CN105738388A - Industrial CT motion autoparallel method and device - Google Patents

Abstract

The invention discloses an industrial CT motion autoparallel method. The method comprises the steps of acquiring the position of the starting point of scanning, determining a ranging reference generatrix nearest to the starting point of scanning on a scanning copy, and acquiring the first distance between the starting point of scanning and the ranging reference generatrix; acquiring an analog scanning path with the starting point of scanning as the starting point, selecting the position of a reference point on a projection line obtained after the analog scanning path is projected onto a reference plane, and acquiring the second distance between the reference point and the ranging reference generatrix; determining the path from the starting point of scanning to a target terminal point according to the second distance, the first distance, the position of starting point of scanning and the position of the reference point. The method is applicable to the condition that the scanning copy is not parallel to a clamp body as well as the condition that the axis of the scanning copy is not parallel to a standard scanning path, the scanning path can be made parallel to the actual rotating axis of the scanning copy through autoparallel adjustment, and scanning accuracy and convenience are guaranteed. The invention further discloses an industrial CT motion autoparallel device.

Description

A kind of industry CT scanning motion is from parallel mode and device

Technical field

The present invention relates to industry scanning technique field, more particularly, it relates to a kind of industry CT scanning motion is from parallel mode and device.

Background technology

Industry CT is a kind of imaging technique being widely used in multiple fields, is grow up on the basis of ray detection.

Existing industry CT equipment geometry site adjustment technology mostly is and manually adjusts, and the radiographic source of industry CT equipment and the kinematic axis of detector only translate and radial motion axle mostly, or only translation and elevating movement axle so that geometry site method of adjustment is loaded down with trivial details and underaction.After equipment transports to detection scene, it is necessary to the more time carries out the geometry site adjustment of equipment, the base coordinate that equipment meets detection is made to set.Existing industry CT equipment makes the inefficient of site installation test, it is impossible to adapt to the demand that quickly adjusts of the industry CT equipment geometry site of Multipoint movable formula.

In sum, how to provide a kind of industry CT scanning motion easy to use from parallel mode, be current those skilled in the art's problem demanding prompt solution.

Summary of the invention

In view of this, it is an object of the invention to provide a kind of industry CT scanning motion and industry CT scanning motion auto-paralleling can be made in the rotary generatrix of scanned copy from parallel mode and device, the method and device, make scanning process easier and quick.

To achieve these goals, the present invention provides following technical scheme:

A kind of industry CT scanning motion from parallel mode, including:

Obtain the position of sweep starting point, it is determined that with described sweep starting point apart from minimum range finding reference bus on scanned copy, obtain the first distance of described sweep starting point and described range finding reference bus；

Obtain the analog scanning route being starting point with described sweep starting point, described analog scanning route projection to the projection line of reference plane is chosen the position of reference point, obtain the described reference point second distance to described range finding reference bus；

Position according to described second distance, described first distance, described sweep starting point and described reference point, it is determined that by the route of described sweep starting point to target endpoint；

Wherein, described reference plane are described sweep starting point and the described range finding common plane with reference to bus, and described target endpoint is described reference point to the described range finding vertical segment with reference to bus and described range finding is with reference to the point that distance is described first distance of bus.

Preferably, the step of the position of described acquisition sweep starting point, including:

Distance measuring sensor moves along Z axis in default starting point and measures and the distance of described scanned copy, and obtaining the point minimum with described scanned copy spacing that described distance measuring sensor records is described sweep starting point.

Preferably, the analog scanning route that described acquisition is starting point with described sweep starting point, described analog scanning route projection to the projection line of reference plane is chosen the step of the position of reference point, including:

Determining that described analog scanning route is parallel to X-direction, distance measuring sensor moves to analog scanning terminal along the direction being parallel to X-axis by described sweep starting point；

Described distance measuring sensor moves along Z axis, and the point choosing described distance measuring sensor minimum with described range finding reference bus spacing is described reference point.

Preferably, described according to described second distance, described first distance, described sweep starting point and described reference point position, it is determined that by the step of the route of described sweep starting point to target endpoint, including:

Space coordinates by described sweep starting point and described reference point, it is determined that the distance relation equation moved from described sweep starting point along each change in coordinate axis direction in described actual scanning route is:

$Y=\frac{k\·tan\[\arcsin \left(\frac{\mathrm{\Δ}}{k}\right)\]}{\left|X_4-X_1\right|}\·X;$

$Z=\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\·X;$

$k=\frac{\left|Z_4-Z_1\right|}{\sin \[\arctan \left(\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\right)\]};$

Wherein, the distance moved along each coordinate axes by described sweep starting point in X, Y and Z respectively described actual scanning route, X₁And Z₁The respectively X-axis of described sweep starting point and Z axis coordinate, X₄And Z₄For X-axis and the Z axis coordinate of described analog scanning terminal, k is pilot process amount, and Δ is the absolute value of described second distance and the difference of described first distance.

Preferably, described according to described second distance, described first distance, described sweep starting point and described reference point position, it is determined that by the step of the route of described sweep starting point to target endpoint, including:

Distance measuring sensor moves to finding range with reference to the mobile terminal that bus distance is the first distance with described along Y-axis in described reference point, it is thus achieved that through the described actual scanning route of described sweep starting point with mobile terminal；

Or, calculate described second distance and the difference of described first distance；Obtain described analog scanning terminal along being perpendicular to the described range finding route with reference to bus near described range finding with reference to the interpolated point after difference described in bus；Obtain the described target route equation through described sweep starting point and described interpolated point.

Preferably, described distance measuring sensor moves by being arranged on radiographic source for scanning described scanned copy and/or detector.

A kind of industry CT scanning motion from parallel device, including:

Acquisition module, for obtaining the position of sweep starting point, it is determined that with described sweep starting point apart from minimum range finding reference bus on scanned copy, obtains the first distance of described sweep starting point and described range finding reference bus；Obtain the analog scanning route being starting point with described sweep starting point, described analog scanning route projection to the projection line of reference plane is chosen the position of reference point, obtain the described reference point second distance to described range finding reference bus；

Processing module, for the position according to described second distance, described first distance, described sweep starting point and described reference point, it is determined that by the route of described sweep starting point to target endpoint；

Wherein, described reference plane are described sweep starting point and the described range finding common plane with reference to bus, and described target endpoint is described reference point to the described range finding vertical segment with reference to bus and described range finding is with reference to the point that distance is described first distance of bus.

Preferably, described acquisition module includes:

Distance measuring sensor, for while moving along Z axis, measures the spacing with described scanned copy in real time, and/or while moving along Y-axis, measures the spacing with described scanned copy in real time；

Position acquisition unit, moves to time minimum with the spacing of described scanned copy along Z axis for described distance measuring sensor, obtains the position of described distance measuring sensor.

Preferably, described processing module is for by the space coordinates of described sweep starting point and described reference point, it is determined that the distance relation equation moved from described sweep starting point along each change in coordinate axis direction in described actual scanning route is:

$Y=\frac{k\·tan\[\arcsin \left(\frac{\mathrm{\Δ}}{k}\right)\]}{\left|X_4-X_1\right|}\·X;$

$Z=\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\·X;$

$k=\frac{\left|Z_4-Z_1\right|}{\sin \[\arctan \left(\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\right)\]};$

Wherein, the distance moved along each coordinate axes by described sweep starting point in X, Y and Z respectively described actual scanning route, X₁And Z₁The respectively X-axis of described sweep starting point and Z axis coordinate, X₄And Z₄For X-axis and the Z axis coordinate of described analog scanning terminal, k is pilot process amount, and Δ is the absolute value of described second distance and the difference of described first distance.

Preferably, described distance measuring sensor is arranged on the radiographic source for scanning described scanned copy and/or detector.

Industry CT scanning motion provided by the invention is from parallel mode and device, it is possible to by being scanned the simulation of route from sweep starting point, and by the distance of measurement with the range finding reference bus of scanned copy, obtains the actual scanning route parallel with range finding reference bus space.Said method can tackle scanned copy and the nonparallel facilities of fixture lathe bed, also scanned copy axis and the nonparallel situation of standard scan route can be tackled, the rotation axis that can pass through to make scanning route actual with scanned copy after parallel adjustment process is parastate, reduce the requirement to workpiece Yu lathe bed levelness, it is ensured that the accuracy of scanning.The present invention can accelerate the adjustment of the geometry site of industry CT scanning, and the in-site installation and the geometry site that are effectively improved industry CT equipment are regulated the speed, and said method automaticity is high, position adjustment speed is fast and efficiency is high.

Present invention also offers a kind of industry CT scanning motion from parallel device, be used for realizing above-mentioned industry CT scanning motion from parallel mode.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to the accompanying drawing provided.

