CN103759700A - Angle determination method and system for ultrasonic equipment - Google Patents
Angle determination method and system for ultrasonic equipment Download PDFInfo
- Publication number
- CN103759700A CN103759700A CN201310742394.3A CN201310742394A CN103759700A CN 103759700 A CN103759700 A CN 103759700A CN 201310742394 A CN201310742394 A CN 201310742394A CN 103759700 A CN103759700 A CN 103759700A
- Authority
- CN
- China
- Prior art keywords
- groups
- acceleration sensors
- ultrasonic device
- angle
- ultrasonic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Automation & Control Theory (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- General Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to an angle determination system for ultrasonic equipment. The angle determination system comprises first ultrasonic equipment, second ultrasonic equipment, a first angle determination module and a second angle determination module, wherein the second ultrasonic equipment comprises a second ultrasonic generation module, a second ultrasonic receiving module and an imaging module; the first angle determination module comprises a first acceleration sensor group, a second acceleration sensor group and a third acceleration sensor group; the first acceleration sensor group, the second acceleration sensor group and the third acceleration sensor group are arranged on the first ultrasonic equipment in different directions; the second angle determination module comprises a fourth acceleration sensor group, a fifth acceleration sensor group and a sixth acceleration sensor group; the fourth acceleration sensor group, the fifth acceleration sensor group and the sixth acceleration sensor group are arranged on the second ultrasonic equipment in different directions. According to an ultrasonic-image-based angle determination method and an ultrasonic-image-based angle determination system, the working direction of the first ultrasonic equipment can be accurately determined. The system is simple and easy to operate, and low in cost.
Description
Technical field
The angle that the present invention relates to a kind of ultrasonic device is determined method and system, relates in particular to a kind of ultrasonic device operating angle based on supersonic imaging apparatus directions and determines system.
Background technology
Along with the development of technology, equipment refinement level requires more and more higher, during the work of ultrasonic probe equipment requirement, need to ultrasound wave or vibration occur to specific direction and position.Along with the development of ultrasonic technique, the application of ultrasonic imaging technique is more and more extensive.Existing ultrasonic probe can not be determined separately the direction of its work, conventionally need auxiliary equipment to help directions and position, such two equipment are work separately, when switching equipment is worked, often direction can change, and so greatly affects the working effect of this equipment.If imaging device is installed on each ultrasonic probe equipment, greatly improved equipment cost, meanwhile, supersonic imaging apparatus volume is large, also affects the facility of ultrasonic probe hand-held.
Summary of the invention
The technical matters that the present invention solves is: the angle that builds a kind of ultrasonic device is determined method and system, overcomes prior art working equipment orientation and determines out of true, affects the technical matters that working effect and cost are high.
Technical scheme of the present invention is: provide a kind of angle of ultrasonic device to determine method, comprise the first ultrasonic device, the second ultrasonic device, the first angle determination module, the second angle determination module, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, described the first angle determination module comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction is arranged on described the first ultrasonic device differently, described the second angle determination module comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th groups of acceleration sensors, and described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors direction are arranged on described the second ultrasonic device differently, described ultrasonic described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors, described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors comprise respectively at least three axial orthogonal acceleration transducers separately, and the angle of equipment determines that method comprises the steps:
Obtain the definite direction of described the second ultrasonic device imaging: described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, and described the second angle determination module is become image direction indication to determine the angle of this direction indication with described image-forming module;
Mobile described the first ultrasonic device is determined its operative orientation: mobile described the first ultrasonic device, described the first angle determination module is determined the angle of described the first ultrasonic device, when described the second angle determination module angle definite with described the first angle determination module is consistent, determine that this angle is the operating angle of described the first ultrasonic device.
Further technical scheme of the present invention is: described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors are axially orthogonal; Described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors are axially orthogonal.
Further technical scheme of the present invention is: described the first ultrasonic device is connected by radio communication with described the second ultrasonic device.
Technical scheme of the present invention is: the angle that builds a kind of ultrasonic device is determined system, comprise the first ultrasonic device, the second ultrasonic device, the first angle determination module, the second angle determination module, authentication module, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, described the first angle determination module comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction is arranged in the axial direction of described the first ultrasonic device differently, described the second angle determination module comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th groups of acceleration sensors, and described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors direction are arranged in the axial direction of described the second ultrasonic device differently, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors, described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors comprise respectively at least three axial orthogonal acceleration transducers separately, described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, and described the second angle determination module is become image direction indication to determine the angle of this direction indication with described image-forming module, mobile described the first ultrasonic device, described the first angle determination module is determined the angle of described the first ultrasonic device, when described the second angle determination module angle definite with described the first angle determination module is consistent, determine that this angle is the operating angle of described the first ultrasonic device.
Further technical scheme of the present invention is: described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors are axially orthogonal; Described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors are axially orthogonal.
Further technical scheme of the present invention is: described authentication module is arranged on described the first ultrasonic device.
Further technical scheme of the present invention is: described the second ultrasonic device arranges wireless telecommunications generation module, and described the first ultrasonic device arranges wireless telecommunications receiver module.
Further technical scheme of the present invention is: described the first ultrasonic device comprises the first ultrasonic generation module, the first ultrasonic receiver module, produces the vibration module of low-frequency vibration.
Further technical scheme of the present invention is: described the first groups of acceleration sensors and described the second groups of acceleration sensors are placed along the axial radial direction of described the first ultrasonic device, and described the first groups of acceleration sensors, the 3rd groups of acceleration sensors are placed along the axial tangential direction of described the first ultrasonic device.
Further technical scheme of the present invention is: described the 4th groups of acceleration sensors and described the 5th groups of acceleration sensors are placed along the axial radial direction of described the second ultrasonic device, and described the 4th groups of acceleration sensors, the 6th groups of acceleration sensors are placed along the axial tangential direction of described the first ultrasonic device.
Further technical scheme of the present invention is: described the first angle determination module also comprises heptangle groups of acceleration sensors, described the second angle determination module also comprises anistree groups of acceleration sensors, and described heptangle groups of acceleration sensors and described anistree groups of acceleration sensors comprise respectively three axial orthogonal angular acceleration transducers separately.
Technique effect of the present invention is: the angle that builds a kind of ultrasonic device is determined method and system, described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, and described the second angle determination module is become image direction indication to determine the angle of this direction indication with described image-forming module; Mobile described the first ultrasonic device, described the first angle determination module is determined the angle of described the first ultrasonic device, when described the second angle determination module angle definite with described the first angle determination module is consistent, determine that this angle is the operating angle of described the first ultrasonic device.The angle of ultrasonic device of the present invention is determined method system, by the ultrasonic imaging technique of the second ultrasonic device, forms image, determines the direction of described the first ultrasonic device according to image.Angle based on ultrasonoscopy of the present invention is determined method and system, can accurately determine the operative orientation of the first ultrasonic device, and simple and easy to do, cost is low.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is a kind of angle determination module of the present invention structural representation.
Fig. 3 is the another kind of angle determination module of the present invention structural representation.
Embodiment
Below in conjunction with specific embodiment, technical solution of the present invention is further illustrated.
As Fig. 1, shown in Fig. 2, the specific embodiment of the present invention is: provide a kind of angle of ultrasonic device to determine method, comprise the first ultrasonic device 1, the second ultrasonic device 2, the first angle determination module 3, the second angle determination module 5, described the second ultrasonic device 2 comprises the second ultrasonic generation module 21, the second ultrasonic receiver module 22, image-forming module 23, described the first angle determination module 3 comprises the first groups of acceleration sensors 31, the second groups of acceleration sensors 32, the 3rd groups of acceleration sensors 33, described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 directions are arranged on described the first ultrasonic device 1 differently, described the second angle determination module 5 comprises the 4th groups of acceleration sensors 51, the 5th groups of acceleration sensors 52, the 6th groups of acceleration sensors 53, and described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 directions are arranged on described the second ultrasonic device 2 differently.Described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33, described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 comprise respectively at least three axial orthogonal acceleration transducers separately.The angle of described ultrasonic device determines that method comprises the steps:
Obtain the definite direction of described the second ultrasonic device 2 imagings: ultrasound wave occurs described the second ultrasonic generation module 21, described the second ultrasonic receiver module 22 receives these ultrasound waves, described the second angle determination module 5 with described image-forming module 23 become image direction indication to determine the angle of this direction indication;
Mobile described the first ultrasonic device 1 is determined its operative orientation: mobile described the first ultrasonic device 1, described the first angle determination module 3 is determined the angle of described the first ultrasonic device 1, when described the second angle determination module 5 angle definite with described the first angle determination module 3 is consistent, determine that this angle is the operating angle of described the first ultrasonic device 1.
As Fig. 1, shown in Fig. 2, specific embodiment of the invention process is: described the second ultrasonic generation module 21 is to particular job object generation ultrasound wave, described the second ultrasonic receiver module 22 receives this ultrasound wave, the image generating by described image-forming module 23, then on image, indicate the operative orientation of the above the first ultrasonic device 1 of particular job object, described the second angle determination module 5 is measured the second ultrasonic generation module 21 indicated directions, described the second angle determination module 5 is determined the angle of this direction indication, record the angle of described the second ultrasonic generation module 21 that described the second angle determination module 5 obtains, operative orientation using direction definite described the second angle determination module 5 as described the first ultrasonic device 1.Mobile described the first ultrasonic device 1, described the first angle determination module 3 obtains the angle of the first ultrasonic device 1 described in mobile described the first ultrasonic device 1 process, when the definite angle of described the second ultrasonic device 2 that the angle of described the first ultrasonic device 1 obtaining when described the first angle determination module 3 is obtained with described the second angle determination module 5 is consistent, determine that this angle is the operating angle of described the first ultrasonic device 1, that is, described the first ultrasonic device 1 is with this angle work.In specific embodiment, described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 are arranged on described the second ultrasonic device 2 and axially go up, described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 be arranged on described the first ultrasonic device 1 axially on.
Described the second angle determination module 5 obtains the definite angle of the second ultrasonic device image direction indication by described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53, and described the first angle determination module 3 obtains the angle of the first ultrasonic device 1 by described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33.As an example of described the first groups of acceleration sensors 31 in described the first angle determination module 3, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 example, be elaborated below:
Under static state, tri-direction readings of X, Y, Z that described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 at 3 d space coordinate are:
A
xa=A
xb=A
xc
A
ya=A
yb=A
yc
A
za=A
zb=A
zc
Under motion state, along X-direction, along two particles of axis of rotation vertical direction, stressed difference is:
△ f=m △ a
radially =md ω
2
Wherein: m represents point mass, △ a
radially the difference that represents two particles acceleration diametrically, d represents the diameter rotating around the axis, ω represents angular velocity.
Around the angular velocity of X-axis, be:
Thus, calculate the angular velocity around X-axis, by diagonal angle rate integrating, obtain the angle around X-axis, accordingly, calculate the angle around X-axis, Y-axis, Z axis respectively, thus, according to the angle of three of relative 3-D walls and floor axles,, the angle of three axles of the axially relative 3-D walls and floor of described the second ultrasonic device 2, determine the axial direction of described the second ultrasonic device 2, its data representation is the angle of three axles of the axially relative 3-D walls and floor of described the second ultrasonic device 2, or is expressed as the angular velocity around three axles.In specific embodiment, described the first angle determination module 3 can be comprised of three above groups of acceleration sensors, can also comprise the equipment such as other gravity sensor, magnetic field sensor.Described the second angle determination module 5 can be comprised of three above groups of acceleration sensors, can also comprise the equipment such as other gravity sensor, magnetic field sensor.
In like manner, described the second angle determination module 5 obtains the definite direction of the second ultrasonic device 2 by described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53.
In specific embodiment, described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 are axially orthogonal; Described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 are axially orthogonal.Described the first groups of acceleration sensors 31 and described the second groups of acceleration sensors 32 are placed along the radial direction of described the first ultrasonic device 1 direction of motion, and described the first groups of acceleration sensors 31, the 3rd groups of acceleration sensors 33 are placed along the tangential direction of described the first ultrasonic device 1 direction of motion.
As shown in Figure 3, the preferred embodiment of the present invention is: described the first ultrasonic device 1 is connected by radio communication with described the second ultrasonic device 2.Described the second ultrasonic device 2 arranges wireless telecommunications generation module 25, and described the first ultrasonic device 1 arranges wireless telecommunications receiver module 11.Described the second communication apparatus 2 is sent to described the first ultrasonic device 1 by definite directional information, and described the first ultrasonic device moves according to the directional information receiving, and moves to directional information when consistent, determines that this direction is for its operative orientation.By the cooperation of communication, facilitated the use of equipment.
As shown in Figure 3, the preferred embodiment of the present invention is: described the first ultrasonic device 1 comprises the first ultrasonic receiver module 13 that hyperacoustic the first ultrasonic generation module 12 occurs, receive ultrasonic echo signal, simultaneously, also comprise the vibration module 14 that produces low-frequency vibration, the direction of vibration of described vibration module 14 also vibrates along definite operative orientation.
As Fig. 2, shown in 3, the specific embodiment of the present invention is: the angle that builds a kind of ultrasonic device is determined system, comprise the first ultrasonic device 1, the second ultrasonic device 2, the first angle determination module 3, the second angle determination module 5, authentication module 8, described the second ultrasonic device 2 comprises the second ultrasonic generation module 21, the second ultrasonic receiver module 22, image-forming module 23, described the first angle determination module 3 comprises the first groups of acceleration sensors 31, the second groups of acceleration sensors 32, the 3rd groups of acceleration sensors 33, described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 directions are arranged on described the first ultrasonic device 1 differently, described the second angle determination module 5 comprises the 4th groups of acceleration sensors 51, the 5th groups of acceleration sensors 52, the 6th groups of acceleration sensors 53, and described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 directions are arranged on described the second ultrasonic device 2 differently.Described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33, described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 comprise respectively at least three axial orthogonal acceleration transducers separately.There is ultrasound wave in described the second ultrasonic generation module 21, described the second ultrasonic receiver module 22 receives these ultrasound waves, described the second angle determination module 5 with described image-forming module 23 become image direction indication to determine the angle of this direction indication; Mobile described the first ultrasonic device 1, described the first angle determination module 3 is determined the angle of described the first ultrasonic device 1, when described the second angle determination module 5 angle definite with described the first angle determination module 3 is consistent, determine that this angle is the operating angle of described the first ultrasonic device 1.
In specific embodiment, described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 are arranged on described the second ultrasonic device 2 and axially go up, described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 be arranged on described the first ultrasonic device 1 axially on.
Specific embodiment of the invention process is: described the second ultrasonic generation module 21 is to particular job object generation ultrasound wave, described the second ultrasonic receiver module 22 receives this ultrasound wave, the image generating by described image-forming module 23, then on image, indicate the operative orientation of the above the first ultrasonic device 1 of particular job object, described the second angle determination module 5 is measured the second ultrasonic generation module 21 indicated directions, described the second angle determination module 5 is determined the angle of this direction indication, record the angle of described the second ultrasonic generation module 21 that described the second angle determination module 5 obtains, operative orientation using direction definite described the second angle determination module 5 as described the first ultrasonic device 1.Mobile described the first ultrasonic device 1, described the first angle determination module 3 obtains the angle of the first ultrasonic device 1 described in mobile described the first ultrasonic device 1 process, when the definite angle of described the second ultrasonic device 2 that the angle of described the first ultrasonic device 1 obtaining when described the first angle determination module 3 is obtained with described the second angle determination module 5 is consistent, determine that this angle is the operating angle of described the first ultrasonic device 1, that is, described the first ultrasonic device 1 is with this angle work.
As shown in Figure 2, described the second angle determination module 5 obtains the definite angle of the second ultrasonic device image direction indication by described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53, and described the first angle determination module 3 obtains the angle of the first ultrasonic device 1 by described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33.As an example of described the first groups of acceleration sensors 31 in described the first angle determination module 3, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 example, be elaborated below:
Under static state, tri-direction readings of X, Y, Z that described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 at 3 d space coordinate are:
A
xa=A
xb=A
xc
A
ya=A
yb=A
yc
A
za=A
zb=A
zc
Under motion state, along X-direction, along two particles of axis of rotation vertical direction, stressed difference is:
△ f=m △ a
radially =md ω
2
Wherein: m represents point mass, △ a
radially the difference that represents two particles acceleration diametrically, d represents the diameter rotating around the axis, ω represents angular velocity.
