CN110275471B - Desktop type industrial CT motion control system based on NI motion control card - Google Patents
Desktop type industrial CT motion control system based on NI motion control card Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
- G01N23/046—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material using tomography, e.g. computed tomography [CT]
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The invention provides a desktop type industrial CT motion control system based on an NI motion control card, which comprises a PC, a detector, an X-ray source, an NI motion control card, a junction box, a servo driver and a servo motor, wherein the NI motion control card is inserted in the PC, the NI motion control card is connected with the junction box through a signal connecting cable, and the servo driver is respectively connected with the servo motor and the junction box through signal connecting wires; the servo motor is provided with a measured object bearing and positioning device for realizing real-time positioning of the measured object; the PC is respectively communicated with the servo motor and the detector in an Ethernet serial communication mode, and the X-ray source is in communication connection with the PC through an RS-232C serial port; the PC is internally provided with an NI-Motion development function and a calling program for calling the NI-Motion development function, and the PC calls the NI-Motion development function through the calling program to control the servo motor, the detector and the X-ray source to realize frequency synchronization.
Description
Technical Field
The invention relates to a desktop type industrial CT motion control system, in particular to a desktop type industrial CT motion control system based on an NI motion control card.
Background
The industrial CT scans the detected object by 360-degree cone beam rotation, in the detection process, X rays emitted by an X-ray source in the range of a cone angle penetrate through the detected object, the detected object rotates on a mechanical system, meanwhile, a detector receives projection data of the scanned object, finally, the projection data are transmitted back to a computer, the projection data are reconstructed by using a three-dimensional image reconstruction algorithm, a three-dimensional reconstruction image with isotropy and high resolution inside the detected object is obtained under the condition that the detected object is not damaged, and a reliable basis is provided for nondestructively and accurately analyzing three-dimensional structure information inside the detected object.
In the traditional industrial CT scanning process, the X-ray source is always started, so that the dosage of X-rays on a measured object is always accumulated, the imaging quality of a detector is influenced, and the X-ray source continuously emits X-rays, so that the accumulated X-rays are lost along with time.
Meanwhile, the traditional industrial CT system is characterized in that a mechanical system, a detector and an X-ray source are controlled independently, an operator needs to operate respective control software of the mechanical system, the detector and the X-ray source respectively, imaging quality depends on the operation sequence and proficiency of the operator to a great extent, the imaging quality is not uniform and fixed, and most of the traditional industrial CT system takes a PLC (programmable logic controller) as a motion control part, but the traditional industrial CT system generally supports logic language programming, does not support high-level languages, is simple in motion process and is fixed in track. This has certain limitations for the desktop type industrial CT system with abundant motion control commands and flexible operation
In order to solve the above problems, people are always seeking an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a desktop type industrial CT motion control system based on an NI motion control card.
In order to achieve the purpose, the invention adopts the technical scheme that: a desktop type industrial CT motion control system based on an NI motion control card, a junction box, a servo driver and a servo motor,
the NI motion control card is inserted in the PC, the NI motion control card is connected with the junction box through a signal connecting wire, the servo driver is respectively connected with the servo motor and the junction box through signal connecting wires, and a tested object bearing device is installed on the servo motor; the PC is respectively communicated with the servo motor and the detector in an Ethernet serial communication mode, and the X-ray source is in communication connection with the PC through an RS-232C serial port;
the PC is internally provided with an NI-Motion development function and a calling program for calling the NI-Motion development function, the PC calls the NI-Motion development function through the calling program to control the servo motor to stop rotating at an angle needing to be scanned, and simultaneously synchronously controls the detector and the X-ray source to work so as to realize static scanning of a detected object.
Based on the above, the specific steps of the PC invoking the NI-Motion development function through the invoking program to control the servo motor to stop rotating at the angle required to be scanned, and simultaneously synchronously controlling the detector and the X-ray source to work to realize the static scanning of the object to be measured include:
step 1, uploading a state signal 'STS 0' to the PC after an X-ray source is started; after receiving the state signal 'STS 0', the PC sends a preheating command to the X-ray source through the RS-232C serial port to preheat the X-ray source, and the state signal 'STS 1' is uploaded to the PC after the X-ray source is preheated;
step 2, the PC machine receives the state signal 'STS 1' and then sends an adjusting signal to the X-ray source, the X-ray source is controlled to adjust the voltage and the current to the voltage and the current needed by penetrating the object to be detected, and the X-ray source uploads the state signal 'STS 2' to the PC machine after the adjustment is finished;
step 3, after receiving the state signal STS2, the PC calls an NI-Motion development function to control an NI Motion control card to send out pulses and direction differential trigger pulses to a junction box through a calling program, and outputs the pulses and the direction differential trigger pulses to a servo driver through the junction box; the servo motor sends a trigger pulse to the detector after working, the detector judges whether the trigger pulse meets the trigger input requirement of the detector, and if the trigger pulse meets the trigger input requirement, the detector returns an Expose _ OK signal to the PC;
step 4, after receiving the Expose _ OK signal returned by the detector, the PC judges whether the status signal "STS" uploaded by the X-ray source is "STS 2", if so, sends a transmission command "XON" to the X-ray source through the RS-232C serial port to enable the X-ray source to start transmitting, and otherwise, continuously judges whether the status signal "STS" uploaded by the X-ray source is "STS 2";
and 5, after the image acquisition is finished, the PC sends an emission stop command XOFF to the X-ray source through the RS-232C serial port, so that the X-ray source stops emitting.
3. The signal output of the junction box of claim 1 to the user signal input of the detector, wherein in step 3, the calculation formula of the pulse modulus is:
，
n is the number required by one rotation of the motor, and D is the diameter D of the cylinder externally connected with the object to be measured; u is the detector pixel size.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and particularly provides a synchronous Motion control system of desktop type industrial CT based on an NI Motion control card and NI-Motion, which improves the synchronous control flow of a bearing device of a measured object, a detector and an X-ray source, improves the imaging quality of the detector by reducing the loss of the X-ray source, and simultaneously fully utilizes the powerful data processing function of a PC (personal computer) and the accurate control of the Motion control card on a motor, and improves the reliability, stability and accuracy of the Motion control system.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a waveform diagram of an oscilloscope obtaining an input signal of a user and a return signal of a detector in an embodiment of the invention.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
As shown in fig. 1, the present embodiment provides a desktop type industrial CT motion control system based on an NI motion control card, which includes a PC, a detector, an X-ray source, an NI motion control card, a junction box, a servo driver and a servo motor;
the NI motion control card is inserted in the PC, the NI motion control card is connected with the junction box through a signal connecting line, and the servo driver is respectively connected with the servo motor and the junction box through signal connecting lines; a tested object bearing device is arranged on the servo motor; the PC is respectively communicated with the servo motor and the detector in an Ethernet serial communication mode, and the X-ray source is in communication connection with the PC through an RS-232C serial port; the PC is internally provided with an NI-Motion development function and a calling program for calling the NI-Motion development function, the PC calls the NI-Motion development function through the calling program to control the servo motor and the bearing device of the object to be detected to stop rotating at the angle required to be scanned, and simultaneously synchronously controls the detector and the X-ray source to work so as to realize the static scanning of the object to be detected.
In practice, the terminal block is preferably a UMI-7774 terminal block, which is a special motion control interface for connecting NI motion control cards and third party drives, up to four axes being used simultaneously, and these interfaces being connectable to differential encoders. The NI motion control card is preferably a PCI-7356 motion control card, the PCI-7356 motion control card is a 4-axis motion control card, supports plug and play, has high data throughput, provides fully programmable motion control, and is the mainstream of the design of the motion control card. The servo motor is a Kolmogong D061A servo motor, the Kolmogong D061A servo motor has continuous torque of 5.3-339N-m, the rotating speed is up to 500RPM, and the application requirements of most high-torque and low-rotating-speed applications are met. The detector is 2520DX model of VARIAN company, and the X-Ray Source is 100 kV Microfocus X-Ray Source L10101 of Japan.
Based on the preferred scheme, the early preparation process of the control system is as follows:
hardware structure assembly
Firstly, installing Kollmorgen WorkBench software and an NI-Motion development function on the PC, inserting the NI Motion control card PCI-7356 into the PC, and connecting the NI Motion control card PCI-7356 with the UMI-7774 junction box through a signal connecting wire;
as shown in fig. 2, the kormochi servo driver AKD-P00606 and the kormochi servo motor D061A are connected with a UMI-7774 junction box through a signal connection line; the connection between the PC and the servo motor and the connection between the PC and the detector are realized in an Ethernet serial communication mode, and the connection between the X-ray source and the PC is realized through an RS-232C serial port;
and installing a measured object bearing and positioning device on the servo motor, and finishing the hardware assembly of the synchronous motion control system.
Kerr Morgan servo motor and detector parameter setting and initialization
And setting a Kellmorgen servo motor driver through Kollmorgen WorkBench software, and selecting a working mode, wherein both a path mode and a speed mode select an absolute mode, and a rotary Motion mode is realized by calling an NI-Motion development function. Under a normal state, the rotary motion mode of the Kolmogue servo motor comprises continuous rotation and stop-and-go rotation, if the rotary motion mode of the Kolmogue servo motor is continuous rotation, motion artifacts are easily formed in the scanning process, so that the rotary motion mode of the Kolmogue servo motor is selected as stop-and-go rotation, and an object can be stopped at a required angle to receive X-rays so as to form a stable image on a flat panel detector; setting the initial position and the end position of the movement as 0counts and 720000counts respectively, namely, the measured object rotates for one circle; setting a Kerr Morgan servo motor to rotate for one circle to send out pulse numbers, wherein the setting of the embodiment is 720000 counts/rev; in the embodiment, the Kerr Morgan servo motor and the article stop once every time the Korr Morgan servo motor rotates once;
according to the formula of pulse modulus
Calculating the pulse modulus to obtain the pulse modulus
；
Wherein the detector pixel size μ =49.5 μm; the number of counts required for one rotation of the motor is N = 720000 counts; the diameter D = 10cm of the circumscribed circle of the measured object;
through the formula, the pulse modulus BPM is irrelevant to the rotation speed of the motor, which means that a user can define the rotation speed within a reasonable range without influencing the synchronization of the detector and the rotation bearing device of the measured object, the BPM value is written into a program, and the pulse frequency formula of the servo motor is used
Calculating the pulse frequency F of the servo motor;
the scanning frequency of the detector is equal to the pulse frequency F of the servo motor;
saving all the configurations and activating a Kerr Morgan servo motor driver; the Kerr Morgan servomotor encoder simulation (X9 configuration) was set to the required simulation resolution, 180000lines/rev in this example, and the present Kerr Morgan servomotor was found in the NI-Motion development function, and the simulation resolution was four times the resolution in the encoder setting in the NI-Motion development function.
And step 3: and calling an NI-Motion development function by adopting VS2015+ Qt5.2.1, and compiling a friendly interface so as to feed back the Motion information of the Motion control system in real time.
Start scanning
The PC calls an NI-Motion development function through a calling program to control the Kelmogon servo motor to stop rotating at an angle needing to be scanned, and synchronously controls the detector and the X-ray source to work so as to realize static scanning of a detected object;
the method comprises the following specific steps:
step 1, after an X-ray source is started, uploading a state signal 'STS 0' to the PC; after receiving the state signal 'STS 0', the PC sends a preheating command to the X-ray source through the RS-232C serial port to preheat the X-ray source, and the state signal 'STS 1' is uploaded to the PC after the X-ray source is preheated;
step 2, the PC machine receives the state signal 'STS 1' and then sends an adjusting signal to the X-ray source, the X-ray source is controlled to adjust the voltage and the current to the voltage and the current needed by penetrating the object to be detected, and the X-ray source uploads the state signal 'STS 2' to the PC machine after the adjustment is finished;
step 3, after receiving the state signal STS2, the PC calls an NI-Motion development function to control an NI Motion control card to send out pulses and direction differential trigger pulses to a junction box through a calling program, and outputs the pulses and the direction differential trigger pulses to a servo driver through the junction box; the servo motor sends a trigger pulse to the detector after working, the detector judges whether the trigger pulse meets the trigger input requirement of the detector, and if the trigger pulse meets the trigger input requirement, the detector returns an Expose _ OK signal to the PC;
step 4, after receiving an Expose _ OK signal returned by the detector, the PC detects a status signal "STS" uploaded by the X-ray source in real time, and when the status signal "STS" = "STS 2", sends a transmission command "XON" to the X-ray source through the RS-232C serial port, so that the X-ray source starts to transmit;
and 5, after the image acquisition is finished, the PC sends an emission stop command XOFF to the X-ray source through the RS-232C serial port, so that the X-ray source stops emitting.
As can be seen from the above description, the synchronization mode enables the X-ray source to be turned on only after the servo motor and the detector are ready, thereby reducing the working time of the X-ray source, enabling the X-ray loss of the X-ray source to be smaller and the quality of the scanned image to be better.
In order to verify synchronization, a Breakpoint output interface of the UMI7774 junction box can be connected with a User Sync input interface of the detector, and an Expose _ OK signal output interface of the detector is connected with an oscilloscope; when the PC controls the servo motor to start moving, the servo motor can rotate at 360 degrees in a walking and stopping way at the speed, acceleration and motion track set by a user, and the detector performs image acquisition in a pulse mode set by the user at the same time, as shown in FIG. 2, an oscilloscope obtains a waveform diagram of an input signal of the user and a return signal of the detector, and it can be seen that the periods of the input signal and the output signal are consistent.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (1)
1. The utility model provides a desktop type industry CT motion control system based on NI motion control card which characterized in that: comprises a PC, a detector, an X-ray source, an NI motion control card, a junction box, a servo driver and a servo motor,
the NI motion control card is inserted in the PC, the NI motion control card is connected with the junction box through a signal connecting wire, the servo driver is respectively connected with the servo motor and the junction box through signal connecting wires, and a tested object bearing device is installed on the servo motor; the PC is respectively communicated with the servo motor and the detector in an Ethernet serial communication mode, and the X-ray source is in communication connection with the PC through an RS-232C serial port;
the PC is internally provided with an NI-Motion development function and a calling program for calling the NI-Motion development function, the PC calls the NI-Motion development function through the calling program to control the servo motor to stop rotating at an angle needing scanning, and simultaneously synchronously controls the detector and the X-ray source to work so as to realize static scanning of a detected object:
step 1, uploading a state signal 'STS 0' to the PC after an X-ray source is started; after receiving the state signal 'STS 0', the PC sends a 'WUP' preheating command to the X-ray source through the RS-232C serial port, so that the X-ray source is preheated, and the state signal 'STS 1' is uploaded to the PC after the X-ray source is preheated;
step 2, the PC machine receives the state signal 'STS 1' and then sends an adjusting signal to the X-ray source, the X-ray source is controlled to adjust the voltage and the current to the voltage and the current needed by penetrating the object to be detected, and the X-ray source uploads the state signal 'STS 2' to the PC machine after the adjustment is finished;
step 3, after receiving the state signal STS2, the PC calls an NI-Motion development function to control an NI Motion control card to send out pulses and direction differential trigger pulses to a junction box through a calling program, and outputs the pulses and the direction differential trigger pulses to a servo driver through the junction box; the servo driver receives a differential trigger pulse sent by the NI motion control card and then controls the servo motor to work in a preset pulse modulus; the servo motor sends a trigger pulse to the detector after working, the detector judges whether the trigger pulse meets the trigger input requirement of the detector, and if the trigger pulse meets the trigger input requirement, the detector returns an Expose _ OK signal to the PC;
the calculation formula of the pulse modulus is as follows:
，
n is the number required by one rotation of the motor, and D is the diameter D of the cylinder externally connected with the object to be measured; u is the detector pixel size;
step 4, after receiving the Expose _ OK signal returned by the detector, the PC judges whether the status signal "STS" uploaded by the X-ray source is "STS 2", if so, sends a transmission command "XON" to the X-ray source through the RS-232C serial port to enable the X-ray source to start transmitting, and otherwise, continuously judges whether the status signal "STS" uploaded by the X-ray source is "STS 2";
and 5, after the image acquisition is finished, the PC sends an emission stop command XOFF to the X-ray source through the RS-232C serial port, so that the X-ray source stops emitting.
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| CN106353177B (en) * | 2015-07-21 | 2019-02-26 | 中国矿业大学(北京) | A kind of industry CT scan test system and synchronous rotating device |
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| EP0715333A1 (en) * | 1994-11-28 | 1996-06-05 | Picker International, Inc. | X-ray tube assemblies |
| CN204228630U (en) * | 2014-09-29 | 2015-03-25 | 天津滨孚企业管理咨询有限公司 | Weld seam image-forming detecting system |
| CN106880374A (en) * | 2017-03-27 | 2017-06-23 | 东北大学 | Power spectrum CT imaging methods and power spectrum CT imaging systems |
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