CN103940402A - Method for determining angle based on ultrasonic image and system thereof - Google Patents
Method for determining angle based on ultrasonic image and system thereof Download PDFInfo
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- CN103940402A CN103940402A CN201310741047.9A CN201310741047A CN103940402A CN 103940402 A CN103940402 A CN 103940402A CN 201310741047 A CN201310741047 A CN 201310741047A CN 103940402 A CN103940402 A CN 103940402A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention relates to a method for determining an angle based on an ultrasonic image and a system thereof, which is characterized in that supersonic wave is generated by a second ultrasonic generation module, the supersonic wave is received by a second ultrasonic reception module, a second angle determination module determines the angle of the indication direction according to the image indication angle made by an imaging module; a first work device is moved, a first angle determination module determines the angle of the first work device, When the angle determined by the second angle determination module and the first angle determination module is consistent, the angle is determined to the work angle of the first work device. Based on the angle determination method and the system of the ultrasonic image, an ultrasonic imaging technology of the second ultrasonic device is used for forming the images, and the direction of the first work device is determined according to the images. Based on the angle determination method and the system of the ultrasonic image, the work direction of the first work device is accurately determined, and the method and the system are simple and easy to operate.
Description
Technical field
The present invention relates to a kind of angle based on ultrasonoscopy and determine method and system, relate in particular to a kind of method and system of determining other working equipment direction after direction of determining based on supersonic imaging apparatus.
Background technology
Along with the development of technology, equipment refinement level requires more and more higher, when increasing working equipment requirement work, needs specific direction and position to carry out work.Along with the development of ultrasonic technique, the application of ultrasonic imaging technique is more and more extensive.Existing working equipment can not be determined separately the direction of its work, conventionally need auxiliary equipment to help to determine direction and position, common two equipment are work separately, in the time changing working equipment into, often direction can change, and so greatly affects the working effect of this equipment.If imaging device is installed on each working equipment, greatly improve equipment cost.
Summary of the invention
The technical matters that the present invention solves is: build a kind of angle based on ultrasonoscopy and determine method and system, overcome prior art working equipment orientation and determine out of true, affect the technical matters of working effect.
Technical scheme of the present invention is: provide a kind of angle based on ultrasonoscopy to determine method, comprise the first working equipment, the second ultrasonic device, the first angle determination module, the second angle determination module, described the first angle determination module comprises that the first angle determines assembly, described the second angle determination module comprises that the second angle determines assembly, described the first angle determines that assembly is arranged on described the first working equipment, described the first angle determines that assembly is arranged on described the second ultrasonic device, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, the described angle based on ultrasonoscopy 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 determined the angle of this direction indication with image that described image-forming module is become instruction angle;
Mobile described the first working equipment is determined its operative orientation: mobile described the first working equipment, described the first angle determination module is determined the angle of described the first working equipment, 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 working equipment.
Further technical scheme of the present invention is: described the first angle determines that assembly comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, and described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction are arranged on described the first working equipment differently, described the second angle determines that assembly comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th 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 direction is 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 comprises respectively at least three axial orthogonal acceleration transducers separately.
Further technical scheme of the present invention is: described the first angle determines that assembly comprises the 7th magnetic field sensor sets and the 7th gravity sensor group; Described the second angle determines that assembly comprises the 8th magnetic field sensor sets and the 8th gravity sensor group, described the 7th magnetic field sensor sets and described the 8th magnetic field sensor sets comprise respectively the magnetic field sensor of three axial orthogonal settings separately, and described the 7th gravity sensor group and described the 8th gravity sensor group comprise respectively the gravity sensor of three axial orthogonal settings separately.
Further technical scheme of the present invention is: described the first working equipment is connected by radio communication with described the second ultrasonic device.
Technical scheme of the present invention is: build a kind of angle based on ultrasonoscopy and determine system, comprise the first working equipment, the second ultrasonic device, the first angle determination module, the second angle determination module, authentication module, described the first angle determination module comprises that the first angle determines assembly, described the second angle determination module comprises that the second angle determines assembly, described the first angle determines that assembly is arranged on described the first working equipment, described the second angle determines that assembly is arranged on described the second ultrasonic device, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, described the second angle determination module is determined the angle of this direction indication with image that described image-forming module is become instruction angle, mobile described the first working equipment, described the first angle determination module is determined the angle of described the first working equipment, 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 working equipment.
