CN109064541A - One kind underwater virtual reality imaging system based on ultrasound and its application method - Google Patents
One kind underwater virtual reality imaging system based on ultrasound and its application method Download PDFInfo
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- CN109064541A CN109064541A CN201811060784.1A CN201811060784A CN109064541A CN 109064541 A CN109064541 A CN 109064541A CN 201811060784 A CN201811060784 A CN 201811060784A CN 109064541 A CN109064541 A CN 109064541A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 44
- 238000002604 ultrasonography Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 238000005259 measurement Methods 0.000 claims abstract description 36
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000011835 investigation Methods 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000009189 diving Effects 0.000 abstract description 15
- 230000009471 action Effects 0.000 abstract description 9
- 239000011521 glass Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000011897 real-time detection Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- General Engineering & Computer Science (AREA)
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention belongs to ultrasonic measurement technical fields, specifically, it is related to one kind underwater virtual reality imaging system based on ultrasound and its application method, discloses a kind of underwater virtual reality imaging system based on ultrasound, including following module: ultrasonic transducer module；Ultrasonic phase array control module；Imaging module；Virtual image module；Display module.A kind of application method of underwater virtual reality imaging system based on ultrasound is also disclosed, includes the following steps: to emit ultrasonic wave；Receive ultrasonic wave；Transmit signal；3D modeling；Virtual image conversion；Image is shown.One kind underwater virtual reality imaging system based on ultrasound of the invention and its application method utilize ultrasonic reflections to obtain the relevant information in underwater narrow environment, it is directly displayed in VR equipment, diving personnel can be effectively assisted accurately to make various judgements when taking action in water, and then diving personnel is reduced when taking action under water, the danger encountered.
Description
Technical field
The invention belongs to ultrasonic measurement technical fields, specifically, being related to a kind of underwater virtual reality based on ultrasound
Imaging system and its application method.
Background technique
In profound or muddy underwater narrow environment (such as solution cavity and sewers environment), due to the moisture in water body
The various substances contained in son and water body all have absorption to light, therefore even if visual distance is often very short by strong light,
Effective visible sensation can not be even formed, in the action such as the exploration of such as solution cavity or rescue action, diving personnel is in complicated underwater environment
In due to vision limitation, underwater environment situation can not be seen clearly, be likely to encounter as collided precipice, fall hole, setting encounters water
The danger such as bottom undercurrent are extremely unfavorable for the expansion of action.
Summary of the invention
Technical problem to be solved of the invention is that providing one kind is based on ultrasonic wave real-time detection underwater environment situation,
And underwater environment formation virtual image is supplied to diving personnel so that diving personnel clearer can obtain underwater ring in real time
The underwater virtual reality imaging system and its application method in border.
The technical solution of present invention solution above-mentioned technical problem are as follows:
A kind of underwater virtual reality imaging system based on ultrasound, including following module:
Ultrasonic transducer module, for transmitting and receiving ultrasonic wave；
Ultrasonic phase array control module is launched ultrasonic wave for controlling ultrasonic transducer module and is detected to underwater environment,
And the reflected Ultrasonic transformation that ultrasonic transducer module receives is ultrasonic signal, and ultrasonic signal is transmitted；
Imaging module, for handling the ultrasonic signal transmitted from ultrasonic phase array control module, according to ultrasonic signal
Carry out real-time 3D/4D image modeling and 3D/4D image reconstruction；
Virtual image module, for the 3D/4D image established or rebuild in imaging module to be converted to stereo-picture；
Display module, for show virtual image processing after the completion of stereo-picture.
Specifically, being additionally provided with following module in the imaging module:
Image enhancement module, for corresponding to and scheming in 3D/4D according to the ultrasonic signal transmitted from ultrasonic phase array control module
Environment, distance, dimension information are superimposed as in.
Specifically, including following module in the image enhancement module:
Distance-measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to supersonic sounding
Principle measures the distance between foreign matter and test point in water, and by corresponding data investigation into 3D/4D image；
Dimensional measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to ultrasonic Flaw
Foreign matter whether there is hole and judge the size of hole in testing principle measurement water, and last corresponding data investigation is schemed to 3D/4D
As in；
Water body measurement module, for according to from ultrasonic phase array control module transmit ultrasonic signal, according to Doppler at
The flow direction of the principle measurement water body of picture and flow rate, the muddy degree of water body is measured according to the principle of acoustical attenuation measurement,
Finally by corresponding data investigation into 3D/4D image.
