CN104792885B - Camera and the scaling method of ultrasonic probe relative position in ultrasound detection - Google Patents
Camera and the scaling method of ultrasonic probe relative position in ultrasound detection Download PDFInfo
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- CN104792885B CN104792885B CN201510158731.3A CN201510158731A CN104792885B CN 104792885 B CN104792885 B CN 104792885B CN 201510158731 A CN201510158731 A CN 201510158731A CN 104792885 B CN104792885 B CN 104792885B
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Abstract
The present invention discloses camera and the caliberating device and method of ultrasonic probe relative position in a kind of ultrasound detection, described device includes measurement tank, ultrasonic probe, signal generator, camera and the calibration sample of ultrasonic detection equipment, and the calibration sample is fixed in the measurement tank of the ultrasonic detection equipment；The ultrasonic probe connects the signal generator；The signal generator, the pulse signal of certain frequency is launched to ultrasonic probe, pulse signal is converted into ultrasonic signal by the transformation of ultrasonic probe, by couplant, reaches calibration sample surface；The camera, for determining the position at calibration sample center；The entire scope of calibration sample can be seen by camera；The calibration sample, it is the basis for carrying out camera and the demarcation of ultrasonic probe relative position.
Description
Technical field
The invention belongs to field of ultrasonic nondestructive detection, and in particular to camera is relative with ultrasonic probe in a kind of ultrasound detection
The caliberating device and method of position.
Background technology
Ultrasound examination is a kind of usual way in Non-Destructive Testing, and the conventional detection means of weldquality.It is super
It is largely by detecting ultrasonic wave by the intensity in transmission after workpiece for measurement or the size of reflected intensity come table in sonic detection
The distribution characteristics of inside workpiece is levied, differentiates the welding quality of workpiece.
, it is necessary to suitable scanning range be set, in order to ensure to scan during the Welding quality test of electrical contact contact
Scope accurate to ultrasonic probe, it is necessary to carry out Primary Location so that ultrasonic probe alignment pieces surface.Carrying out ultrasonic probe
During positioning, the position of ultrasonic probe after camera alignment pieces, is adjusted according to the relative position of camera and ultrasonic probe
Put, make ultrasonic probe alignment pieces, realize the positioning of ultrasonic probe.
At present in domestic extrapolated ultrasound detection product, all without the first positioner for proposing ultrasonic probe, do not have more
Demarcation for ultrasonic probe and camera relative position proposes solution.
Publication No. CN103267807A (application number CN201310160721.4) Chinese invention patent application, is disclosed
Probe scaling method and device in a kind of ultrasonic detecting equipment, Publication No. CN103110429A (application numbers：
201210191466.5) Chinese invention patent application, disclose a kind of optical calibration method of ultrasonic probe, but more than
Two inventions mainly use different methods, and the performance of ultrasonic probe is demarcated, is not related to the positioning of ultrasonic probe,
More without reference to the demarcation of camera and relative probe position.
The content of the invention
For it is above-mentioned in the prior art the defects of, it is an object of the invention to provide camera in a kind of ultrasound detection with it is super
The caliberating device and method of sonic probe relative position, the caliberating device and method can it is easy, realize camera and super exactly
Sonic probe relative position.
To realize above-mentioned purpose, the technical solution adopted by the present invention is：
The present invention provides camera and the caliberating device of ultrasonic probe relative position in a kind of ultrasound detection, including ultrasound inspection
Measurement tank, ultrasonic probe, signal generator, camera and the calibration sample of measurement equipment, wherein：
The calibration sample is fixed in the measurement tank of the ultrasonic detection equipment；
The ultrasonic probe connects the signal generator；
The signal generator, launch pulse signal to ultrasonic probe, pulse signal passes through the transformation of ultrasonic probe
Ultrasonic signal is converted into, by couplant, reaches calibration sample surface；
The camera, for determining the position at calibration sample center；By camera it can be seen that calibration sample it is whole
Body scope；
The calibration sample, it is the basis for carrying out camera and the demarcation of ultrasonic probe relative position that it, which is acted on,.
Preferably, the camera is made up of multiple equidistant annulus and a target cross, and the crosspoint of target cross is
The center of circle of donut.
Preferably, the cross bath mark of standard is carved with the calibration sample, and target cross is centrally located at demarcation
The center of sample.
Preferably, the target cross of the camera target cross combination calibration sample carries out location position.
Preferably, the size range of the calibration sample is less than the field range of camera, and calibration sample is entirely located in
In scanning range.
It is highly preferred that the calibration sample is cuboid, but it is not limited only to cuboid.
The present invention also provides a kind of scaling method of camera and ultrasonic probe relative position, and methods described includes following step
Suddenly：
Step 1：Calibration sample is put in the sink, the position of fixed calibration sample, and the position of calibration sample is set
For (0,0,0)；
Step 2：The overall structure that camera and ultrasonic probe form is assembled；
Step 3：Control camera and ultrasonic probe overall structure to move by mechanical structure, while require that camera can be with
See the entire scope of calibration sample, observe, 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：The calibration sample is scanned using ultrasonic probe, it is desirable to the scope of scanning is more than the size of calibration sample,
And calibration sample is entirely located in scanning range, scan image is obtained；
Step 5：Image procossing is carried out to obtained scan image, obtains center and the calibration sample ten of scan image
The relative position (△ X2, △ Y2, △ Z2) of word mark center；
Step 6：The relative position for obtaining camera and ultrasonic probe is (△ X1+ △ X2, △ Y1+ △ Y2, △ Z1+ △
Z2), the location position between camera and ultrasonic probe is so far completed.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：The present invention realizes camera position and surpassed
The demarcation of sonic probe relative position, it ensure that accuracy when probe just positions.
Brief description of the drawings
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 workpiece of the present embodiment；
Schematic diagram when Fig. 5 is the ultrasonic probe positioning workpiece of the present embodiment；
In figure：1 is calibration sample, and 2 be tank, and 3 be ultrasonic probe, and 4 be camera head fixing device, and 5 be camera, and 6 are
Camera and ultrasonic probe mobile device, 7 be camera target cross, and 8 be the center of test result figure.
Embodiment
Technical scheme is further described below, the following description is only to understand technical solution of the present invention
It is used, is not used in restriction the scope of the present invention, protection scope of the present invention is defined by claims.
As shown in figure 1, the caliberating device structural representation for the present embodiment.The caliberating device includes calibration sample 1, water
Groove 2, ultrasonic probe 3, camera fixed component 4, signal generator, camera 5, camera and ultrasonic probe moving parts 6, its
In：
The calibration sample 1 is fixed in the tank 2, and it is to carry out camera and ultrasonic probe relative position mark that it, which is acted on,
Fixed basis；
The ultrasonic probe 3 is fixed on camera and ultrasonic probe moving parts 6, and ultrasonic probe 3 connects the ultrasound
Signal generator；
The signal generator, the pulse signal of certain frequency is launched to ultrasonic probe 3, and pulse signal passes through ultrasonic probe
3 transformation is converted into ultrasonic signal, by couplant, reaches the surface of calibration sample 1；
The camera 5 is fixed on camera and ultrasonic probe moving parts 6 by camera fixed component 4, described
Camera acts on the position for being to determine calibration sample center.
As shown in Fig. 2 the schematic diagram for the present embodiment calibration sample 1.In figure, the calibration sample 1 is cuboid, but not
It is only limitted to cuboid；Cross bath mark is carved with the surface of the calibration sample 1, and the target cross is centrally located at demarcation examination
The center of sample 1.
As shown in figure 3, the witness marker schematic diagram for the present embodiment camera 5.In figure, the camera 5 is by multiple etc.
Away from annulus and a target cross composition, the crosspoint of camera target cross 7 is exactly the center of circle of donut.Taken the photograph by described
As first 5 it can be seen that the entire scope of calibration sample 1.
As shown in figure 4, utilize schematic diagram during camera positioning workpiece for the present embodiment.Enter using the camera 5
During row positioning, control camera 5 moves, by eye-observation, until the target cross and camera target cross of calibration sample 1
7 is overlapping, and records the distance of dollying first 5 and ultrasonic probe 3, is (△ X1, △ Y1, △ Z1).
As shown in figure 5, the schematic diagram of workpiece is positioned using ultrasonic probe for the present embodiment.Scanned and marked using ultrasonic probe 3
Determine sample 1 and require that the scope of scanning is more than the size of calibration sample 1, and calibration sample 1 is entirely located in scanning range.Profit
It is scanned with ultrasonic probe 3, obtains scan image；By image procossing, center and the mark of scan image is calculated
Determine the relative position (△ X2, △ Y2, △ Z2) of the right-angled intersection center of sample 1.
