CN114063013A - Device for assisting ultrasonic detector transducer in carrying out space positioning - Google Patents

Device for assisting ultrasonic detector transducer in carrying out space positioning Download PDF

Info

Publication number
CN114063013A
CN114063013A CN202111373576.9A CN202111373576A CN114063013A CN 114063013 A CN114063013 A CN 114063013A CN 202111373576 A CN202111373576 A CN 202111373576A CN 114063013 A CN114063013 A CN 114063013A
Authority
CN
China
Prior art keywords
positioning
signal
transducer
transceivers
signal transceivers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111373576.9A
Other languages
Chinese (zh)
Inventor
许东
梁行洲
张俊杰
陈建湟
邵明申
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHINESE ACADEMY OF CULTURAL HERITAGE
Original Assignee
CHINESE ACADEMY OF CULTURAL HERITAGE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CHINESE ACADEMY OF CULTURAL HERITAGE filed Critical CHINESE ACADEMY OF CULTURAL HERITAGE
Priority to CN202111373576.9A priority Critical patent/CN114063013A/en
Publication of CN114063013A publication Critical patent/CN114063013A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Abstract

The invention belongs to the technical field of space positioning, and particularly relates to a device for assisting a transducer of an ultrasonic detector to perform space positioning, aiming at solving the problem that the position of the transducer is inconvenient to record in the existing large-area ultrasonic detection process. The device of the invention comprises: a data receiving and processing center, at least four signal transceivers; the signal transceiver is configured to receive the signals and the transmitted signals and send the time stamps of the transmitted signals and the received signals to the data receiving and processing center; and the data receiving and processing center is configured to calculate the distance between the signal transceivers by combining the time stamps, and position the positioning point to be positioned by utilizing a space ranging positioning principle so as to acquire the position of the transducer of the ultrasonic detector. The invention improves the convenience of transducer position recording and the accuracy of positioning in the process of large-area ultrasonic detection.