Specifically, the ultrasonic transducer module is made of in the way of array arrangement at least one ultrasonic transducer.
Preferably, the display module is VR equipment.
The another technical solution of present invention solution above-mentioned technical problem are as follows:
A kind of application method for such as above-mentioned underwater virtual reality imaging system based on ultrasound, includes the following steps:
Emit ultrasonic wave, ultrasonic phase array control module controls the transmitting that ultrasonic transducer module carries out ultrasonic wave, starts ultrasound
Detection；
Ultrasonic wave is received, ultrasonic wave touches and be reflected back ultrasonic transducer module by foreign matter in water, and then by ultrasonic transducer mould
Block receives, and forms ultrasonic signal through ultrasonic phase array control module processing；
Signal is transmitted, ultrasonic signal is transferred to imaging module by ultrasonic phase array control module；
3D modeling, imaging module carry out real-time 3D/4D image modeling and 3D/4D image reconstruction according to ultrasonic signal, and
By the 3D/4D image transmitting of foundation to virtual image module；
Virtual image conversion, virtual image module will receive 3D/4D image using VR technical principle, and being converted to can be by aobvious
Show the stereo-picture that module is shown；
Image is shown, stereo-picture is transmitted in display module, is shown.
Specifically, further including following steps in the 3D modeling step:
Image enhancement, the image enhancement module in imaging module carry out the measurement of environmental parameter, and fold according to ultrasonic signal
It is added on 3D/4D image.
Specifically, further including following steps in described image enhancing step:
Range measurement analyzes ultrasonic signal according to supersonic sounding principle, obtain water between foreign matter and test point away from
From, and be added on 3D/4D image；
Dimensional measurement analyzes ultrasonic signal according to ultrasonic Flaw Detection principle, and obtaining foreign matter in water whether there is hole
Hole, hole, then obtain the size of hole if it exists, and is added on 3D/4D image；
Water body measurement analyzes ultrasonic signal, obtains the flowing of water body according to doppler imaging principle and measurement principle of acoustic attenuation
Direction, flow rate and muddy degree, and be added on 3D/4D image.
Of the invention has the advantages that the relevant information obtained in underwater narrow environment using ultrasonic reflections,
Directly displayed in VR equipment, meanwhile, using virtual reality (VR) technology, make the underwater environment shown in VR equipment with can
The image seen depending on eyes practical when environment includes distance, and size etc. is completely the same, so that diving personnel be made to use this
When inventing the product provided, diving personnel can effectively be assisted accurately to make various judgements when taking action in water, into
And when reducing diving personnel and taking action under water, the danger that is encountered.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of underwater virtual reality imaging system based on ultrasound of the present invention.
Fig. 2 is a kind of flow chart of underwater virtual reality imaging system application method based on ultrasound of the present invention.
Specific embodiment
It elaborates with reference to the accompanying drawing to the present invention.
One kind underwater virtual reality imaging system based on ultrasound of the embodiment of the present invention is as shown in Figure 1, include as follows
Module:
Ultrasonic transducer module, for transmitting and receiving ultrasonic wave；Specifically, the ultrasonic transducer module is surpassed by least one
Sonic transducer is constituted in the way of array arrangement, and the ultrasonic wave that ultrasonic transducer issues can be reflected back toward when touching underwater foreign matter
In ultrasonic transducer, so that ultrasonic transducer be enable to receive the extraneous ultrasonic wave fed back.The battle array of ultrasonic transducer
Column arrangement can be arbitrary geometric array arrangement mode, including and be not limited in one-dimensional, two-dimentional, matrix, sector, annular etc.
The combination of any one or more.
Ultrasonic phase array control module is launched ultrasonic wave for controlling ultrasonic transducer module and is examined to underwater environment
It surveys, and the reflected Ultrasonic transformation that ultrasonic transducer module receives is ultrasonic signal, and ultrasonic signal is passed
It is defeated；Ultrasonic phase array control module is mainly to control the transmitting and reception of ultrasonic transducer module, and basic principle is ultrasonic phase
Control array 1 system technology.