Further technical scheme of the present invention is: described the first angle determines that assembly comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, and described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction are arranged on described the first working equipment differently, described the second angle determines that assembly comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th 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 direction is 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 comprises respectively at least three axial orthogonal acceleration transducers separately.
Further technical scheme of the present invention is: described the first angle determines that assembly comprises the 7th magnetic field sensor sets and the 7th gravity sensor group; Described the second angle determines that assembly comprises the 8th magnetic field sensor sets and the 8th gravity sensor group, described the 7th magnetic field sensor sets and described the 8th magnetic field sensor sets comprise respectively the magnetic field sensor of three axial orthogonal settings separately, and described the 7th gravity sensor group and described the 8th gravity sensor group comprise respectively the gravity sensor of three axial orthogonal settings separately.
Further technical scheme of the present invention is: described the first angle determination module also comprises heptangle groups of acceleration sensors, and described the second angle determination module 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.
Further technical scheme of the present invention is: described authentication module is arranged on described the first working equipment.
Further technical scheme of the present invention is: described the second ultrasonic device arranges wireless telecommunications generation module, and described the first working equipment arranges wireless telecommunications receiver module.
Further technical scheme of the present invention is: described the first working equipment be in surgical apparatus, ultrasonic device, vibratory equipment any one or multiple.
Technique effect of the present invention is: build a kind of angle based on ultrasonoscopy and determine 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 determined the angle of this direction indication with image that described image-forming module is become instruction angle; Mobile described the first working equipment, described the first angle determination module is determined the angle of described the first working equipment, 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 working equipment.Angle based on ultrasonoscopy of the present invention is determined method and system, forms image by the ultrasonic imaging technique of the second ultrasonic device, determines the direction of described the first working equipment 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 working equipment, simple and easy to do.
Brief description of the drawings
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.
Fig. 4 is specific embodiment of the invention structural representation.
Embodiment
Below in conjunction with specific embodiment, technical solution of the present invention is further illustrated.
As shown in Figure 1, the specific embodiment of the present invention is: provide a kind of angle based on ultrasonoscopy to determine method, comprise the first working equipment 1, the second ultrasonic device 2, the first angle determination module 3, the second angle determination module 5, described the first angle determination module 3 comprises that the first angle determines assembly 34, described the second angle determination module 5 comprises that the second angle determines assembly 54, described the first angle determines that assembly 34 is arranged on described the first working equipment 1, described the second angle determines that assembly 54 is arranged on described the second ultrasonic device 2, described the second ultrasonic device 2 comprises the second ultrasonic generation module 21, the second ultrasonic receiver module 22, image-forming module 23, the described angle based on ultrasonoscopy determines that method comprises the steps:
Determine the angle of ultrasonoscopy direction indication: 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 working equipment 1 is determined its operative orientation: mobile described the first working equipment 1, described the first angle determination module 3 is determined the angle of described the first working equipment 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 working equipment 1.
As shown in Figure 1, 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 working equipment 1 of particular job object, described the second angle determination module 5 is determined the angle of this direction indication, described the second angle determination module 5 is with the angle of this direction indication of orientation determination of described the second ultrasonic device 2, record the definite angle of described the second angle determination module 5, operative orientation using direction definite described the second angle determination module 5 as described the first working equipment 1.Mobile described the first working equipment 1, described the first angle determination module 3 obtains the angle of the first working equipment 1 described in mobile described the first working equipment 1 process, when the definite angle of described the second ultrasonic device 2 that the angle of described the first working equipment 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 working equipment 1,, described the first working equipment 1 is with this angle work.
As shown in Figure 2, the preferred embodiment of the present invention is: described the first angle determines that assembly 34 comprises the first groups of acceleration sensors 31, the second groups of acceleration sensors 32, the 3rd groups of acceleration sensors 33, and 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 working equipment 1 differently; Described the second angle determines that assembly 54 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.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 working equipment 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 working equipment 1 direction of motion.
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, obtain the angle around X-axis by diagonal angle rate integrating, 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 relative 3-D walls and floor on described the second ultrasonic device 2, determine the direction on described the second ultrasonic device 2, its data representation is the angle of three axles of relative 3-D walls and floor on described the second ultrasonic device 2, or is expressed as the angular velocity around three axles.
