CN106248340B - 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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- CN106248340B CN106248340B CN201610532485.8A CN201610532485A CN106248340B CN 106248340 B CN106248340 B CN 106248340B CN 201610532485 A CN201610532485 A CN 201610532485A CN 106248340 B CN106248340 B CN 106248340B
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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.This method emits ultrasonic signal using ultrasonic probe, while receives echo-signal and being handled, and two-dimensional ultrasonic image is obtained.While acquiring echo-signal acquisition two-dimensional ultrasonic image information, the spatial positional information of icing model is corresponded to using electromagnetic location sensor acquisition ultrasonic probe, then it is converted through plane of ultrasound coordinate system to the coordinate between world coordinate system, the three-dimensional coordinate of model to be measured is obtained, to 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 imaging technology, obtains the three-dimensional ultrasound pattern of can ice shape.The invention proposes a kind of ice shape contour measuring methods of non-contact measurement, compared with several icing wind tunnel measurement methods used at present, conventional efficient can be improved and realize on-line measurement.
Description
Technical field
The present invention relates to acoustics, optics and electronics to combine field of measuring technique, is related to computer vision, computer graphic
The relevant technologies such as shape, signal processing are refered in particular in icing wind tunnel model aircraft icing tests, and one kind being based on 3-D supersonic imaging skill
The method of the wind tunnel model 3D ice shape on-line measurement of art.
Background technique
It is a kind of phenomenon being widely present in flight practice that aircraft, which freezes, and causes the main hidden danger of flight safety accident
One of, the icing of fuselage surface can change the Flow Field of aircraft, cause components ' load distribution to change, to destroy air
Dynamic performance influences the maneuverability and stability of aircraft, endangers flight safety, and less serious case can be such that safe flight range reduces, weight
Person will lead to the major accident of fatal crass, therefore aircraft freezes and its protection question is always in the important research of aviation field
Hold, the assessment of aircraft aerodynamic quality, security evaluation, anti-/ deicing etc. are ground under the conditions of exploring icing mechanism, carrying out icing meteorology
Study carefully work to be of great significance.
For explore icing mechanism, carry out icing meteorology under the conditions of the assessment of aircraft aerodynamic quality, security evaluation, prevent/
The research work such as deicing, domestic and foreign scholars are from the calculating of computational fluid dynamics (CFD) numerical value, wind tunnel test, flight test etc. three
A aspect has carried out correlative study work；It is main at present since the flight test safety under natural ice-formation condition is low, at high cost
Simulation icing tests are carried out in icing wind tunnel, carry out branch's performance and security evaluation under aircraft ice-formation condition, and verifying prevent/removes
Ice system performance verifies CFD numerical result.
In wind-tunnel icing tests, the information such as thickness, the shape of measurement icing body are generally required, it usually can also be to hood etc.
Complicated shape structure carries out icing tests, for complicated shape body structure surface icing body, with greater need for measurement its whole audience 3D shape,
To be calculated for CFD aeroperformance；In this process, model aircraft icing 3D profile information in acquisition wind tunnel experiment, one
Aspect, for calculating aeroperformance under aircraft ice-formation condition, is on the other hand used to verify as three-dimensional pneumatic shape input data
CFD calculates the external shape result that freezes；Meanwhile research shows that when freezing with Liquid water content, average water droplet diameter, temperature, icing
Between, the parameters such as flying speed and the angle of attack be closely related, to explore influence of these parameters to icing growth course, it is also necessary to obtain
Time resolution 3D ice shape；In addition, when safe flight is assessed under meet aircraft ice-formation condition, the 3D ice with temporal information
Graphic data can be used for predicting safe flight time and boundary.Also, current icing simulation test is mainly permanent test, and is flown
Natural ice-formation condition is unsteady under row state, and future carries out unsteady icing tests, with greater need for on-line measurement icing body three
Tie up shape.
Currently, used ice shape measurement method have it is following several: first is that taken pictures with imaging sensor to ice shape, this side
Method generally can only qualitative observation, be unable to precise measurement ice shape chamfered shape data；Second is that gypsum placingJi Shu.By from model
It removes ice cube and carries out gypsum moulding to obtain ice shape, but the labor intensity of this method is high, directly destruction ice shape, measurement be not smart
Really；Third is that the hot skill in using a kitchen knife in cookery, this is the more commonly used ice shape measurement method arrived, but there is also abort, destruction ice shape, measurement are random
The disadvantages of error is big；In addition, these three methods require to carry out under icing wind tunnel dead ship condition, it can not real-time observation airplane mould
Type icing 3D profile information, brings inconvenience to subsequent research work.
