CN104792885A - Device and method for calibrating relative position of camera and ultrasonic probe in ultrasonic detection - Google Patents
Device and method for calibrating relative position of camera and ultrasonic probe in ultrasonic detection Download PDFInfo
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- CN104792885A CN104792885A CN201510158731.3A CN201510158731A CN104792885A CN 104792885 A CN104792885 A CN 104792885A CN 201510158731 A CN201510158731 A CN 201510158731A CN 104792885 A CN104792885 A CN 104792885A
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Abstract
The invention discloses a device and a method for calibrating the relative position of a camera and an ultrasonic probe in ultrasonic detection. The device comprises a measuring water tank of ultrasonic detection equipment, the ultrasonic probe, a signal generator, the camera and a calibration sample which is fixed in the measuring water tank of the ultrasonic detection equipment; the ultrasonic probe is connected with the signal generator; the signal generator emits a pulse signal with certain frequency to the ultrasonic probe, the pulse signal is converted into an ultrasonic signal under the conversion action of the ultrasonic probe and reaches the surface of the calibration sample through a coupling medium; the camera is used for determining the center position of the calibration sample; the overall range of the calibration sample can be watched through the camera; and the calibration sample is the basis for calibration of the relative positon of the camera and the ultrasonic probe.
Description
Technical field
The invention belongs to field of ultrasonic nondestructive detection, be specifically related to caliberating device and the method for camera and ultrasonic probe relative position in a kind of Ultrasonic Detection.
Background technology
Ultrasound examination is a kind of usual way in Non-Destructive Testing, is also the conventional detection means of weldquality.In ultrasound examination, major part is the distribution characteristics being characterized inside workpiece by detecting ultrasound wave by the size of the intensity in transmission after workpiece for measurement or reflection strength, differentiates the welding quality of workpiece.
In the Welding quality test process of electrical contact contact, needing to arrange suitable sweep limit, in order to ensure the accurate of sweep limit, needing to carry out Primary Location to ultrasonic probe, make ultrasonic probe alignment pieces surface.When carrying out ultrasonic probe location, according to the relative position of camera and ultrasonic probe, after camera alignment pieces, the position of ultrasonic probe to be regulated, makes ultrasonic probe alignment pieces, realize the location of ultrasonic probe.
In the Ultrasonic Detection product released at present, all do not propose the first locating device of ultrasonic probe both at home and abroad, more do not propose solution for the demarcation of ultrasonic probe and camera relative position.
Publication number is the Chinese invention patent application of CN103267807A (application number CN201310160721.4), disclose the probe scaling method in a kind of ultrasonic detecting equipment and device, publication number is CN103110429A (application number: Chinese invention patent application 201210191466.5), disclose a kind of optical calibration method of ultrasonic probe, but above two inventions mainly adopt diverse ways, the performance of ultrasonic probe is demarcated, do not relate to the location of ultrasonic probe, more do not relate to the demarcation of camera and relative probe position.
Summary of the invention
For above-mentioned defect of the prior art, the object of the present invention is to provide caliberating device and the method for camera and ultrasonic probe relative position in a kind of Ultrasonic Detection, this caliberating device and method can realize camera and ultrasonic probe relative position easy, exactly.
For realizing above-mentioned object, the technical solution used in the present invention is:
The invention provides the caliberating device of camera and ultrasonic probe relative position in a kind of Ultrasonic Detection, comprise the measurement tank of ultrasonic detection equipment, ultrasonic probe, signal generator, camera and calibration sample, wherein:
Described calibration sample is fixed in the measurement tank of described ultrasonic detection equipment;
Described ultrasonic probe connects described signal generator;
Described signal generator, to ultrasonic probe transponder pulse signal, pulse signal converts ultrasonic signal to through the transformation of ultrasonic probe, through couplant, arrives calibration sample surface;
Described camera, for determining the position at calibration sample center; The entire scope of calibration sample can be seen by camera;
Described calibration sample, its effect is the basis of carrying out camera and the demarcation of ultrasonic probe relative position.
Preferably, described camera is made up of multiple equidistant annulus and a target cross, and the point of crossing of target cross is the center of circle of donut.
Preferably, described calibration sample is carved with the cross bath mark of standard, and the center being centrally located at calibration sample of target cross.
Preferably, described camera target cross carries out location position in conjunction with the target cross of calibration sample.
Preferably, the range of size of described calibration sample is less than the field range of camera, and calibration sample is all positioned at sweep limit.
More preferably, described calibration sample is rectangular parallelepiped, but is not limited only to rectangular parallelepiped.
The present invention also provides the scaling method of a kind of camera and ultrasonic probe relative position, and described method comprises the steps:
Step 1: calibration sample is put in the sink, the position of fixing calibration sample, and the position of calibration sample is set as (0,0,0);
Step 2: the one-piece construction of camera and ultrasonic probe composition is assembled;
Step 3: moved by physical construction control camera and ultrasonic probe one-piece construction, require that camera can see the entire scope of calibration sample simultaneously, observe, until the right-angled intersection of laser pen target cross and calibration sample is overlapping, record relative displacement (the △ X1 of cam movement, △ Y1, △ Z1);
Step 4: use ultrasonic probe to scan described calibration sample, require that the scope of scanning is greater than the size of calibration sample, and calibration sample is all positioned at sweep limit, obtains scan image;
Step 5: carry out image procossing to the scan image obtained, obtains the center of scan image and the relative position (△ X2, △ Y2, △ Z2) of calibration sample target cross center;
Step 6: obtain the relative position of camera and ultrasonic probe for (△ X1+ △ X2, △ Y1+ △ Y2, △ Z1+ △ Z2), so far complete the location position between camera and ultrasonic probe.
Owing to have employed technique scheme, the invention has the beneficial effects as follows: the demarcation that present invention achieves camera position and ultrasonic probe relative position, ensure that accuracy when probe is just located.
Accompanying drawing explanation
Fig. 1 is the camera of the present embodiment and the caliberating device structural representation of relative probe position;
Fig. 2 is the calibration sample schematic diagram of the present embodiment;
Fig. 3 is the camera witness marker schematic diagram of the present embodiment;
Schematic diagram when Fig. 4 is the camera positioning workpieces of the present embodiment;
Schematic diagram when Fig. 5 is the ultrasonic probe positioning workpieces of the present embodiment;
In figure: 1 is calibration sample, 2 is tank, and 3 is ultrasonic probe, and 4 is camera head fixing device, and 5 is camera, and 6 is camera and ultrasonic probe mobile device, and 7 is camera target cross, and 8 is the center of test result figure.
Embodiment
Be further described technical scheme of the present invention below, the following description is only the use understanding technical solution of the present invention, and be not used in and limit scope of the present invention, protection scope of the present invention is as the criterion with claims.
As shown in Figure 1, be the caliberating device structural representation of the present embodiment.Described caliberating device comprises calibration sample 1, tank 2, ultrasonic probe 3, camera fixed part 4, signal generator, camera 5, camera and ultrasonic probe moving-member 6, wherein:
Described calibration sample 1 is fixed in described tank 2, and its effect is the basis of carrying out camera and the demarcation of ultrasonic probe relative position;
Described ultrasonic probe 3 is fixed on camera and ultrasonic probe moving-member 6, and ultrasonic probe 3 connects described supersonic signal generator;
Described signal generator, launches the pulse signal of certain frequency to ultrasonic probe 3, pulse signal converts ultrasonic signal to through the transformation of ultrasonic probe 3, through couplant, arrives calibration sample 1 surface;
Described camera 5 is fixed on camera and ultrasonic probe moving-member 6 by camera fixed part 4, and described camera effect is the position determining calibration sample center.
As shown in Figure 2, be the schematic diagram of the present embodiment calibration sample 1.In figure, described calibration sample 1 is rectangular parallelepiped, but is not limited only to rectangular parallelepiped; Cross bath mark is carved with on the surface of described calibration sample 1, and the center being centrally located at calibration sample 1 of this target cross.
As shown in Figure 3, be the witness marker schematic diagram of the present embodiment camera 5.In figure, described camera 5 is made up of multiple equidistant annulus and a target cross, the center of circle of the point of crossing of camera target cross 7 donut just.The entire scope of calibration sample 1 can be seen by described camera 5.
As shown in Figure 4, be schematic diagram when the present embodiment utilizes camera positioning workpieces.When utilizing described camera 5 to position, controlling camera 5 and moving, passing through eye-observation, until the target cross of calibration sample 1 and camera target cross 7 overlap, and the distance of record move camera 5 and ultrasonic probe 3, be (△ X1, △ Y1, △ Z1).
As shown in Figure 5, for the present embodiment utilizes the schematic diagram of ultrasonic probe positioning workpieces.Utilize ultrasonic probe 3 to scan calibration sample 1 and require that the scope of scanning is greater than the size of calibration sample 1, and calibration sample 1 is all positioned at sweep limit.Utilize ultrasonic probe 3 to scan, obtain scan image; Through image procossing, calculate the center of scan image and the relative position (△ X2, △ Y2, △ Z2) of calibration sample 1 right-angled intersection center.
So, can calculate, the relative position of camera 5 and ultrasonic probe 3 is (△ X1+ △ X2, △ Y1+ △ Y2, △ Z1+ △ Z2), thus completes the demarcation of camera and ultrasonic probe relative position in Ultrasonic Detection.
Present invention achieves the demarcation of camera position and ultrasonic probe relative position, ensure that accuracy when probe is just located.
The foregoing is only section Example of the present invention, not do any restriction to technical scope of the present invention, all any amendments made within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. the caliberating device of camera and ultrasonic probe relative position in Ultrasonic Detection, is characterized in that, comprise the measurement tank of ultrasonic detection equipment, ultrasonic probe, signal generator, camera and calibration sample, wherein:
Described calibration sample is fixed in the measurement tank of described ultrasonic detection equipment;
Described ultrasonic probe connects described signal generator;
Described signal generator, to ultrasonic probe transponder pulse signal, pulse signal converts ultrasonic signal to through the transformation of ultrasonic probe, through couplant, arrives calibration sample surface;
Described camera, for determining the position at calibration sample center; The entire scope of calibration sample can be seen by camera;
Described calibration sample is the basis of carrying out camera and the demarcation of ultrasonic probe relative position.
2. the caliberating device of camera and ultrasonic probe relative position in a kind of Ultrasonic Detection as claimed in claim 1, it is characterized in that, described camera is made up of multiple equidistant annulus and a target cross, and the point of crossing of target cross is the center of circle of donut.
3. the caliberating device of camera and ultrasonic probe relative position in a kind of Ultrasonic Detection as claimed in claim 2, is characterized in that, described calibration sample is carved with the cross bath mark of standard, and the center being centrally located at calibration sample of target cross.
4. the caliberating device of camera and ultrasonic probe relative position in a kind of Ultrasonic Detection as claimed in claim 3, it is characterized in that, described camera target cross carries out location position in conjunction with the target cross of calibration sample.
5. the caliberating device of camera and ultrasonic probe relative position in a kind of Ultrasonic Detection as described in any one of claim 1-4, it is characterized in that, the range of size of described calibration sample is less than the field range of camera, and calibration sample is all positioned at sweep limit.
6. in a kind of Ultrasonic Detection as described in any one of claim 1-4, the caliberating device of camera and ultrasonic probe relative position, is characterized in that, described calibration sample is rectangular parallelepiped.
7. adopt a scaling method for camera and ultrasonic probe relative position in the Ultrasonic Detection of device described in above-mentioned arbitrary claim, it is characterized in that, described method comprises the steps:
Step 1: calibration sample is put in the sink, the position of fixing calibration sample, and the position of calibration sample is set as (0,0,0);
Step 2: the one-piece construction of camera and ultrasonic probe composition is assembled;
Step 3: control camera and ultrasonic probe one-piece construction move, camera can see the entire scope of calibration sample simultaneously, observes, until the right-angled intersection of laser pen target cross and calibration sample is overlapping, record the relative displacement (△ X1, △ Y1, △ Z1) of cam movement;
Step 4: use ultrasonic probe to scan described calibration sample, require that the scope of scanning is greater than the size of calibration sample, and calibration sample is all positioned at sweep limit, obtains scan image;
Step 5: carry out image procossing to the scan image obtained, obtains the center of scan image and the relative position (△ X2, △ Y2, △ Z2) of calibration sample target cross center;
Step 6: obtain the relative position of camera and ultrasonic probe for (△ X1+ △ X2, △ Y1+ △ Y2, △ Z1+ △ Z2), so far complete the location position between camera and ultrasonic probe.
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| CN201510158731.3A CN104792885B (en) | 2015-04-03 | 2015-04-03 | Camera and the scaling method of ultrasonic probe relative position in ultrasound detection |
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| CN201510158731.3A CN104792885B (en) | 2015-04-03 | 2015-04-03 | Camera and the scaling method of ultrasonic probe relative position in ultrasound detection |
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| CN104792885B CN104792885B (en) | 2018-04-10 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106092976A (en) * | 2016-08-15 | 2016-11-09 | 力合科技（湖南）股份有限公司 | A kind of transparency detection device |
| CN106498854A (en) * | 2016-11-08 | 2017-03-15 | 中铁四局集团钢结构有限公司 | A kind of angle point scale |
| CN111596245A (en) * | 2020-05-20 | 2020-08-28 | 山东大学 | Optical and metal composite positioning method and system for calibration water tank |
| CN112816561A (en) * | 2020-12-31 | 2021-05-18 | 南京华建检测技术有限公司 | TOFD detection device and detection method for visual butt-joint welded joint of large-sized component |
| CN114965693A (en) * | 2022-05-24 | 2022-08-30 | 杭州瑞利超声科技有限公司 | Ultrasonic C scanning automatic alignment system based on virtual-real registration |
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| CN106092976A (en) * | 2016-08-15 | 2016-11-09 | 力合科技（湖南）股份有限公司 | A kind of transparency detection device |
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| CN111596245A (en) * | 2020-05-20 | 2020-08-28 | 山东大学 | Optical and metal composite positioning method and system for calibration water tank |
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| CN112816561A (en) * | 2020-12-31 | 2021-05-18 | 南京华建检测技术有限公司 | TOFD detection device and detection method for visual butt-joint welded joint of large-sized component |
| CN114965693A (en) * | 2022-05-24 | 2022-08-30 | 杭州瑞利超声科技有限公司 | Ultrasonic C scanning automatic alignment system based on virtual-real registration |
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