CN111616736A - Ultrasonic transducer alignment method, device and system and storage medium - Google Patents
Ultrasonic transducer alignment method, device and system and storage medium Download PDFInfo
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- 238000002604 ultrasonography Methods 0.000 claims description 19
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
Abstract
The invention discloses a method for aligning an ultrasonic transducer, which comprises the following steps: s1, determining the to-be-aligned direction of the ultrasonic transducer; s2, controlling the ultrasonic transducer to move in the direction to be aligned, scanning the reflection target at the same time, and determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to a plurality of echo signals reflected by the reflection target; and S3, controlling the ultrasonic transducer to move to the determined peak position, and finishing the alignment of the ultrasonic transducer in the direction to be aligned. The invention also discloses an aligning device, a system and a storage medium of the ultrasonic transducer. The invention can realize the alignment of the ultrasonic transducer without manual participation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an ultrasonic transducer alignment method, an ultrasonic transducer alignment device, an ultrasonic transducer alignment system and a storage medium.
Background
The ultrasonic transducer is the most critical acoustic component in the medical ultrasonic imaging system, and the evaluation of the use characteristics of the ultrasonic transducer is mainly realized by processing echo measurement data and acoustic field distribution characteristic measurement data. When the ultrasonic transducer performs echo measurement, the ultrasonic transducer needs to be aligned, so that an optimal measurement position can be found, and a measurement result is more accurate. In the existing echo measuring system, the alignment of the ultrasonic transducer cannot be automatically controlled, and the best measuring position needs to be found through manual debugging, so that the existing echo measuring system is very inconvenient and consumes long time. Therefore, how to provide an ultrasonic transducer aligning method without human intervention becomes a technical problem to be solved at present.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an ultrasonic transducer alignment method, and aims to solve the technical problem of how to provide an ultrasonic transducer alignment method without manual participation.
In order to achieve the above object, the present invention provides a method for aligning an ultrasonic transducer, comprising the steps of: s1, determining the to-be-aligned direction of the ultrasonic transducer; s2, controlling the ultrasonic transducer to move in the direction to be aligned, scanning the reflection target at the same time, and determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to a plurality of echo signals reflected by the reflection target; and S3, controlling the ultrasonic transducer to move to the determined peak position, and finishing the alignment of the ultrasonic transducer in the direction to be aligned.
Optionally, the step of controlling the ultrasonic transducer to move to the determined peak position further comprises: recording the currently determined peak position as a first target position; adjusting the scanning parameters of the ultrasonic transducer, scanning the reflection target according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned, and recording the peak position as a second target position; calculating the absolute value of the difference between the first target position and the second target position in the direction to be aligned, and comparing the absolute value of the difference with a preset value; and if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the ultrasonic transducer, and controlling the ultrasonic transducer to move to the second target position.
Optionally, the aligning method of the ultrasonic transducer further includes: determining the next to-be-aligned direction, and executing the steps S2 and S3 to complete the alignment of the ultrasonic transducer in the to-be-aligned direction until the ultrasonic transducer is aligned in all to-be-aligned directions.
Optionally, the step S1 includes: establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane and a direction vertical to the horizontal plane as a Z axis; and determining the to-be-aligned direction of the ultrasonic transducer, wherein the to-be-aligned direction comprises a Z-axis direction, a rotating direction taking an X-axis as a rotating shaft and a rotating direction taking a Y-axis as a rotating shaft.
Optionally, the echo signal carries three-dimensional coordinate information of a scanning point corresponding to the echo signal.
Optionally, the step of determining, according to a plurality of echo signals reflected back by the reflection target, a peak position of an echo amplitude of the ultrasonic transducer in the direction to be aligned includes: calculating a plurality of reference values of a plurality of echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the echo signal; fitting a plurality of reference values to obtain an echo signal with the maximum peak value; and determining the scanning position corresponding to the echo signal with the maximum peak value as the peak value position of the echo amplitude of the ultrasonic transducer in the direction to be aligned.
Optionally, the step of moving the ultrasound transducer to the determined peak position comprises: controlling motion of a robotic arm to move an ultrasonic transducer clamped on a clamp of the robotic arm to the determined peak position.