As shown in Figure 3, the preferred embodiment of the present invention is: described the first angle determines that assembly 34 comprises the 7th magnetic field sensor sets 35 and the 7th gravity sensor group 38; Described the second angle determines that assembly 54 comprises the 8th magnetic field sensor sets 55 and the 8th gravity sensor group 58.Described the 7th magnetic field sensor sets 35 and described the 8th magnetic field sensor sets 55 comprise respectively the magnetic field sensor of three axial orthogonal settings separately, a value of each magnetic field sensor output, described the 7th magnetic field sensor sets 35 and described the 8th magnetic field sensor sets 55 are exported respectively three values.Described the 7th gravity sensor group 38 and described the 8th gravity sensor group 58 comprise respectively the gravity sensor of three axial orthogonal settings separately, a value of each gravity sensor output, described the 7th gravity sensor group 38 and described the 8th gravity sensor group 58 are exported respectively three values.
As shown in Figure 3, specific embodiment of the invention process is: the explanation as an example of the second angle determination module 5 example below: space coordinates O-XYZ of system made, the Z axis of these space coordinates is perpendicular to surface level, in this coordinate system, taking the 8th magnetic field sensor sets 55 data of this definite position, space as its primary data C
0(X
0, Y
0, Z
0), the primary data G of the 8th gravity sensor group 58
0(0,0 ,-1).In the time of equipment moving, described the 8th magnetic field sensor sets 55 is output as G
1(r, s, t), the data that the 8th gravity sensor group 58 is exported are C
1(X
1, Y
1, Z
1), to described the 8th magnetic field sensor sets 55 gathering and the real time data C of described the 8th gravity sensor group 58
1, G
1with its primary data C
0, G
0be normalized, that is, set up rotation matrix according to data and the primary data thereof of described the 8th magnetic field sensor sets 55 and described the 8th gravity sensor group 58, obtain the vector angle of described ultrasonic device in space by transformation matrix.Because described the 8th gravity sensor group 58 is arranged on the second ultrasonic device 2, described the 8th gravity sensor group 58 around the angle of three coordinate axis rotation be ultrasonic device in space with the angle of three axles, if the angle that described the 8th gravity sensor group 58 is rotated around X-axis is α, the angle of rotating around Y-axis is β, the angle of rotating around Z axis is γ, and the angle of described the 8th gravity sensor group 58 and three axles is (α, β, γ).
What rotation matrix represented is the coordinate transform of any vector in the time that coordinate system O-XYZ axis rotates, and vector around the transformation matrix of tri-axis rotations of coordinate system O-XYZ is:
Thus, to C
0, C
1, G
0, G
1set up simultaneous equations:
G
0= G
1×X（α）Y（β）Z（γ） （1）
C
0= C
1×X（α）Y（β）Z（γ） （2）
By matrixing and formula (1) (2), obtain:
（3）
（4）
Because the space angle of vector angle (α, β, γ) and the 8th magnetic field sensor sets 58 is not corresponding one by one, for example angle vector (30
0, 60
0, 100
0) and (150
0, 120
0,-80
0) represent a space angle, in order to eliminate the expression of this repetition, the span of restriction all angles :-180
0≤ α <180
0,-90
0≤ β <90
0,-180
0≤ γ <180
0.
Obtain α, β, γ by (3), (4), the angle vector that is described the 8th gravity sensor group 58 and three axles is (α, β, γ), the angle vector that is to say ultrasonic device and three axles is (α, β, γ), thus, by the angle of ultrasonic device and three axles, determine the ultrasonic direction of this second ultrasonic device 2.
The preferred embodiment of the present invention is: described the first working equipment 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 working equipment 1 arranges wireless telecommunications receiver module 11.Definite directional information is sent to described the first working equipment 1 by described the second communication apparatus 2, and described the first working equipment 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, facilitate the use of equipment.
As shown in Figure 4, the specific embodiment of the present invention is: build a kind of angle based on ultrasonoscopy and determine system, comprise the first working equipment 1, the second ultrasonic device 2, the first angle determination module 3, the second angle determination module 5, authentication module 8, described the first angle determination module 3 is arranged on described the first working equipment 1, described the second angle determination module 5 is arranged on described the second ultrasonic device 2, described the second ultrasonic device 2 comprises the second ultrasonic generation module 21, the second ultrasonic receiver module 22, image-forming module 23, there is ultrasound wave in described the second ultrasonic generation module 21, described the second ultrasonic receiver module 22 receives this ultrasound wave, described the second angle determination module 5 is determined the angle of this direction indication with image that described image-forming module 23 is become instruction angle, mobile described the first working equipment 1, described the first angle determination module 3 is determined the angle of described the first working equipment 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 working equipment 1.
