WO2024088642A1 - Transmission de valeurs de mesure de niveau de remplissage à résolution spatiale - Google Patents

Transmission de valeurs de mesure de niveau de remplissage à résolution spatiale Download PDF

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Publication number
WO2024088642A1
WO2024088642A1 PCT/EP2023/075161 EP2023075161W WO2024088642A1 WO 2024088642 A1 WO2024088642 A1 WO 2024088642A1 EP 2023075161 W EP2023075161 W EP 2023075161W WO 2024088642 A1 WO2024088642 A1 WO 2024088642A1
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WO
WIPO (PCT)
Prior art keywords
geometric
measuring device
filling material
model
location
Prior art date
Application number
PCT/EP2023/075161
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German (de)
English (en)
Inventor
Winfried Mayer
Original Assignee
Endress+Hauser SE+Co. KG
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Filing date
Publication date
Application filed by Endress+Hauser SE+Co. KG filed Critical Endress+Hauser SE+Co. KG
Publication of WO2024088642A1 publication Critical patent/WO2024088642A1/fr

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Classifications

    • 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
    • G01F23/22—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 by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—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 by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/284—Electromagnetic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S2013/0236—Special technical features
    • G01S2013/0245—Radar with phased array antenna

Definitions

  • the invention relates to a spatially resolving level measuring device and a method for the efficient data transmission of the corresponding level values.
  • appropriate field devices are used to record relevant process parameters.
  • suitable measuring principles are implemented in the respective field devices with which the corresponding process parameters, such as level, flow, pressure, temperature, pH value, redox potential or conductivity, can be recorded.
  • a wide variety of such field device types are manufactured and sold by the “Endress + Hauser” group of companies.
  • contactless measuring methods have been established for measuring the fill level of filling goods in containers because they are robust and low-maintenance.
  • the term “container” also includes non-enclosed containers, such as basins, lakes or flowing water. Another advantage of contactless measuring methods is the ability to measure the fill level almost continuously. In the field of continuous fill level measurement, radar-based measuring methods are therefore mainly used (in the context of this patent application, the term “radar” refers to signals or electromagnetic waves with frequencies between 0.03 GHz and 300 GHz).
  • FMCW Frequency Modulated Continuous Wave
  • the measuring principle of FMCW radar-based distance measuring methods is based on transmitting a continuous radar signal with a modulated frequency.
  • a characteristic of FMCW is that the transmission frequency is periodically changed within a defined frequency band.
  • higher frequency bands in the range of a standardized center frequency are increasingly being used as development progresses:
  • the 26 GHz band or the 79 GHz band frequencies of over 100 GHz have now been implemented.
  • the advantage of high frequencies is that a larger absolute bandwidth (e.g. 4 GHz in the 100 GHz frequency band) can be used at higher frequencies. This in turn achieves a higher resolution and a higher accuracy of the level measurement.
  • the temporal change of the frequency within the frequency band is linear by default and has a sawtooth or triangular shape.
  • a sinusoidal change can also be implemented in principle.
  • the distance is determined in the FMCW method based on the current frequency difference between the current received high frequency signal after reflection from the measuring object, and the radar signal currently emitted by the measuring device.
  • the FMCW-based level measurement method is described, for example, in the published patent application DE 10 2013 108 490 A1.
  • the FMCW method makes it possible to measure the distance or the fill level at least at certain points.
  • the point at which the fill level is measured depends on the orientation of the transmitting/receiving antenna or the direction of its beam lobe (due to the generally reciprocal properties of antennas, the characteristics or beam angle of the beam lobe of the respective antenna is independent of whether it is transmitting or receiving; the term "angle” or “beam angle” in the context of this patent application refers to the angle at which the beam lobe has its maximum transmission intensity or reception sensitivity).
  • the filling level measuring device is aligned so that the beam of the antenna is directed approximately vertically downwards towards the filling material and determines the distance to the filling material.
  • the filling level can be inhomogeneous, for example due to bulk material cones, so that the filling level value determined by the filling level measuring device is only partially meaningful. In such cases in particular, it is therefore desirable to be able to determine the distance or the filling level with spatial resolution in the form of a two- or three-dimensional profile.
  • the visual 3D representation of imaging filling level measuring devices offers great benefits for the automation of filling and dismantling processes.
  • the visualization can be used to detect and avoid dangerous filling conditions, which increases the reliability and safety of the corresponding process plants.
  • the beam of the radar-based level measuring device can be designed to be mechanically pivotable so that the filling material profile can be recorded over the entire container cross-section or at least a portion of the filling material surface. Due to the increased maintenance effort, however, such designs are only used in special applications, such as in mining.
  • Radar-based distance measuring devices in which the beam can be electrically swiveled are also known from the state of the art: Among other things, the so-called “phased array” principle can be used, in which the measuring device comprises several antennas, with their radar signals being superimposed for evaluation purposes.
  • the antennas are arranged in rows (beam swiveled along an axis) or in an array (beam swiveling around two axes).
  • the individual antennas are controlled according to their arrangement sequence with a phase shift that increases for each antenna.
  • the angle a of the beam lobe is adjusted depending on the phase shift cp according to a ⁇ arcsin( ⁇ p).
  • the hardware required for this can be integrated so compactly that the antennas are housed as patch antennas together with the semiconductor component for signal generation/signal evaluation on a common circuit board or even as a jointly encapsulated radar IC ("integrated circuit").
  • a distance measuring device operating according to the phased array principle is described in the German publication DE 100 36 131 A1, among others.
  • each antenna in the antenna array has its own signal processing and its own digitization.
  • the received radar signal is digitized in terms of both its amplitude and its phase position using an appropriate process.
  • the summation takes place digitally after a virtual phase shift and amplitude scaling in a special computer, the so-called beamform processor.
  • beamform processor With digital beam forming, the radiation characteristics of the antenna can be shaped so that it has several independent main lobes for different directions. Both digital beam forming and the phased array principle can potentially achieve a high lateral and vertical spatial resolution of the level measurement.
  • the level measuring device comprises at least the following components: a transmitting/receiving unit which is designed o to transmit radar signals with a laterally variable location reference to the filling material, and o to receive corresponding reception signals after reflection at a corresponding location on the filling material surface, and an evaluation unit which is designed o to determine location-related filling level values based on the reception signals, and o to create the geometric model by approximating the location-related filling level values using one or more geometric bodies.
  • a transmitting/receiving unit which is designed o to transmit radar signals with a laterally variable location reference to the filling material, and o to receive corresponding reception signals after reflection at a corresponding location on the filling material surface
  • an evaluation unit which is designed o to determine location-related filling level values based on the reception signals, and o to create the geometric model by approximating the location-related filling level values using one or more geometric bodies.
  • the invention is therefore based on the idea of approximately representing at least the relevant sub-areas of the filling material surface, which are represented by the location-related filling level values, using geometric bodies.
  • the advantage of this is that geometric bodies can potentially be described with a significantly smaller amount of data than the corresponding filling level values of the corresponding sub-area on the filling material surface.
  • This allows the filling level measuring device to transmit the geometric model to external units, such as the process control center, via a communication unit, even if the corresponding transmission protocol only allows a very limited data rate. If designed accordingly, the communication unit can set the update rate with which it transmits the current model to the external unit, in particular inversely proportional to the approximation duration, so that the process control center always has the most current model possible.
  • the term "unit” is understood to mean in principle any separate arrangement or encapsulation of those electronic circuits that are intended for the specific purpose, e.g. for measuring signal processing or as an interface.
  • the respective unit can therefore include corresponding analog circuits for generating or processing analog signals.
  • the unit can also include digital circuits, such as FPGAs, microcontrollers or storage media in conjunction with corresponding programs. the program is designed to carry out the required method steps or to apply the necessary computing operations.
  • different electronic circuits of the respective unit within the meaning of the invention can potentially also access a common physical memory or be operated using the same physical digital circuit. It is not relevant whether different electronic circuits within the unit are arranged on a common circuit board or on several interconnected circuit boards.
  • the approximation algorithm for the geometric model can be implemented in the evaluation unit using, for example, the method of least squares (better known in English as “least square”) or a machine learning algorithm, in particular an artificial neural network.
  • the target variable can be defined, for example, as the factor by which the amount of data is reduced.
  • the target variable can be, for example, to select the number, shape and/or size of the geometric bodies in such a way that the amount of data in the model is compressed in relation to the location-related fill level values by a factor of 10 2 , 10 3 or 10 4 .
  • the approximation algorithm can be left to decide which types of geometric bodies are used for the approximation. However, it is also conceivable to specify the type(s) of geometric body to the approximation algorithm.
  • one or more cuboids, cones, cylinders, ogives and/or sphere sections can be used as geometric bodies to approximate the model.
  • the geometric bodies are preferably linked to create the model using logical and/or arithmetic operations, in particular union, intersection and/or difference, if several geometric bodies are used for the approximation.
  • the evaluation unit can optionally include the extruded inner cross-section shape to approximate the geometric model. This can improve the computational effort required to create the model or the accuracy of the model. This variant is not only applicable to containers whose inner cross-section is constant over the height. If the inner cross-section shape or area depends on the height, it is possible to include the geometry of the lateral inner cross-section in the model, provided, for example, that the dependency of the inner cross-section shape/area on the height is known. Within the scope of the invention, it is not relevant which principle for spatially resolving radar measurement is implemented in the level measuring device.
  • the transmitting/receiving unit can, for example, be designed to transmit the radar signals using the phased array principle or the digital beam forming principle with a laterally variable spatial reference and to receive reception signals accordingly.
  • the evaluation unit must also be designed to determine the location-related fill level values using the respective principle.
  • the invention also includes the following method for creating a geometric model of at least a partial area of the surface of a filling material.
  • the following method steps are provided for this purpose:
  • Fig. 1 A spatially resolving level measuring device on a container
  • Fig. 2 an inventive modeling of the filling material surface.
  • Fig. 1 shows a container 3 with a filling material 2, the filling level L of which is to be determined.
  • the container 3 can be up to more than 100 m high.
  • a radar-based fill level measuring device 1 is mounted above the filling material 2 at a known installation height h above the brine of the container 3.
  • the fill level measuring device 1 is attached to a corresponding opening of the container 3 in such a way that radar signals SHF, RHF can be transmitted vertically downwards into the container s towards the filling material 2 via an antenna arrangement or can be received after they have been reflected on the filling material surface. Accordingly, the fill level measuring device 1 can be arranged essentially outside the container 3. After the emitted radar signals SHF have been reflected on the surface of the filling material, the level measuring device 1 receives the reflected radar signals RHF.
  • the resulting signal runtime t between the emission and reception of the respective radar signal SHF, RHF is according to accordingly proportional to the distance d between the level measuring device 1 and the filling material 2.
  • “c” is the media-dependent radar propagation speed.
  • the FMCW or pulse propagation time method can be implemented in the level measuring device 1. Accordingly, the generation of the radar signals SHF to be transmitted and the reception of the corresponding reception signals RHF within the level measuring device 1 must take place by an appropriately designed transmitting/receiving unit.
  • the transmitting/receiving unit can be designed, for example, on the basis of a phase locked loop.
  • the transmitting/receiving unit can be based on the principle of pulse subsampling.
  • the level measuring device 1 can in turn assign the measured signal transit time t to the respective distance d.
  • the level measuring device 1 is connected to a higher-level unit 4, such as a local process control system or a decentralized server system, via its own communication unit, in which “4-20 mA”, “PROFIBUS”, “HART 1 ” or “Ethernet” is implemented as a communication protocol, for example.
  • the measured level values L can be transmitted via this, for example in order to control any inflows or outflows of the container 3.
  • other information about the general operating status of the level measuring device 1 can also be communicated via the communication unit.
  • the surface of the filling material 2 is not planar. This can occur in particular with bulk-type filling materials 2, for example if Filling the container 3 can result in a cone of material being formed.
  • funnels can form on the surface of the filling material. If the level measuring device 1 only determines the filling level L at one point on the surface of the filling material 2, this may lead to an incorrect interpretation of the filling level L. This can lead to an emptying process being stopped incorrectly if the level measuring device 1 has determined that the container s is empty, although there is still filling material 2 at the edge of the inside of the container. In the opposite case, if the container s is full, a filling process may not be stopped, even though a maximum filling level has already been exceeded at one point on the surface of the filling material, because this is not detected by the level measuring device 1.
  • the level measuring device 1 shown in Fig. 1 determines the level L x;y in relation to the horizontal plane x;y with spatial resolution.
  • the phased array principle or the digital beam forming principle for example, can be implemented in the transmitting/receiving unit or in the evaluation unit, so that level values L x;y are transmitted with a laterally changed location reference x;y and received signals RHF are received accordingly.
  • the evaluation unit can thus determine level values L x;y for this grid based on the corresponding received signals RHF.
  • the grid ideally extends laterally over the entire interior of the container 3. Accordingly, the transmitting/receiving unit must be able to swivel the beam over a correspondingly wide solid angle range with regard to the phased array principle or the digital beam forming principle. It is advantageous if the level measuring device 1 is designed to record a grid or a solid angle range of at least 90° with a resolution of at least 2° per axis. This results in a correspondingly large data set of spatially resolved level values L x;y , which is to be exported via the communication unit.
  • Three-dimensional filling material surface profiles based on the determined filling level values L x;y can be described numerically in the form of networks or volume cells, for example.
  • a corresponding number of support values and thus very large amounts of data are required.
  • the description of the container content measured with a spatially resolving radar measuring device with 180 azimuth, 180 elevation and 500 distance cells as volume cells already results in 16 Mbit of data.
  • the resulting data volume for narrowband radio networks is and “HART 1 in “4-20 mA” mode not to be transmitted for periods of a few minutes.
  • the communication unit of the level measuring device 1 is based on the 4-20 mA transmission standard or its data transmission rate is otherwise limited due to explosion protection regulations, a delay-free transmission of the complete data set of the rasterized level values L x;y is not possible depending on the size of the data set, although this may be necessary to control pumps or drains.
  • the evaluation unit creates a geometric model MG of preferably the entire filling material surface in the container s, wherein the model MG is based on one or more geometric bodies z1, k1, k2, B.
  • the model MG is based on one or more geometric bodies z1, k1, k2, B.
  • the geometric model MG can pragmatically initially be created by the evaluation unit in such a way that the base point of the model MG is defined at the location of the level measuring device 1.
  • a subsequent change to the base point by the user, so that the base point is defined at a location within the container, for example, can be achieved by appropriate coordinate translation.
