CN105004402B - The wireless monitoring method and system of a kind of dynamic liquid level - Google Patents
The wireless monitoring method and system of a kind of dynamic liquid level Download PDFInfo
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- CN105004402B CN105004402B CN201510296217.6A CN201510296217A CN105004402B CN 105004402 B CN105004402 B CN 105004402B CN 201510296217 A CN201510296217 A CN 201510296217A CN 105004402 B CN105004402 B CN 105004402B
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Abstract
The invention discloses the wireless monitoring method and system of a kind of dynamic liquid level, method includes：The range data needed for dynamic liquid level measurement is gathered by the way of the collaboration of multiple ultrasonic sensors；Liquid level is calculated using improved range difference gradient algorithm according to the range data of collection, so as to obtain actual liquid level height；The actual liquid level calculated height is wirelessly transmitted to remote monitoring terminal by Xbee；Remote monitoring terminal highly carries out the actual liquid level of reception graphical interfaces and shows and voice broadcast, so as to carry out remote monitoring to dynamic liquid level.The present invention can accurately measure the actual liquid level height under liquid level inclination conditions, and the scope of application is wider；The ad hoc network feature of Xbee modules is make use of, facilitates the extension of sensor network system；Can be that measurement result is intuitively presented in user, more intuitively.It the composite can be widely applied to level gauging field.
Description
Technical field
The present invention relates to automated control and electronic communication field, especially a kind of wireless monitoring method of dynamic liquid level with
System.
Background technology
Level gauging is widely used in automating, the field such as chemical industry, oil, sewage monitoring.Realize contactless, intelligent survey
Amount is the current developing direction of liquid level gauge.With industrial expansion, the application of the new and high technology such as computer, microelectronics, sensor
And research, the in recent years development of liquid level instrument have obtained significant progress, to adapt to higher and higher application requirement.In numerous liquid
In position measuring method and measuring system, there is the ultrasonic liquid level measuring system of contactless characteristic, be increasingly becoming level gauging
Mainstream.
With the fast development of electronic information technology, ultrasonic liquid level measuring system is towards intelligent, integrated direction
Development, but there is following defect for traditional ultrasonic liquid level measuring system：
(1) it is most of to be only applicable to static liquid level, the situation of liquid level dynamic tilt, smaller scope of application can not be suitable for；
(2) sensor network system in measuring system cannot carry out ad hoc network, and extension is got up not convenient enough and quick；
(3) monitoring interface of distal end lacks graphical monitoring interface mostly, it is difficult to measurement result is intuitively presented for user, no
It is enough directly perceived.
The content of the invention
In order to solve the above-mentioned technical problem, the purpose of the present invention is：Offer one kind is applied widely, extension is convenient and directly perceived
, the wireless monitoring method of dynamic liquid level.
It is another object of the present invention to：It is convenient and intuitively to provide a kind of applied widely, extension, dynamic liquid level it is wireless
Monitoring system.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of wireless monitoring method of dynamic liquid level, including：
S1, gather the required range data of dynamic liquid level measurement by the way of the collaboration of multiple ultrasonic sensors；
S2, according to the range data of collection calculate liquid level using improved range difference-gradient algorithm, from
And obtain actual liquid level height；
S3, by the actual liquid level calculated height by Xbee be wirelessly transmitted to remote monitoring terminal；
S4, remote monitoring terminal highly carry out the actual liquid level of reception graphical interfaces and show and voice broadcast, so that right
Dynamic liquid level carries out remote monitoring.
Further, the step S1, it includes：
S11, by 3 ultrasonic sensors be installed on container top, wherein, 1 ultrasonic sensor is installed on vessel top
The centre position in portion, remaining 2 ultrasonic sensor are separately mounted to the left and right sides or front and rear two in container top centre position
Side；
S12, measure 3 ultrasonic sensors and tilt the vertical distance between liquid level respectively, so that the distance gathered
Data.
Further, the step S2, it includes：
S21, calculate the angle of inclination for tilting liquid level according to the distance between the range data and ultrasonic sensor of collection,
It is described tilt liquid level the calculation formula of tilt angle alpha be：
Wherein, h1For the ultrasonic sensor on the left of container top centre position and tilt the vertical distance between liquid level, h2For
Vertical distance between the ultrasonic sensor and inclination liquid level in container top centre position, h3For on the right side of container top centre position
Ultrasonic sensor and tilt liquid level between vertical distance, x1For the ultrasonic sensor on the left of container top centre position away from
From the horizontal distance in container top centre position, x2It is the ultrasonic sensor on the right side of container top centre position apart from vessel top
The horizontal distance in portion centre position；
S22, calculate inclination liquid level distance appearance according to the length of container, height, the angle of inclination calculated and the data of collection
The vertical distance of device bottom and corresponding horizontal distance, the vertical distance AB and phase for tilting liquid level apart from container bottom
The calculation formula of the horizontal distance BC answered is：
Wherein, x is the length of container, and h is the height of container；
S23, vertical distance AB and corresponding horizontal distance BC the calculating inclination according to inclination liquid level apart from container bottom
Liquid level is positioned to liquid level during horizontality, and to tilt liquid level when liquid level is positioned to horizontality as actual liquid
Position height, the calculation formula of the liquid level H when inclination liquid level is positioned to horizontality are：
H=BC × AB/ (2x).
Further, the step S2, it includes：
S21, calculate the angle of inclination for tilting liquid level according to the distance between the range data and ultrasonic sensor of collection,
It is described tilt liquid level the calculation formula of tilt angle alpha be：
Wherein, h1For the ultrasonic sensor on front side of container top centre position and tilt the vertical distance between liquid level, h2For
Vertical distance between the ultrasonic sensor and inclination liquid level in container top centre position, h3For on rear side of container top centre position
Ultrasonic sensor and tilt liquid level between vertical distance, x1For the ultrasonic sensor on front side of container top centre position away from
From the vertical range in container top centre position, x2It is the ultrasonic sensor on rear side of container top centre position apart from vessel top
The vertical range in portion centre position；
S22, calculate inclination liquid level distance appearance according to the width of container, height, the angle of inclination calculated and the data of collection
The vertical distance of device bottom and corresponding horizontal distance, the vertical distance AB and phase for tilting liquid level apart from container bottom
The calculation formula of the horizontal distance BC answered is：
Wherein, y is the width of container, and h is the height of container；
S23, vertical distance AB and corresponding horizontal distance BC the calculating inclination according to inclination liquid level apart from container bottom
Liquid level is positioned to liquid level during horizontality, and to tilt liquid level when liquid level is positioned to horizontality as actual liquid
Position height, the calculation formula of the liquid level H when inclination liquid level is positioned to horizontality are：
H=BC × AB/ (2y).
Further, the step S2 is further included according to the changing value of actual liquid level height and the calculating of corresponding transformation period
The velocity step of actual liquid level height change, the calculation formula of the speed v of the actual liquid level height change are：
V=Δs H/t
Wherein, Δ H is the changing value of actual liquid level height, and t is transformation period.
Further, the step S1 is further included using temperature sensor collection container internal temperature data, with to the velocity of sound into
The step of row compensation.
Another technical solution is used by the present invention solves its technical problem：
A kind of wireless supervisory control system of dynamic liquid level, including：
Front end data acquisition module, for gathering dynamic liquid level measurement institute by the way of the collaboration of multiple ultrasonic sensors
The range data needed；
Front end processing block, for using improved range difference-gradient algorithm to liquid level according to the range data of collection
Highly calculated, so as to obtain actual liquid level height；
Xbee wireless communication modules, for the actual liquid level calculated height to be wirelessly transmitted to remotely by Xbee
Monitor terminal；
Long-range display and voice broadcast module, figure circle is highly carried out for remote monitoring terminal to the actual liquid level of reception
Face is shown and voice broadcast, so as to carry out remote monitoring to dynamic liquid level；
The output terminal of the front end data acquisition module pass sequentially through front end processing block and Xbee wireless communication modules into
And it is connected with the input terminal of long-range display and voice broadcast module.
Further, the front end data acquisition module is made of multiple HC-SR04 ultrasonic distance-measuring sensors.
Further, the output terminal of the front end processing block is also associated with TFT-LCD display modules and front end voice broadcast
Module.
Further, the front end processing block is STM32F103 series microprocessors.
Further, the front end processing block is STM32F103 series microprocessors, and the Xbee wireless communication modules are
Xbee-S2 wireless communication modules, the long-range display and voice broadcast module are arranged in PC machine, the front end voice broadcast mould
The input terminal of block is connected with the output terminal of STM32F103 series microprocessors.
The beneficial effect of the method for the present invention is：Using multiple ultrasonic sensors collaboration by the way of and improved range difference-
Gradient algorithm come realize dynamic liquid level measure, can accurately measure under liquid level inclination conditions actual liquid level height, be applicable in
Scope is wider；The actual liquid level calculated height is wirelessly transmitted to remote monitoring terminal by Xbee, make use of Xbee
The ad hoc network feature of communication, facilitates the extension of sensor network system；Actual liquid level height of the remote monitoring terminal to reception
Progress graphical interfaces is shown and voice broadcast, can be that measurement result is intuitively presented in user, more intuitively.Further, it is possible to count
The speed of actual liquid level height change is calculated, it is more convenient.
The beneficial effect of present system is：Front end data acquisition module and front end processing block use multiple ultrasonic waves
The mode of sensor synergism and improved range difference-gradient algorithm realize that dynamic liquid level measures, and can accurately measure in liquid
Actual liquid level height under the inclination conditions of face, the scope of application are wider；Xbee wireless communication modules are high by the actual liquid level calculated
Degree is wirelessly transmitted to remote monitoring terminal by Xbee, make use of the ad hoc network feature of Xbee modules, facilitates sensor
The extension of network system；Long-range display and voice broadcast module highly carry out the actual liquid level of reception graphical interfaces and show and language
Sound is reported, and can be that measurement result is intuitively presented in user, more intuitively.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of overall flow figure of the wireless monitoring method of dynamic liquid level of the present invention；
Fig. 2 is the flow chart of step S1 of the present invention；
Fig. 3 is a kind of flow chart of step S2 of the present invention；
Fig. 4 is another flow chart of step S2 of the present invention；
Fig. 5 is a kind of general frame figure of the wireless supervisory control system of dynamic liquid level of the present invention；
Fig. 6 is the liquid level instrumentation plan in the case of liquid left bank；
Fig. 7 is the top view of container top
Fig. 8 is that the liquid level in the case of liquid top rake measures side view.
Reference numeral：1st, 2 and 3. ultrasonic sensor；4. tilt liquid.
Embodiment
Reference Fig. 1, a kind of wireless monitoring method of dynamic liquid level, including：
S1, gather the required range data of dynamic liquid level measurement by the way of the collaboration of multiple ultrasonic sensors；
S2, according to the range data of collection calculate liquid level using improved range difference-gradient algorithm, from
And obtain actual liquid level height；
S3, by the actual liquid level calculated height by Xbee be wirelessly transmitted to remote monitoring terminal；
S4, remote monitoring terminal highly carry out the actual liquid level of reception graphical interfaces and show and voice broadcast, so that right
Dynamic liquid level carries out remote monitoring.
Wherein, actual liquid level highly refers to the liquid level that liquid level is placed as under horizontality, the reality under liquid level inclination
Liquid level is also for horizontal positioned state.
With reference to Fig. 2, preferred embodiment is further used as, the step S1, it includes：
S11, by 3 ultrasonic sensors be installed on container top, wherein, 1 ultrasonic sensor is installed on vessel top
The centre position in portion, remaining 2 ultrasonic sensor are separately mounted to the left and right sides or front and rear two in container top centre position
Side；
S12, measure 3 ultrasonic sensors and tilt the vertical distance between liquid level respectively, so that the distance gathered
Data.
With reference to Fig. 3, preferred embodiment is further used as, the step S2, it includes：
S21, calculate the angle of inclination for tilting liquid level according to the distance between the range data and ultrasonic sensor of collection,
It is described tilt liquid level the calculation formula of tilt angle alpha be：
Wherein, h1For the ultrasonic sensor on the left of container top centre position and tilt the vertical distance between liquid level, h2For
Vertical distance between the ultrasonic sensor and inclination liquid level in container top centre position, h3For on the right side of container top centre position
Ultrasonic sensor and tilt liquid level between vertical distance, x1For the ultrasonic sensor on the left of container top centre position away from
From the horizontal distance in container top centre position, x2It is the ultrasonic sensor on the right side of container top centre position apart from vessel top
The horizontal distance in portion centre position；
S22, calculate inclination liquid level distance appearance according to the length of container, height, the angle of inclination calculated and the data of collection
The vertical distance of device bottom and corresponding horizontal distance, the vertical distance AB and phase for tilting liquid level apart from container bottom
The calculation formula of the horizontal distance BC answered is：
Wherein, x is the length of container, and h is the height of container；
S23, vertical distance AB and corresponding horizontal distance BC the calculating inclination according to inclination liquid level apart from container bottom
Liquid level is positioned to liquid level during horizontality, and to tilt liquid level when liquid level is positioned to horizontality as actual liquid
Position height, the calculation formula of the liquid level H when inclination liquid level is positioned to horizontality are：
H=BC × AB/ (2x).