In order to achieve the above object, the present invention further provides an aligning apparatus for an ultrasonic transducer, including: the system comprises a memory, a processor and an ultrasonic transducer alignment program stored on the memory and capable of running on the processor, wherein the ultrasonic transducer alignment program realizes the steps of the ultrasonic transducer alignment method when executed by the processor.
In order to achieve the above object, the present invention further provides an aligning system of an ultrasonic transducer, including: the ultrasonic transducer comprises a reflection target, an aligning device of the ultrasonic transducer, the ultrasonic transducer and a mechanical arm which are sequentially and electrically connected; the ultrasonic transducer is clamped on the mechanical arm through a clamp arranged on the mechanical arm.
In order to achieve the above object, the present invention further provides a storage medium, where the storage medium stores an alignment program of an ultrasound transducer, and the alignment program of the ultrasound transducer, when executed by a processor, implements the steps of the alignment method of the ultrasound transducer as described above.
According to the aligning method, the aligning device, the aligning system and the storage medium of the ultrasonic transducer provided by the embodiment of the invention, the ultrasonic transducer is controlled to move in the direction to be aligned and scan the reflecting target at the same time, so that a plurality of echo signals reflected by the reflecting target are obtained, the echo signal with the maximum peak value is further searched, and the ultrasonic transducer is moved to the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained, wherein the scanning position of the ultrasonic transducer is the optimal measurement position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained, so that the automatic aligning of the ultrasonic transducer is realized, manual participation is not needed, and the aligning method is very convenient.
Drawings
Fig. 1 is a functional block diagram of an alignment system of an ultrasonic transducer according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an alignment system of an ultrasonic transducer according to an embodiment of the present invention;
fig. 3 is a schematic terminal structure diagram of an alignment system of an ultrasonic transducer according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a first embodiment of the alignment method of the ultrasonic transducer of the present invention;
fig. 5 is a detailed flowchart of step S400 of the first embodiment of the alignment method of the ultrasonic transducer in fig. 4;
fig. 6 is a schematic diagram of a three-dimensional coordinate system established in a first embodiment of the alignment method of the ultrasonic transducer of the present invention;
fig. 7 is a detailed flowchart of step S410 of the first embodiment of the alignment method of the ultrasonic transducer in fig. 4;
FIG. 8 is a schematic view of the rotational movement of an ultrasonic transducer in a first embodiment of the inventive method of aligning an ultrasonic transducer;
fig. 9 is a flowchart illustrating a second embodiment of the alignment method of the ultrasonic transducer according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: s1, determining the to-be-aligned direction of the ultrasonic transducer; s2, controlling the ultrasonic transducer to move in the direction to be aligned, scanning the reflection target at the same time, and determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to a plurality of echo signals reflected by the reflection target; and S3, controlling the ultrasonic transducer to move to the determined peak position, and finishing the alignment of the ultrasonic transducer in the direction to be aligned.
According to the alignment method of the ultrasonic transducer provided by the embodiment of the invention, the ultrasonic transducer is controlled to move in the direction to be aligned and simultaneously scan the reflection target, so that a plurality of echo signals reflected by the reflection target are obtained, the echo signal with the maximum peak value is further searched, and the ultrasonic transducer is moved to the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained, wherein the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained is the optimal measurement position of the ultrasonic transducer, so that the automatic alignment of the ultrasonic transducer is realized, manual participation is not needed, and the method is very convenient.
Referring to fig. 1, an alignment system of an ultrasonic transducer according to an embodiment of the present invention includes: the device comprises a terminal 1, an oscilloscope 4, an excitation source 6, a mobile control box 9, a mechanical arm 7, a clamp 8, an ultrasonic transducer 5, a water tank 3 and a reflection target 2. The terminal 1, the oscilloscope 4, the excitation source 6 and the ultrasonic transducer 5 are electrically connected in sequence to form a closed loop. The terminal 1 is also electrically connected to the movement control box 9, the robot arm 7 and the excitation source 6. The reflective target 2 is placed at the bottom of the water tank 3. The ultrasonic transducer 5 is held by a holder 8 provided at the free end of the arm 7 and is extended into the water tank 3 so that the ultrasonic signal emitting surface thereof faces downward toward the reflective target 2. The water tank 3 is filled with water, and the water level line of the water tank is higher than the ultrasonic signal emitting surface of the ultrasonic transducer 5.