  • Fig. 2 The creation of the geometric model MG according to the invention is visualized schematically in Fig. 2:
  • the model MG is based on a base body B, which results from the cross-sectional geometry of the interior of the container extruded towards the filling material surface. In this case, it is necessary to store the cross-sectional geometry of the respective container 3 in the evaluation unit of the level measuring device 1.
  • the embodiment shown there is a container s, the interior of which has a circular cross-sectional geometry over the entire height h.
  • the base body B is modified by three geometric bodies z, k1, k2 in the embodiment shown in Fig. 2.
  • the modification takes place in the form of logical or arithmetic operations: a first cone k1 is subtracted from a cylinder z and a second cone k2 is added vertically offset by addition.
  • the resulting partial body is cut with the extruded base body B, which results in the geometric model MG of the filling material surface.
  • the filling level L x;y of the filling material 2 can be reproduced in a spatially resolved manner in that that in the container s, for example, a bulk material cone and at the same time a depression funnel are formed by the flowing bulk material 2. It goes without saying that the embodiment shown in Fig. 2 is only a greatly simplified example.
  • the advantage of this modeling of the filling material surface according to the invention is that, depending on the type, number and size of the geometric bodies z1, k1, k2, B on which the resulting model MG is based, the model MG can be represented in relation to the location-related fill level values L x;y using a significantly reduced amount of data.
  • This data compression is illustrated by the fact that, for example, a cone k1, k2 as a geometric body z1, k1, k2, B can only be represented mathematically by its height, its opening angle, its position and, if applicable, its spatial orientation.
  • the amount of data required to mathematically describe these parameters is, depending on the corresponding area on the filling material surface, significantly smaller than the amount of data on spatially resolved fill level values L x;y from the partial area of the filling material surface covered by the cone k1, k2.
  • the data reduction factor depends, among other things, on how closely the geometric model MG is approximated to the underlying grid of fill level values L x;y .
  • either classic approximation algorithms such as the least squares method, or machine or self-learning algorithms, such as an artificial neural network, can be implemented in the evaluation unit in order to approximate the geometric model MG ZU based on the fill level values L x;y .
  • the approximation algorithm in the evaluation unit in such a way that the resulting geometric model Mc includes a defined maximum data volume, or so that the data volume of the model MG is compressed by a minimum factor of, for example, 10 2 in relation to the underlying fill level values L x;y .
  • This enables the communication unit to to transmit the approximated model MG of the filling material surface to the higher-level unit 4 even in the case of a limited data rate with a high update rate of e.g. 10 Hz.
  • the approximation time that the evaluation unit needs to approximate the current model MG depends, among other things, on whether the model MG has to be significantly adjusted in relation to the previously generated model MG. This in turn depends on whether the fill level L x;y or the topology has changed significantly. If a machine learning algorithm is implemented in the evaluation unit for generating the geometric model MG, the respective approximation time also depends on the current learning progress of the learning algorithm. Accordingly, the communication unit can be designed flexibly if necessary in that it independently sets the update rate with which the current model MG is transmitted to the higher-level unit 4 depending on the approximation time.
  • the communication unit can increase the update rate inversely to the approximation time, at least until the maximum possible data transfer rate is reached. In the other case, i.e. if the approximation time increases despite any learning progress, this in turn indicates a major change in the filling material topology.
  • the communication unit can, if designed accordingly, issue a warning signal to the process control center 4 if the approximation time exceeds a defined maximum value, or if the approximation time has increased by a minimum value in relation to a previously approximated model MG. This can be used to warn of irregular conditions in the container 3, such as a flank slipping or a cornice breaking off.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne la compression de données de profils tridimensionnels de produits de remplissage ou la compression des valeurs de niveau de remplissage (Lx; y) relatives à un lieu, qui sont à la base du profil de produit de remplissage correspondant et qui sont détectées par un appareil de mesure de niveau de remplissage (1) tridimensionnel à résolution spatiale. A cet effet, une unité d'évaluation de l'appareil de mesure de niveau de remplissage (1) établit un modèle géométrique (MG) par approximation des valeurs de remplissage locales (Lx;y) relatives à un lieu, par au moins un corps géométrique (z1, k1, k2,B), par exemple basé sur l'une intelligence artificielle. L'avantage de l'idée selon l'invention réside dans le fait que les corps géométriques (z1, k1, k2,B) peuvent être décrits potentiellement avec une quantité de données nettement plus faible que les valeurs de niveau de remplissage (Lx;y) correspondantes de la zone partielle correspondante sur la surface du produit de remplissage. De ce fait, l'appareil de mesure de niveau de remplissage (1) peut transmettre le modèle géométrique (MG) par l'intermédiaire d'une unité de communication interne à des unités externes, comme par exemple un poste de commande de processus, même si le protocole de transmission correspondant ne permet qu'un débit de données très limité, par exemple en raison de prescriptions de protection contre les explosions.
PCT/EP2023/075161 2022-10-24 2023-09-13 Transmission de valeurs de mesure de niveau de remplissage à résolution spatiale WO2024088642A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022128063.2A DE102022128063A1 (de) 2022-10-24 2022-10-24 Übertragung ortsaufgelöster Füllstandsmesswerte
DE102022128063.2 2022-10-24