For real-time observation airplane model icing 3D profile information, researcher proposes the side of area-structure light combination binocular vision
Method: this method utilizes Binocular Vision Principle, using aircraft mould of two video cameras during different location shoots test simultaneously
Type icing ice shape, pre-processes two images, Stereo matching, to carry out ice shape three-dimensional reconstruction；This method may be implemented
3D measurement, but need to demarcate camera, complicated operation, simultaneously because the easy mirror-reflection of icing body surface face, it will be difficult
To realize the accurate match of left and right two images, it is necessary to form diffusing reflection, limitation in model aircraft frozen surface spray coated paint
The real-time of experiment.
In order to overcome the shortcomings of that above method, the present invention propose to carry out dummy vehicle knot based on 3-D supersonic imaging technology
3D ice shape On-line Measuring Method in ice growth course: this method is measured using ultrasonic wave, is realized contactless online
Measurement, while influence of the icing wind tunnel environment to measurement can be effectively reduced；Ultrasonic wave has to be produced on the interface of foreign medium
The characteristics of raw reflection, refraction and shape transformation, this feature is exactly used in ultrasonic imaging, scans object using ultrasonic acoustic beam,
By reception, the processing to reflection signal, to obtain the image of scanned object, in recent years, ultrasonic imaging technique is continued to develop,
Using also all the more extensively, compared to other detection techniques, ultrasonic imaging technique has contactless, operation in terms of three-dimensional imaging
Simply, the advantages that on-line measurement is high-efficient, in icing wind tunnel environment, ultrasonic wave can effectively weaken relative to imaging sensor
The interference of ice pellets and water mist to measurement in environment.
Wind tunnel model 3D ice shape On-line Measuring Method based on ultrasonic imaging technique is obtained with Two-dimensional echocardiography
Two-dimensional ultrasonic image: while acquiring echo-signal acquisition two-dimensional ultrasonic image information, electromagnetic location sensor is utilized to acquire
Ultrasonic probe corresponds to the spatial positional information of icing model, then turns through image coordinate system to the coordinate between world coordinate system
It changes, obtains the three-dimensional coordinate of model to be measured, to 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；Together
When realize on-line measurement, be not necessarily to stop off, guarantee experiment integrality；In addition, due to the echoing characteristics of ultrasonic wave, this hair
It is bright to effectively reduce the influence of water mist and ice pellets to measurement under icing wind tunnel environment.
Summary of the invention
The present invention is to destroy ice shape when for example hot skill in using a kitchen knife in cookery of conventional method etc. being overcome to measure ice shape profile, be unable to real-time measurement
The deficiencies of, at the same overcome laser jackknife measure when by ice pellets, water mist in environment are affected and propose one kind it is more efficient,
Destructive smaller, real-time online detection ice shape contour measuring method, this method emit ultrasonic signal using ultrasonic probe, simultaneously
Receives echo-signal is simultaneously handled, and two-dimensional ultrasonic image is obtained, and obtains two-dimensional ultrasonic image information in acquisition echo-signal
Meanwhile the spatial positional information of icing model is corresponded to using electromagnetic location sensor acquisition ultrasonic probe, then through image coordinate
It is to obtain the three-dimensional coordinate of model to be measured to the coordinate conversion between world coordinate system, to 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；It is main
Digital signal processing includes dynamic filter, logarithmic amplification, envelope detected and double sampling；After Digital Signal Processing,
Imaging and optimization are carried out to digital signal with digital image processing techniques, which needs to be applied to digital scan conversion skill
Art (coordinate transform, linear interpolation) and frame the relevant technologies, it is fixed using electromagnetism while acquiring a series of two-dimensional ultrasonic images
Level sensor acquires corresponding spatial positional information, two dimensional image and each image acquisition of a series of this space irregular alignment
When pop one's head in accordingly spatial position and raw information of the directional information as three-dimensional reconstruction, through image coordinate system to world coordinate system
Between coordinate conversion, the three-dimensional coordinate of model to be measured is obtained, to carry out three-dimensional reconstruction.