Referring to fig. 2, a water tank 3 and a fixed base 8 are placed on a workbench 1, one end of a mechanical arm 7 is fixedly connected with the top of the fixed base 8, the other end of the mechanical arm 7 is a free end, the tail end of the free end is fixedly connected with one end of a universal fixture portion 6, the other end of the universal fixture portion 6 is connected with a special fixture portion 4, an ultrasonic transducer 5 is clamped and fixed by the special fixture portion 4, a reflection target 2 is placed at the bottom of the water tank 3, and the ultrasonic signal emitting surface of the ultrasonic transducer 5 faces downward to the reflection target 2.
The terminal 1 controls the excitation source 6 to send out a pulse signal to excite the ultrasonic transducer 5, the ultrasonic transducer 5 is excited to send out an ultrasonic signal to scan the reflection target 2 and receive an echo signal reflected by the reflection target 2, the echo signal is sent to the excitation source 6 to be amplified and then collected by the oscilloscope 4, and the terminal 1 aligns the ultrasonic transducer 5 according to the echo signal collected by the oscilloscope 4. The terminal 1 controls the actions of the mechanical arm 7 and the clamp 8 by sending instructions to the movement control box 9 so as to move the ultrasonic transducer 5 to the determined movement position, thereby completing the alignment.
Fig. 3 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a PC, and can also be a mobile terminal device such as a smart phone, a tablet computer, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 3001, e.g., a CPU, a network interface 3004, a user interface 3003, a memory 3005, a communication bus 3002. The communication bus 3002 is used to realize connection communication between these components. The user interface 3003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 3003 may also include a standard wired interface, a wireless interface. The network interface 3004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 3005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 3005 may alternatively be a storage device separate from the processor 3001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 3 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 3, the memory 3005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a registration program of the ultrasonic transducer.
In the terminal shown in fig. 3, the network interface 3004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 3003 is mainly used for connecting a client (user terminal) and performing data communication with the client; and the processor 3001 may be configured to invoke a registration procedure for the ultrasound transducer stored in the memory 3005 and perform the following operations:
s1, determining the to-be-aligned direction of the ultrasonic transducer;
s2, controlling the ultrasonic transducer to move in the direction to be aligned, scanning the reflection target at the same time, and determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to a plurality of echo signals reflected by the reflection target;
and S3, controlling the ultrasonic transducer to move to the determined peak position, and finishing the alignment of the ultrasonic transducer in the direction to be aligned.
Further, the step of controlling the ultrasonic transducer to move to the determined peak position further comprises: recording the currently determined peak position as a first target position; adjusting the scanning parameters of the ultrasonic transducer, scanning the reflection target according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned, and recording the peak position as a second target position; calculating the absolute value of the difference between the first target position and the second target position in the direction to be aligned, and comparing the absolute value of the difference with a preset value; and if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the ultrasonic transducer, and controlling the ultrasonic transducer to move to the second target position.
Further, the processor 3001 may invoke a registration program for the ultrasound transducer stored in the memory 3005, and further perform the following operations:
determining the next to-be-aligned direction, and executing the steps S2 and S3 to complete the alignment of the ultrasonic transducer in the to-be-aligned direction until the ultrasonic transducer is aligned in all to-be-aligned directions.
Further, the step S1 includes: establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane and a direction vertical to the horizontal plane as a Z axis; and determining the to-be-aligned direction of the ultrasonic transducer, wherein the to-be-aligned direction comprises a Z-axis direction, a rotating direction taking an X-axis as a rotating shaft and a rotating direction taking a Y-axis as a rotating shaft.
Further, the echo signal carries three-dimensional coordinate information of a scanning point corresponding to the echo signal.
Further, the step of determining the peak position of the echo amplitude of the ultrasonic transducer in the to-be-aligned direction according to the plurality of echo signals reflected back by the reflection target comprises: calculating a plurality of reference values of a plurality of echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the echo signal; fitting a plurality of reference values to obtain an echo signal with the maximum peak value; and determining the scanning position corresponding to the echo signal with the maximum peak value as the peak value position of the echo amplitude of the ultrasonic transducer in the direction to be aligned.
Further, the step of moving the ultrasound transducer to the determined peak position comprises: controlling motion of a robotic arm to move an ultrasonic transducer clamped on a clamp of the robotic arm to the determined peak position.
Referring to fig. 4, a first embodiment of an aligning method of an ultrasonic transducer includes the following steps:
step S400, determining the direction of the ultrasonic transducer to be aligned;
the ultrasonic transducer of this embodiment is a single-element ultrasonic transducer, and the directions to be aligned, which need to be aligned, include but are not limited to a displacement direction facing the reflective target, and a rotation direction taking a straight line on an ultrasonic signal emitting surface of the ultrasonic transducer as a rotation axis. In order to complete the alignment of the ultrasonic transducer more simply, in this embodiment, the direction to be aligned includes a displacement direction facing the reflection target, and a rotation direction taking two perpendicular straight lines on the ultrasonic signal emitting surface of the ultrasonic transducer as a rotation axis. Further, the terminal arbitrarily selects and determines one to-be-aligned direction from the above-mentioned to-be-aligned directions to execute step S410.
Referring to fig. 5, in one embodiment, step S400 includes:
s500, establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane and a direction vertical to the horizontal plane as a Z axis;
step S510, determining that the to-be-aligned directions of the ultrasonic transducer include a Z-axis direction, a rotation direction using an X-axis as a rotation axis, and a rotation direction using a Y-axis as a rotation axis.
Referring to fig. 6, in particular, the terminal establishes a three-dimensional coordinate system with the center of the ultrasonic signal emitting surface of the ultrasonic transducer as an origin, a horizontal plane including the origin as an X-Y plane, and a direction perpendicular to the horizontal plane as a Z axis. Further, the terminal arbitrarily selects one to-be-aligned direction from among the Z-axis direction, the rotation direction with the X-axis as the rotation axis, and the rotation direction with the Y-axis as the rotation axis to perform step S410.
Step S410, controlling the ultrasonic transducer to move in the direction to be aligned, scanning the reflection target, and determining a peak position of an echo amplitude of the ultrasonic transducer in the direction to be aligned according to a plurality of echo signals reflected by the reflection target.
And the terminal sends an instruction to the mobile control box to control the actions of the mechanical arm and the clamp, so that the ultrasonic transducer is controlled to move in the direction to be aligned. Specifically, when the direction to be aligned determined by the terminal in step S400 is the Z-axis direction, the ultrasonic transducer performs displacement motion in the Z-axis direction. When the to-be-aligned direction determined by the terminal in step S400 is a rotation direction using the X axis as a rotation axis or a rotation direction using the Y axis as a rotation axis, the ultrasonic transducer performs a rotation motion in the rotation direction using the X axis as a rotation axis or the rotation direction using the Y axis as a rotation axis.
When the ultrasonic transducer moves in the direction to be aligned, the terminal enables the ultrasonic transducer to be excited through the excitation source, the ultrasonic transducer emits ultrasonic signals outwards, and the ultrasonic signals are used for scanning the reflecting target. And during initial scanning, the terminal initializes the alignment parameters. The alignment parameters include peak position, echo signal, reference value and scan zero. The scan zero point is the starting scan position of the ultrasound transducer. The ultrasonic transducer scans the reflecting target according to certain scanning parameters. Wherein the scan parameter includes a scan range. The scanning range is a spatial range with the scanning zero point as a reference point, for example, the scanning range is [ -a, a ], a is greater than or equal to 0, and the scanning range in the actual scanning process of the ultrasonic transducer is within a range of positive and negative a values with the scanning zero point as an origin. In this embodiment, the scanning mode adopted by the ultrasonic transducer may be, but is not limited to, continuous scanning or step scanning. When the scanning mode is continuous scanning, the scanning parameters also comprise scanning frequency, and the ultrasonic transducer scans the reflecting target at a certain scanning frequency in the moving process. When the scanning mode is step scanning, the scanning parameters also comprise scanning step length, when the ultrasonic transducer moves for one scanning step length, the ultrasonic transducer stops moving and scans the reflecting target to obtain an echo signal, and then the ultrasonic transducer continues to move for the next scanning step length to obtain the next echo signal.
In the scanning process, the ultrasonic transducer receives a plurality of echo signals reflected by the reflection target, the echo signals are amplified by the excitation source and then collected by the oscilloscope, and the terminal determines the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to the echo signals collected by the oscilloscope. And the peak position of the echo amplitude is the scanning position of the corresponding ultrasonic transducer when the echo signal with the maximum peak value is obtained. Specifically, the terminal acquires a plurality of peak values of a plurality of echo signals, and determines the echo signal with the maximum peak value according to the plurality of peak values, so as to obtain the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained by scanning, and determine the scanning position as the peak value position of the echo amplitude.
Referring to fig. 7, in one embodiment, the step of determining the peak position of the echo amplitude of the ultrasonic transducer in the to-be-aligned direction according to the plurality of echo signals reflected back by the reflection target includes:
step S700, calculating a plurality of reference values of a plurality of echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the echo signal;
step S710, fitting a plurality of reference values to obtain an echo signal with the maximum peak value of a peak;
step S720, determining the scanning position corresponding to the echo signal with the maximum peak value as the peak position of the echo amplitude of the ultrasonic transducer in the to-be-aligned direction.
And when the reference value is the peak value of the echo signal, the terminal calculates to obtain a plurality of peak values corresponding to the echo signals. And the terminal fits a plurality of reference values to obtain a maximum peak value of the wave peak, and further obtains a corresponding echo signal according to the maximum peak value of the wave peak. The echo envelope is a time-varying curve of the amplitude of the echo signal, and when the reference value is the echo envelope of the echo signal, the terminal calculates and obtains time-varying data of the amplitude of the echo signal so as to obtain the corresponding echo envelope. The terminal fits a plurality of echo envelopes corresponding to the echo signals to obtain the echo signal with the maximum amplitude peak value in the echo envelopes, namely the echo signal with the maximum peak value. Further, the terminal determines a scanning position corresponding to the ultrasonic transducer when the echo signal with the maximum peak value is obtained as a peak position of the echo amplitude of the ultrasonic transducer in the currently determined direction to be aligned.
In one embodiment, the echo signal carries three-dimensional coordinate information of a scanning point corresponding to the echo signal. In the scanning process, the ultrasonic transducer is in motion, that is, the three-dimensional coordinate system also moves along with the motion of the ultrasonic transducer, and the reflecting target is static, so that scanning points corresponding to echo signals obtained by the ultrasonic transducer at different scanning positions have different three-dimensional coordinate information, and the terminal can correspondingly determine the scanning position of the ultrasonic transducer when the echo signal corresponding to the scanning point is obtained according to the three-dimensional coordinate information of the scanning point. Specifically, the terminal obtains the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained through scanning according to the three-dimensional coordinate information of the scanning point corresponding to the echo signal with the maximum peak value, and determines the scanning position as the peak value position of the echo amplitude.
Step S420, controlling the ultrasonic transducer to move to the determined peak position, and completing the alignment of the ultrasonic transducer in the to-be-aligned direction.
In one embodiment, the step of controlling the ultrasonic transducer to move to the determined peak position comprises: controlling motion of a robotic arm to move an ultrasonic transducer clamped on a clamp of the robotic arm to the determined peak position. Specifically, the terminal sends an instruction to the mobile control box to control the actions of the mechanical arm and the clamp, and the ultrasonic transducer is controlled to move through the actions of the mechanical arm and the clamp. The mechanical arm adopted by the embodiment is a six-degree-of-freedom mechanical arm. Referring to fig. 8, the six-degree-of-freedom mechanical arm can be provided with a rotation center at will, so that the ultrasonic transducer and the clamp need smaller moving range during alignment, the efficiency is higher, and the measurement occupied space is smaller. To this end, the ultrasonic transducer is aligned in the alignment direction determined in step S400.
In one embodiment, the method for aligning the ultrasonic transducer further comprises:
step S430, determining a next to-be-aligned direction, and performing the steps S410 and S420 to complete the alignment of the ultrasonic transducer in the to-be-aligned direction until the ultrasonic transducer is aligned in all to-be-aligned directions.
In this embodiment, the terminal may further repeat steps S400 to S430 for multiple times to improve the alignment accuracy.
In this embodiment, the terminal scans the reflection target while controlling the ultrasonic transducer to move in the direction to be aligned, so as to obtain a plurality of echo signals reflected by the reflection target, further search for an echo signal with the maximum peak value, and move the ultrasonic transducer to the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained, where the scanning position of the ultrasonic transducer when the echo signal with the maximum peak value is obtained is the best measurement position of the ultrasonic transducer, so that automatic alignment of the ultrasonic transducer is achieved, manual participation is not required, and convenience is provided.
Referring to fig. 9, a second embodiment of an aligning method of an ultrasonic transducer, based on the embodiment shown in fig. 4, the step of controlling the ultrasonic transducer to move to the determined peak position further includes:
step S900, recording the currently determined peak position as a first target position;
when the ultrasonic transducer moves to the currently determined peak position, the terminal records the peak position determined in step S420 as the first target position. Further, the terminal stores the first target position in a cache to be read for use.
Step S910, adjusting the scanning parameters of the ultrasonic transducer, scanning the reflection target according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned, and recording the peak position as a second target position;
when the scanning mode is continuous scanning, the terminal adjusts the scanning range and the scanning frequency. Specifically, the terminal decreases the scanning range when step S410 is performed, and increases the scanning frequency when step S410 is performed. In this embodiment, the scanning range is reduced to half of the original range, and the scanning frequency is increased to twice of the original range. When the scanning mode is step scanning, the terminal adjusts the scanning range and the scanning step length. Specifically, the terminal narrows the scanning range when step S410 is performed, and decreases the scanning step size when step S410 is performed. In this embodiment, both the scanning range and the scanning step length are reduced to half of the original values. And the terminal assigns the alignment parameters again. Specifically, the terminal assigns the first target position to the peak position and serves as a new scan zero.
And the terminal controls the ultrasonic transducer to scan the reflecting target according to the adjusted scanning parameters, re-determines the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to the method of the first embodiment, and records the peak position as a second target position.
Step S920, calculating an absolute value of a difference between the first target position and the second target position in the to-be-aligned direction, and comparing the absolute value of the difference with a preset value;
in this embodiment, the preset value is half of an absolute value of a difference between scanning positions of two adjacent scanning in a to-be-aligned direction when the ultrasound transducer scans with the adjusted scanning parameters.
Step S930, if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as a final moving position of the ultrasonic transducer, and controlling the ultrasonic transducer to move to the second target position.
And if the absolute value of the difference is smaller than or equal to the preset value, returning to the step S400 to re-determine the peak position for alignment.
In this embodiment, after the ultrasonic transducer is controlled to move to the first target position, a new peak position is obtained by continuing scanning, and the new peak position is recorded as the second target position, the absolute value of the difference between the first target position and the second target position in the direction to be aligned is calculated, the absolute value of the difference is compared with a preset value, and if the absolute value of the difference is smaller than or equal to the preset value, the second target position is a more accurate peak position, so that the ultrasonic transducer is moved to the second target position, and the alignment accuracy is improved.
Based on the embodiment shown in fig. 4, the aligning apparatus of an ultrasonic transducer further includes a memory, a processor, and an aligning program of the ultrasonic transducer, which is stored in the memory and is executable on the processor, and when the aligning program of the ultrasonic transducer is executed by the processor, the steps of any one of the embodiments of the aligning method of an ultrasonic transducer described above are implemented.
The embodiment of the present invention further provides an aligning system of an ultrasonic transducer, based on the embodiment shown in fig. 4, the aligning system of an ultrasonic transducer includes: the ultrasonic transducer comprises a reflection target, an aligning device of the ultrasonic transducer, the ultrasonic transducer and a mechanical arm which are sequentially and electrically connected; the ultrasonic transducer is clamped on the mechanical arm through a clamp arranged on the mechanical arm.
The embodiment of the present invention further provides a storage medium, where the storage medium stores a contraposition program of an ultrasound transducer, and the contraposition program of the ultrasound transducer, when executed by a processor, implements the steps of any one of the above embodiments of the contraposition method of the ultrasound transducer.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An aligning method of an ultrasonic transducer, characterized in that the aligning method of the ultrasonic transducer comprises the following steps:
s1, determining the to-be-aligned direction of the ultrasonic transducer;
s2, controlling the ultrasonic transducer to move in the direction to be aligned, scanning the reflection target at the same time, and determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned according to a plurality of echo signals reflected by the reflection target;
and S3, controlling the ultrasonic transducer to move to the determined peak position, and finishing the alignment of the ultrasonic transducer in the direction to be aligned.
2. The method of aligning an ultrasound transducer according to claim 1, wherein the step of controlling the ultrasound transducer to move to the determined peak position further comprises:
recording the currently determined peak position as a first target position;
adjusting the scanning parameters of the ultrasonic transducer, scanning the reflection target according to the adjusted scanning parameters, re-determining the peak position of the echo amplitude of the ultrasonic transducer in the direction to be aligned, and recording the peak position as a second target position;
calculating the absolute value of the difference between the first target position and the second target position in the direction to be aligned, and comparing the absolute value of the difference with a preset value;
and if the absolute value of the difference is smaller than or equal to the preset value, taking the second target position as the final moving position of the ultrasonic transducer, and controlling the ultrasonic transducer to move to the second target position.
3. The aligning method of an ultrasonic transducer according to claim 1 or 2, wherein the aligning method of an ultrasonic transducer further comprises:
determining the next to-be-aligned direction, and executing the steps S2 and S3 to complete the alignment of the ultrasonic transducer in the to-be-aligned direction until the ultrasonic transducer is aligned in all to-be-aligned directions.
4. The alignment method of the ultrasonic transducer according to claim 1, wherein the step S1 includes:
establishing a three-dimensional coordinate system by taking a horizontal plane as an X-Y plane and a direction vertical to the horizontal plane as a Z axis;
and determining the to-be-aligned direction of the ultrasonic transducer, wherein the to-be-aligned direction comprises a Z-axis direction, a rotating direction taking an X-axis as a rotating shaft and a rotating direction taking a Y-axis as a rotating shaft.
5. The alignment method of the ultrasonic transducer according to claim 1, wherein the echo signal carries three-dimensional coordinate information of a scanning point corresponding to the echo signal.
6. The alignment method of the ultrasonic transducer according to claim 1, wherein the step of determining the peak position of the echo amplitude of the ultrasonic transducer in the alignment direction to be aligned according to the plurality of echo signals reflected by the reflection target comprises:
calculating a plurality of reference values of a plurality of echo signals; the reference value comprises a peak-to-peak value or an echo envelope of the echo signal;
fitting a plurality of reference values to obtain an echo signal with the maximum peak value;
and determining the scanning position corresponding to the echo signal with the maximum peak value as the peak value position of the echo amplitude of the ultrasonic transducer in the direction to be aligned.
7. The method of aligning an ultrasound transducer according to claim 1, wherein the step of moving the ultrasound transducer to the determined peak position comprises:
controlling motion of a robotic arm to move an ultrasonic transducer clamped on a clamp of the robotic arm to the determined peak position.
8. An aligning apparatus of an ultrasonic transducer, comprising: a memory, a processor and an ultrasound transducer alignment program stored on the memory and executable on the processor, the ultrasound transducer alignment program when executed by the processor implementing the steps of the ultrasound transducer alignment method according to any one of claims 1 to 7.
9. An alignment system for an ultrasonic transducer, comprising: a reflection target, an aligning device of the ultrasonic transducer, an ultrasonic transducer and a mechanical arm which are electrically connected in turn, according to claim 8; the ultrasonic transducer is clamped on the mechanical arm through a clamp arranged on the mechanical arm.
10. A storage medium, characterized in that the storage medium stores thereon a contraposition program of an ultrasonic transducer, and the contraposition program of the ultrasonic transducer, when executed by a processor, implements the steps of the contraposition method of the ultrasonic transducer according to any one of claims 1 to 7.
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