Fig. 1 is the industry CT scanning motion provided by the present invention flow chart from the specific embodiment of parallel mode；

Fig. 2 is that industry CT scanning motion provided by the present invention is from the interpolation principle figure of parallel mode；

Fig. 3 is the industry CT scanning motion provided by the present invention interpolation principle detail view from parallel mode.

Accompanying drawing is labeled as: range finding is with reference to bus 1.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.

The core of the present invention is to provide a kind of industry CT scanning motion can make industry CT scanning motion auto-paralleling in the rotary generatrix of scanned copy from parallel mode and device, the method and device, makes scanning process easier and quick.

Refer to Fig. 1 to Fig. 3, Fig. 1 is the industry CT scanning motion provided by the present invention flow chart from the specific embodiment of parallel mode；Fig. 2 is that industry CT scanning motion provided by the present invention is from the interpolation principle figure of parallel mode；Fig. 3 is the industry CT scanning motion provided by the present invention interpolation principle detail view from parallel mode.

A kind of industry CT scanning provided by the present invention is mainly used in making industry CT scan from parallel mode, both can use in adjustment process before scanning, it is also possible to in the trimming process of scanning process, the method specifically includes that

Step S1: obtain the position of sweep starting point, it is determined that with sweep starting point apart from minimum range finding reference bus on scanned copy, obtain sweep starting point and the first distance found range with reference to bus.

In above-mentioned steps S1, sweep starting point is the initial point that scanned copy is scanned, and is in the situation of optional position, space for scanned copy, and sweep starting point can select position, arbitrfary point.With sweep starting point apart from minimum range finding reference bus on the scanned copy determined in above-mentioned steps, it is in this method and adjusts autoparallel range finding with reference to bus, parallel with reference to bus with above-mentioned range finding after the target of parallel mode makes scanning route adjust exactly.

Needing it is to be noted that finding range in the application is interpreted as the range finding space line with reference to bus place of scanned copy with reference to bus, namely range finding reference bus can extend to two ends.Range finding refers to, with reference to bus, the range finding reference line being parallel to workpiece rotation axis and being convenient for measuring, and range finding can on workpiece with reference to bus, it is possible on fixture, it is also possible on lathe bed.In above-mentioned steps the first distance be sweep starting point with range finding with reference to the air line distance of bus, namely sweep starting point is to the minimum range of range finding reference bus.

Above-mentioned steps determines the position of sweep starting point and the position of range finding reference bus, and determines the relative position relation of sweep starting point and scanned copy.

Step S2: obtain the analog scanning route being starting point with sweep starting point, chooses the position of reference point in analog scanning route projection to the projection line of reference plane, obtains the reference point second distance to range finding reference bus.

In above-mentioned steps, the analog scanning circuit that analog scanning route is is starting point with the sweep starting point of step S1, analog scanning circuit can be understood as radiographic source or detector carry out real scan before simulation move route, or by route that the processing modules such as computer are simulated.Analog scanning route can arbitrarily determine, for instance in space coordinates, it is possible to moves along coordinate axes, or choose and have the movement of certain angle with coordinate axes.Projecting analog scanning route to reference plane, and choose a reference point in projection line, wherein, reference plane are the common plane of sweep starting point and range finding reference bus.

Needing it is to be noted that second distance is reference point and the range finding air line distance with reference to bus in above-mentioned steps, namely reference point is to the minimum range of range finding reference bus.

Need it is to be noted that projection line and analog scanning route in the application all can be understood as space line, the straight line that namely can extend to both direction.Reference point is with reference to the coplanar point of bus with sweep starting point, range finding, that is, reference point is each perpendicular to find range with reference to bus with above-mentioned first straight line to range finding with reference to the straight line at the second distance place of bus, and for two straight lines being parallel to each other, above-mentioned first distance place straight line, second distance place straight line, range finding with reference to bus and projection line define one trapezoidal.

Step S3: the position according to second distance, the first distance, sweep starting point and reference point, it is determined that by the route of sweep starting point to target endpoint.

Wherein, target endpoint is reference point to the range finding vertical segment with reference to bus and range finding is with reference to the point that distance is the first distance of bus.

Each distance of obtaining according to step S2, some position and the defined trapezoidal target endpoint that can obtain are reference point to the range finding vertical segment with reference to bus and range finding is with reference to the point that distance is the first distance of bus, this point is target endpoint, according to straight line plane relation it is known that, it is in space by the straight line of sweep starting point to target endpoint and is parallel to the range finding straight line with reference to bus, move according to this straight line by sweep starting point for the detector scanned or radiographic source, then the scanning that can realize being parallel to range finding reference bus is moved.

The industry CT scanning motion that the present embodiment provides is in parallel mode, it is possible to by being scanned the simulation of route from sweep starting point, and by the distance of measurement with the range finding reference bus of scanned copy, obtains the actual scanning route parallel with range finding reference bus space.Said method can tackle scanned copy and the non-level facilities of fixture lathe bed, also scanned copy axis and the nonparallel situation of standard scan route can be tackled, the rotation axis that can pass through to make scanning route actual with scanned copy after parallel adjustment process is parastate, it is ensured that the accuracy of scanning and agility.Present invention also offers a kind of industry CT scanning motion from parallel device.

Need it is to be noted that above-mentioned ranging process can be undertaken by multiple metering system, for instance use the mode such as distance measuring sensor or manual measurement.But, comparatively speaking, the mode of manual measurement inaccuracy, and comparatively expend time in.

In a specific embodiment provided by the present invention, for above-mentioned steps S1 obtains the step of the position of sweep starting point, it is possible to specifically include:

Step S11: distance measuring sensor moves and measure the distance with scanned copy in default starting point along Z axis, and the point minimum with scanned copy spacing that acquisition distance measuring sensor records is sweep starting point.

In above-mentioned steps, distance measuring sensor can be through the mode such as infrared and carries out the sensor of range measurement.Default starting point can be the home position of radiographic source or detector, this position is likely to the bus with scanned copy and has the deviation of certain position, it is not appropriate for as sweep starting point, so can pass through to make distance measuring sensor move along a coordinate axes, and the point that acquisition is minimum with scanned copy spacing in moving process is sweep starting point, certainly, in moving process, distance measuring sensor needs to implement scanned copy is measured, and then obtains apart from minimum position.This step S11 can eliminate scanning route skew in the Z-axis direction, it is to avoid sweep starting point biasing on Z axis, full out determines the starting point of scanning route, in order to be scanned the correction of route.Need it is to be noted that above-mentioned movement is not limited in the Z axis along space coordinates, by its principle it can be seen that the purpose of above-mentioned movement is exactly find to find range bus apart from minimum position with reference, as the case may be, it is also possible to move along X-axis or Y-axis.

It addition, adopt distance measuring sensor to move in Z-direction in the present embodiment, the present invention is also not limited to the method, it is also possible to by other sensor devices or by static method, minimum distance is measured.

In another specific embodiment provided by the present invention, can on the basis of above-mentioned steps S11, for obtain with sweep starting point be starting point analog scanning route, in the projection of analog scanning route to the step of the position choosing reference point in the projection line of reference plane, specifically may comprise steps of S12 and step S13:

Step S12: determine that analog scanning route is parallel to X-direction, distance measuring sensor moves to analog scanning terminal along the direction being parallel to X-axis by sweep starting point.

In above-mentioned steps S11, distance measuring sensor has eliminated scanning route skew in the Z-axis direction in the process moved along Z axis, it is to avoid sweep starting point biasing on Z axis.In above-mentioned steps S12, the analog scanning route of distance measuring sensor is defined as the direction along X-axis, it is possible to stops after a mobile segment distance, and determines that halt is analog scanning terminal.

Need it is to be noted that in order to route being adjusted on different coordinate axess, the analog scanning route of distance measuring sensor needs the moving direction being perpendicular in step S11, so analog scanning route can also be Y direction,

Step S13: distance measuring sensor moves along Z axis, the point choosing distance measuring sensor minimum with range finding reference bus spacing is reference point.

In above-mentioned steps, by making distance measuring sensor again move the deviant of the analog scanning terminal that can adjust analog scanning route along Z axis.When choosing distance measuring sensor and being reference point with range finding with reference to the point that bus spacing is minimum, it is the line segment that be perpendicular to range finding with reference to bus to range finding with reference to the distance of bus due to sweep starting point, reference point, so reference point will be located exactly at sweep starting point, range finding with reference to bus institute planar, that is, the place linear projection of analog scanning route has been arrived sweep starting point, range finding with reference to bus institute planar.In said method, by moving on different coordinate axess respectively and finding range, it is possible to the adjustment of analog scanning route decomposed on different coordinate axess, and then realize the adjustment that route is overall.

In a specific embodiment provided by the present invention, in above-mentioned steps S3 according to second distance, the first distance, sweep starting point and reference point position determine the step of the route by sweep starting point to target endpoint, it is possible to specifically include:

Step S31: by the space coordinates of sweep starting point and reference point, it is determined that the distance relation equation moved from sweep starting point along each change in coordinate axis direction in actual scanning route is:

$Y=\frac{k\·tan\[\arcsin \left(\frac{\mathrm{\Δ}}{k}\right)\]}{\left|X_4-X_1\right|}\·X;$

$Z=\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\·X;$

$k=\frac{\left|Z_4-Z_1\right|}{\sin \[\arctan \left(\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\right)\]};$

Wherein, the distance moved along each coordinate axes by sweep starting point in X, Y and Z respectively actual scanning route, X₁And Z₁The respectively X-axis of sweep starting point and Z axis coordinate, X₄And Z₄For X-axis and the Z axis coordinate of analog scanning terminal, k is pilot process amount, and Δ is the absolute value of the difference of second distance and the first distance.

Specifically, needing to obtain the space coordinates of sweep starting point and reference point, and be calculated according to above-mentioned formula before this step, what above-mentioned formula was expressed is when moving X from sweep starting point along X-axis, accordingly, it is desirable to move Y along Y-axis and move Z along Z axis, and X in formula₁、Z₁、X₄And Z₄By the known quantity that abovementioned steps records.

Said method adopts interpolation principle to be adjusted, and it is that industry CT scanning motion provided by the present invention is from the interpolation principle figure of parallel mode that concrete principle refer to Fig. 2 and Fig. 3, Fig. 2；Fig. 3 is the industry CT scanning motion provided by the present invention interpolation principle detail view from parallel mode.

Coordinate O in Fig. 2₁(X, Y, Z) is the first reference frame, puts S₁(X₁,Y₁,Z₁) for sweep starting point, this point is move the range finding that can be obtained with opposite piece rotation profile cylinder cylindrical with reference to the shortest range finding position of bus by it along Z axis, puts S₂(X₂,Y₂,Z₂) for analog scanning terminal, put S₄(X₄,Y₄,Z₄) for reference point, above-mentioned target endpoint P is Fig. 3 midpoint S₄Vertical segment and line segment S to range finding reference bus₁S₅Intersection point, it is possible to know line segment S₄P and line segment S₁P is vertical.Corresponding, coordinate O₂(x, y are z) that the second reference frame can also as the reference coordinate of self-balancing adjustment.S can be obtained according to the vertical relation in Fig. 2 and Fig. 3 and right angled triangle relation₁P and S₁S₅Bus of all finding range with reference is parallel, therefore can obtain following relationship:

$tan\mathrm{\β}=\frac{\left|S_2{S}_4\right|}{\left|S_1{S}_2\right|}=\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}$

$\sin \mathrm{\β}=\frac{\left|S_2{S}_4\right|}{\left|S_1{S}_4\right|}=\frac{\left|Z_4-Z_1\right|}{\left|S_1{S}_4\right|}$

$\sin \mathrm{\α}=\frac{\mathrm{\Δ}}{\left|S_1{S}_4\right|}$

$tan\mathrm{\α}=\frac{\left|S_4{S}_5\right|}{\left|S_1{S}_4\right|}$

The distance relation equation moved along each change in coordinate axis direction in above-mentioned actual scanning route can be obtained from sweep starting point according to above-mentioned relation formula, based on above-mentioned distance relation equation synchronization, the movement on each kinematic axis can be automatically controlled, it is achieved industry CT scanning device scan hierarchical motion from parallel.

Above-mentioned first coordinate system and the second coordinate system need it is to be noted that distance measuring sensor can pass through to be arranged on radiographic source for scanning this scanned copy and/or detector and moves in the application, so can correspond respectively to radiographic source and detector.

Above-mentioned steps S31 is made without mobile, after step S31 completes, obtains being actually needed the distance of interpolation, radiographic source and detector and namely can be undertaken with the movement of interpolation distance by sweep starting point.

Position in another specific embodiment provided by the present invention, in above-mentioned steps S3, according to second distance, the first distance, sweep starting point and reference point, it is determined that by the step of the route of sweep starting point to target endpoint, it is possible to specifically include:

Step S32: distance measuring sensor moves to being the mobile terminal of the first distance with range finding with reference to bus distance along Y-axis in reference point, it is thus achieved that through the actual scanning route of sweep starting point with mobile terminal.

Refer to the some S in Fig. 3, Fig. 3₅(X₅,Y₅,Z₅) it is the second target endpoint, the second target endpoint is that reference point needs to move a segment distance along Y direction, to ensure to adjust suitable point with range finding with reference to bus distance.

With step S31 the difference is that, the interpolation distance of each coordinate axes when what step S31 adopted is calculate actual scanning, and step S32 is by moving along Y-axis in reference point, obtains the range finding of scanned copy with reference to the position of bus by distance measuring sensor simultaneously, the process namely moving and measuring obtains S₅, may then pass through control radiographic source or detector moved to the second target endpoint S by sweep starting point₅, namely can realize being parallel to the scanning of bus.

Alternatively, it is also possible to optional step S33, step S33 particularly as follows:

Calculate the difference of second distance and the first distance；

Obtain analog scanning terminal along being perpendicular to the range finding route with reference to bus near range finding with reference to the interpolated point after bus difference；

Obtain the target route equation through sweep starting point and interpolated point.

Above-mentioned steps S33 mainly adopts the method for calculating to calculate the position of interpolated point, and then the linear equation at scan synthesis starting point and interpolated point place is as target route equation.

On the basis of above-mentioned any embodiment, distance measuring sensor can pass through to be arranged on radiographic source and/or detector and move, and radiographic source and/or detector are all used for scanning this scanned copy.Distance measuring sensor is arranged on radiographic source or detector, it is possible to use it is mobile that original mobile equipment completes simulation.

Need it is to be noted that the mobile route of simulation related in the application can move for the simulation of distance measuring sensor, it is also possible to for mobile by the imagination of computer disposal, corresponding, the ranging process in moving process can realize by other means.

Needing it is to be noted that above-mentioned before parallel mode using, system should possess radiographic source lathe bed plane parallel condition adjusted with detector lathe bed plane, and meanwhile, the radiographic source main covering of the fan main covering of the fan of opposing detector is adjusted parallel.Distance measuring sensor can be fixedly installed on radiographic source and detector, should have the range finding reference bus parallel with workpiece rotation axis being available for obtaining the shortest range finding on work piece holder/lathe bed or on scanning workpiece.

Optionally, above-mentioned distance measuring sensor can be laser range sensor or infrared distance sensor etc..

The industry CT scanning motion provided except above-described embodiment is from parallel mode, present invention also offers a kind of industry CT scanning motion for realizing said method from parallel device, this device, based on original industry CT scanning equipment, structurally specifically includes that

Acquisition module, for obtaining the position of sweep starting point, it is determined that with sweep starting point apart from minimum range finding reference bus 1 on scanned copy, obtains sweep starting point and the first distance found range with reference to bus 1；Obtain the analog scanning route being starting point with sweep starting point, analog scanning route projection to the projection line of reference plane is chosen the position of reference point, obtain the reference point second distance to range finding reference bus 1.

Processing module, for the position according to second distance, the first distance, sweep starting point and reference point, it is determined that by the route of sweep starting point to target endpoint.

Wherein, acquisition module is connected with processing module, for positional information and the range information of acquisition are sent to processing module.It addition, reference plane are sweep starting point and the range finding common plane with reference to bus 1, target endpoint is reference point to the range finding vertical segment with reference to bus and range finding is with reference to the point that distance is the first distance of bus.

The industry CT scanning motion that the present embodiment provides is in parallel device, by being scanned the simulation of route from sweep starting point, the range finding of acquisition module measurement and scanned copy is with reference to the distance of bus, and processing module obtains the actual scanning route parallel with range finding reference bus space.The specifically used method of said apparatus refer to above-mentioned industry CT scanning motion from parallel mode, this device can to the workpiece setting situation out-of-level with fixture lathe bed, can ensure that after parallel process, the rotation axis of scanning route and scanned copy reality is parastate, it is ensured that the accuracy of scanning.

On the basis of above-described embodiment, acquisition module can include distance measuring sensor and position acquisition unit.

While distance measuring sensor is mainly used in moving along Z axis, measure in real time the spacing with scanned copy, and/or while moving along Y-axis, measure the spacing with scanned copy in real time.

Position acquisition unit is mainly used in distance measuring sensor and moves to, time minimum with the spacing of scanned copy, obtaining the position of distance measuring sensor along Z axis.

On the basis of above-described embodiment, processing module can also specifically for the space coordinates by sweep starting point and reference point, it is determined that the distance relation equation moved from sweep starting point along each change in coordinate axis direction in actual scanning route is:

$Y=\frac{k\·tan\[\arcsin \left(\frac{\mathrm{\Δ}}{k}\right)\]}{\left|X_4-X_1\right|}\·X;$

$Z=\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\·X;$

$k=\frac{\left|Z_4-Z_1\right|}{\sin \[\arctan \left(\frac{\left|Z_4-Z_1\right|}{\left|X_4-X_1\right|}\right)\]};$

Wherein, the distance moved along each coordinate axes by sweep starting point in X, Y and Z respectively actual scanning route, X₁And Z₁The respectively X-axis of sweep starting point and Z axis coordinate, X₄And Z₄For X-axis and the Z axis coordinate of analog scanning terminal, k is pilot process amount, and Δ is the absolute value of the difference of second distance and the first distance.