In order to more intuitively observe icing model 3D profile, the present invention uses 3 dimension imaging technology, every in two dimensional image
The gray value of a pixel is put on a final three-D volumes lattice, forms three-dimensional ultrasound pattern.
The step of present invention progress ice shape profile measurement includes: 1, transmitting ultrasonic signal, while receives echo-signal is gone forward side by side
Row processing, obtains two-dimensional ultrasonic image information；2, while acquiring echo-signal acquisition two-dimensional ultrasonic image information, electricity is utilized
Magnetic position sensor acquires spatial positional information of the corresponding ultrasonic probe with respect to icing model；3, plane of ultrasound coordinate system is carried out
Coordinate to world coordinate system is converted, and three-dimensional reconstruction obtains three-dimensional ultrasound pattern.
In step 1, using digital B ultrasound carry out two-dimensional ultrasonic image acquisition, two-dimensional ultrasonic imaging step include: s1,
Wave beam forming；S2, ultrasound echo signal processing；S3, Digital Image Processing.
Step s1 Wave beam forming includes handling two aspects to the Wave beam forming of transmitting signal and reception signal, is entirely to be
The core component of system, Wave beam forming mainly carries out delay summation to received channel ultrasonic echo-signal, to each channel
Carrying out different delays can be achieved the collectiong focusing of ultrasound echo signal；The present invention reaches wave using Adaptive beamformer method
Beam is formed, and according to the feature of echo data, dynamically calculates each channel weighting value, and then reaches compression wave beam main lobe width, is improved
The purpose of image resolution ratio；Symbol correlation and least variance method belong to adaptive algorithm, and symbol the relevant technologies are to use sign bit
The variation for indicating phase, can be regarded as the nonlinear function of a beam synthesizer；Least variance method is by keeping expectation side
Upward gain is constant, minimizes array output energy, so that obtaining makes the highest optimal weighting vector of signal noise ratio (snr) of image.
In order to further increase image resolution ratio while improving picture contrast, the present invention is using feature space and symbol
Symbol coherence factor, is introduced into feature space minimum variance Beamforming Method by the beam-forming schemes of number coherence factor fusion
In；Coherence factor is according to the principle that the coherence of main lobe signal is high, and side-lobe signal coherence is low to be weighted echo-signal
Optimization, 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 treatment process includes: ss1, dynamic filter again；Ss2, logarithmic amplification；Ss3, envelope inspection
It surveys；Ss4, double sampling.
Step ss1 dynamic filter is for automatically selecting valuable frequency content in echo signal, when emitted ultrasonic wave
When with wider frequency band, frequency content and distance dependent in received echo, near field, echo frequency ingredient is mainly concentrated
In the high-end of frequency band, as the depth of detection increases, echo frequency ingredient foot is gradually deviated to the low side of frequency band, this is because with
The decaying of the increase of depth, radio-frequency component is bigger than the decaying of low-frequency component, and when investigation depth is larger, radio-frequency component is even not
The deep that medium can be reached just all is absorbed, dynamic filter be used to filter out the strong echo near field, thus improve resolution ratio and
Signal-to-noise ratio improves the quality of echological picture；When selecting kinetic filter, the present invention considers finite impulse response number
Word filter has the characteristic of absolute stability, is easy to directly be designed according to impulse response technical conditions；It can appoint approaching
While meaning amplitude characteristic, symmetrical impulse response is realized；Stringent linear phase characteristic may be implemented, therefore the present invention selects
Finite impulse response digital filter carries out dynamic filter: the design of finite impulse response digital filter mainly makes to shift
Value H(e of the function H (z) on unit circle) approach given amplitude characteristic.Using window function metht, with parallel multiplication Real-time
It is existing.