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WO2024088642A1 true WO2024088642A1 (fr) 2024-05-02

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10036131A1 (de) 2000-07-25 2002-02-07 Volkswagen Ag Radarsensor zur Erfassung der Verkehrssituation im Umfeld eines Kraftfahrzeuges
US20060201246A1 (en) * 2005-03-11 2006-09-14 Ilona Rolfes Method employing the radar principle for measuring the fill level of a medium in a container
DE102013108490A1 (de) 2013-08-07 2015-02-12 Endress + Hauser Gmbh + Co. Kg Dispersionskorrektur für FMCW-Radar in einem Rohr
EP3137857B1 (fr) * 2014-05-02 2020-08-19 VEGA Grieshaber KG Mesure de niveau par détermination de la topologie de surface et correction du centre de rotation
US11326926B2 (en) * 2017-10-06 2022-05-10 Vega Grieshaber Kg Radar fill level measurement device with a radar system-on-chip

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190346355A1 (en) 2018-05-14 2019-11-14 Jack Oliver Adolf LUNDIN Method for estimating in real-time stockpile particle size distribution associated to a level-based discretization
US11796377B2 (en) 2020-06-24 2023-10-24 Baker Hughes Holdings Llc Remote contactless liquid container volumetry

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10036131A1 (de) 2000-07-25 2002-02-07 Volkswagen Ag Radarsensor zur Erfassung der Verkehrssituation im Umfeld eines Kraftfahrzeuges
US20060201246A1 (en) * 2005-03-11 2006-09-14 Ilona Rolfes Method employing the radar principle for measuring the fill level of a medium in a container
DE102013108490A1 (de) 2013-08-07 2015-02-12 Endress + Hauser Gmbh + Co. Kg Dispersionskorrektur für FMCW-Radar in einem Rohr
EP3137857B1 (fr) * 2014-05-02 2020-08-19 VEGA Grieshaber KG Mesure de niveau par détermination de la topologie de surface et correction du centre de rotation
US11326926B2 (en) * 2017-10-06 2022-05-10 Vega Grieshaber Kg Radar fill level measurement device with a radar system-on-chip

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