With reference to Fig. 4, preferred embodiment is further used as, the step S2, it includes：
S21, calculate the angle of inclination for tilting liquid level according to the distance between the range data and ultrasonic sensor of collection,
It is described tilt liquid level the calculation formula of tilt angle alpha be：
Wherein, h1For the ultrasonic sensor on front side of container top centre position and tilt the vertical distance between liquid level, h2For
Vertical distance between the ultrasonic sensor and inclination liquid level in container top centre position, h3For on rear side of container top centre position
Ultrasonic sensor and tilt liquid level between vertical distance, x1For the ultrasonic sensor on front side of container top centre position away from
From the vertical range in container top centre position, x2It is the ultrasonic sensor on rear side of container top centre position apart from vessel top
The vertical range in portion centre position；
S22, calculate inclination liquid level distance appearance according to the width of container, height, the angle of inclination calculated and the data of collection
The vertical distance of device bottom and corresponding horizontal distance, the vertical distance AB and phase for tilting liquid level apart from container bottom
The calculation formula of the horizontal distance BC answered is：
Wherein, y is the width of container, and h is the height of container；
S23, vertical distance AB and corresponding horizontal distance BC the calculating inclination according to inclination liquid level apart from container bottom
Liquid level is positioned to liquid level during horizontality, and to tilt liquid level when liquid level is positioned to horizontality as actual liquid
Position height, the calculation formula of the liquid level H when inclination liquid level is positioned to horizontality are：
H=BC × AB/ (2y).
Be further used as preferred embodiment, the step S2 further include according to the changing value of actual liquid level height and
Corresponding transformation period calculates the velocity step of actual liquid level height change, the meter of the speed v of the actual liquid level height change
Calculating formula is：
V=Δ H/t,
Wherein, Δ H is the changing value of actual liquid level height, and t is transformation period.
Preferred embodiment is further used as, the step S1 is further included using temperature inside temperature sensor collection container
Degrees of data, the step of to be compensated to the velocity of sound.
Reference Fig. 5, a kind of wireless supervisory control system of dynamic liquid level, including：
Front end data acquisition module, for gathering dynamic liquid level measurement institute by the way of the collaboration of multiple ultrasonic sensors
The range data needed；
Front end processing block, for using improved range difference-gradient algorithm to liquid level according to the range data of collection
Highly calculated, so as to obtain actual liquid level height；
Xbee wireless communication modules, for the actual liquid level calculated height to be wirelessly transmitted to remotely by Xbee
Monitor terminal；
Long-range display and voice broadcast module, figure circle is highly carried out for remote monitoring terminal to the actual liquid level of reception
Face is shown and voice broadcast, so as to carry out remote monitoring to dynamic liquid level；
The output terminal of the front end data acquisition module pass sequentially through front end processing block and Xbee wireless communication modules into
And it is connected with the input terminal of long-range display and voice broadcast module.
Preferred embodiment is further used as, the front end data acquisition module is by multiple HC-SR04 ultrasonic rangings
Sensor forms.
With reference to Fig. 5, preferred embodiment is further used as, the output terminal of the front end processing block is also associated with TFT-
LCD display module and front end voice broadcast module.
Preferred embodiment is further used as, the front end processing block is STM32F103 series microprocessors.
Preferred embodiment is further used as, the front end processing block is STM32F103 series microprocessors, described
Xbee wireless communication modules are Xbee-S2 wireless communication modules, and the long-range display and voice broadcast module are arranged in PC machine,
The input terminal of the front end voice broadcast module is connected with the output terminal of STM32F103 series microprocessors.
The present invention is described in further detail with reference to Figure of description and specific embodiment.
Embodiment one
The whole dynamic liquid level monitoring system of the present embodiment mainly includes data acquisition unit, control unit, wireless communication
Unit, display unit, voice broadcast unit and Terminal Control Element.
Wherein, using multiple HC-SR04 ultrasonic distance-measuring sensors, (the present embodiment uses 3 ultrasounds to data acquisition unit
Ripple distance measuring sensor, wherein 1 ultrasonic distance-measuring sensor is placed on the centre position of container top), can occur in liquid
Tilt or accurately measure liquid level when tilting forward and back.HC-SR04 ultrasonic distance-measuring sensors detection distance range be
2-400cm, precision can reach 0.3cm.
Wireless communication unit uses Xbee-S2 modules, and Xbee-S2 modules are compatible with ZigBee technology, it can be provided point
To the mode of point or transparent communication.Front end display unit is 2.8 cun of ALIENTEK TFT-LCD modules of ALIENTEK companies, is used
In the display of front end measurement result, it can be contrasted with terminal data, facilitate the monitoring of data.Voice broadcast module is
VS1053 chips, it is possible to achieve the recording and broadcasting of voice, and then realize the voice broadcast of liquid level.Control unit uses
STM32F103 series microprocessors to carry out data processing and conversion to the data of front-end collection, and coordinate to control communication unit,
Display unit and voice broadcast unit.Remote monitoring terminal is monitored using PC machine and remote control, PC machine and Xbee modules
Serial communication is directly carried out, and receives data by Xbee modules and sends and order.
The dynamic liquid level monitoring system of the present embodiment needs to establish multiple tasks module.With STM32F103ZET6 microprocessors
Exemplified by device, STM32F103ZET6 microprocessors obtain the time interval that ultrasonic wave sends and receives by its input capture function
It is worth, while the thermometric value of internal temperature sensor is obtained using internal ADCx_IN16 input channels.PC machine and
STM32F103ZET6 microprocessors carry out serial communication with Xbee modules, realize sending and receiving for data.It is typically configured
Xbee modules into point-to-point communication mode can only transmit single parameter, and dynamic liquid level monitoring system needs to transmit multiple ginsengs
Number, this just requires consideration for how to distinguish different parameters.Therefore in the case where not increasing Xbee module numbers, it is necessary to data into
The processing of row simple code, shows so that terminal PC machine identifies different parameters and carries out corresponding content.Data after processing
It can be sent after being sent to Xbee modules by serial ports by it, the Xbee modules of terminal are passed after receiving data by serial ports
To PC machine, the Processing programs of PC machine can identify different parameters according to numerical characteristics.
The principle of voice broadcast is that the information such as the 0-9 of Arabic numerals are recorded in advance and are stored in memory.
The present embodiment establishes a condition selecting algorithm to determine to play which section recording according to the digit of distance value, then by integrating,
Complete distance value can be played out.For example, if the height value of liquid level, if 6cm, the height value of its liquid level is one
Number, corresponds to the state A in Processing programs；If the height value of liquid level is 90cm, the height value of its liquid level is two digits,
State B in corresponding Processing programs, if the height value of liquid level is three digits, it corresponds to the shape of Processing programs
State C.Processing programs go to perform corresponding function of state, so as to play corresponding according to the state status detected
Recording, and then realize the complete liquid level height value of speech play.
Embodiment two
With reference to Fig. 6, the second embodiment of the present invention：
The present invention can realize that liquid level dynamic measures, (this when liquid tilt situation is left bank situation as shown in Figure 6
When, 3 sensors are located on same level straight line), can accurately it be learnt by the cooperation of multiple ultrasonic sensors
The true altitude of liquid level.Ultrasonic sensor 2 is located at the centre position of container top.
The calculation formula of AB and BC can be obtained from Fig. 6, is calculated to simplify, the present embodiment makes h3=h, x1=x2.Then AB
It is as follows with the specific formula for calculation of BC：
AB=AH+BH=(x × tan α)/2+h-h2,
BC=BG+GC=x/2+cot α × (h-h2)。
Assuming that it is H to tilt height when liquid is positioned to horizontality apart from bottom, the width of container is c, then is had：
H × x × c=BC × c × AB/2
Therefore have：
H=BC × AB/2x
=[1/4+x1(h-h2)/(2x(h2-h1))]×[x(h2-h1)/2x1+h-h2]
It is hereby achieved that in the case of left bank liquid level true altitude H, the true altitude H of liquid level in the case of right bank
It can be calculated using similar method.