Step ss2 logarithmic amplifying circuit is used to compress the dynamic range of echo-signal, is to guarantee that image realizes that grayscale is shown
With the basis of the significant image information of protrusion, the dynamic range of ultrasonic echo amplitude is very big, 100~110dB of Chang Keda, wherein
The about 20dB of dynamic range caused by the difference at interface；Acoustic beam, which generates so-called " being directed at effect " at different angle with interface, to be caused
Dynamic range be about 30dB, if sending display to show after echo-signal is simply amplified, cannot not only obtain corresponding width
" late effect " when generating strong signal is also caused strong signal image blur, weak signal image star by the different luminance of degree
Point point, cannot extract valuable information；Solution is exactly to carry out log-compressed to echo-signal, by log-compressed
Reflectogram becomes grayscale and shows reflectogram, although grayscale shows that reflectogram dynamic range is less than the dynamic range of original image, protects
The difference of original image information has been stayed, thus finally obtained ultrasound image contains various amplitude informations, keeps image hierarchy abundant,
Expressive force greatly improves.
The present invention when realizing logarithmic amplification, using based on field programmable gate array (FPGA) look-up table (LUT) come
It realizing, LUT is substantially exactly a RAM, after user passes through one logic circuit of schematic diagram or HDL language description,
PLD/FPGA exploitation software will automatically calculate all possible of logic circuit as a result, and RAM is written in result in advance, in this way,
One signal progress logical operation of every input is equal to one address of input and tables look-up, and finds out the corresponding content in address, then
Output.
Ss3 envelope detected: envelope detection circuit is used to the high frequency echo signal that logafier exports being transformed to video
Pulse output；Since echo is the sonic oscillation of rectangular pulse modulation, the task of envelope detector is sought to the echo of high frequency
It is demodulated into vision signal output.
Pair step ss4 double sampling: in ultrasonic signal processing, needing to adjust sampling rate according to useful signal, i.e.,
Sampled signal extract or interpolation processing, high speed extract or interplotation system in, a kind of very effective method is exactly to make
Multi-sampling rate filtering is realized with " cascade integrator comb (CIC) filter ".
After completion handles digital signal, digital signal is carried out at imaging using digital image processing techniques
Reason and optimization, the process need to be applied to digital scan conversion technology (coordinate transform, linear interpolation) and frame the relevant technologies；It is convex
The received ultrasound echo signal of battle array probe, is the fan-shaped region ultrasonic scanning arranged with polar form, if directly by the letter
Number display surface sweeping is carried out, is shown and be imaged with Cartesian form, it is as a result necessarily incorrect, thus need to carry out coordinate change
It changes；It by the coordinate points after coordinate transform, not necessarily falls on the received scanline of convex array probe, is also not necessarily just just returning
In the corresponding depth in wave number strong point, therefore, it is necessary to the size for the numerical value that obtains changing the time by way of linear interpolation, the present invention is used
4 points of linear interpolation methods.
By amplification compensation, Wave beam forming, signal processing, image procossing, the image of a line width is just completed
Signal acquisition and reduction task, change the scanning of different parts, repeat process above, when the institute for completing probe institute's investigative range
After having linear scan, a frame ultrasound image scanning is just completed, enables to the image of detected part in real time over the display
Display.
When carrying out three-dimensional reconstruction, there is the spatial positional information between two dimensional image；Step 2 is obtained in acquisition echo-signal
While obtaining two-dimensional ultrasonic image information, the spatial position of icing model is corresponded to using electromagnetic location sensor acquisition ultrasonic probe
Information, ultrasound image data and location data give computer by image pick-up card and serial ports, complete image weight by computer
A series of group work, after continuous acquisition process, so that it may obtain B ultrasound image datas with spatial positional information.
After obtaining image information and spatial positional information, step 3 will be converted through coordinate and carry out three-dimensional reconstruction, simultaneously will
Two-dimensional ultrasonic image data, which are transformed on three-dimensional lattice, forms three-dimensional ultrasound pattern；In reconstruction process, according to every width plane of ultrasound
Three-dimensional localization data and positioning system in the relationship of receiver and ultrasonic probe obtain the plane in the absolute coordinate system of space
Position, then each pixel on the ultrasound image irregularly collected is put on corresponding space lattice position and is formed
3-D image.
There are two this intermediate main problems: q1, one be how the point on plane of ultrasound coordinate system to be transformed into space
Absolute coordinate is fastened；Q2, the size for how determining actual needs reconstruction attractor.
