CN115317721B - Liquid level monitoring system - Google Patents
Liquid level monitoring system Download PDFInfo
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- CN115317721B CN115317721B CN202210615343.3A CN202210615343A CN115317721B CN 115317721 B CN115317721 B CN 115317721B CN 202210615343 A CN202210615343 A CN 202210615343A CN 115317721 B CN115317721 B CN 115317721B
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- 239000007788 liquid Substances 0.000 title claims abstract description 184
- 238000012544 monitoring process Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 74
- 238000004891 communication Methods 0.000 claims abstract description 26
- 230000004927 fusion Effects 0.000 claims abstract description 26
- 238000012806 monitoring device Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims description 29
- 238000005259 measurement Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000026676 system process Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000009897 systematic effect Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims 11
- 238000001802 infusion Methods 0.000 description 20
- 239000003814 drug Substances 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010041349 Somnolence Diseases 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- -1 bandages Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
- A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
- A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
- A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/80—Arrangements for signal processing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/18—General characteristics of the apparatus with alarm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
- A61M2205/3379—Masses, volumes, levels of fluids in reservoirs, flow rates
- A61M2205/3386—Low level detectors
Abstract
The embodiment of the invention discloses a liquid level monitoring system, which comprises a liquid level monitoring device and an alarm device, wherein the liquid level monitoring device comprises a liquid level detection assembly, a processor and a wireless communication assembly; the liquid level detection assembly comprises a non-contact liquid level detection assembly and an inclination angle detection assembly, and the non-contact liquid level detection assembly comprises a plurality of non-contact liquid level sensors arranged on the periphery of the outer wall of the container to be monitored; the inclination angle detection assembly comprises an inclination angle sensor which is horizontally arranged above the container to be monitored, and the inclination angle sensor comprises an accelerometer and a gyroscope; the processor is used for carrying out posture fusion to obtain the liquid level inclination angle in the container to be monitored and correcting the detected liquid level data. By adopting the technical scheme of the invention, the real liquid level data when the container is inclined can be estimated more accurately, whether the liquid level is too low or not can be judged accurately according to the corrected liquid level data, and then the alarm device sends out prompt information to alarm, so that the staff can be prompted to take corresponding measures in time.
Description
Technical Field
The invention relates to the technical field of liquid level monitoring, in particular to a liquid level monitoring system.
Background
In general, in large, medium and small hospitals and personal clinics, as infusion is a lengthy process, medical staff cannot accompany the patient at any time, and meanwhile, as the patient is generally weak and debilitated and sleepy, family members cannot accompany the patient at any time, some elderly patients are likely to have vision problems, so that the patient cannot see how much liquid remains in the infusion bottle clearly, sickrooms are dispersed in the infusion process, the age difference of patients in different departments is large, the work efficiency is low and the work intensity is high because nurses frequently patrol the patients, and most of physical power is consumed. Meanwhile, as the size of the infusion medicine bottle is different and the infusion flow rate is governed by various factors, the traditional infusion can be controlled only by visual observation, and when the medicine in the infusion bottle is about to be infused, medical staff or a patient should be immediately informed of timely changing the medicine or pulling out the needle, so that the air in the infusion tube is prevented from entering, and even serious consequences are caused.
In the prior art, the infusion alarm device has the defects of complex equipment, high price, poor practicability and the like, can not accurately monitor the liquid level of the infusion bottle when the infusion bottle is inclined, is verified in the field, is not commonly used in most hospitals and clinics, and still adopts the traditional visual observation method.
Disclosure of Invention
The invention provides a liquid level monitoring system, which aims to solve the problem that an infusion alarm device in the prior art cannot accurately detect the liquid level when a container is inclined.