Embodiment three
With reference to Fig. 7 and 8, the third embodiment of the present invention：
The present invention can realize the dynamic measurement of liquid level, when liquid tilt situation is top rake situation as shown in Figure 8,
Can be by the cooperation of multiple ultrasonic sensors come the accurate true altitude for learning liquid level.Ultrasonic sensor 2 is located at
The centre position of container top.
The calculation formula of AB and BC can be obtained from Fig. 7 and 8, is calculated to simplify, the present embodiment makes h3=h1, x1=x2
=x3, x3For the vertical range between two neighboring ultrasonic sensor, as shown in Figure 8.The calculating process of analogy embodiment two has：
AB=(y × tan α)/2+h-h2,
BC=y/2+cot α × (h-h2)。
Assuming that it is H to tilt height of the liquid apart from bottom when being positioned to horizontality, the length of container is x, the width of container
Spend for y, then have：
H × y × x=BC × x × AB/2
Therefore have：
H=BC × AB/2y
It is hereby achieved that in the case of top rake liquid level true altitude H, the true altitude H of liquid level in the case of rear-inclined
It can be calculated using similar method.
The speed of liquid level change is divided by by the changing value of liquid level H with time value and is solved and draw, specific formula
For：
V=Δs H/t.
Compared with prior art, the present invention realizes that dynamic liquid level is surveyed by way of multiple ultrasonic sensors cooperate
Amount, is shown and control interface using Processing software programming constructing graphics, facilitates the monitoring of distal end；It can also pass through at the same time
Voice broadcast level value, and being wirelessly transferred for data is carried out using Xbee modules, so that the expansion bands for sensor network system
To facilitate.
Above is the preferable of the present invention is implemented to be illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (7)
- A kind of 1. wireless monitoring method of dynamic liquid level, it is characterised in that：Including：S1, gather the required range data of dynamic liquid level measurement by the way of the collaboration of multiple ultrasonic sensors；S2, according to the range data of collection calculate liquid level using improved range difference-gradient algorithm, so that To actual liquid level height；S3, by the actual liquid level calculated height by Xbee be wirelessly transmitted to remote monitoring terminal；S4, remote monitoring terminal highly carry out the actual liquid level of reception graphical interfaces and show and voice broadcast, so as to dynamic Liquid level carries out remote monitoring；The step S1, it includes：S11, by 3 ultrasonic sensors be installed on container top, wherein, 1 ultrasonic sensor is installed on container top Centre position, remaining 2 ultrasonic sensor are separately mounted to the left and right sides or front and rear sides in container top centre position；S12, measure 3 ultrasonic sensors and tilt the vertical distance between liquid level respectively, so that the range data gathered；The step S2, it includes：S21, calculate the angle of inclination for tilting liquid level according to the distance between the range data and ultrasonic sensor of collection, described The calculation formula of tilt angle alpha for tilting liquid level is：<mrow> <mi>&alpha;</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> </mfrac> <mo>|</mo> <mo>+</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> </mfrac> <mo>|</mo> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>,</mo> </mrow>Wherein, h1For the ultrasonic sensor on the left of container top centre position and tilt the vertical distance between liquid level, h2For container Vertical distance between the ultrasonic sensor and inclination liquid level of crown center position, h3For surpassing on the right side of container top centre position Vertical distance between sonic sensor and inclination liquid level, x1Hold for the ultrasonic sensor distance on the left of container top centre position The horizontal distance of device crown center position, x2It is the ultrasonic sensor on the right side of container top centre position in container top Between position horizontal distance；S22, according to the length of container, height, calculate angle of inclination and collection data calculate tilt liquid level apart from container bottom The vertical distance at end and corresponding horizontal distance, the liquid level that tilts is apart from the vertical distance AB of container bottom and corresponding The calculation formula of horizontal distance BC is：<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>A</mi> <mi>B</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>x</mi> <mo>&times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&alpha;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>B</mi> <mi>C</mi> <mo>=</mo> <mi>x</mi> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>cot</mi> <mi>&alpha;</mi> <mo>&times;</mo> <mrow> <mo>(</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>Wherein, x is the length of container, and h is the height of container；S23, vertical distance AB and corresponding horizontal distance BC the calculating inclination liquid level according to inclination liquid level apart from container bottom It is positioned to liquid level during horizontality, and it is high as actual liquid level to tilt liquid level when liquid level is positioned to horizontality Degree, the calculation formula of the liquid level H when inclination liquid level is positioned to horizontality are：H=BC × AB/ (2x)；Alternatively, the step S2, it includes：S21, calculate the angle of inclination for tilting liquid level according to the distance between the range data and ultrasonic sensor of collection, described The calculation formula of tilt angle alpha for tilting liquid level is：<mrow> <mi>&alpha;</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> </mfrac> <mo>|</mo> <mo>+</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> </mfrac> <mo>|</mo> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>,</mo> </mrow>Wherein, h1For the ultrasonic sensor on front side of container top centre position and tilt the vertical distance between liquid level, h2For container Vertical distance between the ultrasonic sensor and inclination liquid level of crown center position, h3For surpassing on rear side of container top centre position Vertical distance between sonic sensor and inclination liquid level, x1Hold for the ultrasonic sensor distance on front side of container top centre position The vertical range of device crown center position, x2It is the ultrasonic sensor on rear side of container top centre position in container top Between position vertical range；S22, according to the width of container, height, calculate angle of inclination and collection data calculate tilt liquid level apart from container bottom The vertical distance at end and corresponding horizontal distance, the liquid level that tilts is apart from the vertical distance AB of container bottom and corresponding The calculation formula of horizontal distance BC is：<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>A</mi> <mi>B</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>y</mi> <mo>&times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&alpha;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>B</mi> <mi>C</mi> <mo>=</mo> <mi>y</mi> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>cot</mi> <mi>&alpha;</mi> <mo>&times;</mo> <mrow> <mo>(</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>Wherein, y is the width of container, and h is the height of container；S23, vertical distance AB and corresponding horizontal distance BC the calculating inclination liquid level according to inclination liquid level apart from container bottom It is positioned to liquid level during horizontality, and it is high as actual liquid level to tilt liquid level when liquid level is positioned to horizontality Degree, the calculation formula of the liquid level H when inclination liquid level is positioned to horizontality are：H=BC × AB/ (2y).
- A kind of 2. wireless monitoring method of dynamic liquid level according to claim 1, it is characterised in that：The step S2 is also wrapped Include the velocity step that actual liquid level height change is calculated according to the changing value of actual liquid level height and corresponding transformation period, institute The calculation formula for stating the speed v of actual liquid level height change is：V=Δ H/t,Wherein, Δ H is the changing value of actual liquid level height, and t is transformation period.
- A kind of 3. wireless monitoring method of dynamic liquid level according to claim 1, it is characterised in that：The step S1 is also wrapped Include and use temperature sensor collection container internal temperature data, the step of to be compensated to the velocity of sound.
- A kind of 4. wireless supervisory control system of dynamic liquid level, it is characterised in that including：Front end data acquisition module, for being gathered by the way of the collaboration of multiple ultrasonic sensors needed for dynamic liquid level measurement Range data；Front end processing block, for using improved range difference-gradient algorithm to liquid level according to the range data of collection Calculated, so as to obtain actual liquid level height；Xbee wireless communication modules, for the actual liquid level calculated height to be wirelessly transmitted to remote monitoring by Xbee Terminal；Long-range display and voice broadcast module, highly carry out graphical interfaces to the actual liquid level of reception for remote monitoring terminal and show Show and voice broadcast, so as to carry out remote monitoring to dynamic liquid level；The output terminal of the front end data acquisition module pass sequentially through front end processing block and Xbee wireless communication modules so that with Long-range display is connected with the input terminal of voice broadcast module；The front end data acquisition module performs following operation successively：3 ultrasonic sensors are installed on container top, wherein, 1 ultrasonic sensor is installed on the centre of container top Position, remaining 2 ultrasonic sensor are separately mounted to the left and right sides or front and rear sides in container top centre position；3 ultrasonic sensors are measured respectively and tilt the vertical distance between liquid level, so that the range data gathered；The front end processing block performs following operation successively：The angle of inclination for tilting liquid level, the inclination are calculated according to the distance between the range data of collection and ultrasonic sensor The calculation formula of the tilt angle alpha of liquid level is：<mrow> <mi>&alpha;</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> </mfrac> <mo>|</mo> <mo>+</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> </mfrac> <mo>|</mo> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>,</mo> </mrow>Wherein, h1For the ultrasonic sensor on the left of container top centre position and tilt the vertical distance between liquid level, h2For container Vertical distance between the ultrasonic sensor and inclination liquid level of crown center position, h3For surpassing