Solve the problems, such as that q1 needs to establish 3 coordinate systems: connecing in world coordinate system, plane of ultrasound coordinate system and positioning system
Device coordinate system is received, the restructing algorithm of establishing of 3 coordinate systems is related to 3 cartesian coordinate systems, world coordinate systemBy electricity
Transmitter 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 arePlane, coordinate origin in the upper left corner of image,Axis is in sound
Shu Fangxiang,Axis is lateral；Each picture element on the plane of delineationCoordinate is all zero, the receiver coordinate in positioning system
System, receiver is connected on ultrasonic probe, therefore is had between receiver coordinate system and plane of ultrasound coordinate system fixed
Transformational relation.
The coordinate of plane of ultrasound coordinate system to world coordinate system is converted: the core of three-dimensional lattice reconstruct is that plane of ultrasound is sat
It marks the picture element fastened and is transformed into world coordinate system, be by plane of ultrasound coordinate system firstIn picture element conversion
To the receiver coordinate system being attached on ultrasonic probeOn, then according to the receiver coordinate system of positioning system offerThe world coordinate system determined with transmitterBetween transformational relation obtain on ultrasound image each point in the world
Position in coordinate system.When progress plane of ultrasound coordinate system is converted to world coordinate system, defining ultrasonic surface sweeping plane is, the plane of delineation is。
Corresponding algorithm is as follows: by demarcating measurement experiment, having obtained plane of ultrasound coordinate system O '-x ' y ' z ' first and has connect
Receive fixed conversion relationship of the device coordinate system O " between-abc；This relationship includes transition matrix O ' and puts in coordinate system O " in-abc
Position (a 'o, b 'o, c 'o), by o ' x ', space cosine of three axis of o ' y ', o ' z ' in O "-abc coordinate system is constituted matrix；If
(ap, bp, cp) it is coordinate of the P point in O " in-abc on ultrasound image plane, (x 'p, y 'p, z 'p) it is that the point is sat in plane of ultrasound
Coordinate in mark system, cos Tx, cos Ux, cos Vx；cos Ty, cos Uy, cos Vy；cos Tz, cos Uz, cos VzRespectively
It is o ' x ', space cosine of three axis of o ' y ', o ' z ' in O "-abc coordinate system is indicated with matrix L,
Then
Ultrasound image picture element coordinate is transformed into the world coordinate system determined by location system transmitter from O "-abc,
Coordinate relationship is provided by three-dimensional localization sensor；Wherein transition matrix
In formula: θx, θy, θzRespectively O " a axis, O " b axis, the O " Eulerian angles of c-axis relative to O-xyz.If (xo″, y。″, zo″)
It is coordinate of the point O " in O-xyz, (xp, yp, zp) it is position of the point P in world coordinates, then
The determination of lattice dimensions/range: storage, reading, operation of the present invention in order to facilitate three-dimensional data in a computer,
Lattice generated is rounded coordinate lattice；X is taken, tri- direction scale interval of Y, Z is 1mm, and lattice is a cube, is only needed
To two of lattice to angular vertex K (Xmin, Ymin, Zmin) and J (Xmax, Ymax, Zmax), the size of entire lattice, shape, space
Position just can determine.
First in data acquisition, by initial measurement, the range of world coordinates maxima and minima is estimated,
It is placed in corresponding location data；After coordinate conversion end, calculates separately every 4 vertex of width two dimensional image space and absolutely sit
Mark obtains the maximum point and smallest point of world coordinates value in final all data and compared with the range of initial estimation, with this two
Point is used 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 is converted
Subtract lattice starting point, then with the method that arest neighbors mutually leans on be put into them on lattice one by one；When same
When there are multiple projection picture elements on one lattice-site, final gray value is obtained using the method for taking wherein maximum value；In all two dimensions
After image is placed on three-dimensional lattice, three-dimensional lattice data are filtered with 18, airspace filter method, are generated final
Three-D ultrasonic volumetric image.
The medicine have the advantages that
1, ice shape contour measuring method proposed by the present invention is non-contact measurement, and the hot skill in using a kitchen knife in cookery can effectively be avoided to measure,
The shortcomings that being easily broken ice cube micro-structure, being unable to get accurate measurement data.
2, the present invention carries out 3D ice shape contour detecting using ultrasonic imaging, in the detection process, passes through transmitting ultrasound letter
Number, receives echo-signal is analyzed and processed acquisition two dimensional image to echo-signal, while carrying out three according to spatial positional information
Dimension is rebuild.Compare imaging sensor measurement method, does not need to be demarcated, and reduces the complexity of operation.
3, the present invention can realize 3D ice shape on-line measurement in icing growth course to avoid parking.
4, the present invention is influenced smaller by wind-tunnel experimental enviroment, compared with area-structure light binocular vision method, measurement process
The environment such as water mist, ice pellets obviously weaken the influence that light is propagated in middle icing wind tunnel.
Detailed description of the invention
Fig. 1 is system flow chart of the invention.
Fig. 2 is transmitting terminal and the receiving end distribution signal of ultrasonic probe device of the invention and electromagnetic location sensor
Figure.
Fig. 3 is the workflow of hardware system.
Fig. 4 is ultrasonic echo Wave beam forming schematic diagram.
Fig. 5 is the receiver coordinate system and three coordinates in world coordinate system, plane of ultrasound coordinate system and positioning system
Transition diagram between system.
Specific embodiment
Further illustrate technical solution of the present invention with reference to the accompanying drawing, but the content protected of the present invention be not limited to
It is lower described.
Figure label: 1-ultrasonic probe, 2-electromagnetic location sensor emission ends, 3-objects under test, 4-electromagnetic locations
Sensor receiving end, 5-Ultrasound Instruments, 6-controllers, 7-microcomputers, 8-image pick-up cards, 9-echo signal reception units,
10-echo-signal delay units, S (i) indicate echo-signal, and S (o) indicates the echo letter after delay is superimposed Wave beam forming
Number,Indicate ultrasound scan planes,Indicate two-dimensional ultrasonic image plane.
Wind tunnel model 3D ice shape on-line measurement system based on ultrasonic imaging technique is as shown in Figure 1, the measuring device includes:
One Ultrasound Instrument, a microcomputer, one piece of Color Image Acquisition card and electromagnetic location sensor, pitching based on pci bus structure
Angle demodulator, deflection angle adjuster；Positioning system can provide the six degree of freedom parameter of probe positions and direction, electromagnetic location
The transmitter of sensor is fixed, and receiver is pasted on ultrasonic probe, is moved with probe.
Space of the ultrasonic probe that collected echo-signal and utilization electromagnetic location sensor acquire with respect to icing model
Location information is as input dataInput Ultrasound Instrument is handled, and ultrasound image data and location data I, ultrasound image are obtained
Data and location data I give computer by image pick-up card and serial ports, complete image reorganization work by computer；Pitch angle
Degree adjuster arbitrarily adjusts the pitch angle of ultrasonic probe within the scope of 30 degree；Deflection angle adjuster is appointed within the scope of 360 degree
Meaning adjusts the deflection angle of energy converter, cooperates with pitching adjusting mechanism and guarantees that transducer probe is directed at measured target, two angles
Regulating mechanism cooperation guarantees that ultrasonic beam accurately emits on the measured section of icing body；Height adjustment device, it is existing by being mounted on
The guide rail of field realizes that each device cooperating guarantees that whole audience information is arrived in scanning.
This patent uses phased array probe, and probe 128 array elements of distribution carry out fan sweeping to model；For reach measurement at
As requiring, ultrasonic wave tranmitting frequency is 30kHz；Conventional ultrasonic probes are different from, two key properties of phased array probe are
Acoustic beam deflection and focusing, by changing the delay time between chip, the chip for making distance focal point remote first emits signal, and apart from coke
Emit signal after the close chip of point, to make the signal of each chip transmitting while reach focus, and the shape in a zonule
At a high-intensitive sound field.
The process of two-dimensional ultrasonic imaging is that transmitting pulse is generated by main controller first, and pulse is carried out according to the parameter of probe
Delay output, drives the array element of probe to emit ultrasonic wave after amplification, carries out scanning to object, completes launch mission；Sound wave
Directive testee surface can generate echo-signal, after these echo-signals are acquired by ultrasonic probe, by amplification compensation, wave
Signal processings and the image procossings such as beam formation, dynamic filter, finally can really reproduce testee over the display
Image, this completes the acquisitions of the picture signal of a line width and reduction task；Change the scanning of different parts, repeats above
Process just complete a frame ultrasound image scanning after completing all linear scans of probe institute's investigative range, and finally can be
Complete width ultrasound image is shown on display；After completing the scanning of a frame image, duplicate process above, it will be able to
So that the image of detected part is shown over the display in real time.
The present invention uses electromagnetic location sensor, and transmitter is placed in fixed position, and receiver can be pasted onto ultrasound
On probe, with the movement of ultrasonic probe when work, positioning system can provide the six degree of freedom parameter of probe positions and direction,
After continuous acquisition process, so that it may obtain a series of ultrasound image datas with spatial positional information.
After obtaining image information and spatial positional information, image information and spatial positional information are combined and carry out three-dimensional
It rebuilds；In reconstruction process, according to receiver in the three-dimensional localization data and positioning system of every width plane of ultrasound and ultrasonic probe
Relationship obtains position of the plane in world coordinate system, and coordinate relationship is provided by three-dimensional localization sensor, while will be irregular
Each pixel on the ultrasound image collected is put on corresponding space lattice position and forms three-dimensional ultrasound pattern.
The randomness of operation make the collected two dimensional image of institute spatially arrange be it is irregular, along with it is ultrasonic at
Some inherent limitations of picture bring following problem to system: 1) three-dimensional non-standard crystal lattice data to three-dimensional nominal crystalline lattice number
According to conversion；2) the space not interpolation problem caused by sampling point position randomness；3) repeated sampling leads to the ash of oversampled points
Spend processing problem；4) On The Choice of sampling density；5) echo drop-out problem.
Solve the above problems the method for use: 1) 2-D data into three-dimensional volume data conversion with arest neighbors mutually by method come
Guarantee enough precision；2) interpolation of three-dimensional volume data can be obtained preferable effect by spatial domain convolution algorithm；3) irregular
The moving direction of ultrasonic probe and movement speed should limit when sampling；4) gray scale of oversampled points can be chosen on the aspect and own
The maximum value of gray scale；5) echo drop-out way to solve the problem is to carry out the multi-faceted repeated sampling of multi-angle.
By the conversion between three coordinates, the point on plane of ultrasound coordinate system is transformed into world coordinates and is fastened；It obtains
After the world coordinates put on image, in order to more intuitively observe ice shape, it is also necessary to by coordinate representation on three-dimensional lattice, in order to
Facilitate storage, reading, the operation of three-dimensional data in a computer, lattice generated is rounded coordinate lattice；It takesThree
Deflection scale interval is 1 mm, and lattice is a cube, need to only obtain two of lattice to angular vertex, entire lattice it is big
Small, shape, spatial position just can determine.
First in data acquisition, by initial measurement, the range of world coordinates maxima and minima is estimated,
It is placed in corresponding location data；After coordinate conversion end, the world coordinates on every 4 vertex of width two dimensional image is calculated separately,
And compared with the range of initial estimation, the maximum point and smallest point of world coordinates value in final all data are obtained, with this two o'clock
As J point and K point, so that it is determined that data patterns；After lattice resolution, size determine, the picture element in each image is passed through
Lattice starting point is subtracted after coordinate conversion, then is put into them on lattice one by one with the method that arest neighbors mutually leans on.
When there are multiple projection picture elements on same lattice-site, final gray scale is obtained using the method for taking wherein maximum value
Value, after all two dimensional images are placed on three-dimensional lattice, does at filtering three-dimensional lattice data with 18, airspace filter method
Reason, generates final three-D ultrasonic volumetric image.
Since the operating temperature of array energy transducer and ultrasonic wave receiving instrument is generally at 10 °C or more, and it is mounted on wind tunnel test
Section stays the environment temperature of room at -20 °C or so, and therefore, the low temperature frost protection measures of equipment are particularly important, using exhausted in device
Protective case made of hot, exhausted water material carries out waterproof, low temperature anti-frost protection to measuring device.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright technical principle, it is understood that protection scope of the present invention be not limited to such specific embodiments and embodiments, it is all
It does not depart from the lower equivalent or modification completed of spirit disclosed in this invention and both falls within the scope of the present invention.
