CN105181817A - Ultrasonic detection cylindrical coordinate scanner driven by program-controlled distribution type motors and control method of device - Google Patents
Ultrasonic detection cylindrical coordinate scanner driven by program-controlled distribution type motors and control method of device Download PDFInfo
- Publication number
- CN105181817A CN105181817A CN201510660877.8A CN201510660877A CN105181817A CN 105181817 A CN105181817 A CN 105181817A CN 201510660877 A CN201510660877 A CN 201510660877A CN 105181817 A CN105181817 A CN 105181817A
- Authority
- CN
- China
- Prior art keywords
- module
- scanning
- driven
- motor
- dimension
- 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.)
- Granted
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses an ultrasonic detection cylindrical coordinate scanner driven by program-controlled distribution type motors. The device is composed of a machinery scanning module, a program-controlled driving module and a signal processing module, wherein the machinery scanning module is based on a cylindrical coordinate, movement freedom dimensions are divided into an angle dimension module, a radius dimension module and a height module, and each free dimension module is synchronously driven by a plurality of motors so that accurate three-dimensional scanning is realized. The program-controlled driving module and the signal processing module are connected with the machinery scanning module in a wireless communication manner, and signal processing imaging of a remote control mechanical device and a background is realized. A center shaft is not required in the mechanical device, and a scanning dead zone occupied by a center shaft base is avoided. By the aid of driving of a plurality of distribution type motors, the requirement of each motor on the driving torque is dispersed, accuracy errors of the plurality of motors can be offset mutually after overlaid, and the scanning motion accuracy of the device is increased. The ratio of the effective scanning area of the coordinate system of the device occupied area is high, and integrated design is facilitated.
Description
Technical field
The invention belongs to and relate to the field such as Non-Destructive Testing and Machine Design, be specially a kind of distributed motor for supersonic sounding and drive three-dimensional cylindrical coordinates mechanical scanner.
Background technology
Supersonic sounding manual scanning can be divided into detect the control mode of probe and autoscan detects.Namely manual detection grips the scanning of certain area of having popped one's head in by hand, and the B ultrasonic as medical science detects.Manual scanning detection is flexible, but accurately cannot control the position of popping one's head in three dimensions and quantize, and is therefore difficult to carry out multizone Images uniting joining image-forming.Mechanical scanning mode is moved ultrasonic probe based on program control mechanical apparatus, with and is scanned in certain space, the coordinate controllable precise of each movement of probe, and the result of its detection facilitates later stage high precision synthesis joining image-forming.
Mechanical scanner has been one of core component of autoscan, and for making the probe of mobile terminal known at the coordinate in space, this device generally designs based on certain coordinate-system, common are cylindrical coordinates and rectangular coordinate.Such as issued patents CN104786215A, CN1258590 etc. are robot based on circular cylindrical coordinate or mechanical arm.But these centers based on circular cylindrical coordinate device are provided with rotating shaft and support whole device as base, its structural representation is (source: patent CN104786215A accompanying drawing) as shown in Figure 1.Scanning mobile terminal, the base occupied area probe at such axis place cannot arrive, and namely forms scan blind spot.In addition, the device of this dependence central rotating shaft driving machine mechanical arm, when mechanical arm is long, mechanical arm is comparatively large for the opplied moment at axis place, and therefore rotating machine mechanical arm required torque is higher, and cause the cost of motor high, volume is large.
There is not central shaft in the device based on rectangular coordinate system, scan blind spot, axis region problem can be avoided, but the scanister based on rectangular coordinate system reserves corresponding space will to motor, circuit board and other accessory module on scanning mobile terminal, when scanning probe is to edges of regions to be measured, the modules such as accessory circuit can shift out region to be measured, and the region that whole device is taken becomes large.And based in the device of cylindrical coordinate, as long as effective displacement of probe radial direction is greater than radius, just the whole scanning disc of revolving coverage method can be passed through, all the other places all can be placed accessory circuit module and not affect the effective coverage of scanning, namely, compared with the area that effective scanning area and the whole device of device take, the ratio based on cylindrical coordinates is larger.In order to clearer explanation this point, we make an explanation by composition graphs 2: list respectively in Fig. 2 based on rectangular coordinate and a two-dimensional scan plane based on circular cylindrical coordinate.In figure, accessory module and scanning head can move along with mechanical hook-up, and the region of scanning head process is effective scanning region.In rectangular coordinate system, when moving to left end and the bottom of scanning area when popping one's head in, accessory module can shift out scanning area, and therefore whole device is required to be the Non-scanning mode region headspace of this accessory module process.And in circular cylindrical coordinate, the movement due to probe rotates, the region that accessory module occupies, can make scanning head cover by rotation.In fact, the accessory module in Fig. 2 in circular cylindrical coordinate situation can be larger, as long as ensure that effective displacement of scanning head covers the length of the center of circle to circumference (i.e. radius), just can pass through with the center of circle is the whole disc of axle revolving coverage method.Leave more spaces so just to motor, circuit board etc., be convenient to scanister integration, reduce the volume of its device entirety.
Sum up existing machinery scanister, primarily of following deficiency:
(1) the axis region of the existing mechanical scanner based on circular cylindrical coordinate is scan blind spot, and high to providing the motor torque demands of axis power.
(2) range scale taken compared to device based on the mechanical scanner effective scanning region of rectangular coordinate is not high, is not suitable for the one miniaturization of device.
Summary of the invention
Program control distributed motor of the present invention drives supersonic sounding mechanical scanner to be mainly divided into mechanical scanning module, program control driving module and supersonic sounding module composition.
Above-mentioned mechanical scanning module is based on cylindrical coordinate system, and the degree of freedom of mobile terminal in its mechanical hook-up, corresponding to the cylindrical coordinates parameter shown in Fig. 3, is respectively: angle dimension θ, radius dimension r, height h.Three degree of freedom module realizes displacement respectively by respective Mechanical Driven module, and then realizes sound end (P point) scanning in device inside (in figure broken circle cylinder) each position.The following describes each freedom of motion dimension module:
Angle dimension module in charge controling parameters θ, its principal character is: form along the multiple pinion wheel of annulus and inside and other stationary installations with teeth groove in one, inner multiple pinion wheel is respectively by respective driven by motor, by the teeth groove of inner ring in occlusion annulus, drive inner integral-rotation, thus pilot angle dimensional parameter θ.Outer shroud is provided with threaded hole, is engaged mutually, realizes perpendicular displacement with the screw rod of the altitude module hereinafter introduced.
Radius dimension module in charge controling parameters r, its principal character is: mobile along the axis (i.e. the radial direction of single unit system) of screw rod by the mobile terminal on screw rod rotary actuation screw rod.The rotation of screw rod can be driven by multiple distributed motor simultaneously, thus disperses each motor to the demand of moment of torsion.
Altitude module is responsible for controling parameters h, and its principal character is: have multiple screw rod to be distributed in the periphery of device entirety, passes and be engaged from the threaded hole of described angle dimension module outer-loop above.Multiple screw rod is driven by respective motor simultaneously, thus the outer shroud be engaged with it can be made to move up and down.In addition, the use conveniently in real process, vertical mobile module also added manual adjustments function, by the manual knob at top, is engaged with the pinion wheel on several screw rods of surrounding, drives the rotation of pinion wheel and screw rod to realize the motion of vertical direction.
Above-mentioned program control driving module, be responsible for sending drive singal to each stepper motor, control motor clockwise/rotate counterclockwise and rotate step number, thus drive angle dimension, radius dimension, the motion of high degree of mechanical module, realizes the displacement of free end in whole mechanical hook-up sweep limit.
Above-mentioned supersonic sounding module, has a ultrasonic probe, is fixed together with the tache motorice of mechanical module, and probe vertical is (-Z-direction) emission detection ultrasound wave downwards, along with the free end of mechanical scanning module moves, realizes the detection to bottom of device contact object.Wherein the motion of angle dimension and radius dimension makes the detection that can complete in a certain circular flat of popping one's head in, and the motion of height can regulate the height of probe distance detecting object, thus controls the position of ultrasound wave focus in testee of probe transmitting.
Program control driving module, signal processing module connect mechanical scanner by communication, realize the signal transacting imaging on remote control mechanical hook-up and backstage.
Supersonic sounding automatic sweep apparatus described in invention has following features:
(1) without the need to axis as pedestal, thus avoid the scan blind spot existed after axis is set.
(2) each mechanical freedom is driven by multiple motor, has disperseed each motor to driving torque demand, and can cancel out each other after the superposition of the trueness error of multiple motor, adds the scanning motion precision of device.
(3) area ratio that the effective coverage scanned and device take is high, is convenient to integrated design.
Accompanying drawing explanation
Fig. 1 is existing based on cylindrical coordinates mechanical arm scan blind spot schematic diagram.
Fig. 2 is based on rectangular coordinate and circular cylindrical coordinate scanister scanning area comparison diagram.
Fig. 3 is cylindrical-coordinate system schematic diagram.
Fig. 4 (a) is the stereographic map of a kind of case study on implementation of described contrive equipment.
Fig. 4 (b) is the side view of a kind of case study on implementation of described contrive equipment.