As shown in Figure 4, 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 working equipment 1 of particular job object, described the second angle determination module 5 is determined the angle of this direction indication, described the second angle determination module 5 is with the angle of this direction indication of orientation determination of described the second ultrasonic device 2, 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 working equipment 1.Mobile described the first working equipment 1, described the first angle determination module 3 obtains the angle of the first working equipment 1 described in mobile described the first working equipment 1 process, described authentication module 8 is verified when the definite angle of described the second ultrasonic device 2 that the angle of described the first working equipment 1 that described the first angle determination module 3 obtains obtains with described the second angle determination module 5 is consistent, determine that this angle is the operating angle of described the first working equipment 1,, described the first working equipment 1 is with this angle work.
As shown in Figure 2, the preferred embodiment of the present invention is: described the first angle determination module 3 comprises that the first angle determines assembly 34, described the first angle determines that assembly 34 comprises the first groups of acceleration sensors 31, the second groups of acceleration sensors 32, the 3rd groups of acceleration sensors 33, and 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 working equipment 1 differently; Described the second angle determination module 5 comprises that the second angle determines assembly 54, described the second angle determines that assembly 54 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, and each groups of acceleration sensors is inputted respectively three values.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 working equipment 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 working equipment 1 direction of motion.In specific embodiment, described the first angle determination module 3 can be become by three above groups of acceleration sensors, can also comprise the equipment such as other gravity sensor group, magnetic field sensor.Described the second angle determination module 5 can be become by three above groups of acceleration sensors, can also comprise the equipment such as other gravity sensor group, magnetic field sensor.
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, obtain the angle around X-axis by diagonal angle rate integrating, 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 relative 3-D walls and floor on described the second ultrasonic device 2, determine the direction on described the second ultrasonic device 2, its data representation is the angle of three axles of relative 3-D walls and floor on described the second ultrasonic device 2, or is expressed as the angular velocity around three axles.
As shown in Figure 3, the preferred embodiment of the present invention is: described the first angle determination module 3 comprises that the first angle determines assembly 34, and described the first angle determines that assembly 34 comprises the 7th magnetic field sensor sets 35 and the 7th gravity sensor group 38; Described the second angle determination module 5 comprises that the second angle determines assembly 54, and described the second angle determines that assembly 54 comprises the 8th magnetic field sensor sets 55 and the 8th gravity sensor group 58.
As shown in Figure 3, specific embodiment of the invention process is: the explanation as an example of the second angle determination module 5 example below: space coordinates O-XYZ of system made, the Z axis of these space coordinates is perpendicular to surface level, in this coordinate system, taking the 8th magnetic field sensor sets 55 data of this definite position, space as its primary data C
0(X
0, Y
0, Z
0), the primary data G of the 8th gravity sensor group 58
0(0,0 ,-1).In the time of equipment moving, described the 8th magnetic field sensor sets 55 is output as G
1(r, s, t), the data that the 8th gravity sensor group 58 is exported are C
1(X
1, Y
1, Z
1), to described the 8th magnetic field sensor sets 55 gathering and the real time data C of described the 8th gravity sensor group 58
1, G
1with its primary data C
0, G
0be normalized, that is, set up rotation matrix according to data and the primary data thereof of described the 8th magnetic field sensor sets 55 and described the 8th gravity sensor group 58, obtain the vector angle of described ultrasonic device in space by transformation matrix.Because described the 8th gravity sensor group 58 is arranged on the second ultrasonic device 2, described the 8th gravity sensor group 58 around the angle of three coordinate axis rotation be ultrasonic device in space with the angle of three axles, if the angle that described the 8th gravity sensor group 58 is rotated around X-axis is α, the angle of rotating around Y-axis is β, the angle of rotating around Z axis is γ, and the angle of described the 8th gravity sensor group 58 and three axles is (α, β, γ).
What rotation matrix represented is the coordinate transform of any vector in the time that coordinate system O-XYZ axis rotates, and vector around the transformation matrix of tri-axis rotations of coordinate system O-XYZ is:
Thus, to C
0, C
1, G
0, G
1set up simultaneous equations:
G
0= G
1×X（α）Y（β）Z（γ） （1）
C
0= C
1×X（α）Y（β）Z（γ） （2）
By matrixing and formula (1) (2), obtain:
（3）
（4）
Because the space angle of vector angle (α, β, γ) and the 8th magnetic field sensor sets 58 is not corresponding one by one, for example angle vector (30
0, 60
0, 100
0) and (150
0, 120
0,-80
0) represent a space angle, in order to eliminate the expression of this repetition, the span of restriction all angles :-180
0≤ α <180
0,-90
0≤ β <90
0,-180
0≤ γ <180
0.
Obtain α, β, γ by (3), (4), the angle vector that is described the 8th gravity sensor group 58 and three axles is (α, β, γ), the angle vector that is to say ultrasonic device and three axles is (α, β, γ), thus, by the angle of ultrasonic device and three axles, determine the ultrasonic direction of this second ultrasonic device 2.
In specific embodiment, described the 7th magnetic field sensor sets 35 and described the 7th gravity sensor group 38 are arranged on described the first working equipment 1 upper, on described the 8th magnetic field sensor sets 55 and described the 8th gravity sensor group 58 are arranged on described the second ultrasonic device 2.Arrange in the axial direction, be convenient to the calculating of angle, simplify computation process.
In specific embodiment, described the first angle determines that assembly 34 at least comprises a gravity sensor group and an acceleration transducer, also can comprise multiple acceleration transducers and multiple gravity sensor group.In like manner, the second angle determines that assembly 54 at least comprises a gravity sensor group and an acceleration transducer, also can comprise multiple acceleration transducers and multiple gravity sensor group.
As shown in Figure 2, 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, determine fast its angle by angular acceleration, make in moving process, can be fast, equipment angle smoothly.
As shown in Figure 4, the preferred embodiment of the present invention is: described authentication module 8 is arranged on described the first working equipment 1.Described the second ultrasonic device 2 arranges wireless telecommunications generation module 25, and described the first working equipment 1 arranges wireless telecommunications receiver module 11.Described the first working equipment 1 is connected by radio communication with described the second ultrasonic device 2.Described the first working equipment 1 and described the second ultrasonic device 2 arrange respectively wireless communication module, described the second communication apparatus 2 is sent to described the first working equipment 1 by wireless telecommunications generation module 25 by definite directional information, the directional information that described the first working equipment 1 receives according to wireless telecommunications receiver module 11 moves, described authentication module 8 authenticates to the directional information of described the first working equipment 1 directional information definite with described the second ultrasonic device 2 when consistent, determines that this direction is for its operative orientation.By the cooperation of communication, facilitate the use of equipment.
The preferred embodiment of the present invention is: described the first angle determination module 31 comprises that the first angle determines assembly 34, and described the first angle determines that assembly 34 is the first gyroscope; Described the second angle determination module 5 comprises that the second angle determines assembly 54, and described the second angle determines that assembly 54 is the second gyroscope.Because gyroscope comprises many group acceleration transducers, can it space angle of carrier be installed, computation process and principle are as hereinbefore.
As shown in Figure 4, the preferred embodiment of the present invention is: described the first working equipment 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.
The preferred embodiment of the present invention is: described the first working equipment 1 in surgical apparatus, ultrasonic device, vibratory equipment any one or multiple.
Technique effect of the present invention is: build a kind of angle based on ultrasonoscopy and determine method and system, there is ultrasound wave in described the second ultrasonic generation module 21, described the second ultrasonic receiver module 22 receives this ultrasound wave, and described the second angle determination module 5 is determined the angle of this direction indication with image that described image-forming module 23 is become instruction angle; Mobile described the first working equipment 1, described the first angle determination module 3 is determined the angle of described the first working equipment 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 working equipment 1.Angle based on ultrasonoscopy of the present invention is determined method and system, forms image by the ultrasonic imaging technique of the second ultrasonic device 2, determines the direction of described the first working equipment 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 working equipment 1, simple and easy to do.
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 (11)
1. the angle based on ultrasonoscopy is determined method, it is characterized in that, comprise the first working equipment, the second ultrasonic device, the first angle determination module, the second angle determination module, described the first angle determination module comprises that the first angle determines assembly, described the second angle determination module comprises that the second angle determines assembly, described the first angle determines that assembly is arranged on described the first working equipment, described the first angle determines that assembly is arranged on described the second ultrasonic device, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, the described angle based on ultrasonoscopy 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 determined the angle of this direction indication with image that described image-forming module is become instruction angle;
Mobile described the first working equipment is determined its operative orientation: mobile described the first working equipment, described the first angle determination module is determined the angle of described the first working equipment, 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 working equipment.