Claims (5)
1. a kind of wind tunnel model 3D ice shape On-line Measuring Method based on 3-D supersonic imaging technology, which is characterized in that comprising such as
Lower step: it includes: (1) transmitting ultrasonic signal that the present invention, which carries out the step of ice shape profile measurement, while receives echo-signal is gone forward side by side
Row processing, obtains two-dimensional ultrasonic image information；(2) while acquiring echo-signal acquisition two-dimensional image information, electromagnetism is utilized
Alignment sensor acquires spatial positional information of the corresponding ultrasonic probe with respect to icing model；(3) coordinate is converted, and carries out Three-dimensional Gravity
It builds, obtains three-dimensional ultrasound pattern.
2. the wind tunnel model 3D ice shape On-line Measuring Method according to claim 1 based on 3-D supersonic imaging technology,
Be characterized in that: in step (1), two-dimensional ultrasonic imaging step includes: s1, Wave beam forming；S2, ultrasound echo signal processing；S3, number
Word image procossing；
The acquisition that two-dimensional ultrasonic image is carried out using digital B ultrasound is emitted ultrasonic wave with phased array probe ultrasonic equipment, is used in combination
Sectoring method is scanned determinand；In scanning, rotating scanning device is installed, probe pitch angle, deflection angle are carried out
Control.
3. the wind tunnel model 3D ice shape On-line Measuring Method according to claim 1 based on 3-D supersonic imaging technology,
Be characterized in that: step (2) obtains ultrasonic probe with respect to the spatial positional information of icing model using electromagnetic location sensor, is visiting
Head receives echo-signal, while obtaining two-dimensional ultrasonic image information, acquisition ultrasonic probe corresponds to the spatial position of icing model
Information, ultrasound image data and location data give computer by image pick-up card and serial ports, complete image weight by computer
Group work, finally obtains a series of B ultrasound image datas with spatial positional information.
4. the wind tunnel model 3D ice shape On-line Measuring Method according to claim 1 based on 3-D supersonic imaging technology,
Be characterized in that: plane of ultrasound coordinate system is transformed into world coordinate system by step (3), carries out three-dimensional reconstruction, while by two-dimensional ultrasound
Image data, which is transformed on three-dimensional lattice, forms three-dimensional ultrasound pattern；It is fixed according to the three-dimensional of every width plane of ultrasound in reconstruction process
The relationship of receiver and ultrasonic probe obtains the position of the plane in world coordinate system in position data and positioning system；Then will
Each pixel on the ultrasound image irregularly collected is put on corresponding space lattice position and forms 3-D image.
5. the wind tunnel model 3D ice shape On-line Measuring Method according to claim 1 based on 3-D supersonic imaging technology,
Be characterized in that: there are two the intermediate main problems of step (3):
Q1: how the point on plane of ultrasound coordinate system is transformed into space absolute coordinate and fastened；
Q2: the size of actual needs reconstruction attractor how is determined；
Solve the problems, such as that q1 needs to establish 3 coordinate systems: world coordinate system, plane of ultrasound coordinate system and electromagnetic location sensor receive
Coordinate system is held, world coordinate system is determined by electromagnetic location sensor emission end, is remained unchanged in measurement process；
By demarcating measurement experiment, consolidating between plane of ultrasound coordinate system and electromagnetic location sensor receiving end coordinate system is obtained first
Determine transformational relation, when plane of ultrasound coordinate system indicate depth direction coordinate be 0, as soon as and after translation matrix operation,
Constitute ultrasound image coordinates system；Finally by ultrasound image picture element coordinate from the receiver coordinate system in positioning system be transformed by
In the world coordinate system that location system transmitter determines, coordinate relationship is provided by three-dimensional localization sensor；
Solve the problems, such as q2: the determination of lattice dimensions/range；Storage, reading of the present invention in order to facilitate three-dimensional data in a computer
It takes, operation, lattice generated is rounded coordinate lattice, takes X, tri- direction scale interval of Y, Z is 1mm；Lattice is one cube
Body need to only obtain two of lattice to angular vertex K (Xmin,Ymin,Zmin) and J (Xmax,Ymax,Zmax), size, the shape of entire lattice
Shape, spatial position just can determine；First in data acquisition, by initial measurement, estimate world coordinates maximum value with
The range of minimum value is placed in corresponding location data；After coordinate conversion end, every width two dimensional image 4 tops are calculated separately
Space of points absolute coordinate, and compared with the range of initial estimation, obtain in final all data the maximum point of world coordinates value and
Smallest point, point and K point using this two o'clock as J, so that it is determined that crystal lattice data.
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