Imaging module, for handling the ultrasonic signal transmitted from ultrasonic phase array control module, according to ultrasound
Signal carries out real-time 3D/4D image modeling and 3D/4D image reconstruction；The ultrasound that ultrasonic phase array control module is transmitted out
Further include in signal ultrasonic transducer transmitting rule and receive rule, thus guarantee imaging module can according to ultrasound
Real-time 3D/4D image-forming principle carries out real-time 3D/4D image modeling and 3D/4D image reconstruction to ultrasonic signal, is most starting to make
Therefore used time, is for the first time 3D/4D image modeling because not retaining any 3D/4D image, later, due to the movement of diving personnel,
The variation for leading to ultrasonic signal is needed to 3D/4D image reconstruction, to guarantee that 3D/4D image can be in real time with diving personnel
Action and change.
The also built-in image enhancement module in imaging module, for being transmitted according to from ultrasonic phase array control module
And the ultrasonic signal come, it is corresponding that environment, distance, dimension information are superimposed in 3D/4D image.In order to reach the mesh of image enhancement
, include following module in image enhancement module:
Distance-measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to supersonic sounding
Principle measures the distance between foreign matter and test point in water, and by corresponding data investigation into 3D/4D image；The survey of distance
Amount, effectively can provide foreign matter in the water of front for diving personnel includes the various foreign matters such as precipice, organism in water and diving personnel
Distance, facilitate diving personnel to evade.
Dimensional measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to ultrasound
Foreign matter whether there is hole and judge the size of hole in defects detection principle measurement water, last corresponding data investigation to 3D/
In 4D image；Main function is for judging that whether hole present in foreign matter can be current for diving personnel in water, especially fits
It closes and the exploration of underwater solution cavity or rescue action.
Water body measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to how general
Flow direction and the flow rate for strangling the principle measurement water body of imaging, according to the muddy journey of the principle measurement water body of acoustical attenuation measurement
Degree, finally by corresponding data investigation into 3D/4D image.The module mainly measures the basic condition of water body, prevents ducker
Member encounters undercurrent, and when cloudiness exception, it is possible to determine that front is likely to occur abnormal conditions, needs to add to notice.
Virtual image module, for the 3D/4D image established or rebuild in imaging module to be converted to stereo-picture；
It is that virtual reality (VR) technology is realized that the module, which uses, and therefore, the stereo-picture after foundation is seen with extraneous eyes substantially
The institute arrived is consistent, can give a kind of intuitive visual experience of people.
Display module, for show virtual image processing after the completion of stereo-picture.Preferably, the display module is VR
Equipment.In order to facilitate underwater operation, the general VR glasses for selecting waterproofing grade high, diving personnel will not influence after taking VR glasses
To its activity condition.Preferably, one kind provided by the invention underwater virtual reality imaging system based on ultrasound is fully-integrated
In VR glasses.
The present invention also provides a kind of application sides for such as above-mentioned underwater virtual reality imaging system based on ultrasound
Method is as shown in Fig. 2, include the following steps:
Emit ultrasonic wave, ultrasonic phase array control module controls the transmitting that ultrasonic transducer module carries out ultrasonic wave, starts ultrasound
Detection；
Ultrasonic wave is received, ultrasonic wave touches and be reflected back ultrasonic transducer module by foreign matter in water, and then by ultrasonic transducer mould
Block receives, and forms ultrasonic signal through ultrasonic phase array control module processing；
Signal is transmitted, ultrasonic signal is transferred to imaging module by ultrasonic phase array control module；
3D modeling, imaging module carry out real-time 3D/4D image modeling and 3D/4D image reconstruction according to ultrasonic signal, and
By the 3D/4D image transmitting of foundation to virtual image module；Image enhancement is further comprised in the step, in imaging module
Image enhancement module carries out the measurement of environmental parameter, and be added on 3D/4D image, specifically, further including according to ultrasonic signal
Following steps:
Range measurement analyzes ultrasonic signal according to supersonic sounding principle, obtain water between foreign matter and test point away from
From, and be added on 3D/4D image；
Dimensional measurement analyzes ultrasonic signal according to ultrasonic Flaw Detection principle, and obtaining foreign matter in water whether there is hole
Hole, hole, then obtain the size of hole if it exists, and is added on 3D/4D image；
Water body measurement analyzes ultrasonic signal, obtains the flowing of water body according to doppler imaging principle and measurement principle of acoustic attenuation
Direction, flow rate and muddy degree, and be added on 3D/4D image.
Virtual image conversion, virtual image module will receive 3D/4D image using VR technical principle, and being converted to can lead to
Cross the stereo-picture that display module is shown；
Image is shown, stereo-picture is transmitted in display module, is shown.
