CN107991391A - A kind of three-D ultrasonic nondestructive detection system and method for being automatically positioned imaging - Google Patents
A kind of three-D ultrasonic nondestructive detection system and method for being automatically positioned imaging Download PDFInfo
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- CN107991391A CN107991391A CN201711038223.7A CN201711038223A CN107991391A CN 107991391 A CN107991391 A CN 107991391A CN 201711038223 A CN201711038223 A CN 201711038223A CN 107991391 A CN107991391 A CN 107991391A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0654—Imaging
- G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Automation & Control Theory (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of three-D ultrasonic nondestructive detection system for being automatically positioned imaging, it is related to non-destructive testing device and method and technology field.The detecting system includes Integral ultrasonic probe, data cable, ultrasonic signal and occurs and receiver, usb line and computer data processing system, data transfer to the computer data processing system of the Integral ultrasonic probe collection is handled, draw the stereoscopic ultrasound ripple Non-Destructive Testing image of object to be detected, and show size and the position of object to be detected internal flaw or damage.The detecting system can be automatically positioned test position and hand-hold ultrasonic simple scan convenience and it is flexible the advantages of.
Description
Technical field
The present invention relates to non-destructive testing device and method and technology field, more particularly to a kind of three-dimensional for being automatically positioned imaging to surpass
Sound nondestructive detection system and method.
Background technology
During intelligence manufacture is modernized, Non-Destructive Testing is as most important detection, it has also become control product matter
Amount, the important technical for ensureing equipment safety operation.Ultrasonic Nondestructive is using the propagation of ultrasonic wave in media as well to material
The technology that material inner case is detected, has the advantages that high sensitivity, cost are relatively low, flexible to operation, therefore becomes and answer
With widest non-destructive testing technology.The ultrasonic detecting technology of domestic and international application is nearly all hand-hold ultrasonic simple scan shape
Formula, but due to being detected point by point to material by manual mobile probe, be vulnerable to artificial difference or operation error and influence detection
As a result.Therefore hand-held is more demanding for the professional operation skill of nondestructive testing personnel, greatly hinders ultrasound detection to certainly
The directions such as dynamicization, intelligence, image conversion are developed.
In recent years begin one's study both at home and abroad using numerical control table, NC table or mechanical hand-motion ultrasonic probe on two dimensional surface
Scan and be automatically positioned, so as to build three-D ultrasonic detection image.But due to the addition of workbench or manipulator so that
Detecting system cost is higher and loses the convenience of hand-hold ultrasonic simple scan and flexibility.However, with new
The extensive use of composite material (such as carbon fiber and glass fibre) and new 3D printing material, the automation to Non-Destructive Testing
The requirement of degree and detection result is also higher and higher.
The content of the invention
The technical problems to be solved by the invention are how to provide one kind to be automatically positioned test position and keep hand
Hold the convenience of formula ultrasonic wave simple scan and the three-dimensional ultrasonic nondestructive detection system of flexibility.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of three-dimensional for being automatically positioned imaging surpasses
Sound nondestructive detection system, including Integral ultrasonic probe, data cable, ultrasonic signal occur with receiver, usb line and
Computer data processing system, a part of signal connecting line of Integral ultrasonic probe through a part of data cable with
The ultrasonic signal occurs to be connected with one end of receiver, another part signal connecting line of the Integral ultrasonic probe
Connected through a part of terminals of another part data cable and usb line, the ultrasonic signal occurs another with receiver
Another part terminals of one end and usb line connect, and the usb line connects with the computer data processing system
Connect, data transfer to the computer data processing system of the Integral ultrasonic probe collection is handled, and is drawn detected
The stereoscopic ultrasound ripple Non-Destructive Testing image of object, and show size and the position of object to be detected internal flaw or damage.
Further technical solution is：Integral ultrasonic probe include odometer, ultrasonic probe, shell and
Inertia measurement instrument, the odometer are arranged on the lower end of the shell of Integral ultrasonic probe, and the ultrasonic probe is embedded in
In the shell, the inertia measurement instrument is fixed on the signal of the upper end of the shell, the odometer and inertia measurement instrument
Output terminal is connected by the part data cable with the usb line, and the ultrasonic probe passes through another part signal wire
Occur to be connected with one end of receiver with the ultrasonic signal.
Preferably：A diameter of 22mm of the ultrasonic probe.
Preferably：The odometer is arranged on the housing on the outside of the ultrasonic probe.
The embodiment of the invention also discloses a kind of three-D ultrasonic lossless detection method for being automatically positioned imaging, including following step
Suddenly:
Boat is obtained to the acceleration information progress quadratic integral measured by inertia measurement instrument and pushes away displacement information；Meanwhile utilize
The displacement distance of odometer measuring probe, that is, the relative movement displacement popped one's head in, is then further melted by Kalman filter
The boat for closing the measurement of inertia measurement instrument pushes away displacement information and the relative displacement information of odometer measurement, computer data processing system knot
Close horizontal X/Y plane coordinate of the positional information with directional information output probe relative to starting point；
Occurred to export electric signal to ultrasonic probe with receiver from ultrasonic signal, be close to what is moved on measured material
Ultrasonic probe produces ultrasonic signal, and the ultrasonic signal that material internal reflects is handled, obtains measured material
In the ultrasonography of Z-direction, computer data processing system combine probe relative to the horizontal X/Y plane coordinate of starting point and
Measured material obtains stereoscopic ultrasound ripple Non-Destructive Testing figure of the measured material with three dimensional local information in the ultrasonography of Z-direction
Picture.
Further technical solution is：The method further includes：Computer data processing system to ultrasonography into
The step of row processing, the size and position of display material internal flaw or damage.
It is using beneficial effect caused by above-mentioned technical proposal：System and method of the present invention lead inertial positioning
Boat technology is combined with the non-destructive testing technology of hand-hold ultrasonic simple scan, can be automatically positioned test position and be protected
Convenience and the flexibility of hand-hold ultrasonic simple scan are held, hand-held single-point supersonic reflectoscope can be efficiently solved
The problem of location difficulty, solve influence of the human factor to detection result and effectively assist structure three-D ultrasonic detection figure
Picture, is a kind of novel hand-held three-dimensional ultrasonic nondestructive detection system with automatic positioning function.
System of the present invention is fast to the detection speed of material, convenient, flexible, and the intuitive display in equipment, can reduce inspection
Survey error, improve accuracy of detection and detection speed.In every skill such as the stability of reliability, the degree of automation and detection operation
Art index, more than traditional hand-hold ultrasonic simple scan, the benefit brought to society is not only the detection of material, and
And it is related to aviation, national defence, the great social benefit of economic dispatch.
Brief description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structure diagram of detecting system described in the embodiment of the present invention；
Fig. 2 is the structure diagram that Integral ultrasonic is popped one's head in detecting system described in the embodiment of the present invention；
Fig. 3 is the flow chart of detection method described in the embodiment of the present invention；
Wherein：1st, it is detected material；2nd, Integral ultrasonic is popped one's head in；3rd, data cable；4th, ultrasonic signal occurs and receives
Device；5th, usb line；6th, computer data processing system；7th, odometer；8th, ultrasonic probe；9th, shell；10th, inertia measurement
Instrument.
Embodiment
With reference to the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented using other different from other manner described here, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is from the limitation of following public specific embodiment.
As shown in Figure 1, the embodiment of the invention discloses a kind of three-D ultrasonic nondestructive detection system for being automatically positioned imaging, bag
Include with alignment system Integral ultrasonic probe 2, data cable 3, ultrasonic signal occur with receiver 4, USB data line 5 and
Computer data processing system 6.
As shown in Fig. 2, it is described with alignment system Integral ultrasonic probe 2 include odometer 7, ultrasonic probe 8,
Shell 9 and inertia measurement instrument 10；A diameter of 22mm of the ultrasonic probe 8；The odometer 7 is arranged on Integral ultrasonic
The lower end of the shell 9 of probe；The inertia measurement instrument 10 is arranged on the shell of the top of ultrasonic probe 8；The inertia measurement
Instrument (IMU) is integrated with three axis accelerometer, three-axis gyroscope and three-axle magnetic field meter；
The data cable 3 is used for the electric signal between Integral ultrasonic probe 2 and ultrasonic signal generation and receiver 4
Transmission, signal send to receive with signal and are integrated on data cable 3；The computer 6 by USB data line 5 respectively with ultrasound
Ripple signal occurs to be connected with receiver 4, odometer 7, inertia measurement instrument 10；The computer data processing system 6 is used to handle
Data from odometer 7, ultrasonic probe 8 and inertia measurement instrument 10, including the processing of the positional information of probe, ultrasonic signal
Information, image procossing etc., draw the stereoscopic ultrasound ripple Non-Destructive Testing image of object to be detected, and show and lacked inside object to be detected
Sunken or damage size and position.
As shown in figure 3, the embodiment of the invention also discloses it is a kind of be automatically positioned imaging three-D ultrasonic lossless detection method,
Comprise the following steps:
Using inertia measurement instrument (IMU) collection acceleration, angular speed and angle this 3 kinds of data, to inertia measurement instrument (IMU)
Measured acceleration information carries out quadratic integral, obtains boat and pushes away displacement information；Being further advanced by Kalman filter will navigate
The probe travel distance for pushing away displacement information and odometer measurement carries out data fusion to eliminate the add up error of quadratic integral generation
(data wander), obtains more accurately range information；Obtained accurately by the gyroscope on inertia measurement instrument (IMU) and magnetometer
Directional information (two-dimentional x, y direction)；Further, adjust the distance information and directional information of computer data processing system carries out data
Fusion, the real time position popped one's head in (relative to the horizontal X/Y plane coordinate of starting point).
Enabling signal occurs and receiver, and hand-held ultrasound probe is close to material and is moved, and ultrasonic signal is with electricity
The form of signal transfers back to signal generation and receiver, obtains the ultrasonography of Z-direction.Computer is further combined with probe
XY position coordinateses, the three-dimensional visualization image inside building material.Computer data processing system is further to ultrasonography
Handled, the size and position of display material internal flaw or damage.
System and method of the present invention are by the lossless inspection of inertial positioning airmanship and hand-hold ultrasonic simple scan
Survey technology is combined, test position can be automatically positioned and keep the convenience of hand-hold ultrasonic simple scan with flexibly
Property, the problem of can efficiently solving hand-held single-point supersonic reflectoscope location difficulty, solve human factor detection imitated
The influence of fruit and effectively assistance structure three-D ultrasonic detection image, are a kind of novel hand-helds with automatic positioning function
Three-dimensional ultrasonic nondestructive detection system.
System of the present invention is fast to the detection speed of material, convenient, flexible, and the intuitive display in equipment, can reduce inspection
Survey error, improve accuracy of detection and detection speed.In every skill such as the stability of reliability, the degree of automation and detection operation
Art index, more than traditional hand-hold ultrasonic simple scan, the benefit brought to society is not only the detection of material, and
And it is related to aviation, national defence, the great social benefit of economic dispatch.
Claims (6)
- A kind of 1. three-D ultrasonic nondestructive detection system for being automatically positioned imaging, it is characterised in that：Pop one's head in including Integral ultrasonic (2), data cable (3), ultrasonic signal generation and receiver (4), usb line (5) and computer data processing system (6), A part of signal connecting line of the Integral ultrasonic probe (2) is believed through a part of data cable (3) and the ultrasonic wave Number generation is connected with one end of receiver (4), and another part signal connecting line of the Integral ultrasonic probe (2) is through another Segment data line (3) is connected with a part of terminals of usb line (5), and the ultrasonic signal occurs and receiver (4) The other end is connected with another part terminals of usb line (5), the usb line (5) and the computer digital animation System (6) connects, and data transfer to the computer data processing system (6) of Integral ultrasonic probe (2) collection carries out Processing, draws the stereoscopic ultrasound ripple Non-Destructive Testing image of object to be detected, and shows object to be detected internal flaw or damage Size and position.
- A kind of 2. three-D ultrasonic nondestructive detection system for being automatically positioned imaging as claimed in claim 1, it is characterised in that：It is described Integral ultrasonic probe includes odometer (7), ultrasonic probe (8), shell (9) and inertia measurement instrument (10), the mileage Meter (7) is arranged on the lower end of the shell (9) of Integral ultrasonic probe, and the ultrasonic probe (8) is embedded in the shell (9) Interior, the inertia measurement instrument (10) is fixed on the upper end of the shell (9), the odometer (7) and inertia measurement instrument (10) Signal output part be connected by the part data cable (3) with the usb line (5), the ultrasonic probe (8) passes through Another part signal wire occurs to be connected with one end of receiver (4) with the ultrasonic signal.
- A kind of 3. three-D ultrasonic nondestructive detection system for being automatically positioned imaging as claimed in claim 2, it is characterised in that：It is described A diameter of 22mm of ultrasonic probe (8).
- A kind of 4. three-D ultrasonic nondestructive detection system for being automatically positioned imaging as claimed in claim 2, it is characterised in that：It is described Odometer (7) is arranged on the housing on the outside of the ultrasonic probe (8).
- 5. a kind of three-D ultrasonic lossless detection method for being automatically positioned imaging, it is characterised in that comprise the following steps:Boat is obtained to the acceleration information progress quadratic integral measured by inertia measurement instrument (10) and pushes away displacement information；Meanwhile utilize The displacement distance of odometer (7) measuring probe, that is, the relative movement displacement popped one's head in, then by Kalman filter further The boat of fusion inertia measurement instrument measurement pushes away displacement information and the relative displacement information of odometer measurement, computer data processing system Horizontal X/Y plane coordinate of the combining position information with directional information output probe relative to starting point；Occurred to export electric signal to ultrasonic probe (8) with receiver (4) from ultrasonic signal, be close on measured material (1) Mobile ultrasonic probe produces ultrasonic signal, and the ultrasonic signal that material internal reflects is handled, obtain by Measure and monitor the growth of standing timber material Z-direction ultrasonography, computer data processing system combine probe relative to starting point horizontal X/Y plane sit It is marked with and measured material is in the ultrasonography of Z-direction, it is lossless obtains stereoscopic ultrasound ripple of the measured material with three dimensional local information Detection image.
- 6. the three-D ultrasonic lossless detection method of automatic positioning imaging as claimed in claim 5, it is characterised in that the method Further include：Computer data processing system (6) handles ultrasonography, the size of display material internal flaw or damage The step of with position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711038223.7A CN107991391A (en) | 2017-10-27 | 2017-10-27 | A kind of three-D ultrasonic nondestructive detection system and method for being automatically positioned imaging |
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| CN201711038223.7A CN107991391A (en) | 2017-10-27 | 2017-10-27 | A kind of three-D ultrasonic nondestructive detection system and method for being automatically positioned imaging |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109556605A (en) * | 2019-01-11 | 2019-04-02 | 东莞理工学院 | A kind of localization method and system based on inertia measurement Yu optics odometer |
| CN110148569A (en) * | 2019-05-16 | 2019-08-20 | 武汉新芯集成电路制造有限公司 | A kind of defects scanning method and equipment of bonding structure |
| CN113504159A (en) * | 2021-06-16 | 2021-10-15 | 中国农业大学 | Method and device for detecting and analyzing opaque particulate matter and electronic equipment |
| CN114062497A (en) * | 2021-11-16 | 2022-02-18 | 北京工业大学 | Ultrasonic three-dimensional imaging method for surface defects of complex curved surface workpiece |
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| CN114062497A (en) * | 2021-11-16 | 2022-02-18 | 北京工业大学 | Ultrasonic three-dimensional imaging method for surface defects of complex curved surface workpiece |
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