CN105974421A - Method utilizing orthogonal array to form unmanned ship monitoring area supersonic wave three-dimensional image - Google Patents
Method utilizing orthogonal array to form unmanned ship monitoring area supersonic wave three-dimensional image Download PDFInfo
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- CN105974421A CN105974421A CN201610460141.0A CN201610460141A CN105974421A CN 105974421 A CN105974421 A CN 105974421A CN 201610460141 A CN201610460141 A CN 201610460141A CN 105974421 A CN105974421 A CN 105974421A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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Abstract
The invention provides a method utilizing an orthogonal array to form an unmanned ship monitoring area supersonic wave three-dimensional image. A routine mode is about utilizing a two-dimensional image mode to operate a device to acquire a two-dimensional image, a transmitting linearity phased array is only used for realizing wave beam formation of a fixed inclination angle phi of 0 degree, a reception linearity phased array is only used for realizing focusing operation of reception waves of the fixed inclination angle phi of 0 degree, a transmitter enables motions of the transmitting linearity phased array, so one transmitting wave plane can be formed each time at the position of the inclination angle of 0 degree, a supersonic wave echo signal received by the reception linearity phased array is processed in a receiver, a parallel light beam formation device corresponds to one azimuth and focuses the azimuth to a signal scanning line, focused signals are processed through an image signal processor and are then displayed on a display device, operations are repeated, and a three-dimensional image plane same as a plane formed through a two-dimensional image formation flow is formed.
Description
Technical field
The present invention relates to unmanned boat monitored space domain imaging method, formed especially with ultrasound wave orthogonal array.
Background technology
Unmanned plane summons wind and rain in scientific and technological circle with pilotless automobile, and public attention goes out to the greatest extent, and in comparison, the unmanned boat popularity of low-key is slightly inferior.Being right little, unmanned boat shrouds an air of mystery all the time, and famous " Ghost Ship " is the classical material that writer fabricates navigation story, and in reality, unmanned boat is eachArmy of stateThe mind in thing field is precious, is the important technology of science and technology competition.At present unmanned boat is in the period of high speed development, but unmanned boat is before lower water shakes down and when operation at sea, still suffers from a lot of technical bottleneck and does not solve.
nullUnmanned boat，As its name suggests，Without human driver, it is manipulated，The appearance of " zero crewman " concept is the most appropriate，Opinions vary for industry at present，The reporter of publication " safety " is just it is proposed that " unmanned boat " preferable distance with reality，Wherein propose，If certain ship its orientation the most on fire is failed to understand，According to existing scientific and technological level，Manipulate of unmanned boat is certain to make two kinds of instructions，One is best practice，Firefighting robot is i.e. sent to find accurate ignition point and put out，The second is if robot cannot complete fire extinguishing task，Unlatching high-pressure fine water mist fire-extinguishing system is completed fire extinguishing task by boats and ships，Two sets of plan，A set of standby，Seem and there is no defect，And have a problem to avoid，Even if full ship has monitoring device，But do not ensure that monitoring device has no blind area，And if now just catching fire in blind area or for causing the source of fire，Then two set methods all cannot be implemented，We can only look at ship helplessly and burnout sinking.
From this, each blind area of unmanned boat can be carried out effective three-dimensional imaging is problem the most to be solved.
Summary of the invention
Therefore on the one hand the purpose of the present invention is that providing a kind of uses orthogonal array to carry out the device that unmanned boat monitoring region ultrasound wave 3-D view is formed, including: by orthogonal two linear phased array constituting orthogonal array, two linear phased array are respectively the transmitting linear phased array sending and being placed on X-direction for ultrasound wave and the reception linear phased array receiving and being placed on Y direction for ultrasonic echo, the two is respectively provided with an internal element, two internal elements are each other at a distance of λ/2, wherein λ represents ultrasonic wavelength, two public same X-Y axis coordinate system origin sensor unit that are positioned at of linear phased array are as respective central array element；Length on one side is slightly less than λ/2 square sensor；Transmitter, sends the signal of telecommunication of the ultrasound wave for sending linear phased array of generation；Receptor, receiving return orthogonal array from receiving linear phased array and be converted into the ultrasonic echo output of the signal of telecommunication by the sensor element received in linear phased array and by performing multiple signal handlers, the analog electrical signal received is transformed into digital form, the analog electrical signal received is operated in a ultrasonic imaging apparatus by signal handler；Collimated light beam shaper, the digital signal being provided receptor performs collimated light beam and forms operation, the dynamic depth that performs a little in the plane of φ=0 and θ=θ n is focused on by described collimated light beam shaper, then it is applied a series of delay rules, produce continuous print multi-angle acoustic beam deflection or different depth depth of focus, parallel waveform grow up to be a useful person parallel wave formed during perform diffraction control phase method thus reduce sidelobe level；Image-signal processor, receives all scanning-line signals produced in collimated light beam shaper and performs ultrasonic phased array imaging processing routine for received signal, thus producing the picture signal of multi-form；Display, display image signals；Controller, controls aforesaid operations thus obtains the 3-D view of expectation form；Data storage section, the output of receptor is input simultaneously to collimated light beam shaper and data storage section and three dimensional image signals processor.
Preferably, the sensor element quantity constituting each phased array is preferably 64 or 128.
Preferably, X-axis and Y-axis constitute a square area, place and send linear phased array and receive the sensor unit of linear phased array in this region.
Preferably, data storage section is made up of a large amount of semiconductor chips or high-speed high capacity hard disk.
Preferably, three dimensional image signals processor is made up of a high speed digital signal processor or a high-capacity and high-speed ASIC for dedicated computing or program, or is made up of the computer of external connection.
Preferably, transmitter, receptor, the corresponding construction of collimated light beam shaper and image-signal processor and Versatile two-dimension image device is identical.
The present invention also aims to provide oneOrthogonal array is utilized to form unmanned boat monitoring region ultrasound wave three-dimensionalImageMethod, step is as follows:
(1) the most namely two-dimensional image mode runs this device thus obtains two dimensional image, wherein send linear phased array and be only used for the Wave beam forming to constant cant angle φ=0 degree, receive the focusing operation that after linear phased array is only used for sending every time, constant cant angle φ=0 degree is received ripple, transmitter enables the action sending linear phased array, it is so that the position transmission every time of 0 degree can form one and sends popin face at inclination angle, the ultrasonic echo signal that reception linear phased array receives processes in receptor, then a bars scan line is focused it onto by the corresponding azimuth of collimated light beam shaper；(2) signal after focusing on carries out processing and showing over the display by image-signal processor；(3) aforesaid operations is repeated, form a 3-D view plane identical with the plane that existing two dimensional image formation flow process is formed；(4) above-mentioned two-dimensional image mode is used to determine 3D region to be scanned；(5) at the 3D region centralized positioning orthogonal array determined；(6) set 3-D view pattern, then performed the transmission of 3-D scanning and receive flow process；(7) after the corresponding each step of all the sensors element (6) receiving linear phased array sends, the output of receptor is stored in data storage section；(8) after completing above-mentioned steps, namely, after the signal of the sensor unit reception that the popin face that sends of the desired 3D region of all compositions forms rear and all reflected signals from plane and reception linear phased array plane is all stored, send and receive flow process and stop；(9) three dimensional image signals processor reads the data being stored in data storage section, then all scan lines to three dimensional scanning region perform wave beam focusing, and the 3-D view performing to require processes, wherein collimated light beam shaper, the digital signal being provided receptor performs collimated light beam and forms operation, the dynamic depth that performs a little in the plane of φ=0 and θ=θ n is focused on by collimated light beam shaper, then it is applied a series of delay rules, produce the deflection of continuous print multi-angle acoustic beam or different depth depth of focus, described parallel waveform grow up to be a useful person (40) parallel wave formed during perform diffraction control phase method thus reduce sidelobe level；(10) the most backward display (170) provides the information of all two and three dimensions images to be shown.
Preferably, when the dynamic depth of step (9) focuses on, only use one to launch and postpone rule, be loaded into focusing rule the most continuously for receiving signal, make ultrasonic beam along beam axis, the different depths of focus are carried out this scanning.
Preferably, when performing realtime four-dimensional scanning after the memory span expanding data storage section.
Preferably, wherein step (9) performs other control battle array acoustic beam scanning modes in addition to deep focus to all scan lines of three dimensional scanning region.
Preferably, other control battle array acoustic beam scanning modes preferably include the linear scanning of electronics or sector scan.
Use the phased array method of ultrasonic orthogonal array, even if electronically controlling sound beam focusing and scanning, quick and comprehensive scanning can be carried out in the case of not mobile probe, improve scanning imagery speed, there is good acoustic beam accessibility, for complicated Ship Structure, by optimal control focal spot size, burnt district's degree of depth and sound beam direction, resolution and detection range can be made to be improved.
According to below in conjunction withAccompanying drawingDetailed description to the specific embodiment of the invention, those skilled in the art will become more apparent from the above-mentioned of the present invention and other purposes, advantage and feature.
Accompanying drawing explanation
Hereinafter by referenceAccompanying drawingDescribe some specific embodiments of the present invention by way of example, and not by way of limitation in detail.In accompanying drawingIdenticalAccompanying drawingLabelling denotes same or similar parts or part.It should be appreciated by those skilled in the art that theseAccompanying drawingIt is not necessarily drawn to scale.The target of the present invention and feature in view of below in conjunction withAccompanying drawingDescription will be apparent from,In accompanying drawing:
Attached Figure 1It is one to regardFigure, represent for explaining according to the present invention'sOrthogonal array is utilized to form unmanned boat monitoring region ultrasound wave three-dimensionalImageMethodAnd the coordinate system of device；
Attached Figure 2It it is a frameFigure, represent and utilize orthogonal array to form the device of unmanned boat monitoring region ultrasound wave 3-D view according to the preferred embodiment of the present invention；
Attached Figure 3It it is a frameFigure, for representing that the orthogonal array that utilizes according to a preferred embodiment of the invention forms the device of unmanned boat monitoring region ultrasound wave 3-D view, wherein comprise the method using 2-D image forming device to carry out 3-D view formation according to the present invention.
Detailed description of the invention
With reference now toAccompanying drawing, the description of details will be provided according to the present invention.
The present invention provides the structure utilizing orthogonal array to form unmanned boat monitoring region ultrasound wave 3-D view, including comparing the sensor unit of negligible amounts for traditional two-dimensional array, and within typical two dimensional image sweep time, complete 3-D view scanning, and use new 3-D view forming method and the device of the method.
ReferenceAccompanying drawing 2, use orthogonal array to carry out the device that unmanned boat monitoring region ultrasound wave 3-D view is formed, including the orthogonal array being made up of mutually perpendicular two linear phased array 11 and 12 according to a preferred embodiment of the invention.Launching linear phased array 11 and reception linear phased array 12 all has an internal element, each other at a distance of λ/2, wherein λ represents ultrasonic wavelength, and includes square sensor, and its length is slightly less than λ/2.Two public same X-Y axis coordinate system origin sensor unit that are positioned at of linear phased array 11 and 12 are as respective central array element.Send linear phased array 11 transmission for ultrasound wave, andFigure 2In be placed on X-direction.Receive the linear phased array 12 reception for ultrasonic echo, andFigure 2In be placed on Y direction.The sensor element quantity constituting each phased array 11 or 12 is preferably 64 or 128.Such as figure 2X-axis and Y-axis shown on square area formula constitute send linear phased array 11 and receive linear phased array 12 sensor unit.
Transmitter 20 sends the signal of telecommunication for generating the ultrasound wave for sending linear phased array 11.Reflected by barrier by sending when the ultrasound wave that linear phased array 11 sends is propagated in hull with focus version in focal position.The ultrasonic echo returning orthogonal array 10 is converted into the signal of telecommunication by the sensor element received in linear phased array 12.Receptor 30 receives the output of this signal of telecommunication from receiving linear phased array 12 and by performing multiple signal handlers, the analog electrical signal received is transformed into digital form, and the analog electrical signal received is operated in a typical ultrasonic imaging apparatus by processing routine.The digital signal that receptor 30 is provided by collimated light beam shaper 40 performs collimated light beam and forms operation.Image-signal processor 50 receives all scanning-line signals produced in collimated light beam shaper 40 and performs ultrasonic phased array imaging processing routine for received signal, thus the picture signal producing multi-form shows on the display 60.Controller 70 controls above-mentioned frameIn figureOperation thus obtain the 3-D view of expectation form.
When transmitter 20 send mutually linear phased array 11 signal of telecommunication is provided time, each sensor unit sent in linear phased array 11 can produce ultrasound wave.In this case, transmitter 20 controls the time that the signal of telecommunication is applied on each sensor unit, so inclination angle is that on the direction of φ=φ m, ultrasound wave sends and focuses on azimuth and is 0 degree and radius is on the point of r=R, the transmission popin face with the sector region that inclination angle is φ=φ m is formedSuch as figure 2Shown in.The size sending the ripple plane width sensor element by being made up of transmission linear phased array 11 on azimuth direction determines.Owing to dynamic focusing can not be implemented during sending, send the popin face minimum r=R of beam angle in an inclined direction, and along with the large radius that adds with R distance increases.Therefore, only having finite region in sending popin face is the effective coverage that 3-D view is formed.The multizone focusing technology or line focus technology being usually used in existing 2-D image forming device is applied at multiple inclinations angle, can form an effective transmission popin face in a wide region or all desired regions.In this case, need transmitter 20 is improved according to prior art.
When the ultrasonic signal sent is propagated in hull, the ultrasonic signal launched can be converted into the signal of telecommunication by receiving the sensor unit of linear phased array 12.Receptor 30 can be to the ultrasonic signal execution pre-amplification through receiving sensor unit conversion, time gain compensation and filtering.Ultrasonic signal is converted to number format by analog to digital (A/D) the transducer (not shown) provided in receptor 30.
Collimated light beam shaper 40 receives the output of digital supersonic signal from receptor 30 and received digital signal performs collimated light beam formation operation.In more detail, collimated light beam shaper 40 is rightAccompanying drawing 2Perform a little dynamic focusing in the plane of shown φ=0 and θ=θ n, then it is applied a series of delay rules, produce the deflection of continuous print multi-angle acoustic beam or different depth depth of focus.As a result, formedFigure 2The shown reception popin face parallel with X-axis.Receive the popin face transmission popin with inclination angle phi=φ m towards vertical.Final waveform in view of the ultrasound wave sent and receive becomes the synthetic product sending waveform with receiving waveform.So, it is thus achieved that for definition, there is sending popin face and having the marginal scan line in reception popin face that azimuth is θ=θ n of inclination angle phi=φ m.Parallel waveform grow up to be a useful person 40 parallel wave formed during perform diffraction control phase method thus reduce sidelobe level.
If all orientation for forming 3-D view are performed dynamic focusing, that is, all azimuth angle theta during reception ripple formation=θ n, wherein n=1,2 ... in the case of N, parallel waveform is grown up to be a useful person and 40 can be obtained all of scan line from the transmission popin face defined by inclination angle phi=φ m, when dynamic depth focuses on, only use one to launch and postpone rule, be loaded into focusing rule the most continuously for receiving signal, make ultrasonic beam along beam axis, the different depths of focus are carried out this scanning.
Wave width in obtained scan line is defined as follows: 1) width of incline direction is identical with the beam angle sending wave width.2) beam angle on azimuth direction is identical with the relevant parameter in reception popin face with resolution, say, that the waveform on azimuth direction is the unidirectional ripple only receiving linear phased array 12.Therefore,Accompanying drawing 2In equipment, the resolution on azimuth direction can be controlled by controlling transmitter 20, under this mode,Accompanying drawing 2The resolution of the existing 2-D image forming device of resolution ratio of device is more excellent, and the popin Surface scan line corresponding owing to defining all azimuths, blind area would not be there is in unmanned boat sweep limits.
As it has been described above, linear phased array 11 and 12 forms orthogonal array 10, for being transmitted respectively and receiving and perform the defeated formation of parallel wave when receiving such that it is able to after once sending, a plane to image performs single pass.It is to say,Accompanying drawing 2Device can carry out single pass to a plane of 3-D view existing 2-D image forming device obtains a scan line when.Therefore, by above-mentioned transmission with receive flow process and repeat M time, focusing ultrasonic wave to putting θ=0 degree and for sending different inclination angle phi=φ m each time, wherein m=1,2 ... M.To θ=0 degree and all of azimuth angle theta=θ n, wherein n=1 during reception, 2 ... N performs directional light ripple and forms operation, this completes 3-D scanning.It is to say, 3-D scanning or existing two dimension can be performed in sending at M timeFigureAs performing scan operation in time of being acquired.
Image-signal processor 50 performs different signal handlers, and in the scan line required by parallel beamformer 40, focus signal obtains excellent picture quality, and performsFigureProducing all types of two and three dimensions image show on the display 60 as processing with picture signal process, therefore display 60 also using formed 3 d image data.All operations and handling process are controlled by controller, and generation and transmission ripple including transmission pulse are formed, receptor, parallel beamformer, to sending and receive the Repetitive controller of ripple formation and to image and the control value of signal processing.
Attached Figure 2Shown 3-D view is formed in device, sends both array and receiving array or quantity respectively, and the complexity of transmitter 20 and receptor is all similar to the corresponding parameter of existing 2-D image forming device.But, grow up to be a useful person 40 for all scan lines of one plane of composition being carried out the parallel waveform of parallel focusing, it is contemplated that circuit size and cost therein, its complexity is probably the decades of times of existing 2-D image forming device.Therefore, present invention uses 3-D view forming method and provide the more economical 3-D view formation device more having actual practical value, method therein uses the orthogonal array of the present invention, and structure usesFigure 3Shown Versatile two-dimension image processing system.
Attached Figure 33-D view formed device on the basis of existing two dimensional image processing means, add orthogonal array, data storage section 180 and a three dimensional image signals processor 190.Data storage section 180 is made up of a large amount of semiconductor chips or high-speed high capacity hard disk.Three dimensional image signals processor 190 is made up of a high speed digital signal processor (DSP) or a high-capacity and high-speed ASIC for dedicated computing or program.Accompanying drawing 3In, transmitter 120, receptor 130, the corresponding construction receiving Beam former 140 and two dimensional image signal processor 150 and Versatile two-dimension image device is identical.Send linear phased array 111 and reception linear phased array 112 is made up of 64 or 128 sensor units being connected respectively on transmitter 120 and receptor 130 respectively.
The output of receptor 130 is input simultaneously to receive Beam former 140 and data storage section 180.WhenAccompanying drawing 3Device when running in a conventional mode, namely two-dimensional image mode, send linear phased array 111 and be only used for the Wave beam forming to constant cant angle φ=0 degree, receive the focusing operation that after linear phased array 112 is only used for sending every time, constant cant angle φ=0 degree is received ripple.A scan line is only obtained it is to say, existing 2-D image forming device sends and receives every time.In order to obtain two dimensional image, the action of transmitter enable transmission linear phased array 111 is so that the position transmission every time of 0 degree can form a transmission popin face at inclination angle.The ultrasonic echo signal that reception linear phased array 112 receives processes in receptor 130, is then focused it onto a bars scan line by the corresponding azimuth of reception Beam former 140.Signal after focusing carries out processing and showing on display 160 by two dimensional image signal processor 150.Aforesaid operations is repeated, forms a 3-D view plane identical with the plane that existing two dimensional image formation flow process is formed.Under two-dimensional image mode, it is possible to use the array identical with the general line phased array used in existing 2-D image forming device.
UseFigure 3Device is with following flow performing 3-D view pattern: 1) use above-mentioned two-dimensional image mode to determine 3D region to be scanned.2) at the 3D region centralized positioning orthogonal array 100 determined.3) by having set 2 by next specific button (not shown)) after 3-D view pattern, then perform referenceFigure 2The transmission of the 3-D scanning that device describes and reception flow process.4) the corresponding each step 3 of all the sensors element receiving linear phased array) send after the output of receptor 130 be stored in data storage section 180.5) after completing above-mentioned steps, namely, after the signal of the sensor unit reception that the popin face that sends of the desired 3D region of all compositions forms rear and all reflected signals from plane and reception linear phased array plane is all stored, send and receive flow process and stop.
Three dimensional image signals processor 190 reads the data being stored in data storage section 180.All scan lines of three dimensional scanning region are performed wave beam focusing, and the 3-D view performing to require processes, and then provides the information of all two and three dimensions images to be shown to display 170.
Use above-mentionedAccompanying drawing 3Device carries out the scan operation (send and receive operation) that 3-D view shape is performed by the method for 3-D view formation in real time, and works asFigure 2When device obtains real-time 3-D view, performing to receive ripple and focus on, non real-time 3-D view processes and storage operation.Can be although all of 3-D view forms flow processFigure 2Shown device completes in real time, but the 3-D view finding acquisition diagnostic message is the most non real-time to be completed.Accordingly, referenceAccompanying drawing 3The said method of device is also effective.Therefore, attachedFigure 2There is no need in device to use large-scale parallel waveform to grow up to be a useful person.
Three dimensional image signals processor 190 can be replaced by the computer of external connection.Here, data storage section 180 has high speed outer computer interface.When such outer computer is used, need not be placed in data storage section 180 can be placed on outer computerAccompanying drawing 3Shown 3-D view is formed in device.In any case,Accompanying drawing 33-D view formed device compared withAccompanying drawing 2For image processing system, structure is all simple.
As it has been described above,Accompanying drawing 3Ultrasound wave 3-D view formed device can perform the memory span of data storage section 180 is sufficiently large when realtime four-dimensional scan.It is to say, three-dimensional image information in time can obtain in real time and the variation of this backward three-dimensional viewing can focus on by performing reception ripple and non real-time image procossing checks out in time.And phased array acoustic beam scanning direction can use electronics (linear) scanning, sector scan and dynamic depth to focus on three kinds of modes.
Although the present invention is described by reference to specific illustrative embodiment, but will not be limited by these embodiments and be only subject to additionalClaimRestriction.Skilled artisan would appreciate that and in the case of without departing from protection scope of the present invention and spirit, embodiments of the invention can be modified and revise.
Claims (5)
1. the method that orthogonal array forms unmanned boat monitoring region ultrasound wave 3-D view, it is characterised in that:
(1) the most namely two-dimensional image mode runs this device thus obtains two dimensional image, wherein
Send linear phased array (111) and be only used for the Wave beam forming to constant cant angle φ=0 degree, receive linear
Phased array (112) receives the focusing operation of ripple every time to constant cant angle φ=0 degree after being only used for sending,
Transmitter enables the action sending linear phased array (111), is so that the position of 0 degree is each at inclination angle
Transmission can form one and send popin face, receives the ultrasonic echo letter that linear phased array (112) receives
Process number in receptor (30), then by the corresponding azimuth of collimated light beam shaper (40) by it
Focus on a bars scan line；
(2) signal after focusing on carries out processing and in display (60) by image-signal processor (50)
On show；
(3) aforesaid operations is repeated, form one and form the plane that flow process is formed with existing two dimensional image
Identical 3-D view plane；
(4) above-mentioned two-dimensional image mode is used to determine 3D region to be scanned；
(5) at 3D region centralized positioning orthogonal array (100) determined；
(6) set 3-D view pattern, then performed the transmission of 3-D scanning and receive flow process；
(7) receptor after the corresponding each step of all the sensors element (6) receiving linear phased array sends
(30) output is stored in data storage section (180)；
(8) after completing above-mentioned steps, it is, the transmission ripple planar shaped of the desired 3D region of all compositions
After one-tenth and all reflected signals from plane and receive linear phased array plane sensor unit connect
After the signal received all is stored, send and receive flow process and stop；
(9) three dimensional image signals processor (190) reads the data being stored in data storage section (180),
Then all scan lines to three dimensional scanning region perform wave beam focusing, and perform at the 3-D view of requirement
Reason, wherein collimated light beam shaper (40), the digital signal being provided described receptor (30) performs
Collimated light beam forms operation, in the described collimated light beam shaper (40) plane to φ=0 and θ=θ n
Perform a little dynamic depth focus on, then to its apply a series of delay rules, produce continuous print polygonal
Degree acoustic beam deflection or different depth depth of focus, described parallel waveform grow up to be a useful person (40) parallel wave formed during hold
Row diffraction control phase method thus reduce sidelobe level；
(10) the most backward display (170) provides the information of all two and three dimensions images to be shown.
The most according to claim 1 orthogonal array is utilized to form unmanned boat monitoring region ultrasound wave graphics
The method of picture, it is characterised in that: when the dynamic depth of step (9) focuses on, only use one and launch delay method
Then, it is loaded into focusing rule the most continuously for receiving signal, makes ultrasonic beam along beam axis, difference is focused on deep
Degree carries out this scanning.
The most according to claim 1 orthogonal array is utilized to form unmanned boat monitoring region ultrasound wave graphics
The method of picture, it is characterised in that: when performing after the memory span expanding data storage section (180)
Realtime four-dimensional scans.
The most according to claim 1 orthogonal array is utilized to form unmanned boat monitoring region ultrasound wave graphics
The method of picture, it is characterised in that: wherein all scan lines of three dimensional scanning region are performed except deep by step (9)
Other control battle array acoustic beam scanning modes beyond degree focusing.
The most according to claim 4 orthogonal array is utilized to form unmanned boat monitoring region ultrasound wave graphics
The method of picture, it is characterised in that: other control battle array acoustic beam scanning modes preferably include the linear scanning of electronics or sector
Scanning.
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| CN201610460141.0A CN105974421A (en) | 2016-06-22 | 2016-06-22 | Method utilizing orthogonal array to form unmanned ship monitoring area supersonic wave three-dimensional image |
| PCT/CN2016/095098 WO2017219471A1 (en) | 2016-06-22 | 2016-08-14 | Method for forming ultrasonic three-dimensional image of unmanned vessel monitoring region by using orthogonal array |
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| US11493628B1 (en) * | 2018-10-29 | 2022-11-08 | Amazon Technologies, Inc. | Using perpendicular one-dimensional arrays for safe operation of aerial vehicles |
| CN113358751B (en) * | 2021-06-01 | 2022-09-06 | 中车青岛四方机车车辆股份有限公司 | Workpiece defect detection method, device and system |
| CN113777165B (en) * | 2021-09-06 | 2022-06-17 | 哈尔滨工业大学 | Synthetic aperture dynamic focusing-based ultrasonic detection method for R region component defects and stress |
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| US4694434A (en) * | 1984-06-12 | 1987-09-15 | Von Ramm Olaf T | Three-dimensional imaging system |
| US5901708A (en) * | 1996-10-01 | 1999-05-11 | Chang; Seong-Ho | Method and apparatus for forming ultrasonic three-dimensional images using cross array |
| US5797845A (en) * | 1996-11-04 | 1998-08-25 | Barabash; Leonid S. | Ultrasound apparatus for three dimensional image reconstruction |
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