2. the angle based on ultrasonoscopy is determined method according to claim 1, it is characterized in that, described the first angle determines that assembly comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, and described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction are arranged on described the first working equipment differently, described the second angle determines that assembly comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th 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 direction is 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 comprises respectively at least three axial orthogonal acceleration transducers separately.
3. the angle based on ultrasonoscopy is determined method according to claim 1, it is characterized in that, described the first angle determines that assembly comprises the 7th magnetic field sensor sets and the 7th gravity sensor group; Described the second angle determines that assembly comprises the 8th magnetic field sensor sets and the 8th gravity sensor group, described the 7th magnetic field sensor sets and described the 8th magnetic field sensor sets comprise respectively the magnetic field sensor of three axial orthogonal settings separately, and described the 7th gravity sensor group and described the 8th gravity sensor group comprise respectively the gravity sensor of three axial orthogonal settings separately.
4. the angle based on ultrasonoscopy is determined method according to claim 1, it is characterized in that, described the first working equipment is connected by radio communication with described the second ultrasonic device.
5. the angle based on ultrasonoscopy is determined system, it is characterized in that, comprise the first working equipment, the second ultrasonic device, the first angle determination module, the second angle determination module, authentication module, described the first angle determination module comprises that the first angle determines assembly, described the second angle determination module comprises that the second angle determines assembly, described the first angle determines that assembly is arranged on described the first working equipment, described the second angle determines that assembly is arranged on described the second ultrasonic device, described the second ultrasonic device comprises the second ultrasonic generation module, the second ultrasonic receiver module, image-forming module, described the second ultrasonic generation module generation ultrasound wave, described the second ultrasonic receiver module receives this ultrasound wave, described the second angle determination module is determined the angle of this direction indication with image that described image-forming module is become instruction angle, mobile described the first working equipment, described the first angle determination module is determined the angle of described the first working equipment, 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 working equipment.
6. the angle based on ultrasonoscopy is determined system according to claim 5, it is characterized in that, described the first angle determines that assembly comprises the first groups of acceleration sensors, the second groups of acceleration sensors, the 3rd groups of acceleration sensors, and described the first groups of acceleration sensors, described the second groups of acceleration sensors, described the 3rd groups of acceleration sensors direction are arranged on described the first working equipment differently, described the second angle determines that assembly comprises the 4th groups of acceleration sensors, the 5th groups of acceleration sensors, the 6th 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 direction is 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 comprises respectively at least three axial orthogonal acceleration transducers separately.
7. the angle based on ultrasonoscopy is determined system according to claim 5, it is characterized in that, described the first angle determines that assembly comprises the 7th magnetic field sensor sets and the 7th gravity sensor group; Described the second angle determines that assembly comprises the 8th magnetic field sensor sets and the 8th gravity sensor group, described the 7th magnetic field sensor sets and described the 8th magnetic field sensor sets comprise respectively the magnetic field sensor of three axial orthogonal settings separately, and described the 7th gravity sensor group and described the 8th gravity sensor group comprise respectively the gravity sensor of three axial orthogonal settings separately.
8. determine system according to the angle based on ultrasonoscopy described in claim 6 or 7, 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.
9. the angle based on ultrasonoscopy is determined system according to claim 5, it is characterized in that, described authentication module is arranged on described the first working equipment.
10. the angle based on ultrasonoscopy is determined system according to claim 9, it is characterized in that, described the second ultrasonic device arranges wireless telecommunications generation module, and described the first working equipment arranges wireless telecommunications receiver module.
11. according to claim 5 the angle based on ultrasonoscopy determine system, it is characterized in that, described the first working equipment be in surgical apparatus, ultrasonic device, vibratory equipment any one or multiple.
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| CN201310741047.9A CN103940402A (en) | 2013-12-30 | 2013-12-30 | Method for determining angle based on ultrasonic image and system thereof |
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| CN201310741047.9A CN103940402A (en) | 2013-12-30 | 2013-12-30 | Method for determining angle based on ultrasonic image and system thereof |
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| US20120220873A1 (en) * | 2011-02-24 | 2012-08-30 | Samsung Medison Co., Ltd. | Ultrasound system for providing image indicator |
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| JPH08206116A (en) * | 1994-12-06 | 1996-08-13 | Toshiba Corp | Ultrasonic diagnostic apparatus |
| CN102460205A (en) * | 2009-06-23 | 2012-05-16 | 皇家飞利浦电子股份有限公司 | Position determining system |
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Application publication date: 20140723 |
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