Optionally, processing module can be also used for realizing the operation of above-mentioned steps S32 and step S33.

Specifically, processing module may be used for distance measuring sensor and moves to being the mobile terminal of the first distance with range finding with reference to bus distance along Y-axis in reference point, it is thus achieved that through the actual scanning route of sweep starting point with mobile terminal.

Alternatively, processing module can be also used for calculating the difference of second distance and the first distance, obtain analog scanning terminal along being perpendicular to the range finding route with reference to bus near range finding with reference to the interpolated point after bus difference, obtain the target route equation through sweep starting point and interpolated point.

The i.e. main position adopting the method calculated to calculate interpolated point, and then the linear equation at scan synthesis starting point and interpolated point place is as target route equation.

Optionally, distance measuring sensor is arranged on the radiographic source for scanning this scanned copy and/or detector.Certainly, distance measuring sensor can also be arranged on other device, by the movement of this device, the position of scanned copy is measured.

Optionally, the type of distance measuring sensor can be laser class or infra red type etc..

Industry CT scanning motion provided by the present invention reduces fixture lathe bed requirement for horizontality from parallel device, by scanning route being decomposed on three coordinate axess, can realize for the parallel adjustment with the scanning route of the non-level workpiece of fixture lathe bed, make in workpiece and the non-level situation of fixture lathe bed, it is also possible to carry out the quick scanning that accuracy is higher.Industry CT scanning motion is based on the above-mentioned application from parallel mode from parallel device, more easily realizes the auto-paralleling scanning of industry CT radiographic source and detector relative position, regulates the speed in the scene, geometric position being greatly improved industry CT equipment.

Except the industry CT scanning motion disclosed in above-described embodiment is from the primary structure of parallel device, the structure of other each several parts of this device refer to prior art, repeats no more herein.

In this specification, each embodiment adopts the mode gone forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually referring to.

Above industry CT scanning motion provided by the present invention is described in detail from parallel mode and device.Principles of the invention and embodiment are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention.It should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to the present invention carries out some improvement and modification, these improve and modify in the protection domain also falling into the claims in the present invention.

Claims (10)

1. an industry CT scanning motion is from parallel mode, it is characterised in that including:

Obtain the position of sweep starting point, it is determined that with described sweep starting point apart from minimum range finding reference bus on scanned copy, obtain the first distance of described sweep starting point and described range finding reference bus；

Obtain the analog scanning route being starting point with described sweep starting point, described analog scanning route projection to the projection line of reference plane is chosen the position of reference point, obtain the described reference point second distance to described range finding reference bus；

Position according to described second distance, described first distance, described sweep starting point and described reference point, it is determined that by the route of described sweep starting point to target endpoint；

Wherein, described reference plane are described sweep starting point and the described range finding common plane with reference to bus, and described target endpoint is described reference point to the described range finding vertical segment with reference to bus and described range finding is with reference to the point that distance is described first distance of bus.

2. industry CT scanning motion according to claim 1 is from parallel mode, it is characterised in that the step of the position of described acquisition sweep starting point, including:

Distance measuring sensor moves along Z axis in default starting point and measures and the distance of described scanned copy, and obtaining the point minimum with described scanned copy spacing that described distance measuring sensor records is described sweep starting point.

3. industry CT scanning motion according to claim 2 is from parallel mode, it is characterized in that, the analog scanning route that described acquisition is starting point with described sweep starting point, chooses the step of the position of reference point in described analog scanning route projection to the projection line of reference plane, including:

Determining that described analog scanning route is parallel to X-direction, described distance measuring sensor moves to analog scanning terminal along the direction being parallel to X-axis by described sweep starting point；

Described distance measuring sensor moves along Z axis, and the point choosing described distance measuring sensor minimum with described range finding reference bus spacing is described reference point.