Around the angular velocity of X-axis, be:
Thus, calculate the angular velocity around X-axis, by diagonal angle rate integrating, obtain the angle around X-axis, accordingly, calculate the angle around X-axis, Y-axis, Z axis respectively, thus, according to the angle of three of relative 3-D walls and floor axles,, the angle of three axles of the axially relative 3-D walls and floor of described the second ultrasonic device 2, determine the axial direction of described the second ultrasonic device 2, its data representation is the angle of three axles of the axially relative 3-D walls and floor of described the second ultrasonic device 2, or is expressed as the angular velocity around three axles.In specific embodiment, described the first angle determination module 3 can be comprised of three above groups of acceleration sensors, can also comprise the equipment such as other gravity sensor, magnetic field sensor.Described the second angle determination module 5 can be comprised of three above groups of acceleration sensors, can also comprise the equipment such as other gravity sensor, magnetic field sensor.
In like manner, described the second angle determination module 5 obtains the definite direction of the second ultrasonic device 2 by described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53.
As shown in Figure 2, in specific embodiment, described the first groups of acceleration sensors 31, described the second groups of acceleration sensors 32, described the 3rd groups of acceleration sensors 33 are axially orthogonal; Described the 4th groups of acceleration sensors 51, described the 5th groups of acceleration sensors 52, described the 6th groups of acceleration sensors 53 are axially orthogonal.Described the first groups of acceleration sensors 31 and described the second groups of acceleration sensors 32 are placed along the radial direction of described the first ultrasonic device 1 direction of motion, and described the first groups of acceleration sensors 31, the 3rd groups of acceleration sensors 33 are placed along the tangential direction of described the first ultrasonic device 1 direction of motion.
As shown in Figure 3, the preferred embodiment of the present invention is: described authentication module 8 is arranged on described the first ultrasonic device 1.Described the first ultrasonic device 1 is connected by radio communication with described the second ultrasonic device 2.Described the second ultrasonic device 2 arranges wireless telecommunications generation module 25, and described the first ultrasonic device 1 arranges wireless telecommunications receiver module 11.Described the second communication apparatus 2 is sent to described the first ultrasonic device 1 by definite directional information, described the first ultrasonic device moves according to the directional information receiving, described authentication module 8 carries out Information Authentication, moves to directional information when consistent, determines that this direction is for its operative orientation.By the cooperation of communication, facilitated the use of equipment.
The preferred embodiment of the present invention is: described the first angle determination module 3 also comprises heptangle groups of acceleration sensors, and described the second angle determination module 5 also comprises anistree groups of acceleration sensors.Described heptangle groups of acceleration sensors and described anistree groups of acceleration sensors comprise respectively three axial orthogonal angular acceleration transducers separately.By the use of angular acceleration transducer group, immediately determine its angular acceleration, by angular acceleration, determine fast its angle, make in moving process, can be fast, equipment angle smoothly.
As shown in Figure 3, the preferred embodiment of the present invention is: described the first ultrasonic device 1 comprises the first ultrasonic receiver module 13 that hyperacoustic the first ultrasonic generation module 12 occurs, receive ultrasonic echo signal, simultaneously, also comprise the vibration module 14 that produces low-frequency vibration, the direction of vibration of described vibration module 14 also vibrates along definite operative orientation.
Technique effect of the present invention is: the angle that builds a kind of ultrasonic device is determined method and system, there is ultrasound wave in described the second ultrasonic generation module 21, described the second ultrasonic receiver module 22 receives these ultrasound waves, described the second angle determination module 5 with described image-forming module 23 become image direction indication to determine the angle of this direction indication; Mobile described the first ultrasonic device 1, described the first angle determination module 3 is determined the angle of described the first ultrasonic device 1, when described the second angle determination module 5 angle definite with described the first angle determination module 3 is consistent, determine that this angle is the operating angle of described the first ultrasonic device 1.The angle of ultrasonic device of the present invention is determined method system, by the ultrasonic imaging technique of the second ultrasonic device 2, forms image, determines the direction of described the first ultrasonic device 1 according to image.Angle based on ultrasonoscopy of the present invention is determined method and system, can accurately determine the operative orientation of the first ultrasonic device 1, and simple and easy to do, cost is low.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. the angle of a ultrasonic device is determined method, it is characterized in that, comprise the first ultrasonic device, the second ultrasonic device, the first angle determination module, the second angle determination module, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, described the first angle determination module comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction is arranged on described the first ultrasonic device differently, described the second angle determination module comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th groups of acceleration sensors, and described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors direction are arranged on described the second ultrasonic device differently, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors, described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors comprise respectively at least three axial orthogonal acceleration transducers separately, the angle of described ultrasonic device determines that method comprises the steps:
Obtain the definite direction of described the second ultrasonic device imaging: described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, and described the second angle determination module is become image direction indication to determine the angle of this direction indication with described image-forming module;
Mobile described the first ultrasonic device is determined its operative orientation: mobile described the first ultrasonic device, described the first angle determination module is determined the angle of described the first ultrasonic device, when described the second angle determination module angle definite with described the first angle determination module is consistent, determine that this angle is the operating angle of described the first ultrasonic device.
2. the angle of ultrasonic device is determined method according to claim 1, it is characterized in that, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors are axially orthogonal; Described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors are axially orthogonal.
3. the angle of ultrasonic device is determined method according to claim 1, it is characterized in that, described the first ultrasonic device is connected by radio communication with described the second ultrasonic device.
4. the angle of a ultrasonic device is determined system, it is characterized in that, comprise the first ultrasonic device, the second ultrasonic device, the first angle determination module, the second angle determination module, authentication module, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, described the first angle determination module comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction is arranged on described the first ultrasonic device differently, described the second angle determination module comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th groups of acceleration sensors, and described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors direction are arranged on described the second ultrasonic device differently, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors, described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors comprise respectively at least three axial orthogonal acceleration transducers separately, described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, and described the second angle determination module is become image direction indication to determine the angle of this direction indication with described image-forming module, mobile described the first ultrasonic device, described the first angle determination module is determined the angle of described the first ultrasonic device, when described the second angle determination module angle definite with described the first angle determination module is consistent, determine that this angle is the operating angle of described the first ultrasonic device.
5. the angle of ultrasonic device is determined system according to claim 4, it is characterized in that, described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors are axially orthogonal; Described the 4th groups of acceleration sensors, described the 5th groups of acceleration sensors, described the 6th groups of acceleration sensors are axially orthogonal.
6. the angle of ultrasonic device is determined system according to claim 4, it is characterized in that, described authentication module is arranged on described the first ultrasonic device.
7. the angle of ultrasonic device is determined system according to claim 4, it is characterized in that, described the second ultrasonic device arranges wireless telecommunications generation module, and described the first ultrasonic device arranges wireless telecommunications receiver module.
8. the angle of ultrasonic device is determined system according to claim 4, it is characterized in that, described the first ultrasonic device comprises the first ultrasonic generation module, the first ultrasonic receiver module, produces the vibration module of low-frequency vibration.
9. the angle of ultrasonic device is determined system according to claim 4, it is characterized in that, described the first angle determination module also comprises heptangle groups of acceleration sensors, described the second angle determination module also comprises anistree groups of acceleration sensors, and described heptangle groups of acceleration sensors and described anistree groups of acceleration sensors comprise respectively three axial orthogonal angular acceleration transducers separately.