on the right side of container top centre position Vertical distance between sonic sensor and inclination liquid level, x1Hold for the ultrasonic sensor distance on the left of container top centre position The horizontal distance of device crown center position, x2It is the ultrasonic sensor on the right side of container top centre position in container top Between position horizontal distance；Calculated according to the length of container, height, the angle of inclination calculated and the data of collection and tilt liquid level apart from container bottom Vertical distance and corresponding horizontal distance, the liquid level that tilts is apart from the vertical distance BC of container bottom and corresponding level The calculation formula of distance BC is：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>A</mi> <mi>B</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>x</mi> <mo>&times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&alpha;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>B</mi> <mi>C</mi> <mo>=</mo> <mi>x</mi> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>cot</mi> <mi>&alpha;</mi> <mo>&times;</mo> <mrow> <mo>(</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, x is the length of container, and h is the height of container；Inclination liquid level placement is calculated according to vertical distance AB and corresponding horizontal distance BC of the liquid level apart from container bottom is tilted Liquid level during into horizontality, and to tilt liquid level when liquid level is positioned to horizontality as actual liquid level height, The calculation formula of liquid level H when being positioned to horizontality that tilts liquid level is：H=BC × AB/ (2x)；Alternatively, the front end processing block performs following operation successively：The angle of inclination for tilting liquid level, the inclination are calculated according to the distance between the range data of collection and ultrasonic sensor The calculation formula of the tilt angle alpha of liquid level is：<mrow> <mi>&alpha;</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> </mfrac> <mo>|</mo> <mo>+</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mo>|</mo> <mfrac> <mrow> <msub> <mi>h</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> </mfrac> <mo>|</mo> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>,</mo> </mrow>Wherein, h1For the ultrasonic sensor on front side of container top centre position and tilt the vertical distance between liquid level, h2For container Vertical distance between the ultrasonic sensor and inclination liquid level of crown center position, h3For surpassing on rear side of container top centre position Vertical distance between sonic sensor and inclination liquid level, x1Hold for the ultrasonic sensor distance on front side of container top centre position The vertical range of device crown center position, x2It is the ultrasonic sensor on rear side of container top centre position in container top Between position vertical range；Calculated according to the width of container, height, the angle of inclination calculated and the data of collection and tilt liquid level apart from container bottom Vertical distance and corresponding horizontal distance, the liquid level that tilts is apart from the vertical distance AB of container bottom and corresponding level The calculation formula of distance BC is：<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>A</mi> <mi>B</mi> <mo>=</mo> <mrow> <mo>(</mo> <mi>y</mi> <mo>&times;</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mi>&alpha;</mi> <mo>)</mo> </mrow> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>B</mi> <mi>C</mi> <mo>=</mo> <mi>y</mi> <mo>/</mo> <mn>2</mn> <mo>+</mo> <mi>cot</mi> <mi>&alpha;</mi> <mo>&times;</mo> <mrow> <mo>(</mo> <mi>h</mi> <mo>-</mo> <msub> <mi>h</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>Wherein, y is the width of container, and h is the height of container；Inclination liquid level placement is calculated according to vertical distance AB and corresponding horizontal distance BC of the liquid level apart from container bottom is tilted Liquid level during into horizontality, and to tilt liquid level when liquid level is positioned to horizontality as actual liquid level height, The calculation formula of liquid level H when being positioned to horizontality that tilts liquid level is：H=BC × AB/ (2y).
- A kind of 5. wireless supervisory control system of dynamic liquid level according to claim 4, it is characterised in that：The front end data is adopted Collection module is made of multiple HC-SR04 ultrasonic distance-measuring sensors.
- A kind of 6. wireless supervisory control system of dynamic liquid level according to claim 4, it is characterised in that：The front-end processing mould The output terminal of block is also associated with TFT-LCD display modules and front end voice broadcast module.
- A kind of 7. wireless supervisory control system of dynamic liquid level according to claim 6, it is characterised in that：The front-end processing mould Block is STM32F103 series microprocessors, and the Xbee wireless communication modules are Xbee-S2 wireless communication modules, described long-range Display and voice broadcast module are arranged in PC machine, and the input terminal and STM32F103 series of the front end voice broadcast module are micro- The output terminal connection of processor.
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| CN109724660A (en) * | 2019-02-26 | 2019-05-07 | 中铁七局集团有限公司 | A kind of engineering machinery oil consumption judgment method based on multi-sensor data |
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