4. industry CT scanning motion according to claim 3 is from parallel mode, it is characterized in that, described according to described second distance, described first distance, described sweep starting point and described reference point position, it is determined that by the step of the route of described sweep starting point to target endpoint, including:

Space coordinates by described sweep starting point and described reference point, it is determined that the distance relation equation moved from described sweep starting point along each change in coordinate axis direction in described actual scanning route is:

$Y=\frac{k\·\tan \left[\mathrm{arc}\mathrm{}\sin \left(\frac{\mathrm{\Δ}}{k}\right)\right]}{|X_4-X_1|}\·X;$

$Z=\frac{|Z_4-Z_1|}{|X_4-X_1|}\·X;$

$k=\frac{|Z_4-Z_1|}{\sin \left[\mathrm{arc}\mathrm{}\tan \left(\frac{|Z_4-Z_1|}{|X_4-X_1|}\right)\right]};$

Wherein, the distance moved along each coordinate axes by described sweep starting point in X, Y and Z respectively described actual scanning route, X₁And Z₁The respectively X-axis of described sweep starting point and Z axis coordinate, X₄And Z₄For X-axis and the Z axis coordinate of described analog scanning terminal, k is pilot process amount, and Δ is the absolute value of described second distance and the difference of described first distance.

5. industry CT scanning motion according to claim 3 is from parallel mode, it is characterized in that, described according to described second distance, described first distance, described sweep starting point and described reference point position, it is determined that by the step of the route of described sweep starting point to target endpoint, including:

Described distance measuring sensor described reference point along Y-axis move to described range finding be described first distance with reference to bus distance mobile terminal, it is thus achieved that through the described actual scanning route of described sweep starting point and described mobile terminal；

Or, calculate described second distance and the difference of described first distance；Obtain described analog scanning terminal along being perpendicular to the described range finding route with reference to bus near described range finding with reference to the interpolated point after difference described in bus；Obtain the described target route equation through described sweep starting point and described interpolated point.

6. the industry CT scanning motion according to claim 2 to 5 any one is from parallel mode, it is characterised in that described distance measuring sensor moves by being arranged on radiographic source for scanning described scanned copy and/or detector.

7. an industry CT scanning motion is from parallel device, it is characterised in that including:

Acquisition module, for obtaining the position of sweep starting point, it is determined that with described sweep starting point apart from minimum range finding reference bus on scanned copy, obtains the first distance of described sweep starting point and described range finding reference bus；Obtain the analog scanning route being starting point with described sweep starting point, described analog scanning route projection to the projection line of reference plane is chosen the position of reference point, obtain the described reference point second distance to described range finding reference bus；

Processing module, for the position according to described second distance, described first distance, described sweep starting point and described reference point, it is determined that by the route of described sweep starting point to target endpoint；

Wherein, described reference plane are described sweep starting point and the described range finding common plane with reference to bus, and described target endpoint is described reference point to the described range finding vertical segment with reference to bus and described range finding is with reference to the point that distance is described first distance of bus.

8. industry CT scanning motion according to claim 7 is from parallel device, it is characterised in that described acquisition module includes:

Distance measuring sensor, for while moving along Z axis, measures the spacing with described scanned copy in real time, and/or while moving along Y-axis, measures the spacing with described scanned copy in real time；

Position acquisition unit, moves to time minimum with the spacing of described scanned copy along Z axis for described distance measuring sensor, obtains the position of described distance measuring sensor.

9. industry CT scanning motion according to claim 8 is from parallel device, it is characterized in that, described processing module is for by the space coordinates of described sweep starting point and described reference point, it is determined that the distance relation equation moved from described sweep starting point along each change in coordinate axis direction in described actual scanning route is:

$Y=\frac{k\·\tan \left[\mathrm{arc}\mathrm{}\sin \left(\frac{\mathrm{\Δ}}{k}\right)\right]}{|X_4-X_1|}\·X;$

$Z=\frac{|Z_4-Z_1|}{|X_4-X_1|}\·X;$

$k=\frac{|Z_4-Z_1|}{\sin \left[\mathrm{arc}\mathrm{}\tan \left(\frac{|Z_4-Z_1|}{|X_4-X_1|}\right)\right]};$

Wherein, the distance moved along each coordinate axes by described sweep starting point in X, Y and Z respectively described actual scanning route, X₁And Z₁The respectively X-axis of described sweep starting point and Z axis coordinate, X₄And Z₄For X-axis and the Z axis coordinate of described analog scanning terminal, k is pilot process amount, and Δ is the absolute value of described second distance and the difference of described first distance.

10. according to Claim 8 to the industry CT scanning motion described in 9 any one from parallel device, it is characterised in that described distance measuring sensor is arranged on the radiographic source for scanning described scanned copy and/or detector.