Fig. 4 (c) is the upward view of a kind of case study on implementation of described contrive equipment.
Fig. 5 is the angle dimension module of a kind of case study on implementation of described contrive equipment.
Fig. 6 is the radius dimension module of a kind of case study on implementation of described contrive equipment.
Fig. 7 is the altitude module of a kind of case study on implementation of affiliated contrive equipment.
Embodiment
Below in conjunction with a kind of case study on implementation and accompanying drawing (Fig. 4-Fig. 7) thereof, content of the present invention is described.This case study on implementation is only the one citing of patent of the present invention, but embodiments of the present invention are not limited thereto.
Scanister in described case study on implementation, its overall schematic perspective view as shown in Figure 4, mainly can be divided into angle dimension module 401, radius dimension module 402, altitude module composition 403, thus realizes the scanning of cylindrical coordinates system.
Angle dimension module as shown in Figure 5, the outer shroud 501 by one with dentation inside groove forms with the multiple pinion wheel 502 in inside and other stationary installations, inner multiple pinion wheel is respectively by respective driven by motor, inner integral-rotation is driven by the dentation inside groove in occlusion outer shroud, outer shroud is provided with several threaded hole 503, can be engaged with the screw rod of altitude module, realize this module vertical movement.
Radius dimension module as shown in Figure 6, is made up of a radial screw rod 601 and moving slider 602, realizes the movement of moving slider in radial direction.Screw rod can be driven by several stepper motor driven gears 603, thus disperses each motor to the demand of moment of torsion.Moving slider is fixed with ultrasonic probe, realizes detection scanning.
As shown in Figure 7, the periphery of cylinder is distributed with several screw rods 701 to altitude module, and the threaded hole 503 that each screw rod and angle module are arranged is engaged, and when screw rod rotates, angle dimension module and radius dimension module can be made to carry out movement in vertical direction as a whole.The top of each screw rod is fixed with gear 704, all has the outer teeth groove of the annulus 705 of teeth groove to be engaged with inside and outside, and the internal spline of teeth groove annulus 705 is engaged with several inner gears 703.Like this, each gear 703 of driven by motor rotates, and teeth groove annulus 705 can be driven to rotate, and then drives the gear 704 of screw rod, realizes multiple screw rod synchronous axial system, realizes the displacement of angle module 401, the overall vertical direction of radius dimension module 402.In addition, 702 is the manual knob of altitude module, is used for realizing hand-turning teeth groove annulus and realizes vertical direction displacement.
Above-mentioned scanister, after assembling motor and ultrasonic probe, just can realize the scanning probe of cylindrical coordinates.By programmed control stepper motor, drive modules motion, regulate coordinate parameters: angle θ, radius r, height h, makes ultrasonic probe arrive specified coordinate position, then by programmed control probe emission detection ripple receive echo, record echo and the location parameter P(θ now popped one's head in, r, h), after completing the scanning in space, just by the coordinate of each position and echo waveform, the compound imaging in later stage can be completed.Because the position detecting echo is accurately known at every turn, therefore synthesize joining image-forming time-division convenience and high-efficiency, and rate is high respectively in space.Program control driving module, signal processing module connect mechanical scanner by communication (wifi, bluetooth, ultra broadband etc.), realize the signal transacting imaging on remote control mechanical hook-up and backstage.
Claims (6)
1. based on program control distributed motor-driven supersonic sounding cylindrical coordinates scanister, it is characterized in that being made up of mechanical scanning module, program control driving module, signal processing module, wherein mechanical scanning module can be divided into again the free dimension module of angle dimension module, radius dimension module and altitude module three, each free dimension module is driven by multiple stepping motor synchronous, realize the scanning of accurate three-dimensional localization, binding signal process, completes high precision synthesis joining image-forming.
2. according to claim 1 based on program control distributed motor-driven supersonic sounding cylindrical coordinates scanister, it is characterized in that angle dimension module, by an inside, there is the multiple pinion wheel of annulus and inside of teeth groove and other stationary installations form, inner multiple pinion wheel is respectively by respective driven by motor, by the teeth groove of inner ring in occlusion annulus, drive inner integral-rotation, thus pilot angle dimensional parameter, outer shroud is provided with several threaded hole, is engaged mutually with each screw rod in above-mentioned altitude module.
3. according to claim 1 based on program control distributed motor-driven supersonic sounding cylindrical coordinates scanister, it is characterized in that radius dimension module, be made up of the screw rod placed in device radial direction and mobile terminal, the rotation of screw rod is by multiple motor driven rotary simultaneously, thus mobile terminal is radially moved, scanning head is placed in mobile terminal, superposes with the movement dimension of other modules the location scanning realized in three dimensions.
