CN117191156A

CN117191156A - Method, system, equipment and storage medium for measuring ponding depth

Info

Publication number: CN117191156A
Application number: CN202310972463.3A
Authority: CN
Inventors: 曾伟; 吴超; 林铸; 林施鸿; 房毅
Original assignee: Beijing Boya Tian'an Information Technology Co ltd
Current assignee: Beijing Boya Tian'an Information Technology Co ltd
Priority date: 2023-08-03
Filing date: 2023-08-03
Publication date: 2023-12-08

Abstract

The application relates to a method, a system, equipment and a storage medium for measuring the depth of accumulated water, wherein the method for measuring the depth of accumulated water comprises the following steps: sending out excitation signals through a liquid-medium ultrasonic sensor, and collecting corresponding echo signals; performing curve smoothing on the data curve of the acquired echo signals, and performing offset processing on the smoothed curve in the vertical direction to obtain a reference line; taking the difference value between the data of the echo signal at the corresponding moment and the data on the reference line as echo measurement data, and determining a ponding echo from the echo measurement data according to the numerical value; and comparing the time differences of the accumulated water echoes, and determining the accumulated water depth according to the time differences.

Description

Method, system, equipment and storage medium for measuring ponding depth

Technical Field

The application relates to a method, a system, equipment and a storage medium for measuring the depth of accumulated water, belonging to the technical field of accumulated water monitoring.

Background

There are various methods for measuring the depth of accumulated water, including pressure, gas-medium ultrasound, liquid-medium ultrasound, radar, etc.

The liquid medium type ultrasonic sensor is adopted, and the accumulated water depth is measured by utilizing the ultrasonic ranging principle.

When transmitting ultrasonic signals, the transmitting end outputs a series of square waves, and pulse electric signals are converted into mechanical energy through an ultrasonic transducer; when receiving ultrasonic signals, the transducer converts the received ultrasonic signals into electric signals and outputs voltage pulses; the received ultrasonic echo signals can be converted into voltage signals which can be acquired by the singlechip through the amplifying and detecting circuit.

During measurement, the singlechip outputs a series of pulses through the signal output circuit, and then receives an ultrasonic echo signal through the signal receiving circuit; finally, the received echo signal data is processed to obtain a measurement result, as shown in fig. 1.

The calculation method adopted by ultrasonic ranging is generally as follows:

the ultrasonic transmission rate is V (m/s), and the ultrasonic speed under water is about 1500m/s at 25 ℃;

the time when the ultrasonic wave is transmitted and the ultrasonic wave echo signal is received is T(s);

the measured distance is s=v×t/2.

Since the sound velocity of ultrasonic waves is temperature-dependent, if the temperature change is not large, the sound velocity can be considered to be substantially unchanged. If the measurement accuracy is high, the correction is performed by a temperature compensation method.

The existing ultrasonic ranging method is applicable to various scenes, such as an air-medium ultrasonic level meter, a reversing radar, a proximity switch and the like.

However, when applied to ponding measurement, there is a problem that the low water level cannot be measured:

often, higher ponding is produced during heavy rain, while shallow ponding within 2cm is often produced during light rain. The ultrasonic sensor has a dead zone, the dead zone of the liquid-medium ultrasonic sensor is generally 3-5cm, and when the depth of accumulated water is smaller than the dead zone, echo signals are concentrated near the dead zone in the traditional measurement mode; because the accumulated water is shallow, ultrasonic waves can reflect between the sensor and the water surface for multiple times; the traditional measurement mode can only measure the data outside the blind area; as shown in fig. 2, the conventional measurement method cannot measure the values at t1 and t2, and only the data at t3 and t4 can be measured.

Disclosure of Invention

In order to solve the problems in the prior art, the application provides a method, a system, equipment and a storage medium for measuring the depth of accumulated water, which enable an ultrasonic sensor to measure the accumulated water condition in a dead zone in accumulated water monitoring and solve the problem of measuring shallow water.

The technical scheme of the application is as follows:

on one hand, the application provides a method for measuring the depth of accumulated water, which comprises the following steps:

sending out excitation signals through a liquid-medium ultrasonic sensor, and collecting corresponding echo signals;

performing curve smoothing on the data curve of the acquired echo signals, and performing offset processing on the smoothed curve in the vertical direction to obtain a reference line;

taking the difference value between the data of the echo signal at the corresponding moment and the data on the reference line as echo measurement data, and determining a ponding echo from the echo measurement data according to the numerical value;

and comparing the time differences of the accumulated water echoes, and determining the accumulated water depth according to the time differences.

