquiring the attitude data of the equipment to be detected in real time; Zero offset correction is carried out on the liquid level sensor before the liquid level sensor collects liquid level data of the equipment to be detected; the attitude sensor acquires the attitude data of the equipment to be detected in real time and then carries out filtering processing on the attitude data of the equipment to be detected; And after the liquid level sensor collects the liquid level data of the equipment to be tested, filtering the liquid level data of the equipment to be tested.
6. The method for non-contact liquid level measurement with integrated gesture information of claim 1, wherein the triggering mode of the liquid level sensor comprises a periodic triggering mode or a manual triggering mode.
7. The non-contact liquid level measurement method of claim 1, wherein the liquid level fusion solution is performed on the liquid level data of the device to be measured and the inclination angle of the device to be measured relative to the horizontal plane, so as to obtain the vertical liquid level, and the solution is calculated by the following formula: Wherein h represents the empty height distance between the test point of the equipment to be tested and the liquid level, which is measured by the liquid level sensor, Represents the vertical liquid level and, Representing the pitch angle of the device under test relative to the horizontal, Representing the roll angle of the device under test relative to the horizontal.
8. A non-contact liquid level measuring device integrating gesture information is characterized by comprising a gesture sensor, a display unit, a central processing unit, a liquid level sensor and a power supply unit, The attitude sensor is used for collecting attitude data of the equipment to be tested placed on the horizontal plane in real time; The central processing unit is used for carrying out gesture resolving on gesture data of the equipment to be detected to obtain the inclination angle of the equipment to be detected relative to the horizontal plane, judging the magnitude of the inclination angle and a preset inclination angle threshold value, and judging whether the liquid level sensor is triggered or not when the judgment result is that the inclination angle is smaller than the preset inclination angle threshold value; the liquid level sensor is used for acquiring liquid level data of the equipment to be tested when the judgment result is that the liquid level sensor is triggered; the central processing unit is also used for carrying out liquid level fusion calculation on liquid level data of the equipment to be tested and the inclination angle of the equipment to be tested relative to the horizontal plane to obtain a vertical liquid level; The display unit is used for displaying the attitude data and the vertical liquid level; the power supply unit is used for providing electric energy for the attitude sensor, the display unit, the central processing unit and the liquid level sensor.
9. An electronic device is characterized by comprising a processor and a memory; the processor is used for executing the non-contact liquid level measurement method fusing gesture information according to any one of claims 1 to 7 by calling a program or instructions stored in the memory.
10. A computer-readable storage medium storing a program or instructions that cause a computer to execute a noncontact liquid level measurement method according to any one of claims 1 to 7 with pose information fused.

Description

Non-contact liquid level measurement method and device integrating attitude information Technical Field The invention belongs to the technical field of non-contact liquid level measurement, and particularly relates to a non-contact liquid level measurement method and device integrating gesture information. Background In the management of high value liquids (e.g. wine base, petroleum, chemical, etc.), it is a very important operation step for the accurate measurement of the liquid level in a container. Taking the white spirit industry as an example, the liquid level measurement runs through all links of inventory asset management, process and article control, automatic production efficiency improvement, safety risk prevention and the like. Different from the traditional manual method, the main stream technology focused in the industry at present gradually turns to non-contact nondestructive testing through a measuring mode of inserting a scale or a measuring rod after uncapping, and the mode has obvious advantages in measuring precision, operating efficiency, wine pollution protection and the like. Currently, the non-contact liquid level detection technology mainly comprises laser liquid level detection, ultrasonic liquid level detection, radar wave liquid level detection and the like, and common core technical schemes are essentially based on a flight time ranging principle. Wherein: The laser ranging is to measure the laser round trip time by a transmitting device and a receiving device so as to calculate the distance of the acquisition target. This approach is not penetrable for covers of canvas, wood, ceramics, etc., and therefore generally needs to be placed inside the container, increasing maintenance costs while at the same time risking contamination of the liquid. The typical accuracy of the short distance under the direct irradiation condition is about + -2 mm-5 mm, the absolute error can be increased along with the increase of the distance, and the problems of reading jump, signal loss and the like can be caused by factors such as liquid transparency, color difference, liquid level fluctuation and the like. Ultrasonic ranging is based on ultrasonic waves as a carrier, and the distance is calculated by measuring the round trip propagation time. The technology has penetrability, is easily interfered by ambient temperature and humidity and is sensitive to factors such as steam and pressure, the detection accuracy is usually 0.25% -0.5% of full range, the technology is estimated by a common ton jar (about 1.5m height) in the white wine industry, and the maximum error of measurement is about 8mm. Millimeter wave radar ranging is to calculate a distance by time delay or phase change by using propagation characteristics of high frequency electromagnetic waves. The technology has the characteristics of millimeter-level precision (theoretical +/-1 mm), capability of penetrating most nonmetallic materials, high robustness under severe environments (such as temperature and humidity influence) and the like, can realize real non-contact liquid level detection, and can avoid pollution of measured liquid while accurately measuring. In engineering applications, the level gauge is usually fixed above the container to be measured by an operator for continuous monitoring, or by placing a hand-held device over the container cover for a short time for mobile quick inventory. The factors such as uneven surfaces of the container opening and the cover body, insufficient horizontal installation of equipment, inclination of artificial arrangement and the like can cause an included angle between the core sensor and the vertical direction (normal) of the liquid level, so that the liquid level detection precision is deteriorated from millimeter level to centimeter level, error data can be generated due to the problem of multipath interference when the liquid level detection precision is serious, and the result is unacceptable in high-value liquid industries (such as Maotai, wuliangye and the like in the white spirit industry). Currently, non-contact liquid level meter devices on the market generally depend on only a single sensor in the liquid level detection implementation link, and individual manufacturers can equip physical bubble levels on the surface of the device to assist operators in carrying out device orientation adjustment in application. The method has the following problems: 1. The bubble level is mainly used for rough leveling in daily life, and the precision is not enough in a high-requirement scene; 2. in order to realize multi-direction horizontal identification, the bubble level is required to be arranged on the upper surface of the equipment, and a field Jing Shouxian is used (if the height of a container is more than or equal to 1.5m, the height of an operator is required); 3. The physical display mode is easy to be ignored manually in actual operation; 4. the operation is difficult, and some environmental