4. according to claim 1 based on program control distributed motor-driven supersonic sounding cylindrical coordinates scanister, it is characterized in that: described altitude module is the periphery that several screw rods are distributed in device entirety, from the dimension module of above-mentioned angle teeth groove annulus threaded hole in pass and be engaged screw thread, multiple screw rod is driven by respective motor simultaneously, thus the movement that the outer shroud be engaged with it can be made to realize in high latitude, in addition, high latitude mobile module has manual knob.
5. according to claim 1 based on program control distributed motor-driven supersonic sounding cylindrical coordinates scanister, it is characterized in that described device is also connected by communication with program controling module, signal processing module further, realize the signal transacting imaging on remote control mechanical hook-up and backstage.
6. according to claim 1 based on the control method of program control distributed motor-driven supersonic sounding cylindrical coordinates scanister, it is characterized in that: workflow is by radio communication teleprogram control step motor, drive each dimension block motion, parameter in adjustable column coordinate: angle θ, radius r, height h, ultrasonic probe is made to arrive specified coordinate position P (θ, r, h), again by programmed control probe emission detection signal receive echo, record echo and the location parameter of now popping one's head in, after pointwise completes the scanning in space, by to the coordinate of each position and echo signal processing, complete compound imaging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510660877.8A CN105181817B (en) | 2015-10-13 | 2015-10-13 | The program-controlled motor-driven supersonic sounding cylindrical coordinates scanning means of distribution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510660877.8A CN105181817B (en) | 2015-10-13 | 2015-10-13 | The program-controlled motor-driven supersonic sounding cylindrical coordinates scanning means of distribution |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105181817A true CN105181817A (en) | 2015-12-23 |
| CN105181817B CN105181817B (en) | 2018-10-02 |
Family
ID=54904040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510660877.8A Active CN105181817B (en) | 2015-10-13 | 2015-10-13 | The program-controlled motor-driven supersonic sounding cylindrical coordinates scanning means of distribution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105181817B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112903817A (en) * | 2020-12-31 | 2021-06-04 | 南京霆升医疗科技有限公司 | Real-time three-dimensional imaging device and method based on two-dimensional ultrasonic transducer |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1258590A (en) * | 1998-12-26 | 2000-07-05 | 三星电子株式会社 | Cylindrical coordinates robot |
| JP2007271317A (en) * | 2006-03-30 | 2007-10-18 | Murata Mfg Co Ltd | Emi measuring instrument, and emi measuring method |
| CN101387881A (en) * | 2008-10-27 | 2009-03-18 | 西安交通大学 | Plastic foam three-dimensional rapid forming method and device based on column coordinate |
| CN101543412A (en) * | 2008-03-26 | 2009-09-30 | 深圳迈瑞生物医疗电子股份有限公司 | Method and device for calculating graph coordinate components based on two-dimensional ultrasonic imaging device |
| CN102262129A (en) * | 2010-04-16 | 2011-11-30 | 奥林巴斯Ndt公司 | Rotating array probe system for non-destructive testing |
| CN102322796A (en) * | 2011-07-20 | 2012-01-18 | 唐大春 | Laser detection device and method for gear parameters |
| CN202579216U (en) * | 2011-09-05 | 2012-12-05 | 襄樊五二五泵业有限公司 | Device for measuring cylindrical coordinates of curved surface for impeller blade of centrifugal pump |
| JP5312659B1 (en) * | 2012-03-12 | 2013-10-09 | 卓也 村北 | Indoor mobility support device |
| CN103770332A (en) * | 2014-02-08 | 2014-05-07 | 河南师范大学 | Walking mechanism for 3D (three-dimensional) printer |
| CN103983650A (en) * | 2014-05-15 | 2014-08-13 | 重庆大学 | Multi-degree-of-freedom and multi-angle rotating device |
| CN204154288U (en) * | 2014-08-05 | 2015-02-11 | 吉林大学 | Based on the camera calibration target of the automotive vision detection system of cylindrical coordinates |
| CN104369383A (en) * | 2014-11-21 | 2015-02-25 | 潘祥生 | Rotary type 3D (three-dimensional) printer |
| JP2015054447A (en) * | 2013-09-11 | 2015-03-23 | 聖士郎 宗平 | Three-dimensional processing by biaxial control and measurement method |