The above content is combine specific preferred embodiment to the further description done of the present invention, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (8)
1. a kind of underwater virtual reality imaging system based on ultrasound, which is characterized in that including following module:
Ultrasonic transducer module, for transmitting and receiving ultrasonic wave；
Ultrasonic phase array control module is launched ultrasonic wave for controlling ultrasonic transducer module and is detected to underwater environment,
And the reflected Ultrasonic transformation that ultrasonic transducer module receives is ultrasonic signal, and ultrasonic signal is transmitted；
Imaging module, for handling the ultrasonic signal transmitted from ultrasonic phase array control module, according to ultrasonic signal
Carry out real-time 3D/4D image modeling and 3D/4D image reconstruction；
Virtual image module, for the 3D/4D image established or rebuild in imaging module to be converted to stereo-picture；
Display module, for show virtual image processing after the completion of stereo-picture.
2. underwater virtual reality imaging system according to claim 1, which is characterized in that in the imaging module also
Equipped with following module:
Image enhancement module, for corresponding to and scheming in 3D/4D according to the ultrasonic signal transmitted from ultrasonic phase array control module
Environment, distance, dimension information are superimposed as in.
3. underwater virtual reality imaging system according to claim 2, which is characterized in that wrapped in the image enhancement module
Containing following module:
Distance-measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to supersonic sounding
Principle measures the distance between foreign matter and test point in water, and by corresponding data investigation into 3D/4D image；
Dimensional measurement module, for the ultrasonic signal that foundation is transmitted from ultrasonic phase array control module, according to ultrasonic Flaw
Foreign matter whether there is hole and judge the size of hole in testing principle measurement water, and last corresponding data investigation is schemed to 3D/4D
As in；
Water body measurement module, for according to from ultrasonic phase array control module transmit ultrasonic signal, according to Doppler at
The flow direction of the principle measurement water body of picture and flow rate, the muddy degree of water body is measured according to the principle of acoustical attenuation measurement,
Finally by corresponding data investigation into 3D/4D image.
4. underwater virtual reality imaging system according to claim 1 to 3, it is characterised in that: the ultrasound is changed
Energy device module is made of in the way of array arrangement at least one ultrasonic transducer.
5. underwater virtual reality imaging system according to claim 4, it is characterised in that: the display module sets for VR
It is standby.
6. a kind of application method for underwater virtual reality imaging system based on ultrasound as described in claim 1, special
Sign is, includes the following steps:
Emit ultrasonic wave, ultrasonic phase array control module controls the transmitting that ultrasonic transducer module carries out ultrasonic wave, starts ultrasound
Detection；
Ultrasonic wave is received, ultrasonic wave touches and be reflected back ultrasonic transducer module by foreign matter in water, and then by ultrasonic transducer mould
Block receives, and forms ultrasonic signal through ultrasonic phase array control module processing；
Signal is transmitted, ultrasonic signal is transferred to imaging module by ultrasonic phase array control module；
3D modeling, imaging module carry out real-time 3D/4D image modeling and 3D/4D image reconstruction according to ultrasonic signal, and
By the 3D/4D image transmitting of foundation to virtual image module；
Virtual image conversion, virtual image module will receive 3D/4D image using VR technical principle, and being converted to can be by aobvious
Show the stereo-picture that module is shown；
Image is shown, stereo-picture is transmitted in display module, is shown.
7. application method according to claim 6, which is characterized in that further include following steps in the 3D modeling step:
Image enhancement, the image enhancement module in imaging module carry out the measurement of environmental parameter, and fold according to ultrasonic signal
It is added on 3D/4D image.
8. application method according to claim 7, which is characterized in that described image enhances in step, further includes walking as follows
It is rapid:
Range measurement analyzes ultrasonic signal according to supersonic sounding principle, obtain water between foreign matter and test point away from
From, and be added on 3D/4D image；
Dimensional measurement analyzes ultrasonic signal according to ultrasonic Flaw Detection principle, and obtaining foreign matter in water whether there is hole
Hole, hole, then obtain the size of hole if it exists, and is added on 3D/4D image；
Water body measurement analyzes ultrasonic signal, obtains the flowing of water body according to doppler imaging principle and measurement principle of acoustic attenuation
Direction, flow rate and muddy degree, and be added on 3D/4D image.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111929365A (en) * | 2020-08-07 | 2020-11-13 | 广东汕头超声电子股份有限公司 | Ultrasonic imaging detection display method |
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