10. the angle of ultrasonic device is determined system according to claim 4, it is characterized in that, described the 4th groups of acceleration sensors and described the 5th groups of acceleration sensors are placed along the axial radial direction of described the second ultrasonic device, and described the 4th groups of acceleration sensors, the 6th groups of acceleration sensors are placed along the axial tangential direction of described the first ultrasonic device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310742394.3A CN103759700A (en) | 2013-12-30 | 2013-12-30 | Angle determination method and system for ultrasonic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310742394.3A CN103759700A (en) | 2013-12-30 | 2013-12-30 | Angle determination method and system for ultrasonic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103759700A true CN103759700A (en) | 2014-04-30 |
Family
ID=50526976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310742394.3A Pending CN103759700A (en) | 2013-12-30 | 2013-12-30 | Angle determination method and system for ultrasonic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103759700A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1215153A (en) * | 1997-10-18 | 1999-04-28 | 梅瑟两合公司 | Ultrasonic wave range monitoring equipment |
| CN101966088A (en) * | 2010-10-26 | 2011-02-09 | 华南理工大学 | Oral cavity comprehensive detecting method and apparatus based on flexible phase controlled ultrasonic array |
| CN102626324A (en) * | 2011-02-07 | 2012-08-08 | 三星电子株式会社 | Ultrasound measuring apparatus and control method thereof |
| WO2012141068A1 (en) * | 2011-04-14 | 2012-10-18 | 日立アロカメディカル株式会社 | Ultrasound diagnostic device |
| US20130165785A1 (en) * | 2011-12-21 | 2013-06-27 | General Electric Company | Method and apparatus for aperture selection in ultrasound imaging |
-
2013
- 2013-12-30 CN CN201310742394.3A patent/CN103759700A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1215153A (en) * | 1997-10-18 | 1999-04-28 | 梅瑟两合公司 | Ultrasonic wave range monitoring equipment |
| CN101966088A (en) * | 2010-10-26 | 2011-02-09 | 华南理工大学 | Oral cavity comprehensive detecting method and apparatus based on flexible phase controlled ultrasonic array |
| CN102626324A (en) * | 2011-02-07 | 2012-08-08 | 三星电子株式会社 | Ultrasound measuring apparatus and control method thereof |
| WO2012141068A1 (en) * | 2011-04-14 | 2012-10-18 | 日立アロカメディカル株式会社 | Ultrasound diagnostic device |
| US20130165785A1 (en) * | 2011-12-21 | 2013-06-27 | General Electric Company | Method and apparatus for aperture selection in ultrasound imaging |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103941223A (en) | Sound source positioning system and method | |
| CN102364311B (en) | Six-degree of freedom vibration absolute measuring method based on triaxial acceleration sensor array | |
| JP2012122995A (en) | Apparatus for applying multi-axial inertial force | |
| CN103364071A (en) | Thin-wall cylinder modal test system and method for single-point laser continuous scanning vibration test | |
| CN104280736A (en) | Mobile terminal and prompting method | |
| CN103529428A (en) | Method for passively positioning point sound source based on spatial ten-element array | |
| CN106291567A (en) | A kind of laser radar, laser radar system and data processing method | |
| CN103105225B (en) | Device and method for measuring phase difference between vector hydrophone sound pressure and vibration velocity | |
| CN104067115A (en) | Concurrent multiple characteristic ultrasonic inspection | |
| CN203687923U (en) | Angle determination device of ultrasonic equipment | |
| CN207007874U (en) | Three-dimensional ultrasonic wind meter based on nonopiate survey wind formation | |
| CN103759700A (en) | Angle determination method and system for ultrasonic equipment | |
| CN205300573U (en) | Device is confirmed to angle based on ultrasound pattern | |
| CN203815486U (en) | Ultrasonic probe | |
| CN103175989A (en) | Three-dimensional direction test device | |
| CN104359451A (en) | Angle determination method and system for ultrasonic probe | |
| CN107167626A (en) | Three-dimensional ultrasonic wind meter and wind detection method based on nonopiate survey wind formation | |
| CN104655149A (en) | Test system of inertial navigation system | |
| CN103750857B (en) | Working angle determining method and system for working equipment | |
| CN103954264A (en) | Working angle determining method and system for ultrasonic equipment | |
| CN203824549U (en) | Device for determining operating angle of ultrasonic device | |
| CN103940402A (en) | Method for determining angle based on ultrasonic image and system thereof | |
| CN102178546A (en) | Low degree-of-freedom medical three-dimensional ultrasonic imaging device | |
| CN203837690U (en) | Working angle determining device of ultrasonic device | |
| CN103954265A (en) | Working angle determining method and system for ultrasonic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 518000, Nanshan District Shenzhen science and Technology Park, Guangdong Province, North Hill, two road, clean Sunshine Garden Applicant after: Hangzhou ET Medical Technology Co., Ltd. Address before: 518000, Nanshan District Shenzhen science and Technology Park, Guangdong Province, North Hill, two road, clean Sunshine Garden Applicant before: Shenzhen ET Medical Technology Co., Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: SHENZHEN ET MEDICAL TECHNOLOGY CO., LTD. TO: SHENZHEN ENERGY TECHNOLOGY, INC. |
|
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140430 |