As a preferred embodiment, the method for performing curve smoothing on the data curve of the acquired echo signal and performing offset processing on the smoothed curve in the vertical direction to obtain the reference line specifically includes:

acquiring a data sequence of a data curve of the echo signal: { a [0], a [1], a [2], … …, a [ n ] };

setting the smooth maximum variation of the curve as R;

calculating a data sequence of a smooth curve based on the data sequence of the data curve and the curve smooth maximum variation, specifically:

let b [0] =a0 ], let b [ n+1] =an+1 when the value of |an+1 ] -b [ n ] | is less than or equal to R; when the value of (a [ n+1] -b [ n ]) is greater than R, let b [ n+1] = b [ n ] +R; when the value of (an+1-bn) is smaller than-R, let bn+1=bn-R;

obtaining a data sequence of a smooth curve: { b [0], b [1], b [2], … …, b [ n ] } form a smoothed curve;

and (3) shifting the smoothed curve upwards by a preset distance h in the vertical direction to obtain a reference data sequence, wherein the numerical value c [ n ] =b [ n ] +h of the reference data sequence, and obtaining a reference line according to the reference data sequence.

As a preferred embodiment, the method for determining the ponding echo from the echo measurement data by taking the difference between the data of the echo signal at the corresponding time and the data on the reference line as the echo measurement data specifically comprises the following steps:

calculating a difference between the data value of the echo signal and the value of the reference data sequence:

d[n]=a[n]-c[n]；

when d [ n ] is greater than the set threshold, it is the accumulated water echo d [ t ].

In a preferred embodiment, in the step of emitting the excitation signal by the liquid-medium ultrasonic sensor, the pulse number of the excitation signal emitted by the liquid-medium ultrasonic sensor is dynamically adjusted, specifically:

setting the number range of pulses of the excitation signal, and presetting different water level thresholds corresponding to different numbers of pulses;

when the liquid-medium ultrasonic sensor sends out an excitation signal, the excitation is firstly carried out by using the maximum number of pulses, and when the measured target water level of accumulated water is found to be lower than a preset threshold value, the excitation is carried out again by reducing the pulse number until the pulse number reaches the minimum number.

As a preferred embodiment, the step of comparing the time differences of the plurality of ponding echoes and determining the ponding depth according to the time differences specifically includes:

acquiring time data of a plurality of continuous ponding echoes d [ t ];

calculating the time difference between the two adjacent water-accumulating echoes according to the time data of the two adjacent water-accumulating echoes d [ t ], and judging whether the difference between the calculated time differences is smaller than a set threshold value;

if the water accumulation depth is smaller than the set threshold value, the water accumulation depth is calculated through the following formula:

H=∆t*V/2；

wherein H is the depth of accumulated water, t is the time difference between two adjacent accumulated water echoes at the forefront of the sequence, and V is the ultrasonic speed.

As a preferred embodiment, the method further comprises a step of judging whether the superficial water exists or not, specifically comprising the following steps:

setting a reference threshold value of reference line data at a fixed time t, wherein the reference threshold value corresponds to the reference line data when the accumulated water depth is at the minimum effective measured value;

and acquiring an actually measured datum line, comparing whether the data value of the actually measured datum line at the fixed time t is larger than a datum threshold value, and if so, judging that the shallow water with the depth smaller than the minimum effective measured value exists currently.

On the other hand, the application also provides a ponding depth measurement system which comprises a liquid medium ultrasonic sensor and a processor;

the liquid-medium ultrasonic sensor is used for sending out an excitation signal and collecting a corresponding echo signal;

the processor is used for carrying out curve smoothing on the data curve of the acquired echo signals and carrying out offset processing on the smoothed curve in the vertical direction to obtain a datum line;

the processor is also used for taking the difference value between the data of the echo signal at the corresponding moment and the data on the reference line as echo measurement data and determining the accumulated water echo from the echo measurement data according to the value;

the processor is also used for comparing the time difference of a plurality of ponding echoes and determining the ponding depth according to the time difference.

As a preferred implementation mode, the liquid-medium ultrasonic sensor comprises an ultrasonic transducer, an ultrasonic excitation circuit, a signal amplifying and detecting circuit and an ADC signal acquisition module.

In still another aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the method for measuring the depth of accumulated water according to any embodiment of the present application when executing the program.

In yet another aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for measuring depth of water according to any of the embodiments of the present application.

The application has the following beneficial effects:

1. according to the method, a smooth and offset datum line is constructed for the accumulated water in the dead zone, and repeated echo comparison processing is carried out on the datum line and the data curve of the original echo signal, so that accumulated water echo in the dead zone depth can be determined, and the accumulated water depth can be calculated through the acquired time difference among a plurality of accumulated water echoes.

2. The application dynamically adjusts the pulse number of the excitation signal emitted by the liquid-medium ultrasonic sensor, can adjust the pulse number based on the depth of the accumulated water, and improves the accumulated water monitoring efficiency.

3. According to the application, whether the superficial water with the water accumulation depth smaller than the minimum effective measured value exists or not is judged through the dynamic reference value of the fixed time, and the problem of measuring the superficial water in water accumulation monitoring is solved.

Drawings

FIG. 1 is a schematic diagram of the ultrasonic ranging principle of the prior art;

FIG. 2 is a schematic diagram of an ultrasonic blind zone signal of the prior art;

FIG. 3 is a flow chart of a method according to a first embodiment of the present application;

FIG. 4 is a schematic view of an ultrasonic echo and smoothing curve in an embodiment of the present application;

FIG. 5 is a schematic view of an ultrasonic echo and a reference curve in an embodiment of the present application;

FIG. 6 is a schematic diagram of a ponding ultrasonic echo signal and a reference curve in an embodiment of the present application;

FIG. 7 is a schematic diagram showing a comparison of signals of water according to an embodiment of the present application;

fig. 8 is a schematic diagram of a system structure according to a second embodiment of the application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be understood that the step numbers used herein are for convenience of description only and are not limiting as to the order in which the steps are performed.

It is to be understood that the terminology used in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Embodiment one:

referring to fig. 3, the embodiment provides a method for measuring the depth of accumulated water, which specifically includes the following steps:

s100, sending out an excitation signal through the liquid-medium ultrasonic sensor, wherein in the embodiment, the sent-out excitation signal is a pulse square wave of 1MHz, and corresponding echo signals are collected.

In one embodiment, in step S100, the number of pulses of the excitation signal emitted by the liquid-medium ultrasonic sensor is further dynamically adjusted, specifically:

setting the number range of pulses of the excitation signal, and presetting different water level thresholds corresponding to different numbers of pulses; the more the number of excitation pulses is, the larger the measurement distance is, and the larger the blind area is; in this embodiment, in order to obtain a measured value within 3cm, the minimum number of pulses of the excitation signal is set to 2, and the maximum number is set to 10;

the excitation signals with different pulse numbers set different water level thresholds; the threshold of 10 pulses is 10cm; the 6 pulses threshold was 3cm.

During measurement, 10 pulses are adopted as excitation signals to perform measurement;

if the signal water level is lower than the set threshold (10 cm) in the measurement, or the echo signals are concentrated in the range of the first 3cm, 6 pulses are used as excitation signals for measurement;

after the secondary excitation measurement, if the signal water level is lower than a set threshold (3 cm), or the multi-echo signals are concentrated in the range of the first 3cm, and finally, the measurement is carried out again by adopting 2 pulses as excitation signals.

In the embodiment, a 12-bit analog-to-digital converter is adopted for echo signal acquisition, the sampling rate is 1MHz, and the water accumulation resolution can reach 0.75mm water level. The water accumulation resolution ratio D, the ultrasonic rate is V (1500 m/s), the sampling period is T, and the sampling frequency is f (1 MHz): d=v×t/2=v/f/2=0.75 mm.

S200, performing curve smoothing on a data curve of the acquired echo signals by adopting a dynamic reference, and performing offset processing on the smoothed curve in the vertical direction to obtain a reference line;

s300, taking the difference value between the data of the echo signal at the corresponding moment and the data on the reference line as echo measurement data, and determining a ponding echo from the echo measurement data according to the numerical value;

s400, comparing time differences of a plurality of ponding echoes, and determining the ponding depth according to the time differences.

Based on the above embodiment, this embodiment constructs a smooth and offset reference line for the accumulated water in the dead zone, and performs multiple echo comparison processing with the data curve of the original echo signal, so as to determine the accumulated water echo in the dead zone depth, and calculate the accumulated water depth by using the time difference between the acquired multiple accumulated water echoes.

As a preferred implementation manner of this embodiment, in step S200, the method for performing curve smoothing on the data curve of the acquired echo signal, and performing offset processing on the smoothed curve in the vertical direction to obtain the reference line specifically includes:

s201, acquiring a data sequence of a data curve of an echo signal: { a [0], a [1], a [2], … …, a [ n ] } as L1 in FIG. 4 is the data curve of the echo signal;

s202, setting the curve smooth maximum variation as R;

s203, calculating a data sequence of a smooth curve based on the data sequence of the data curve and the curve smooth maximum change amount, wherein the data sequence is specifically as follows:

let b [0] =a0 ];

let b [ n+1] =a [ n+1] when the value of |a [ n+1] -b [ n ] | is less than or equal to R;

when the value of (a [ n+1] -b [ n ]) is greater than R, let b [ n+1] = b [ n ] +R;

when the value of (an+1-bn) is smaller than-R, let bn+1=bn-R;

obtaining a data sequence of a smooth curve: { b [0], b [1], b [2], … …, b [ n ] } form a smoothed curve, i.e. L2 in FIG. 4 is a smoothed curve;

s204, setting a reference offset h, and upwards shifting the smoothed curve by a preset distance in the vertical direction, namely, the reference offset h, so as to obtain a reference data sequence: { c [0], c [1], c [2], … …, c [ n ] }; the value c [ n ] =b [ n ] +h of the reference data sequence, and the reference line is obtained from the reference data sequence, as a curve L3 in fig. 5.

As a preferred implementation manner of this embodiment, in step S300, the method for determining the ponding echo from the echo measurement data by using the difference between the data of the echo signal at the corresponding time and the data on the reference line as the echo measurement data specifically includes:

d[n]=a[n]-c[n]；

When the echo signal is out of the blind zone of the traditional measurement mode, d [ n ] is the largest, namely the echo signal is the strongest.

The echo may have multiple reflections, and in practice the echo signal may be weaker due to attenuation in the transmission medium and attenuation in the reflection of the signal. Thus, the greater the distance, the smaller the echo signal; the more the number of reflections, the smaller the echo signal; the first echo signal is the strongest.

In this embodiment, for the accumulated water smaller than 3cm, a plurality of echo comparison treatments are performed. The water accumulation resolution D=0.75 mm, and the sampling period T=1/f=1us; echo signals with water accumulation less than 3cm, i.e. echo time T less than (t×3 cm/D) =40us.

As a preferred implementation manner of this embodiment, in step S400, the step of comparing the time differences of the plurality of ponding echoes and determining the ponding depth according to the time differences specifically includes:

when the depth of the accumulated water is very shallow (6-30 mm accumulated water), a plurality of groups of echo signals are received at the first 40us after the excitation signal is transmitted.

Determining a difference d [ n ] between the data value of the echo signal and the value of the reference data sequence; when d n is changed from less than 0 to d n greater than 0, it is the primary echo signal d 1; when d [ n ] is changed from more than 0 to less than 0, namely the echo signal d [ t1] is ended; then, continuing to traverse the data sequence d [ n ] to search for the next echo d [ t2]; similarly, d < t3 >, d < t4 >, d < t5 > … … can be obtained by traversing;

acquiring time data of a plurality of continuous ponding echoes d [ t ]; for example, a plurality of echo signals d [ t1], d [ t2], d [ t3], d [ t4] monitored at the first 80us of echo signal times are acquired;

and calculating the time difference between two adjacent water-accumulating echoes (t 2-t 1), d 2, d 3 and d 4) according to the time data of the two adjacent water-accumulating echoes (d t), and judging whether any two of the time differences (t 4-t 3), t2-t1, t3-t2 and t4-t3 are smaller than the preset threshold value. Ideally, for example, (t 2-t 1) = (t 3-t 2), (t 3-t 2) = (t 4-t 3) indicates that a stable water accumulation echo occurs, and the water accumulation depth can be calculated by the time difference, but the water accumulation depth is considered to be equal because the water surface fluctuation, i.e. the signal interference, for example, (t 2-t 1) and (t 3-t 2) are different within a threshold value (for example, 5 us).

H=∆t*V/2；

wherein H is the depth of accumulated water, t is the time difference between two adjacent accumulated water echoes at the forefront of the sequence, and V is the ultrasonic speed. As illustrated above, h= (t 2-t 1) ×v/2 if the difference between (t 2-t 1) and (t 3-t 2) is smaller than the threshold, and h= (t 3-t 2) ×v/2 if the difference between (t 2-t 1) and (t 3-t 2) is larger than the threshold, and the difference between (t 3-t 2) and (t 4-t 3) is smaller than the threshold.

Based on the above embodiment, by this scheme, a water accumulation depth of at least 6mm can be measured.

As a preferred implementation of this example, further, in order to target the superficial water smaller than the minimum measured value 6mm, it is possible to analyze whether or not there is water accumulation by judging the dynamic reference value of the fixed time t. The method specifically comprises the following steps:

setting a reference threshold value of reference line data at a fixed time t, wherein the reference threshold value corresponds to the reference line data when the accumulated water depth is at the minimum effective measured value; the shallower the water accumulation, the denser the echo of the first 40us, and the greater the dynamic baseline ct at the fixed time t.

Referring specifically to fig. 7, the data value of the reference line at the fixed time t is k=ct; the reference threshold value at the minimum effective measurement value, i.e., 6mm, is set to k1.

Acquiring an actually measured datum line, and comparing whether the data value of the actually measured datum line at a fixed time t is larger than a datum threshold value or not, wherein the currently measured k value is k2 as shown in fig. 7; when k2 is greater than k1, it is determined that there is currently shallow water with a depth less than the minimum effective measurement.

Based on the above embodiment, the technical solution provided in this embodiment can measure the water accumulation depth within the measurement blind area of the liquid-medium ultrasonic sensor, and can measure the water accumulation depth value of 6mm at the minimum, and can also judge whether water accumulation actually exists in the face of the superficial water with the water accumulation depth smaller than the minimum effective measurement value; the problem of superficial water measurement in ponding monitoring is solved.

Embodiment two:

referring to fig. 8, the present embodiment proposes a water accumulation depth measurement system, including a liquid-medium ultrasonic sensor and a processor;

the liquid-medium ultrasonic sensor is used for sending out an excitation signal and collecting a corresponding echo signal; this part is used to implement the function of step S100 in the first embodiment, and will not be described here again.

the processor is further configured to compare time differences of the multiple ponding echoes, and determine a ponding depth according to the time differences, in this embodiment, the processor specifically adopts a single chip microcomputer, and the processor is used to implement the functions of steps S200 to S400 in the first embodiment, which are not described herein.

In one embodiment, the liquid-medium ultrasonic sensor comprises an ultrasonic transducer, an ultrasonic excitation circuit, a signal amplifying and detecting circuit and an ADC signal acquisition module. Wherein the ultrasonic transducer adopts a high-frequency underwater ultrasonic transducer with the working frequency of 1MHz and the emission angle of 8 degrees. The ultrasonic emission adopts 1MH pulse square wave; the number of excitation pulses can be dynamically adjusted; the ADC signal acquisition module adopts a 12-bit analog-to-digital converter, and the sampling rate is 1MHz. After the excitation signal is sent, the singlechip collects echo signals through the ADC signal collection module, and the sampled echo data are cached in the RAM of the singlechip.

Embodiment III:

the embodiment provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for measuring the depth of accumulated water according to any embodiment of the application when executing the program.

Embodiment four:

the present embodiment proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for measuring a depth of standing water according to any of the embodiments of the present application.

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.

Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in the embodiments disclosed herein can be implemented as a combination of electronic hardware, computer software, and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In several embodiments provided by the present application, any of the functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Ra n dom Access Memory; RAM), magnetic disk or optical disk, etc.

The foregoing description is only illustrative of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims

1. The method for measuring the depth of the accumulated water is characterized by comprising the following steps of:

2. The method for measuring the depth of accumulated water according to claim 1, wherein the method for performing curve smoothing on the data curve of the collected echo signal and performing offset processing on the smoothed curve in the vertical direction to obtain the reference line is specifically as follows:

setting the smooth maximum variation of the curve as R;

3. The method according to claim 2, wherein the difference between the data of the echo signal at the corresponding time and the data on the reference line is used as echo measurement data, and the method for determining the ponding echo from the echo measurement data according to the value comprises the following steps:

d[n]=a[n]-c[n]；

4. The method according to claim 1, wherein in the step of sending out the excitation signal by the liquid-medium ultrasonic sensor, the pulse number of the excitation signal sent by the liquid-medium ultrasonic sensor is dynamically adjusted, and the method specifically comprises the steps of:

5. The method for measuring the depth of water according to claim 1, wherein the step of comparing the time differences of the plurality of water echoes and determining the depth of water according to the time differences comprises the steps of:

acquiring time data of a plurality of continuous ponding echoes d [ t ];

H=∆t*V/2；

6. The method of claim 1, further comprising a step of determining whether there is water in the surface, specifically:

7. A ponding degree of depth measurement system, characterized in that:

comprises a liquid medium ultrasonic sensor and a processor;

8. The water depth measurement system of claim 7, wherein:

the liquid-medium ultrasonic sensor comprises an ultrasonic transducer, an ultrasonic excitation circuit, a signal amplification and detection circuit and an ADC signal acquisition module.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of measuring the depth of water as claimed in any one of claims 1 to 6 when the program is executed by the processor.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method for measuring the depth of water as claimed in any one of claims 1 to 6.