The invention provides a liquid level monitoring system, which comprises a liquid level monitoring device and an alarm device, wherein the liquid level monitoring device comprises a liquid level detection assembly, a processor and a wireless communication assembly;
the liquid level detection assembly comprises a non-contact liquid level detection assembly and an inclination angle detection assembly, and the non-contact liquid level detection assembly comprises a plurality of non-contact liquid level sensors arranged on the periphery of the outer wall of the container to be monitored and respectively used for detecting liquid level data in the container to be monitored; the inclination angle detection assembly comprises an inclination angle sensor horizontally arranged above the container to be monitored, and the inclination angle sensor comprises an accelerometer and a gyroscope which are respectively used for detecting first triaxial angle data and second triaxial angle data of the inclination angle of the container to be monitored;
the processor is respectively in communication connection with the non-contact liquid level detection assembly and the inclination angle detection assembly, and is used for carrying out posture fusion according to the first triaxial angle data and the second triaxial angle data, acquiring the liquid level inclination angle in the container to be monitored according to the fusion result, and correcting the liquid level data detected by the non-contact liquid level detection assembly according to the liquid level inclination angle; the processor is also in communication connection with the alarm device through the wireless communication assembly and is used for controlling the alarm device to send prompt information according to the corrected liquid level data.
Optionally, the pose fusion includes a kalman filter pose fusion, the kalman filter pose fusion including:
(1) Based on derivative relation system between dip angle and dip angle angular velocity, with true dip angleAnd estimating the gyro constant deviation +.>Respectively used as state parameters to obtain a corresponding state equation and a measurement equation:
in the method, in the process of the invention,outputting angular velocity for gyroscopes comprising a fixed deviation,/->For the angular velocity value obtained after the accelerometer has been processed, for>Measuring noise for gyroscopes, < >>Is a gyroscope drift error;
(2) Acquiring a state equation and a measurement equation corresponding to a system sampling period T:
in the method, in the process of the invention,for the estimated dip at time k +.>The angular velocity of the acceleration at time k;
(3) Kalman filter based acquisitionOptimal predicted tilt +.>：
Wherein,for the predicted tilt at time k, the optimal predicted tilt at time k-1 is based onEstimated dip for time k>And (3) correction is carried out to obtain: />；
In the method, in the process of the invention,=/>，/>，/>is a control input, B is a corresponding control input gain;
，/>the gain is Kalman gain: />；
In the method, in the process of the invention,for the transpose of H, R is the covariance of the systematic process measurement error: />；Is->Covariance of->The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Representation->Transposed matrix of>Is the noise covariance of the system procedure, +.>；/>And->Acceleration respectivelyCovariance of the accelerometer and gyroscope measurements. />Errors are measured for accelerometers and gyroscopes.
Optionally, the kalman filter pose fusion further includes:
and correcting the Kalman filter according to the system process noise covariance matrix Q and the covariance matrix R of the measurement errors.
Optionally, the kalman filter pose fusion further includes:
updatingCovariance of->；
Wherein I is an identity matrix,the inclination angle measured for the gyroscope.
Optionally, the correcting the liquid level data detected by the non-contact liquid level detection assembly according to the liquid level inclination angle includes:
when the non-contact liquid level sensor with the lowest height in the non-contact liquid level detection assembly detects the liquid level in the container to be monitored, the non-contact liquid level sensor is used for detecting the liquid level in the container to be monitoredCorrecting liquid level data detected by the non-contact liquid level detection component;
wherein,for the corrected level height +.>For transmitting the mounting height of the non-contact liquid level detection assembly +.>Is the width of the container to be inspected.
Optionally, the liquid level monitoring system further comprises a fixed sleeve assembly, the non-contact liquid level sensors are uniformly arranged on the inner side of the fixed sleeve assembly in a detecting mode, and the fixed sleeve assembly is used for being sleeved on the container to be monitored, so that the non-contact liquid level sensors are attached to the outer wall of the container to be monitored.
Optionally, the alarm device comprises one or more of a buzzer, an indicator light and a voice prompt device.
Optionally, the wireless communication component includes one of a ZigBee-based communication component, a WiFi communication component, a 4G or 5G communication component.
Optionally, the liquid level monitoring system comprises a plurality of liquid level monitoring devices, and the processor of each liquid level monitoring device is used for sending an alarm control instruction carrying identification information of a container to be monitored corresponding to the current liquid level monitoring device to the alarm device when the corrected liquid level data exceeds a preset liquid level threshold value.