| CN104440896A (en) * | 2014-12-05 | 2015-03-25 | 重庆朗正科技有限公司 | Cylindrical coordinate robot |
-
2015
- 2015-10-13 CN CN201510660877.8A patent/CN105181817B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1258590A (en) * | 1998-12-26 | 2000-07-05 | 三星电子株式会社 | Cylindrical coordinates robot |
| JP2007271317A (en) * | 2006-03-30 | 2007-10-18 | Murata Mfg Co Ltd | Emi measuring instrument, and emi measuring method |
| CN101543412A (en) * | 2008-03-26 | 2009-09-30 | 深圳迈瑞生物医疗电子股份有限公司 | Method and device for calculating graph coordinate components based on two-dimensional ultrasonic imaging device |
| CN101387881A (en) * | 2008-10-27 | 2009-03-18 | 西安交通大学 | Plastic foam three-dimensional rapid forming method and device based on column coordinate |
| CN102262129A (en) * | 2010-04-16 | 2011-11-30 | 奥林巴斯Ndt公司 | Rotating array probe system for non-destructive testing |
| CN102322796A (en) * | 2011-07-20 | 2012-01-18 | 唐大春 | Laser detection device and method for gear parameters |
| CN202579216U (en) * | 2011-09-05 | 2012-12-05 | 襄樊五二五泵业有限公司 | Device for measuring cylindrical coordinates of curved surface for impeller blade of centrifugal pump |
| JP5312659B1 (en) * | 2012-03-12 | 2013-10-09 | 卓也 村北 | Indoor mobility support device |
| JP2015054447A (en) * | 2013-09-11 | 2015-03-23 | 聖士郎 宗平 | Three-dimensional processing by biaxial control and measurement method |
| CN103770332A (en) * | 2014-02-08 | 2014-05-07 | 河南师范大学 | Walking mechanism for 3D (three-dimensional) printer |
| CN103983650A (en) * | 2014-05-15 | 2014-08-13 | 重庆大学 | Multi-degree-of-freedom and multi-angle rotating device |
| CN204154288U (en) * | 2014-08-05 | 2015-02-11 | 吉林大学 | Based on the camera calibration target of the automotive vision detection system of cylindrical coordinates |
| CN104369383A (en) * | 2014-11-21 | 2015-02-25 | 潘祥生 | Rotary type 3D (three-dimensional) printer |
| CN104440896A (en) * | 2014-12-05 | 2015-03-25 | 重庆朗正科技有限公司 | Cylindrical coordinate robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112903817A (en) * | 2020-12-31 | 2021-06-04 | 南京霆升医疗科技有限公司 | Real-time three-dimensional imaging device and method based on two-dimensional ultrasonic transducer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105181817B (en) | 2018-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4564827B2 (en) | 3D position measurement sensor | |
| CN100381779C (en) | Panoramic scanner | |
| CN202583331U (en) | Antenna comprehensive test revolving table | |
| CN102980647B (en) | Recognition and location test method for noise sources | |
| CN107144641A (en) | Resolution adjustable sweep apparatus and method based on spiral of Archimedes | |
| CN102670248B (en) | Ultrasound probe and diagnostic ultrasound equipment | |
| CN103954966A (en) | Ultrasonic detection imaging method and device | |
| CN104243758A (en) | Three-dimensional scanning device | |
| CN107817299A (en) | A kind of ring automatic ultrasonic phased array lossless detection method and device | |
| US11543367B2 (en) | Method acquiring projection image, control apparatus, control program, processing apparatus, and processing program | |
| CN212623066U (en) | Distance measuring system | |
| CN104427944A (en) | Ultrasonic guidance of multiple invasive devices in three dimensions | |
| CN105181817A (en) | Ultrasonic detection cylindrical coordinate scanner driven by program-controlled distribution type motors and control method of device | |
| CN101014290B (en) | Ultrasonic diagnosing apparatus and ultrasonic image display method | |
| CN100557459C (en) | Color flow biplane ultrasonic imaging system and method | |
| KR101263285B1 (en) | Ultrasound transducer driving apparatus using a single motor | |
| CN201764965U (en) | Rotary type laser visual linear array space recognition positioning system | |
| JP2009090074A (en) | Ultrasonic examination unit or ultrasonic examination apparatus | |
| CN106705879B (en) | Object measuring method using three-dimensional measuring instrument and the three-dimensional measuring instrument for the measurement method | |
| KR101797910B1 (en) | Rotatory linear probe | |
| CN203289525U (en) | Three-dimensional scanning device | |
| WO2015182708A1 (en) | Three-dimensional drive device | |
| US9157895B2 (en) | Systems and methods for viewing data generated by rotational scanning in non-destructive testing | |
| US6777688B2 (en) | Rotational stage for high speed, large area scanning in focused beam systems | |
| KR20150021807A (en) | Ultrasound apparatus for diagnosing bladder being capable of measuring quickly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |