CN106248340A - A kind of wind tunnel model 3D ice shape On-line Measuring Method based on 3-D supersonic imaging technology - Google Patents
A kind of wind tunnel model 3D ice shape On-line Measuring Method based on 3-D supersonic imaging technology Download PDFInfo
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- CN106248340A CN106248340A CN201610532485.8A CN201610532485A CN106248340A CN 106248340 A CN106248340 A CN 106248340A CN 201610532485 A CN201610532485 A CN 201610532485A CN 106248340 A CN106248340 A CN 106248340A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
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Abstract
Present invention uses a kind of ice shape contour measuring method based on 3-D supersonic imaging technology, can be used in icing wind tunnel, in model aircraft icing experimentation, to 3D ice shape on-line measurement in model icing growth course.The method utilizes ultrasonic probe to launch ultrasonic signal, receives echo-signal simultaneously and processes, it is thus achieved that two-dimensional ultrasonic image.While gathering echo-signal acquisition two-dimensional ultrasonic image information, utilize the spatial positional information of electromagnetic location sensor acquisition ultrasonic probe correspondence icing model, then it is tied to the Coordinate Conversion between world coordinate system through plane of ultrasound coordinate, obtain the three-dimensional coordinate of model to be measured, thus carry out the three-dimensional reconstruction of wind tunnel model icing 3D ice shape.For 3D ice shape in more intuitive observation model icing growth course, the present invention uses 3 Dimension Image Technique, obtains the three-dimensional ultrasound pattern of can ice shape.The present invention proposes the ice shape contour measuring method of a kind of non-contact measurement, compared with currently used several icing wind tunnel measuring methods, can improve conventional efficient and realize on-line measurement.
Description
Technical field
The present invention relates to acoustics, optics and electronics combine field of measuring technique, relate to computer vision, computer graphic
The correlation technique such as shape, signal processing, refers in particular in icing wind tunnel model aircraft icing tests, a kind of based on 3-D supersonic imaging skill
The method of the wind tunnel model 3D ice shape on-line measurement of art.
Background technology
Aircraft icing is a kind of phenomenon being widely present in flight practice, is also the main hidden danger causing flight safety accident
One of, the icing of fuselage surface can change the Flow Field of aircraft, causes components ' load distribution to change, thus destroys air
Dynamic performance, affects maneuverability and the stability of aircraft, endangers flight safety, and the lighter can make safe flight scope reduce, weight
Person can cause the major accident of fatal crass, and therefore aircraft freezes and protection question is always in the research that aviation field is important
Hold, explore icing mechanism, carry out aircraft aerodynamic quality assessment under the conditions of icing meteorology, security evaluation, prevent/deicing etc. grinds
Study carefully work significant.
For explore icing mechanism, carry out aircraft aerodynamic quality assessment under the conditions of icing meteorology, security evaluation, prevent/
The research work such as deicing, Chinese scholars is from computational fluid dynamics (CFD) numerical computations, wind tunnel test, flight test etc. three
Individual aspect has carried out correlational study work；Owing to the flight test safety under natural ice-formation condition is low, cost is high, currently mainly
Being simulated icing tests in icing wind tunnel, carry out branch's performance and security evaluation under aircraft ice-formation condition, checking prevent/removes
Ice systematic function, verifies CFD numerical result.
In wind-tunnel icing tests, it is generally required to measure the information such as the thickness of icing body, shape, the most also can be to hood etc.
Complicated shape structure carries out icing tests, for complicated shape body structure surface icing body, with greater need for measuring its whole audience 3D shape,
Calculate for CFD aeroperformance；In this process, model aircraft icing 3D profile information in acquisition wind tunnel experiment, one
Aspect is used for calculating aeroperformance under aircraft ice-formation condition as three-dimensional pneumatic profile input data, on the other hand is used for verifying
CFD calculates the external shape result that freezes；Meanwhile, when research shows to freeze with Liquid water content, average water droplet diameter, temperature, icing
Between, the parameter such as flight speed and the angle of attack is closely related, for exploring the impact on icing growth course of these parameters, in addition it is also necessary to obtain
Time resolution 3D ice shape；It addition, when carrying out meeting safe flight assessment under aircraft ice-formation condition, the 3D ice of band temporal information
Graphic data can be used for predicting safe flight time and border.Further, current icing simulation test mainly permanent test, and fly
Under row state, natural ice-formation condition is time-dependent, carries out unsteady flo w icing tests future, with greater need for on-line measurement icing body three
Dimension shape.
At present, the ice shape measuring method used has following several: one is to take pictures ice shape with imageing sensor, this side
Method typically can only qualitative observation, it is impossible to accurately measure ice shape contour shape data；Two is Gypsum Fibrosum placingJi Shu.By on model
Take off ice cube and carry out Gypsum Fibrosum moulding to obtain ice shape, but the labor intensity of this method is high, directly destroy ice shape, measure the most smart
Really；Three is the hot skill in using a kitchen knife in cookery, and this is the more commonly used ice shape measuring method arrived, but there is also abort, destroys ice shape, measurement at random
The shortcomings such as error is big；It addition, these three method is required for carrying out under icing wind tunnel dead ship condition, it is impossible to real-time monitored aircraft mould
Type icing 3D profile information, brings inconvenience to follow-up research work.
For real-time monitored model aircraft icing 3D profile information, researcher proposes area-structure light and combines the side of binocular vision
Method: the method utilizes Binocular Vision Principle, uses two video cameras to shoot the aircraft mould in process of the test at diverse location simultaneously
Two width images are carried out pretreatment, Stereo matching, thus carry out ice shape three-dimensional reconstruction by type icing ice shape；The method can realize
3D measures, but needs to demarcate camera, operates complex, simultaneously because the easy direct reflection in icing surface, by difficulty
With the accurate match of two width images about realizing, it is necessary to form diffuse-reflectance at model aircraft frozen surface spray coated paint, limit to
The real-time of experiment.
In order to overcome the deficiency of above method, the present invention proposes to carry out dummy vehicle knot based on 3-D supersonic imaging technology
3D ice shape On-line Measuring Method in ice growth course: the method uses ultrasound wave to measure, it is achieved that contactless is online
Measure, can effectively reduce the impact on measuring of the icing wind tunnel environment simultaneously；Ultrasound wave has product on the interface of foreign medium
Raw reflection, refraction and the feature of shape transformation, ultra sonic imaging is used just and is used this feature, uses ultrasonic acoustic beam to scan object,
By to the reception of reflected signal, process, to obtain the image of scanned object, in recent years, ultrasonic imaging technique development,
In terms of three-dimensional imaging, application is the most extensive, and compared to other detection techniques, ultrasonic imaging technique has contactless, operation
Simply, on-line measurement efficiency advantages of higher, in icing wind tunnel environment, ultrasound wave can effectively weaken relative to imageing sensor
Ice pellets and the water smoke interference to measuring in environment.
Wind tunnel model 3D ice shape On-line Measuring Method based on ultrasonic imaging technique uses Two-dimensional echocardiography to obtain
Two-dimensional ultrasonic image: while gathering echo-signal acquisition two-dimensional ultrasonic image information, utilize electromagnetic location sensor acquisition
The spatial positional information of ultrasonic probe correspondence icing model, the coordinate being then tied between world coordinate system through image coordinate turns
Change, it is thus achieved that the three-dimensional coordinate of model to be measured, thus carry out three-dimensional reconstruction.
The present invention uses non-contact measurement model aircraft 3D icing ice shape profile, protects the profile information of ice shape；With
Time achieve on-line measurement, it is not necessary to stop off, it is ensured that the integrity of experiment；Further, since the echoing characteristics of ultrasound wave, this
Bright can effectively reduce water smoke and the ice pellets impact on measuring under icing wind tunnel environment.
Summary of the invention
The present invention is to overcome the hottest skill in using a kitchen knife in cookery of traditional method etc. to destroy ice shape when measuring ice shape profile, can not measure in real time
Deng not enough, when overcoming laser scalpel pressure method to measure simultaneously by ice pellets in environment, water smoke affected compared with greatly and the one that proposes is in hgher efficiency,
Destructive less, the ice shape contour measuring method of real-time online detection, the method utilizes ultrasonic probe to launch ultrasonic signal, simultaneously
Receive echo-signal and process, it is thus achieved that two-dimensional ultrasonic image, obtaining two-dimensional ultrasonic image information gathering echo-signal
Meanwhile, the spatial positional information of electromagnetic location sensor acquisition ultrasonic probe correspondence icing model is utilized, then through image coordinate
The Coordinate Conversion being tied between world coordinate system, it is thus achieved that the three-dimensional coordinate of model to be measured, thus carry out three-dimensional reconstruction, obtain simultaneously
Three-dimensional ultrasound pattern.
Wherein two-dimensional imaging basic step includes: Wave beam forming, Digital Signal Processing and Digital Image Processing；Main
Digital signal processing includes dynamic filter, logarithmic amplification, envelope detected and double sampling；After Digital Signal Processing,
By digital image processing techniques, digital signal being carried out imaging processing and optimization, this process needs to be applied to digital scan conversion skill
Art (coordinate transform, linear interpolation) and frame correlation technique, while gathering a series of two-dimensional ultrasonic images, use electromagnetism fixed
Level sensor gathers corresponding spatial positional information, the two dimensional image of this series of spaces irregular alignment and each image collection
Time pop one's head in accordingly locus and directional information as the raw information of three-dimensional reconstruction, be tied to world coordinate system through image coordinate
Between Coordinate Conversion, it is thus achieved that the three-dimensional coordinate of model to be measured, thus carry out three-dimensional reconstruction.
In order to observe icing model 3D profile more intuitively, the present invention uses 3 Dimension Image Technique, every in two dimensional image
The gray value of individual pixel is put on a final three-D volumes lattice, forms three-dimensional ultrasound pattern.
The present invention carries out the step of ice shape profile measurement and includes: 1, launch ultrasonic signal, receives echo-signal simultaneously and goes forward side by side
Row processes, it is thus achieved that two-dimensional ultrasonic image information；2, while gathering echo-signal acquisition two-dimensional ultrasonic image information, electricity is utilized
Magnetic position sensor gathers corresponding ultrasonic probe and relatively freezes the spatial positional information of model；3, plane of ultrasound coordinate system is carried out
To the Coordinate Conversion of world coordinate system, three-dimensional reconstruction, obtain three-dimensional ultrasound pattern.
In step 1, using digital B ultrasonic to carry out the acquisition of two-dimensional ultrasonic image, two-dimensional ultrasonic imaging step includes: s1,
Wave beam forming；S2, ultrasound echo signal process；S3, Digital Image Processing.
Step s1 Wave beam forming includes launching signal and receiving Wave beam forming two aspects of process of signal, is whole system
The core component of system, Wave beam forming mainly carries out time delay summation, to each passage to the channel ultrasonic echo-signal received
Carry out different time delays and can realize the collectiong focusing of ultrasound echo signal；The present invention uses Adaptive beamformer method to reach ripple
Bundle is formed, according to the feature of echo data, and dynamic calculation each channel weighting value, and then reach to compress wave beam main lobe width, improve
The purpose of image resolution ratio；Symbol is relevant and least variance method broadly falls into adaptive algorithm, and symbol correlation technique is to use sign bit
Represent the change of phase place, can be regarded as the nonlinear function of a beam synthesizer；Least variance method is by keeping expectation side
Gain upwards is constant, makes array export energy minimization, thus obtains the optimal weighting vector making signal noise ratio (snr) of image the highest.
In order to improve image resolution ratio further while improving picture contrast, the present invention uses feature space and symbol
The beam-forming schemes that number coherence factor merges, is incorporated into feature space minimum variance Beamforming Method symbol coherence factor
In；Coherence factor is that the coherence according to main lobe signal is high, and echo-signal is weighted by the principle that side-lobe signal coherence is low
Optimizing, coherence factor reflects the degree of coherence of echo-signal, using coherence factor as weight information, carries out Wave beam forming.
Step s2 ultrasound echo signal processing procedure includes again: ss1, dynamic filter；Ss2, logarithmic amplification；Ss3, envelope are examined
Survey；Ss4, double sampling.
Step ss1 dynamic filter is used for automatically selecting valuable frequency content in echo signal, when launched ultrasound wave
When having wider frequency band, the frequency content in received echo and distance dependent, near field, echo frequency composition is mainly concentrated
High-end at frequency band, along with the increase of investigation depth, echo frequency composition foot the most gradually offsets to the low side of frequency band, this is because along with
The increase of the degree of depth, the decay of radio-frequency component is bigger than the decay of low-frequency component, and when investigation depth is bigger, radio-frequency component is not even
The deep that can arrive medium is the most all absorbed, and dynamic filter is used for filtering out the strong echo near field, thus improve resolution and
Signal to noise ratio, makes the quality of echological picture be improved；When selecting kinetic filter, the present invention considers finite impulse response number
Word wave filter has absolute stable characteristic, it is easy to be directly designed according to impulse response technical conditions；Can appoint approaching
While meaning amplitude characteristic, it is achieved symmetrical impulse response；Can realize strict linear phase characteristic, therefore the present invention selects
Finite impulse response digital filter carries out dynamic filter: the design of finite impulse response digital filter, mainly makes transfer
Function H (z) value H(e on unit circle) approach given amplitude characteristic.Use window function metht, use parallel multiplication Real-time
Existing.
Step ss2 logarithmic amplifying circuit, for compressing the dynamic range of echo-signal, is to ensure that image realizes GTG and shows
To protrude the basis of meaning image information, the dynamic range of ultrasonic echo amplitude is very big, Chang Keda 100～110dB, wherein,
Dynamic range caused by the difference at interface about 20dB；Acoustic beam becomes different angles generation so-called " alignment effect " to cause with interface
Dynamic range be about 30dB, if sending display to show after echo-signal being amplified simply, not only can not obtain corresponding width
The different briliancy of degree, also cause strong signal pattern blur, weak signal image star by " the door screen effect " when producing strong signal
Punctate opacity of the cornea point, it is impossible to extract valuable information；Solution carries out logarithmic compression to echo-signal exactly, through logarithmic compression
Reflectogram become GTG display reflectogram, although GTG display reflectogram dynamic range is less than the dynamic range of original image, but
Remain the difference of original image information, thus the ultrasonoscopy finally given contains various amplitude information, makes image level rich
Richness, representability is greatly improved.
The present invention, when realizing logarithmic amplification, uses look-up table based on field programmable gate array (FPGA) (LUT)
Realizing, LUT is exactly substantially a RAM, after user describes a logic circuit by schematic diagram or HDL language,
PLD/FPGA exploitation software can all possible result of automatic calculation logic circuit, and result is write in advance RAM, so,
Often one signal of input carries out logical operations and is equal to input an address and tables look-up, and finds out the content that address is corresponding, then
Export.
Ss3 envelope detected: envelope detection circuit is for being transformed to video by the high frequency echo signal that logafier exports
Pulse exports；Owing to echo is the sonic oscillation of rectangular pulse modulation, the task of envelope detector seeks to the echo of high frequency
It is demodulated into video signal output.
Step ss4 double sampling: in ultrasonic signal processing, needs to adjust sampling rate according to useful signal, the most right
Sampled signal carries out extracting or interpolation processing, and in extraction at a high speed or interplotation system, a kind of very effective method makes exactly
Multi-sampling rate filtering is realized with " cascade integrator comb (CIC) wave filter ".
After completing digital signal is processed, Applied Digital image processing techniques that digital signal is carried out at imaging
Reason and optimization, this process needs to be applied to digital scan conversion technology (coordinate transform, linear interpolation) and frame correlation technique；Convex
The ultrasound echo signal that battle array probe receives, is with the sector region ultrasonic scanning of polar form arrangement, if directly by this letter
Number carrying out showing surface sweeping, being shown as picture with Cartesian form, result is the most incorrect, so that carry out coordinate change
Change；By the coordinate points after coordinate transform, it is not necessary to fall on the received scanline of convex array probe, the most just returning
In the degree of depth that wave number strong point is corresponding, accordingly, it would be desirable to the size of the numerical value that obtains changing the time by the way of linear interpolation, the present invention uses
4 point Linear interpolation methods.
Through amplifying the steps such as compensation, Wave beam forming, signal processing, image procossing, just complete the image of a line width
Signals collecting and reduction task, change the scanning of different parts, repeat process above, when the institute completing probe institute investigative range
After having linear scan, just complete a frame ultrasonoscopy scanning, it is possible to the image making detected part is real-time over the display
Display.
Spatial positional information when carrying out three-dimensional reconstruction, between two dimensional image to be had；Step 2 obtains in collection echo-signal
While obtaining two-dimensional ultrasonic image information, utilize the locus of electromagnetic location sensor acquisition ultrasonic probe correspondence icing model
Information, ultrasound image data and location data give computer by image pick-up card and serial ports, computer complete image weight
Group work, after continuous acquisition process terminates, it is possible to obtain a series of B ultrasonic view data with spatial positional information.
After obtaining image information and spatial positional information, step 3 will carry out three-dimensional reconstruction through Coordinate Conversion, will simultaneously
Two-dimensional ultrasonic image data are transformed on three-dimensional lattice formation three-dimensional ultrasound pattern；In process of reconstruction, according to every width plane of ultrasound
Three-dimensional localization data and alignment system in the relation of receptor and ultrasonic probe obtain this plane in the absolute coordinate system of space
Position, each pixel on the ultrasonoscopy that then will irregularly collect is put on corresponding space lattice position formation
3-D view.
Subject matter in the middle of this has two: q1, one is how the point in plane of ultrasound coordinate system to be transformed into space
Absolute coordinate is fastened；Q2, how to determine the size being actually needed reconstruction attractor.
Solution problem q1 needs to set up 3 coordinate systems: connecing in world coordinate system, plane of ultrasound coordinate system and alignment system
Receiving device coordinate system, the restructing algorithm of setting up of 3 coordinate systems relates to 3 cartesian coordinate systems, world coordinate systemBy electricity
Emitter in magnetic orientation system determines, remains constant in restructuring procedure, plane of ultrasound coordinate systemIt is B
The coordinate system of super scanning plane, plane of ultrasound isPlane, zero in the upper left corner of image,Axle is at sound
Shu Fangxiang,Axle is laterally；Each picture element on the plane of delineationCoordinate is all zero, the receptor coordinate in alignment system
System, receptor is connected on ultrasonic probe, therefore has fixing between receptor coordinate system and plane of ultrasound coordinate system
Transformational relation.
Plane of ultrasound coordinate is tied to the Coordinate Conversion of world coordinate system: the core of three-dimensional lattice reconstruct is that plane of ultrasound is sat
The picture element that mark is fastened is transformed into world coordinate system, is first by plane of ultrasound coordinate systemIn picture element conversion
To the receptor coordinate system being attached on ultrasonic probeOn, the receptor coordinate system then provided according to alignment systemThe world coordinate system determined with emitterBetween transformational relation obtain on ultrasonoscopy each point in the world
Position in coordinate system.Carry out plane of ultrasound coordinate be tied to world coordinate system change time, defining ultrasonic surface sweeping plane is, the plane of delineation is。
Corresponding algorithm is as follows: by demarcating experiments of measuring, first obtained plane of ultrasound coordinate systemWith connect
Receive device coordinate systemBetween fixed conversion relation；This relation includes transition matrixAnd point is in coordinate systemIn position, matrix by, , Three axles existIn coordinate system
Space cosine is constituted；IfIt is that the P point on ultrasound image plane existsIn coordinate,It is this coordinate in plane of ultrasound coordinate system,；；It is respectivelyThree axles existSpace cosine in coordinate system, uses matrixRepresent,
.Then。
By ultrasonoscopy picture element coordinate fromIt is transformed into the world coordinate system determined by location system transmitter
In, coordinate relation is given by three-dimensional localization sensor；Wherein transition matrix
。
In formula:It is respectivelyAxle,Axle,Axle relative toEulerian angles.IfIt is a little?In coordinate,It is that a P is in world coordinates
Position, then。
The determination of lattice dimensions/scope: the storage in a computer of present invention three-dimensional data for convenience, reading, computing,
The lattice generated is rounded coordinate lattice；TakeThree direction scale intervals are 1 mm, and lattice is a cube, only
Two of lattice need to be obtained to angular vertexAnd, whole lattice big
Little, shape, locus just can determine that.
First, in data acquisition, by initial measurement, the scope of world coordinates maxima and minima is estimated,
It is placed in the data of corresponding location；After Coordinate Conversion terminates, calculate space, every 4 summits of width two dimensional image respectively and definitely sit
Mark, and compares with the scope of initial estimation, obtains maximum point and the smallest point of world coordinates value in final all data, with this two
Point is as J point and K point, so that it is determined that crystal lattice data.
Crystal lattice data generates: after lattice resolution, size determine, by the picture element in each image after Coordinate Conversion
Deduct lattice starting point, then they are put on lattice by way one by one that lean on mutually with arest neighbors；When same
When having multiple projection image's vegetarian refreshments on one lattice-site, the method taking wherein maximum is used to obtain final gray value；In all two dimensions
After image is all placed on three-dimensional lattice, with 18, spatial domain filter method, three-dimensional lattice data is done Filtering Processing, generate final
Three-D ultrasonic volumetric image.
The medicine have the advantages that
1, the ice shape contour measuring method that the present invention proposes is non-contact measurement, can effectively avoid the hot skill in using a kitchen knife in cookery to measure, easily
Broken ice cube micro-structure, it is impossible to the shortcoming obtaining accurate measurement data.
2, the present invention uses ultra sonic imaging to carry out 3D ice shape contour detecting, during detection, by launching ultrasonic letter
Number, receive echo-signal, be analyzed echo-signal processing acquisition two dimensional image, carry out three according to spatial positional information simultaneously
Dimension is rebuild.Compare imageing sensor measuring method, it is not necessary to demarcates, and decreases the complexity of operation.
3, the present invention can avoid stopping, it is achieved 3D ice shape on-line measurement in icing growth course.
4, the present invention is affected less by wind-tunnel experimental enviroment, and compared with area-structure light binocular vision method, it measures process
The impact that in middle icing wind tunnel, light is propagated by the environment such as water smoke, ice pellets substantially weakens.
Accompanying drawing explanation
Fig. 1 is the system flow chart of the present invention.
Fig. 2 is the ultrasonic probe device of the present invention and the transmitting terminal of electromagnetic location sensor and receiving terminal distribution signal
Figure.
Fig. 3 is the workflow of hardware system.
Fig. 4 is ultrasonic echo Wave beam forming schematic diagram.
Fig. 5 is the receptor coordinate system in world coordinate system, plane of ultrasound coordinate system and alignment system and three coordinates
Transition diagram between system.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings, but the content protected of the present invention be not limited to
Lower described.
Label in figure: 1 ultrasonic probe, 2 electromagnetic location sensor emission ends, 3 objects under test, 4 electromagnetic location
Sensor receiving terminal, 5 Ultrasound Instrument, 6 controllers, 7 microcomputers, 8 image pick-up cards, 9 echo signal reception unit,
10 echo-signal delay units, S (i) represents echo-signal, and S (o) represents the letter of the echo after time delay superposition Wave beam forming
Number,Represent ultrasound scan planes,Represent two-dimensional ultrasonic image plane.
Wind tunnel model 3D ice shape on-line measurement system based on ultrasonic imaging technique is as it is shown in figure 1, this measurement apparatus includes:
One Ultrasound Instrument, a microcomputer, one piece of Based PC I bus-structured Color Image Acquisition card and electromagnetic location sensor, pitching
Angle demodulator, deflection angle actuator；Alignment system can provide the six degree of freedom parameter of probe positions and sensing, electromagnetic location
The emitter of sensor is fixed, and receptor is pasted onto on ultrasonic probe, mobile with probe.
The space of the echo-signal collected freeze model relative with the ultrasonic probe utilizing electromagnetic location sensor acquisition
Positional information is as input dataInput Ultrasound Instrument processes, and obtains ultrasound image data and location data I, ultrasonoscopy
Data and location data I give computer by image pick-up card and serial ports, computer complete image reorganization work；The angle of pitch
Degree actuator arbitrarily regulates the luffing angle of ultrasonic probe in the range of 30 degree；Deflection angle actuator is appointed in the range of 360 degree
The deflection angle of meaning regulation transducer, coordinates with pitching adjusting mechanism and ensures transducer probe alignment measured target, two angles
Governor motion coordinates guarantee ultrasonic beam accurately to launch on the measured section of icing body；Arrangement for adjusting height, existing by being arranged on
The guide rail of field realizes, each device cooperating, it is ensured that scan whole audience information.
This patent uses phased array probe, probe distribution 128 array elements, and model is carried out fan sweeping；For reaching to measure into
As requiring, ultrasonic emitting frequency is 30kHz；Being different from conventional ultrasonic probes, two key properties of phased array probe are
Acoustic beam deflection and focusing, by changing the delay time between wafer, the wafer making distance focal point remote first launches signal, and distance is burnt
Signal is launched, so that the signal that each wafer is launched arrives focus, and shape in a zonule simultaneously after the wafer that point is near
Become a high intensity sound field.
The process of two-dimensional ultrasonic imaging, is first to be produced by main controller to launch pulse, and pulse is carried out according to the parameter of probe
Time delay exports, and launches ultrasound wave through amplifying the array element of rear drive probe, object is carried out scanning, completes launch mission；Sound wave
Directive testee surface can produce echo-signal, after these echo-signals are gathered by ultrasonic probe, through amplifying compensation, ripple
The signal processing such as bundle formation, dynamic filter, and image procossing, finally just can reproduce testee the most really
Image, this completes picture signal collection and the reduction task of a line width；Change the scanning of different parts, repeat above
Process, when after all linear scans of the institute investigative range of completing to pop one's head in, just complete a frame ultrasonoscopy scanning, and finally can be
A complete width ultrasonoscopy is shown on display；When after the scanning completing a two field picture, the process above of repetition, it becomes possible to
Make the display over the display that the image of detected part is real-time.
The present invention uses electromagnetic location sensor, and emitter is placed in fixing position, and receptor can be pasted onto ultrasonic
On probe, along with the movement of ultrasonic probe during work, alignment system can provide the six degree of freedom parameter of probe positions and sensing,
After continuous acquisition process terminates, it is possible to obtain a series of ultrasound image data with spatial positional information.
After obtaining image information and spatial positional information, image information and spatial positional information are combined and carries out three-dimensional
Rebuild；In process of reconstruction, according to receptor in the three-dimensional localization data of every width plane of ultrasound and alignment system and ultrasonic probe
Relation obtains this plane position in world coordinate system, and coordinate relation is given by three-dimensional localization sensor, simultaneously will be irregular
Each pixel on the ultrasonoscopy collected is put on corresponding space lattice position formation three-dimensional ultrasound pattern.
The randomness of operation makes collected two dimensional image spatially arrange to be irregular, add ultrasonic one-tenth
Some inherent limitations of picture, bring following problem to system: 1) three-dimensional non-standard crystal lattice data is to three-dimensional nominal crystalline lattice number
According to conversion；2) space is not sampled the interpolation problem that a Randomness of position causes；3) repeated sampling causes the ash of oversampled points
Degree processes problem；4) On The Choice of sampling density；5) echo drop-out problem.
Solve the problems referred to above use method: 1) 2-D data to three-dimensional volume data change in arest neighbors mutually by method come
Ensure enough precision；2) interpolation of three-dimensional volume data can be obtained preferable effect by spatial domain convolution algorithm；3) irregular
During sampling, moving direction and the translational speed of ultrasonic probe should be any limitation as；4) gray scale of oversampled points can be chosen on this aspect all
The maximum of gray scale；5) echo drop-out way to solve the problem is by the multi-faceted repeated sampling of multi-angle.
Conversion between three coordinates, is transformed into world coordinates by the point in plane of ultrasound coordinate system and fastens；Obtain
On image after the world coordinates of point, in order to observe ice shape more intuitively, in addition it is also necessary to by coordinate representation on three-dimensional lattice, in order to
Facilitating three-dimensional data storage in a computer, reading, computing, the lattice generated is rounded coordinate lattice；TakeThree
Deflection scale interval is 1 mm, and lattice is a cube, only need to obtain two of lattice to angular vertex, whole lattice big
Little, shape, locus just can determine that.
First, in data acquisition, by initial measurement, the scope of world coordinates maxima and minima is estimated,
It is placed in the data of corresponding location；After Coordinate Conversion terminates, calculate the world coordinates on every 4 summits of width two dimensional image respectively,
And compare with the scope of initial estimation, obtain maximum point and the smallest point of world coordinates value in final all data, with this 2 point
As J point and K point, so that it is determined that data patterns；After lattice resolution, size determine, by the picture element warp in each image
Deduct lattice starting point after Coordinate Conversion, then they are put on lattice by way one by one that lean on mutually with arest neighbors.
When there being multiple projection image's vegetarian refreshments on same lattice-site, the method taking wherein maximum is used to obtain final gray scale
Three-dimensional lattice data, after all two dimensional images are all placed on three-dimensional lattice, are done at filtering by value with 18, spatial domain filter method
Reason, generates final three-D ultrasonic volumetric image.
Owing to the operating temperature of array energy transducer and ultrasound wave receiving instrument is typically at 10 ° of more than C, and it is arranged on wind tunnel test
The section ambient temperature in room is at-20 ° of about C, and therefore, the low temperature anti-frost protection measure of equipment is particularly important, uses absolutely in device
The protection set that water material hot, exhausted is made carries out waterproof, low temperature anti-frost protection to measurement equipment.
Those of ordinary skill in the art it will be appreciated that embodiment described here be to aid in reader understanding this
Bright know-why, it is understood that protection scope of the present invention be not limited to such special statement and embodiment, every
Scope is both fallen within without departing from equivalence or the amendment completed under spirit disclosed in this invention.
Claims (6)
1. a wind tunnel model 3D ice shape On-line Measuring Method based on 3-D supersonic imaging technology, it is characterised in that comprise as
Lower step: the present invention carries out the step of ice shape profile measurement and includes: (1) launches ultrasonic signal, receives echo-signal simultaneously and goes forward side by side
Row processes, it is thus achieved that two-dimensional ultrasonic image information；(2) while gathering echo-signal acquisition two-dimensional image information, electromagnetism is utilized
Alignment sensor gathers corresponding ultrasonic probe and relatively freezes the spatial positional information of model；(3) Coordinate Conversion, carries out Three-dimensional Gravity
Build, obtain three-dimensional ultrasound pattern.
Wind tunnel model ice shape measuring method the most according to claim 1, it is characterised in that: in step (1), two-dimensional ultrasonic imaging
Step includes: s1, Wave beam forming；S2, ultrasound echo signal process；S3, Digital Image Processing.
3. this step uses digital B ultrasonic to carry out the acquisition of two-dimensional ultrasonic image, launches super with phased array probe ultrasonic equipment
Sound wave, and by sector scanning method, determinand is scanned；When scanning, rotating scanning device is installed, to the probe angle of pitch, partially
Corner is controlled.
Wind tunnel model ice shape measuring method the most according to claim 1, it is characterised in that: step (2) uses electromagnetic location to pass
Sensor obtains ultrasonic probe and relatively freezes the spatial positional information of model, receives echo-signal at probe, it is thus achieved that two-dimensional ultrasound figure
As, while information, gathering the spatial positional information of ultrasonic probe correspondence icing model；Ultrasound image data and location data are led to
Cross image pick-up card and serial ports gives computer, computer complete image reorganization work, finally give a series of with space
The B ultrasonic view data of positional information.
Wind tunnel model ice shape measuring method the most according to claim 1, it is characterised in that: step (3) is by plane of ultrasound coordinate
System is transformed into world coordinate system, carries out three-dimensional reconstruction, two-dimensional ultrasonic image data are transformed on three-dimensional lattice formation three simultaneously
Dimension ultrasonoscopy；In process of reconstruction, according to receptor in the three-dimensional localization data of every width plane of ultrasound and alignment system with ultrasonic
The relation of probe obtains this plane position in world coordinate system；Then every on the ultrasonoscopy that will irregularly collect
Individual pixel is put on corresponding space lattice position formation 3-D view.
Wind tunnel model ice shape measuring method the most according to claim 1, it is characterised in that: the subject matter in the middle of step (3)
There are two:
Q1: how the point in plane of ultrasound coordinate system is transformed into space absolute coordinate and fastens；
Q2: how to determine the size being actually needed reconstruction attractor；
Solution problem q1 needs to set up 3 coordinate systems: world coordinate system, plane of ultrasound coordinate system and electromagnetic location sensor receive
End coordinate system, world coordinate system is determined by electromagnetic location sensor emission end, keeps constant during measuring；
By demarcating experiments of measuring, first obtain consolidating between plane of ultrasound coordinate system and electromagnetic location sensor receiving terminal coordinate system
Determine transformational relation, when plane of ultrasound coordinate system represents that the coordinate of depth direction is 0, and after a translation matrix computing, just
Constitute ultrasound image coordinates system；Finally ultrasonoscopy picture element coordinate receptor coordinate system from alignment system is transformed into by
In the world coordinate system that location system transmitter determines, coordinate relation is given by three-dimensional localization sensor；
Solution problem q2: the determination of lattice dimensions/scope；The storage in a computer of present invention three-dimensional data for convenience, reading
Take, computing, the lattice generated is rounded coordinate lattice, takesThree direction scale intervals are 1 mm；Lattice is one
Cube, only need to obtain two of lattice to angular vertexAnd, whole lattice
Size, shape, locus just can determine that；First in data acquisition, by initial measurement, world coordinates is estimated
Big value and the scope of minima, be placed in the data of corresponding location；After Coordinate Conversion terminates, calculate every width two dimensional image respectively
Space, 4 summits absolute coordinate, and compare with the scope of initial estimation, obtain the maximum of world coordinates value in final all data
Point and smallest point, using these 2 as J point and K point, so that it is determined that crystal lattice data.
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