It is possible to calculate, the relative position of camera 5 and ultrasonic probe 3 is (△ X1+ △ X2, △ Y1+ △ Y2, △
Z1+ △ Z2), so as to complete camera and the demarcation of ultrasonic probe relative position in ultrasound detection.
The present invention realizes the demarcation of camera position and ultrasonic probe relative position, ensure that standard when probe just positions
True property.
The section Example of the present invention is the foregoing is only, any restrictions not are done to the technical scope of the present invention,
Any modification made within the spirit and principles of the invention, equivalent substitution and improvement etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (2)
1. camera and the scaling method of ultrasonic probe relative position in a kind of ultrasound detection, it is characterised in that methods described bag
Include following steps：
Step 1：Calibration sample is put in the sink, the position of fixed calibration sample, and the position of calibration sample is set as (0,
0,0)；The cross bath mark of standard is carved with the calibration sample, and cross bath mark is centrally located at calibration sample
Center；
Step 2：The overall structure that camera and ultrasonic probe form is assembled；The camera by multiple equidistant annulus and
One target cross composition, the crosspoint of target cross is the center of circle of donut；
Step 3：Camera and the movement of ultrasonic probe overall structure are controlled, while camera can see the overall model of calibration sample
Enclose, observe, until the cross bath mark of camera target cross and calibration sample is overlapping；
Step 4：The calibration sample is scanned using ultrasonic probe, it is desirable to which the scope of scanning is more than the size of calibration sample, and marks
Determine sample to be entirely located in scanning range, obtain scan image；
Step 5：Image procossing is carried out to obtained scan image, obtains center and the calibration sample cross of scan image
The relative position (△ X2, △ Y2) of groove mark center；
Step 6：The relative position for obtaining camera and ultrasonic probe is (△ X2, △ Y2), so far completes camera and ultrasound is visited
Location position between head.
2. camera and the scaling method of ultrasonic probe relative position in a kind of ultrasound detection as claimed in claim 1, it is special
Sign is that the calibration sample is cuboid.
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| Application Number | Priority Date | Filing Date | Title |
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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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| CN104792885A CN104792885A (en) | 2015-07-22 |
| CN104792885B true CN104792885B (en) | 2018-04-10 |
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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 |
| CN106498854B (en) * | 2016-11-08 | 2018-03-23 | 中铁四局集团钢结构有限公司 | A kind of angle point scale |
| CN111596245B (en) * | 2020-05-20 | 2021-04-16 | 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 |
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| DE3709858A1 (en) * | 1986-04-18 | 1987-10-22 | Heidelberger Druckmasch Ag | DETERMINING THE MULTI-COLOR PRINT REGISTER ERROR |
| WO1991002971A1 (en) * | 1989-08-21 | 1991-03-07 | Hitachi Construction Machinery Co., Ltd. | Ultrasonic flaw detector |
| JP2002168836A (en) * | 2000-12-01 | 2002-06-14 | Hitachi Kenki Fine Tech Co Ltd | Method and apparatus for ultrasonic image inspection |
| DE102005043776A1 (en) * | 2005-09-14 | 2007-03-22 | Bayerische Motoren Werke Ag | Ultrasonic test head positioning procedure uses camera fixed on industrial robot to image approximate weld position to create data to place test head in ideal position |
| CN203216907U (en) * | 2013-05-03 | 2013-09-25 | 上海和伍新材料科技有限公司 | Probe calibration device in ultrasonic detection equipment |
| CN103267807B (en) * | 2013-05-03 | 2015-12-02 | 上海和伍新材料科技有限公司 | Probe scaling method in a kind of ultrasonic detecting equipment and device |
| CN203328720U (en) * | 2013-05-08 | 2013-12-11 | 上海大图医疗科技有限公司 | Non-contact three-dimensional ultrasound imaging system based on computer vision technology |
| CN103471859B (en) * | 2013-09-12 | 2016-04-06 | 中国农业大学 | United reaper detection method for toe-in |
| CN204536280U (en) * | 2015-04-03 | 2015-08-05 | 上海和伍新材料科技有限公司 | The caliberating device of camera and ultrasonic probe relative position in Ultrasonic Detection |
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