According to the liquid level monitoring system, the non-contact type liquid level detection assembly and the inclination angle detection assembly are arranged on the container to be monitored, liquid level data in the container to be monitored are detected in different directions by the non-contact type liquid level detection assembly, the inclination angle of the container to be monitored is detected by the inclination angle detection assembly, three-axis angle data detected by the accelerometer and the gyroscope in the inclination angle detection assembly are subjected to gesture fusion, and then the liquid level data detected by the non-contact type liquid level detection assembly are corrected according to the fused inclination angle data, so that real liquid level data when the container is inclined can be estimated more accurately, whether liquid in the container to be monitored is too low is judged accurately according to the corrected liquid level data, and prompt information is sent out to give an alarm through the alarm device, so that workers can be prompted to take corresponding measures in time. Moreover, the liquid level detection system provided by the embodiment of the invention has the advantages of simple equipment, reliable performance, lower cost, high practicability and the like, and is particularly used for liquid level monitoring of infusion bottles in medical places.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of a liquid level detection device of a liquid level monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a liquid level monitoring system according to an embodiment of the present invention.
Reference numerals:
1. a container to be monitored; 2. a non-contact liquid level sensor; 21. a fixed sleeve assembly; 3. an inclination angle sensor.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be practiced in many other ways than those herein described and similar modifications can be made by those skilled in the art without departing from the spirit of the invention, and therefore the invention is not limited to the practice of the substrate disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It will be appreciated by those of skill in the art that the terms "first," "second," etc. in embodiments of the present invention are used merely to distinguish between different steps, devices or modules, etc., and do not represent any particular technical meaning nor necessarily logical order between them. And, the term "/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, a schematic structural diagram of a liquid level monitoring system according to an embodiment of the present invention is shown. The liquid level monitoring system of the embodiment can be applied to hospitals, clinics and the like to monitor the liquid level of the residual liquid medicine in the infusion bottle, but a person skilled in the art should understand that in practical application, the liquid level monitoring system of the invention can be adopted by referring to the embodiment in any corresponding scene with the liquid level monitoring requirement in the container.
The liquid level monitoring system comprises a liquid level monitoring device and an alarm device, wherein the liquid level monitoring device comprises a liquid level detection assembly, a processor and a wireless communication assembly. The liquid level detection assembly comprises a non-contact liquid level detection assembly and an inclination angle detection assembly, wherein the non-contact liquid level detection assembly comprises a plurality of non-contact liquid level sensors 2 which are arranged on the periphery of the outer wall of the container 1 to be monitored, and the non-contact liquid level sensors are respectively used for detecting liquid level data in the container 1 to be monitored; the dip angle detection assembly comprises a dip angle sensor 4 horizontally arranged above the container 1 to be monitored, wherein the dip angle sensor 4 comprises an accelerometer and a gyroscope which are respectively used for detecting first triaxial angle data and second triaxial angle data of dip angles of the container 1 to be monitored; the processor is respectively in communication connection with the non-contact liquid level detection assembly and the inclination angle detection assembly, and is used for carrying out posture fusion according to the first triaxial angle data and the second triaxial angle data, acquiring the liquid level inclination angle in the container 1 to be monitored according to the fusion result, and correcting the liquid level data detected by the non-contact liquid level detection assembly according to the liquid level inclination angle; the processor is also in communication connection with the alarm device through the wireless communication assembly and is used for controlling the alarm device to send prompt information according to the corrected liquid level data.
In the liquid level monitoring system, the liquid level detection assembly comprises a non-contact liquid level detection assembly and an inclination angle detection assembly, liquid level data in the container 1 to be monitored is detected by the non-contact liquid level detection assembly, the inclination angle of the container 1 to be monitored is detected by the inclination angle detection assembly, three-axis angle data detected by an accelerometer and a gyroscope in the inclination angle detection assembly are subjected to gesture fusion, and then liquid level data detected by the non-contact liquid level detection assembly are corrected according to the fused inclination angle data, so that more accurate liquid level data are obtained, whether liquid in the container 1 to be monitored is too low or not can be accurately judged according to the corrected liquid level data, and prompt information is sent out to alarm through an alarm device.
Optionally, the liquid level monitoring system further includes a fixed sleeve assembly 3, the plurality of non-contact liquid level sensors 2 are uniformly arranged on the inner side of the fixed sleeve assembly 3, and the fixed sleeve assembly 3 is used for being sleeved on the container 1 to be monitored, so that the plurality of non-contact liquid level sensors 2 are attached to the outer wall of the container 1 to be monitored. For example, four non-contact liquid level sensors 2 are arranged on the fixing sleeve assembly 3 shown in the figure, are uniformly distributed on the circumference of the lower end of the monitoring container, and each non-contact liquid level sensor 2 is used for detecting the liquid level of liquid in the monitoring container at the arrangement position. In an actual application scenario, different types of liquid level sensors with different liquid level detection heights can be set according to liquid level monitoring requirements of different containers 1 to be monitored, for example, according to monitoring requirements of whether the liquid level is too low or not required to be detected by an infusion bottle, a non-contact liquid level sensor 2 comprising a detection disc can be set, the detection disc is arranged at a normal liquid level lower limit threshold on the infusion bottle, and an inductor can detect whether the liquid level in the infusion bottle is detected by the detection disc, so that corresponding detection signals are sent out.
Further, in order to facilitate the fixing of the sleeve assembly 3 to attach the plurality of non-contact liquid level sensors 2 to the outer wall of the container 1 to be monitored, elastic members, such as adhesive tape, bandages, rubber bands and the like, can be arranged in the fixing sleeve assembly 3, so that the fixing device is convenient to install, can ensure the fastening effect, and is low in cost.
In an optional implementation manner, the gesture fusion performed on the first triaxial angle data and the second triaxial angle data in the embodiment of the present invention includes kalman filter gesture fusion:
(1) Based on derivative relation system between dip angle and dip angle angular velocity, with true dip angleAnd estimating the gyro constant deviation +.>Respectively used as state parameters to obtain a corresponding state equation and a measurement equation:
in the method, in the process of the invention,outputting angular velocity for gyroscopes comprising a fixed deviation,/->For the angular velocity value obtained after the accelerometer has been processed, for>Measuring noise for gyroscopes, < >>Is a gyroscope drift error;
(2) Acquiring a state equation and a measurement equation corresponding to a system sampling period T:
in the method, in the process of the invention,for the estimated tilt angle at time k +.>The angular velocity of the acceleration at time k;
(3) Kalman filter based acquisitionOptimal predicted tilt +.>：
Wherein,the predicted tilt angle at time k is the optimal predicted tilt angle according to time k-1Estimated dip for time k>Correction is performed to obtain->；
In the method, in the process of the invention,=/>，/>，/>for control input parameters, B is the corresponding control input gain;
，/>the gain is Kalman gain: />；
In the method, in the process of the invention,for the transpose of H, R is the covariance of the systematic process measurement error: />，/>Measuring errors for accelerometers and gyroscopes; />Is->Covariance of->The method comprises the steps of carrying out a first treatment on the surface of the Here, a->Representation->Transposed matrix of>Is the noise covariance of the system procedure, +.>；/>And->Covariance of accelerometer and gyroscope measurements, respectively.
In this embodiment, angular velocity values measured by gyroscopes and accelerometers、/>And respectively obtaining second triaxial angle data and first triaxial angle data, taking the second triaxial angle data and the first triaxial angle data as system input parameters of the Kalman filter, taking the inclination angle at the previous moment as correction, and outputting the optimal predicted inclination angle at the current moment.
Further, the Kalman filtering gesture fusion further comprises the step of correcting the Kalman filtering according to a system process noise covariance matrix Q and a covariance matrix R of a measurement error.
UpdatingCovariance of->The method comprises the steps of carrying out a first treatment on the surface of the Wherein I is an identity matrix,>the inclination angle measured for the gyroscope. When the system goes to the next time k +1, and (2)>And (3) after the time update equation and the measurement update equation are calculated for the state update equation of the Kalman filter, the posterior estimation calculated at the previous moment can be repeated and used as the prior estimation at the next time, so that the operation is circulated until the optimal result is estimated.
Further, after the fused liquid level inclination angle is obtained, the liquid level data detected by the non-contact liquid level detection assembly is corrected, optionally, the liquid level inclination angle obtained by fusion of the Kalman filtering postures can be obtainedThe degree and the width of the container to be monitored to correct the liquid level data detected by the non-contact liquid level detection assembly. Specifically, if no correction is performed, the liquid level data detected by the non-contact liquid level detection assembly is the installation height of the liquid level data on the container to be detected; according to the formulaAnd correcting to obtain more accurate liquid level height. Here, a->For the corrected level height +.>For transmitting the mounting height of the non-contact liquid level detection assembly +.>Is the width of the container to be inspected.
According to the embodiment of the invention, the liquid level sensor is used for detecting the liquid level change in the container 1 to be monitored in different directions, and the inclination sensor 4 is matched, so that the real liquid level under the condition that the container 1 to be monitored is inclined can be accurately estimated by combining gesture complementation fusion and Kalman filtering fusion, and therefore, when the liquid level exceeds the preset liquid level threshold value, prompt information is sent through the alarm device to remind workers of timely treatment. Optionally, the alarm device comprises one or more of a buzzer, an indicator light and a voice prompt device, and can send out prompt information such as sound, light, voice and the like through the alarm device, and the cost is low. Further, the alarm device can further comprise a reset interaction device, and the reset interaction device is used for resetting the alarm device and stopping alarming after the staff acquires the alarm prompt information.
In an actual application scenario, the liquid level monitoring system of the embodiment of the invention comprises a plurality of liquid level monitoring devices, wherein a processor of each liquid level monitoring device is used for sending an alarm control instruction carrying identification information of a container 1 to be monitored corresponding to the current liquid level monitoring device to the alarm device when the corrected liquid level data exceeds a preset liquid level threshold value, and the alarm device sends information indicating that the liquid level of the corresponding container 1 to be monitored is too low according to the alarm control instruction. That is, a plurality of containers 1 to be monitored are monitored respectively through a plurality of liquid level detection devices, for example, a liquid level detection device is arranged on an infusion bottle in each ward of a hospital, an alarm device is arranged at a nurse station, each liquid level detection device can accurately detect whether the liquid level in the infusion bottle is too low, so that prompt information is sent out timely through the alarm device, a nurse can obtain less information of the liquid in the infusion bottle timely, and then the nurse is reminded of carrying out medicine changing or needle drawing treatment.
And the wireless communication assembly comprises one of a ZigBee communication assembly, a WiFi communication assembly and a 4G or 5G communication assembly, for example, the ZigBee wireless communication assembly is adopted, so that signal transmission is rapid, complex installation lines can be reduced, cost is saved, and operation is convenient.
According to the liquid level monitoring system, the non-contact type liquid level detection assembly and the inclination angle detection assembly are arranged on the container to be monitored, liquid level data in the container to be monitored are detected in different directions by the non-contact type liquid level detection assembly, the inclination angle of the container to be monitored is detected by the inclination angle detection assembly, three-axis angle data detected by the accelerometer and the gyroscope in the inclination angle detection assembly are subjected to gesture fusion, and then the liquid level data detected by the non-contact type liquid level detection assembly are corrected according to the fused inclination angle data, so that real liquid level data when the container is inclined can be estimated more accurately, whether liquid in the container to be monitored is too low is judged accurately according to the corrected liquid level data, and prompt information is sent out to give an alarm through the alarm device, so that workers can be prompted to take corresponding measures in time.
It should be noted that, according to implementation requirements, each component/step described in the embodiments of the present invention may be split into more components/steps, or two or more components/steps or part of operations of the components/steps may be combined into new components/steps, so as to achieve the objects of the embodiments of the present invention.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The liquid level monitoring system is characterized by comprising a liquid level monitoring device and an alarm device, wherein the liquid level monitoring device comprises a liquid level detection assembly, a processor and a wireless communication assembly; the liquid level detection assembly comprises a non-contact liquid level detection assembly and an inclination angle detection assembly, and the non-contact liquid level detection assembly comprises a plurality of non-contact liquid level sensors arranged on the periphery of the outer wall of the container to be monitored and respectively used for detecting liquid level data in the container to be monitored; the inclination angle detection assembly comprises an inclination angle sensor horizontally arranged above the container to be monitored, and the inclination angle sensor comprises an accelerometer and a gyroscope which are respectively used for detecting first triaxial angle data and second triaxial angle data of the inclination angle of the container to be monitored;
the processor is respectively in communication connection with the non-contact liquid level detection assembly and the inclination angle detection assembly, and is used for carrying out posture fusion according to the first triaxial angle data and the second triaxial angle data, acquiring the liquid level inclination angle in the container to be monitored according to the fusion result, and correcting the liquid level data detected by the non-contact liquid level detection assembly according to the liquid level inclination angle; the gesture fusion comprises Kalman filtering gesture fusion, wherein the Kalman filtering gesture fusion comprises the following steps:
(1) Based on derivative relation system between dip angle and dip angle angular velocity, with true dip angleAnd estimating the gyro constant deviation +.>Respectively used as state parameters to obtain a corresponding state equation and a measurement equation:
wherein omega is gyro The angular velocity is output for gyroscopes containing a fixed offset,is the angular velocity value, w, obtained after the accelerometer is processed g Measuring noise for the gyroscope, b is a gyroscope drift error;
(2) Acquiring a state equation and a measurement equation corresponding to a system sampling period T:
wherein X (k) is the estimated inclination at time k, V i (k) The angular velocity of the acceleration at time k;
(3) The optimal predicted tilt X (k|k) at time k is obtained based on a kalman filter:
X(k∣k)＝X(k∣k-1)+K(k)(Z(k)-HX(k∣k-1))
wherein X (k-1) is the predicted tilt angle at time k, and the estimated tilt angle X (k) at time k is obtained by correcting the estimated tilt angle X (k) at time k according to the optimal predicted tilt angle X (k-1-k-1) at time k-1: x (k|k-1) =ax (k-1|k-1) +bu (k);
in the method, in the process of the invention,u (k) is a control input parameter, and B is a corresponding control input gain;
H＝[1 0]k is Kalman gain: k (K) =p (k|k-1) H T /(HP(k∣k-1)H T +R)；
Wherein H is T The transposed matrix of H, R is the co-ordination of the systematic process measurement errorsVariance: r= [ R ] acce ]，r acce Measuring errors for accelerometers and gyroscopes; p (k|k-1) is the covariance of X (k|k-1), P (k|k-1) =AP (k-1|k-1) A T +q; wherein A is T Representing the transpose of a, Q is the noise covariance of the system process,q acce and q gyro Covariance measured by accelerometer and gyroscope, respectively;
the processor is also in communication connection with the alarm device through the wireless communication assembly and is used for controlling the alarm device to send prompt information according to the corrected liquid level data.
2. The fluid level monitoring system of claim 1, wherein the kalman filter pose fusion further comprises:
and correcting the Kalman filter according to the system process noise covariance matrix Q and the covariance matrix R of the measurement errors.
3. The fluid level monitoring system of claim 1, wherein the kalman filter pose fusion further comprises:
updating covariance of X (k|k), P (k|k) = (I-Kg (k) H) P (k|k-1);
wherein I is an identity matrix, and g (k) is the inclination angle measured by the gyroscope.
4. The fluid level monitoring system of claim 1, wherein the means for correcting fluid level data detected by the non-contact fluid level detection assembly based on the fluid level inclination angle comprises:
when the non-contact liquid level sensor with the lowest height in the non-contact liquid level detection assembly detects the liquid level in the container to be monitored, correcting liquid level data detected by the non-contact liquid level detection assembly according to H=h-WtanX;
wherein H is the corrected liquid level height, H is the installation height of the non-contact liquid level detection component, and W is the width of the container to be detected.
5. The fluid level monitoring system of claim 1, further comprising a stationary sleeve assembly, wherein the plurality of non-contact fluid level sensors are disposed within the stationary sleeve assembly for being sleeved on the container to be monitored such that the plurality of non-contact fluid level sensors are attached to an outer wall of the container to be monitored.
6. The fluid level monitoring system of claim 1, wherein the alarm device comprises one or more of a buzzer, an indicator light, and a voice prompt.
7. The fluid level monitoring system of claim 1, wherein the wireless communication assembly comprises one of a ZigBee based communication assembly, a WiFi communication assembly, a 4G or 5G communication assembly.
8. A liquid level monitoring system according to any one of claims 1 to 7, wherein the liquid level monitoring system comprises a plurality of liquid level monitoring devices, and the processor of each liquid level monitoring device is configured to send an alarm control instruction carrying identification information of a container to be monitored corresponding to the current liquid level monitoring device to the alarm device when the corrected liquid level data exceeds a preset liquid level threshold value.
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