Description

Device for assisting ultrasonic detector transducer in carrying out space positioning
Technical Field
The invention belongs to the technical field of space positioning, and particularly relates to a device for assisting an ultrasonic detector transducer in carrying out space positioning.
Background
A plurality of large-scale stone historic sites exposed in the field, including stone cultural relics such as buildings, caverns and stone tablets, occupy an important position in historical cultural heritage in China. The stone cultural relics which are subjected to centuries and even millennia cannot avoid diseases such as cracks, surface efflorescence and the like. Before repairing the stone cultural relics, diseases on the cultural relics need to be investigated, and the disease degree is described as much as possible so as to carry out targeted repair work. Ultrasonic detection is a nondestructive detection mode and is commonly used for detecting the surface wave velocity and the crack depth of the cultural relic in the investigation of the stone cultural relic diseases. The ultrasonic propagation time between two measuring points can be obtained through ultrasonic detection, and the propagation speed of the ultrasonic at the distance can be obtained by dividing the distance between two transducers by the ultrasonic propagation time, so that the weathering degree and cracks of the rock surface can be quantified.
The ultrasonic wave velocity measuring method comprises a same-side direct wave method and an opposite penetration method. The same-side direct wave method is used for measuring the surface of a measured object and is widely applied to investigation of stone cultural relic diseases. When an ultrasonic detector is used for carrying out disease investigation on the surface of the stone cultural relic, the detection position needs to be recorded and corresponds to the detection data one by one. At present, the recording mode of the detection position is generally marked on the picture of the detection area or the characteristics of the detection area are drawn on the record book. For large-area detection, the method needs to print a plurality of photos of local detection areas, and visual marking is performed on the photos one by one, so that the efficiency is low, and the detection position mark and the actual error are large.
In order to solve the problem of inconvenient position recording of the transducer in the process of large-area ultrasonic detection, the invention provides a device for assisting the transducer of an ultrasonic detector in carrying out space positioning, which is used for determining the space position of the transducer in a detection area and corresponding to detection data one by one.
Disclosure of Invention
In order to solve the above problems in the prior art, namely to solve the problem that the position of the transducer is inconvenient to record in the process of large-area ultrasonic detection, especially the problem that the spatial position of the transducer is inaccurate and the data processing is inconvenient when the same-side direct wave detection is carried out on a large-area, the invention provides a device for assisting the transducer of an ultrasonic detector to carry out spatial positioning, which comprises two transducers and an ultrasonic detector; one of the two transducers is used for transmitting ultrasonic waves, and the other transducer is used for receiving the ultrasonic waves; the device is used for utilizing ultrasonic detector to carry out the disease reconnaissance to stone historical relic surface, records the detection position of transducer, and then surveys data one-to-one with the disease, acquires the disease survey result on stone historical relic surface, and the device still includes: a data receiving and processing center, at least four signal transceivers;
the signal transceiver is configured to receive signals and transmit signals and send timestamps of the transmit signals and the receive signals to the data receiving and processing center; one signal transceiver is fixed on any one of the two transducers, the position of the signal transceiver is used as a point to be positioned, and the positions of the other signal transceivers are dispersed and not collinear;
and the data receiving and processing center is configured to calculate the distance between the signal transceivers by combining the time stamps, and position the positioning point to be positioned by utilizing a space ranging positioning principle so as to acquire the position of the transducer.
In some preferred embodiments, the signal types of the received signal and the transmitted signal include a pulsed radio signal, a laser signal, and an ultrasonic signal.
In some preferred embodiments, the distance between the signal transceivers is calculated by:
acquiring the time used for signal propagation between the signal transceivers according to the time stamp;
the spacing between the signal transceivers is calculated based on the velocity of the signal types propagating in air, in combination with the time taken for the signals to propagate between the signal transceivers.
In some preferred embodiments, when positioning a point to be positioned by using a spatial ranging positioning principle, if the number of signal transceivers is greater than 4, combining three signal transceivers with three signal transceivers except the point to be positioned, combining the signal transceivers with the point to be positioned, and performing positioning calculation on the combined signal transceivers and the point to be positioned by using a preset positioning calculation method to obtain a plurality of groups of positioning coordinates; calculating the centers of the multiple groups of positioning coordinates to serve as the final coordinates of the to-be-positioned points;
and if the number of the signal transceivers is equal to 4, obtaining the coordinates of the to-be-positioned points directly by a preset positioning calculation method.
In some preferred embodiments, the positioning coordinates are obtained by a preset positioning calculation method, which includes:
Figure BDA0003363240750000031
Figure BDA0003363240750000032
Figure BDA0003363240750000033
Figure BDA0003363240750000034
Figure BDA0003363240750000035
wherein S represents a to-be-positioned point, (x, y, z) represents acquired positioning coordinates, and p1、p2、p3Representing transceivers in three-three combinations other than the point to be located, alpha being denoted by p1As origin, in p1-p2On the axis x, p2And p3Angle between d and d1-2Represents p1、p2A distance between d1-3Represents p1、p3A distance between d1-SRepresents p1S, distance between S, d2-3Represents p2P, d2-sRepresents p2S, distance between S, d3-sRepresents p3And S.
The invention has the beneficial effects that:
the invention improves the convenience of transducer position recording and the accuracy of positioning in the process of large-area ultrasonic detection.
1) The invention enables the spatial position of the transducer to be recorded. Compared with the method that the position of the transducer is marked in the picture, the method can restore the spatial position of the transducer during detection by carrying out spatial positioning on the transducer, and improves the convenience of recording the position of the transducer in the large-area ultrasonic detection process;
2) the spatial information of the detection position corresponds to the detection result one by one, so that the reliability of the detection data and the data processing efficiency are improved;
3) the more signal transceivers are positioned, the more accurate positioning is realized, and the positioning accuracy is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.
FIG. 1 is an exemplary diagram of a transducer positioning with 4 signal transceivers of one embodiment of the present invention;
fig. 2 is an exemplary diagram of a spatial ranging positioning principle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The device for assisting the transducer of the ultrasonic detector to perform space positioning comprises two transducers and an ultrasonic detector, wherein the two transducers are connected with the ultrasonic detector; one of the two transducers is used for transmitting ultrasonic waves, and the other transducer is used for receiving the ultrasonic waves; the device is used for utilizing ultrasonic detector to carry out the disease reconnaissance to stone historical relic surface, records the detection position of transducer, and then surveys data one-to-one with the disease, acquires the disease survey result on stone historical relic surface, and the device still includes: a data receiving and processing center, at least four signal transceivers;
the signal transceiver is configured to receive signals and transmit signals and send timestamps of the transmit signals and the receive signals to the data receiving and processing center; one signal transceiver is fixed on any one of the two transducers, the position of the signal transceiver is used as a point to be positioned, and the positions of the other signal transceivers are dispersed and not collinear;
and the data receiving and processing center is configured to calculate the distance between the signal transceivers by combining the time stamps, and position the positioning point to be positioned by utilizing a space ranging positioning principle so as to acquire the position of the transducer.
In order to more clearly illustrate the device for spatially positioning the transducer of an ultrasonic auxiliary measuring apparatus according to the present invention, the following describes in detail the steps of an embodiment of the present invention with reference to the accompanying drawings.
The device is mainly used for positioning the transducers of the ultrasonic detector and further acquiring disease survey data (the disease survey data acquisition method comprises the steps that the ultrasonic detector acquires the propagation time of ultrasonic waves in a measured object (stone cultural relic) through the transducer survey, then the propagation speed of the ultrasonic waves in the section of material is calculated according to the distance between the two transducers, and further the disease survey data is acquired.
The device for assisting the ultrasonic detector transducer in carrying out space positioning comprises: at least four signal transceivers, a data receiving and processing center;
the signal transceiver is configured to receive the signals and the transmitted signals and send the time stamps of the transmitted signals and the received signals to the data receiving and processing center; one signal transceiver is fixed on any one of the two transducers, the position of the signal transceiver is used as a point to be positioned, and the positions of the other signal transceivers are dispersed and not collinear;
in the present embodiment, the number of the signal transceivers is preferably 4, as shown in fig. 1, wherein the signal types of the signal transceivers for receiving and transmitting the signals include a pulse radio (UWB) signal, a laser signal, and an ultrasonic signal.
And the data receiving and processing center is configured to calculate the distance between the signal transceivers by combining the time stamps, and further position the positioning point to be positioned by utilizing a space ranging positioning principle.
In this embodiment, the method of calculating the distance between the signal transceivers includes:
acquiring the time used for signal propagation between the signal transceivers according to the time stamp;
the spacing between the signal transceivers is calculated based on the velocity of the signal types propagating in air, in combination with the time taken for the signals to propagate between the signal transceivers.
Then, the number of the signal transceivers is judged, and if the number of the signal transceivers is equal to 4 (namely, one to-be-positioned point and three other signal transceivers), the coordinates of the to-be-positioned point, namely the position of the transducer, are obtained directly by a preset positioning calculation method (namely, a space ranging positioning principle);
if the number of the signal transceivers is more than 4, combining the other signal transceivers except the point to be positioned with three, combining the signal transceivers with the point to be positioned, and performing positioning calculation on the combined signal transceivers and the point to be positioned by a preset positioning calculation method (namely a space ranging positioning principle) to obtain a plurality of groups of positioning coordinates; and calculating the centers of the multiple groups of positioning coordinates to serve as the final coordinates of the to-be-positioned points, namely the positions of the transducers. When calculating the centers of the plurality of sets of positioning coordinates, a coordinate average method, a data density method, an euclidean distance method, or the like may be employed.
As shown in fig. 2, the method of the spatial ranging positioning principle includes:
assuming that the point S is a point to be located, let point p1As the origin of a spatial coordinate, point p2On the x coordinate axis, p1、p2、p3Dispersed and non-collinear (S, p)1、p2、p3Representing the positions of four signal transceivers, respectively), the positioning coordinates are obtained according to equations (1) to (5):
Figure BDA0003363240750000071
Figure BDA0003363240750000072
Figure BDA0003363240750000073
Figure BDA0003363240750000074
Figure BDA0003363240750000075
wherein S represents a to-be-positioned point, (x, y, z) represents acquired positioning coordinates, and p1、p2、p3Representing transceivers in three-three combinations other than the point to be located, alpha being denoted by p1As origin, in p1-p2On the axis x, p2And p3Angle between d and d1-2Represents p1、p2A distance between d1-3Represents p1、p3A distance between d1-SRepresents p1S, distance between S, d2-3Represents p2、p3A distance between d2-sRepresents p2S, distance between S, d3-sRepresents p3And S.
And finally, recording the detection position of the transducer, and further corresponding to the disease surveying data one by one to obtain a disease surveying result of the surface of the stone cultural relic.
It should be noted that, the device for assisting the transducer of the ultrasonic detector in performing spatial localization in the above embodiment is only illustrated by dividing the above functional modules, and in practical applications, the above functions may be allocated to different functional modules according to needs, that is, the modules or steps in the embodiment of the present invention are further decomposed or combined, for example, the modules in the above embodiment may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the above described functions. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not to be construed as unduly limiting the present invention.
Those of skill in the art would appreciate that the various illustrative modules, method steps, and modules described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (5)

1. A device for assisting ultrasonic detector transducers to perform space positioning comprises two transducers and an ultrasonic detector; one of the two transducers is used for transmitting ultrasonic waves, and the other transducer is used for receiving the ultrasonic waves; the device is used for utilizing ultrasonic detector to carry out the disease reconnaissance to stone historical relic surface, records the detection position of transducer, and then surveys data one-to-one with the disease, acquires the disease survey result on stone historical relic surface, and its characterized in that, the device still includes: a data receiving and processing center, at least four signal transceivers;
the signal transceiver is configured to receive signals and transmit signals and send timestamps of the transmit signals and the receive signals to the data receiving and processing center; one signal transceiver is fixed on any one of the two transducers, the position of the signal transceiver is used as a point to be positioned, and the positions of the other signal transceivers are dispersed and not collinear;
and the data receiving and processing center is configured to calculate the distance between the signal transceivers by combining the time stamps, and position the positioning point to be positioned by utilizing a space ranging positioning principle so as to acquire the position of the transducer.
2. The apparatus of claim 1, wherein the signal types of the received signal and the transmitted signal include pulsed radio, laser, and ultrasonic signals.
3. An apparatus for spatially locating an ultrasonic detector transducer according to claim 2, wherein the spacing between each of the signal transceivers is calculated by:
acquiring the time used for signal propagation between the signal transceivers according to the time stamp;
the spacing between the signal transceivers is calculated based on the velocity of the signal types propagating in air, in combination with the time taken for the signals to propagate between the signal transceivers.
4. The device for assisting the transducer of the ultrasonic detector in spatial positioning according to claim 3, wherein when a positioning point is positioned by using a spatial ranging positioning principle, if the number of the signal transceivers is greater than 4, the remaining signal transceivers except the to-be-positioned point are combined in three ways, and after the combination, the signal transceivers and the to-be-positioned point are subjected to positioning calculation by using a preset positioning calculation method to obtain a plurality of groups of positioning coordinates; calculating the centers of the multiple groups of positioning coordinates to serve as the final coordinates of the to-be-positioned points;
and if the number of the signal transceivers is equal to 4, obtaining the coordinates of the to-be-positioned points directly by a preset positioning calculation method.
5. The apparatus of claim 4, wherein the positioning coordinates are obtained by a predetermined positioning calculation method, the method comprising:
Figure FDA0003363240740000021
Figure FDA0003363240740000022
Figure FDA0003363240740000023
Figure FDA0003363240740000024
Figure FDA0003363240740000025
wherein S represents a to-be-positioned point, (x, y, z) represents acquired positioning coordinates, and p1、p2、p3Representing transceivers in three-three combinations other than the point to be located, alpha being denoted by p1As origin, in p1-p2On the axis x, p2And p3Angle between d and d1-2Represents p1、p2A distance between d1-3Represents p1、p3A distance between d1-sRepresents p1S, distance between S, d2-3Represents p2、p3A distance between d2-sRepresents p2S, distance between S, d3-sRepresents p3And S.
CN202111373576.9A 2021-11-19 2021-11-19 Device for assisting ultrasonic detector transducer in carrying out space positioning Pending CN114063013A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111373576.9A CN114063013A (en) 2021-11-19 2021-11-19 Device for assisting ultrasonic detector transducer in carrying out space positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111373576.9A CN114063013A (en) 2021-11-19 2021-11-19 Device for assisting ultrasonic detector transducer in carrying out space positioning

Publications (1)

Publication Number Publication Date
CN114063013A true CN114063013A (en) 2022-02-18

Family

ID=80278178

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111373576.9A Pending CN114063013A (en) 2021-11-19 2021-11-19 Device for assisting ultrasonic detector transducer in carrying out space positioning

Country Status (1)

Country Link
CN (1) CN114063013A (en)

Similar Documents

Publication Publication Date Title
CN100520276C (en) System and method for generating three-dimensional density-based defect map
US4317005A (en) Position-determining system
CN102262220B (en) Positioning method of micro-seismic source or acoustic emission source based on non-linear fitting
JP3252965B2 (en) Spatial measurement restoration system
CN108169714B (en) Positioning method and device based on vibration waves
CN104976970B (en) A kind of ultrasonic phase array voussoir self-check system and its method
CN109490835B (en) Water pool calibration method for system error of ultra-short baseline underwater sound positioning system
CN107272004A (en) A kind of single beacon distance-measuring and positioning method based on subsea beacon position correction
CN106546956A (en) A kind of ultra-short baseline receives the method for precisely marking of basic matrix primitive position
CN108519583A (en) Acoustic emission source locating method suitable for anisotropy two dimensional panel
CN112540348A (en) Application of sound ray correction algorithm based on spatial scale in long-baseline underwater sound positioning system
CN110836981A (en) Layered water flow high-resolution radial acoustic Doppler frequency measurement method
US4751645A (en) Method for sonic analysis of an anomaly in a seafloor topographic representation
CN110926459A (en) Method and equipment for processing multi-beam data and storage medium thereof
CN102419457B (en) Method for determining deep rock structural surface attitude by utilizing television image of single vertical drilling hole
CN114063013A (en) Device for assisting ultrasonic detector transducer in carrying out space positioning
CN111579646B (en) In-situ nondestructive testing method for stone cultural relic fracture
CN103575381B (en) Based on the measuring method of the sound fields of ultrasonic transducers of dynamic photoelasticity
CN110780263B (en) Multi-base sound system positioning accuracy analysis method based on Kacini oval line
CN111164369A (en) Method for producing an impact locating device having at least three transducers fixed to an interaction surface
CN113156413A (en) Seabed reference calibration method based on double-pass acoustic path
CN1187612C (en) Method and apparatus for treating signal represented by reflected and transmitted wave from volume member
CN111735436A (en) Submarine topography data verification method based on more than 3 pieces of uniformly distributed multi-beam data
CN112904348B (en) Three-dimensional detection method, device, equipment and storage medium
CN106680807A (en) Automatic recording system used for measuring line tracks of ground penetrating radar and method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination