CN114965693A - Ultrasonic C scanning automatic alignment system based on virtual-real registration - Google Patents
Ultrasonic C scanning automatic alignment system based on virtual-real registration Download PDFInfo
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- G—PHYSICS
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Abstract
The invention relates to the technical field of image processing, in particular to an ultrasonic C scanning automatic alignment system based on virtual-real registration, which comprises a three-axis moving device, an optical camera, a calibration plate and an ultrasonic probe, wherein the optical camera is arranged on a Z-axis fixing frame of the three-axis moving device, an X, Y axis of the three-axis moving device drives an optical corresponding horizontal plane to move, the ultrasonic probe is arranged on a Z axis of the three-axis moving device, the calibration plate is arranged on an underwater test piece table, and system processing is realized based on a system method.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to an ultrasonic C scanning automatic alignment system based on virtual-real registration.
Background
In the ultrasonic C scanning process, a starting point and an end point of a C scanning path need to be set before scanning, the relative position of a test piece is inconvenient to observe due to light refraction in water and the like, and sometimes, a workpiece only needs to scan a part of a specific area, so that the manual selection of the starting point and the end point is time-consuming and labor-consuming, and the accuracy is not high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an ultrasonic C scanning automatic alignment system based on virtual-real registration, so as to solve the problems of inconvenient operation, time consumption and inaccurate alignment operation in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an supersound C scanning automatic alignment system based on virtual reality registration, includes triaxial mobile device, optical camera, calibration board and ultrasonic probe, optical camera installs on triaxial mobile device's Z axle mount, and X, Y axle through triaxial mobile device drive the corresponding horizontal plane of optics and move, and ultrasonic probe installs on triaxial mobile device's Z axle, and the calibration board is arranged in aquatic test piece bench, and its system usage does:
(1) setting a scanning starting point as an X, Y axis original point of the three-axis moving device, and setting a scanning end point as a preset value position of a X, Y axis of the three-axis moving device, so as to ensure that the calibration plate is positioned in the whole scanning area;
(2) carrying out ultrasonic C scanning imaging on the region of the calibration plate through an ultrasonic probe;
(3) after the scanned image is obtained, pixel coordinate values of four fixed points are extracted, and based on the known whole scanning area, a projection matrix H from the workpiece reference plane to the ultrasonic C scanning image is calculated according to the two groups of points w2c ；
(4) Processing the ultrasonic C scanning acoustic image and the optical image of the camera, and calculating to obtain a transformation matrix H from the ultrasonic C scanning image to the optical image c2o ；
(5) Completing system calibration operation based on the steps, then taking out the calibration plate from the underwater test piece table, and placing the workpiece to be detected on the test piece table;
(6) setting the Z axis and the camera at an initial position of an original point, shooting an optical photo of the workpiece in water, adopting HSV color gamut threshold segmentation to identify the outline of the workpiece, and then solving a minimum circumscribed rectangle as a scanning area;
(7) obtaining a scanning starting point A and a scanning end point B in a group of optical images, and reversely solving a two-dimensional space under a workpiece reference plane coordinate system according to a transformation matrix obtained by calibration;
(8) and the automatic scanning can be carried out by setting the coordinates of the starting point and the end point as scanning parameters.
Preferably, the calibration plate is a plate with holes uniformly distributed, and according to the step (4), the acoustic image is processed in such a way that when an ultrasonic probe performs ultrasonic treatment on the surface of the calibration plate, the surface of the calibration plate in the acoustic image is strongly reflected, and the hole position reflection is zero, so that the imaging contrast is high, so that a hole contour is extracted by adopting a threshold segmentation algorithm, and then the hole center is extracted by using a Hough circle fitting algorithm.
Preferably, the calibration plate is made of a single material and is fixed in color, according to the step (4), the optical image processing is to transform the image into an HSV color gamut, binarize the image based on Hue values of the Hue values of the holes of the Hue values of the holes of Hue values of the holes.
Preferably, two groups of points obtained based on acoustic image processing and optical image processing are sorted and sorted to carry out homography transformation matrix fitting solution, and a transformation matrix H from an ultrasonic C scanning image to an optical image is obtained through calculation c2o 。
Preferably, according to steps (7) and (8), the two-dimensional space of the workpiece reference plane coordinate system is:
starting point: a' ═ A · H w2c T ·H c2o T ；
End point: b' ═ B · H w2c T ·H c2o T 。
Compared with the prior art, the invention has the beneficial effects that: the system can complete the automatic alignment and scanning process of any position area only by one calibration operation, thereby reducing the manual alignment and the scanning time of the non-concerned area and improving the scanning efficiency.
1) The invention is an automatic alignment process, which can save the manual operation time of operators, achieve the effect of time and labor saving, improve the accuracy of starting point and end point positioning and save the scanning time.
2) The automation rate of the scanning process is improved, so that the ultrasonic C scanning system is more widely applied in industrial scenes
3) And the virtual-real registration can realize augmented reality fusion display, and has wide application prospect.
Drawings
FIG. 1 is a plan view of a calibration plate of the present invention;
FIG. 2 is a schematic view of a system component assembly of the present invention;
FIG. 3 is a flow chart of a system method of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Virtual-real registration is a key technique for augmented reality. Because of the characteristics of small operand and strong real-time property, the virtual-real registration by using the plane template is widely used.
The homography transformation is used for describing the position mapping relation of an object between a world coordinate system and a pixel coordinate system, the homography of a plane is defined as the projection mapping from one plane to another plane, and a corresponding transformation matrix is called a homography matrix.
The ultrasonic C-scan technology is a technology integrating ultrasonic detection, microcomputer control and microcomputer data acquisition, storage, processing and image display, and C-scan imaging is a technology for extracting echo information vertical to a specified section (namely a transverse section image) of an acoustic beam by using an ultrasonic reflection principle to form a two-dimensional image, has a simple principle, can obtain information of different sections, and is widely applied to the fields of semiconductors, life science, material science, nanotechnology and the like.
Referring to fig. 1 to 3, the present invention provides a technical solution: the utility model provides an supersound C scanning automatic alignment system based on virtual reality registration, includes triaxial mobile device, optical camera, calibration board and ultrasonic probe, optical camera installs on triaxial mobile device's Z axle mount, and X, Y axle through triaxial mobile device drive the corresponding horizontal plane of optics and move, and ultrasonic probe installs on triaxial mobile device's Z axle, and the calibration board is arranged in aquatic test piece bench, and its system usage does:
(1) setting a scanning starting point as an X, Y axle original point of the three-axle moving device, and setting a scanning end point as a preset value position of a X, Y axle of the three-axle moving device, so as to ensure that the calibration plate is positioned in the whole scanning area;
(2) carrying out ultrasonic C scanning imaging on the region of the calibration plate through an ultrasonic probe;
(3) after the scanned image is obtained, pixel coordinate values of four fixed points are extracted, and based on the known whole scanning area, a projection matrix H from the workpiece reference plane to the ultrasonic C scanning image is calculated according to the two groups of points w2c ；
(4) Processing the ultrasonic C scanning acoustic image and the optical image of the camera, and calculating to obtain a transformation matrix H from the ultrasonic C scanning image to the optical image c2o ；
(5) Completing system calibration operation based on the steps, then taking out the calibration plate from the underwater test piece table, and placing the workpiece to be detected on the test piece table;
(6) setting the Z axis and the camera at an initial position of an original point, shooting an optical photo of the workpiece in water, adopting HSV color gamut threshold segmentation to identify the outline of the workpiece, and then solving a minimum circumscribed rectangle as a scanning area;
(7) obtaining a scanning starting point A and a scanning end point B in a group of optical images, and reversely solving a two-dimensional space under a workpiece reference plane coordinate system according to a transformation matrix obtained by calibration;
(8) and the automatic scanning can be carried out by setting the coordinates of the starting point and the end point as scanning parameters.
And (4) processing the acoustic image by using a plate with holes uniformly distributed, wherein when the ultrasonic probe performs ultrasonic treatment on the surface of the calibration plate, the surface of the calibration plate in the acoustic image is strongly reflected, and the hole position reflection is zero, so that the imaging contrast is higher, the hole contour is extracted by using a threshold segmentation algorithm, and then the hole center is extracted by using a Hough circle fitting algorithm.
And (4) the calibration plate is made of a single material and is fixed in color, according to the step (4), the optical image processing is that the image is transformed into an HSV color gamut, binarization is carried out on the image based on Hue value of Hue value, and then a Hough circle fitting algorithm is used for extracting the circle center of the hole.
Sorting and ordering two groups of points obtained based on acoustic image processing and optical image processing to perform homography transformation matrix fitting solution, and calculating to obtain a transformation matrix H from an ultrasonic C scanning image to an optical image c2o 。
According to the steps (7) and (8), the two-dimensional space of the workpiece reference plane coordinate system is as follows:
starting point: a' ═ A · H w2c T ·H c2o T ；
End point: b' ═ B · H w2c T ·H c2o T 。
According to the technical scheme, in actual setting, a calibration plate of 150mm to 150mm is adopted, and the scanning end point of the three-axis moving device is set to be 200 mm; meanwhile, after each scanning is finished, the Z axis returns to the zero position in the plane, so that the spatial reference position of the camera can be fixed;
then, scanning and imaging the scanning piece area through an optical camera and an ultrasonic probe, firstly extracting pixel coordinate values of four imaged vertexes after acquiring a C scanning image, and calculating a projection matrix H from a workpiece reference plane to the C scanning image according to two groups of points, wherein the coordinate units of the two-dimensional space coordinate points (0,0), (0,200), (200,0), (200 ) of the four corners of the known scanning area are millimeters w2c ；
And processing the C scanning acoustic image and the camera optical image. The surface reflection of a calibration plate in the acoustic image is strong, and the reflection of the hole position is zero, so the imaging contrast is higher, the hole contour is extracted by adopting a threshold segmentation algorithm, and then the Hough circle fitting algorithm is used for extractionTaking the center of a hole; in the optical image, the fact that the bottom plate of the test piece table in water is made of a single material and is fixed in color is considered, the image is transformed into an HSV color gamut, binarization is carried out on the image based on Hue values of Hue values, and then a Hough circle fitting algorithm is used for extracting the circle center of a hole. The optical imaging process is subjected to one-time underwater refraction, but still conforms to the plane projection transformation rule. Therefore, the obtained two groups of points are sorted and ordered to carry out homography transformation matrix fitting solution, and a transformation matrix H from the C scanning image to the optical image is obtained through calculation c2o 。
Therefore, the system calibration operation is completed, the calibration plate can be taken out of the water pool, and the workpiece to be detected is placed on the test piece table. At the moment, the Z axis and the camera are positioned at the initial position of the original point, an optical photo of the underwater workpiece is shot, the automatic algorithm can adopt HSV color gamut threshold segmentation to identify the outline of the workpiece, and then the minimum circumscribed rectangle is solved to be used as a scanning area; or directly using a mouse frame to select the ROI area as the area to be scanned in the upper computer program.
Therefore, a scanning starting point A and a scanning end point B in a group of optical images can be obtained, and a two-dimensional space under a workpiece reference plane coordinate system can be reversely solved according to a transformation matrix obtained by calibration
The starting point A ═ A · H w2c T ·H c2o T And end point B' ═ B · H w2c T ·H c2o T In millimeters.
And setting the coordinates of the starting point and the end point as scanning parameters to perform automatic scanning.
Virtual-real registration of the C scanning equipment is realized through a camera arranged on the Z axis and a calibration board;
c-scan automatic alignment is realized through image processing of optical and acoustic images;
compared with the prior art, the invention has the following advantages:
1) the invention is an automatic alignment process, which can save the manual operation time of operators, achieve the effect of time and labor saving, improve the accuracy of starting point and end point positioning and save the scanning time.
2) The automation rate of the scanning process is improved, so that the ultrasonic C scanning system is more widely applied in industrial scenes
3) And the virtual-real registration can realize augmented reality fusion display, and has wide application prospect.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. An ultrasonic C scanning automatic alignment system based on virtual-real registration is characterized in that: including triaxial mobile device, optical camera, calibration board and ultrasonic transducer, optical camera installs on triaxial mobile device's Z axle mount, and the X, Y axle through triaxial mobile device drives the corresponding horizontal plane of optics and removes, and ultrasonic transducer installs on triaxial mobile device's Z axle, and the calibration board is arranged in aquatic test piece bench, and its system's user mode is:
(1) setting a scanning starting point as an X, Y axle original point of the three-axle moving device, and setting a scanning end point as a preset value position of a X, Y axle of the three-axle moving device, so as to ensure that the calibration plate is positioned in the whole scanning area;
(2) carrying out ultrasonic C scanning imaging on the region of the calibration plate through an ultrasonic probe;
(3) after the scanned image is obtained, pixel coordinate values of four fixed points are extracted, and based on the known whole scanning area, a projection matrix H from the workpiece reference plane to the ultrasonic C scanning image is calculated according to the two groups of points w2c ；
(4) Processing the ultrasonic C scanning acoustic image and the optical image of the camera, and calculating to obtain a transformation matrix H from the ultrasonic C scanning image to the optical image c2o ；
(5) Completing system calibration operation based on the steps, then taking out the calibration plate from the underwater test piece table, and placing the workpiece to be detected on the test piece table;
(6) setting the Z axis and the camera at an initial position of an original point, shooting an optical photo of the workpiece in water, adopting HSV color gamut threshold segmentation to identify the outline of the workpiece, and then solving a minimum circumscribed rectangle as a scanning area;
(7) obtaining a scanning starting point A and a scanning end point B in a group of optical images, and reversely solving a two-dimensional space under a workpiece reference plane coordinate system according to a transformation matrix obtained by calibration;
(8) and the automatic scanning can be carried out by setting the coordinates of the starting point and the end point as scanning parameters.
2. The virtual-real registration based ultrasonic C-scan automatic alignment system of claim 1, wherein: and (4) processing the acoustic image by using a plate with holes uniformly distributed, wherein when the ultrasonic probe performs ultrasonic treatment on the surface of the calibration plate, the surface of the calibration plate in the acoustic image is strongly reflected, and the hole position reflection is zero, so that the imaging contrast is higher, the hole contour is extracted by using a threshold segmentation algorithm, and then the hole center is extracted by using a Hough circle fitting algorithm.
3. The virtual-real registration based ultrasonic C-scan automatic alignment system of claim 2, wherein: and (4) the calibration plate is made of a single material and is fixed in color, according to the step (4), the optical image processing is that the image is transformed into an HSV color gamut, binarization is carried out on the image based on Hue value of Hue value, and then a Hough circle fitting algorithm is used for extracting the circle center of the hole.
4. The virtual-real registration based ultrasound C-scan automatic alignment system according to claim 3, wherein: sorting and ordering two groups of points obtained based on acoustic image processing and optical image processing to perform homography transformation matrix fitting solving, and calculating to obtain a transformation matrix H from an ultrasonic C scanning image to an optical image c2o 。
5. The virtual-real registration based ultrasonic C-scan automatic alignment system of claim 1, wherein: according to the steps (7) and (8), the two-dimensional space of the workpiece reference plane coordinate system is as follows:
starting point: a' ═ A · H w2c T ·H c2o T ；
End point: b' ═ B · H w2c T ·H c2o T 。
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| CN117949536A (en) * | 2024-03-27 | 2024-04-30 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Integrated circuit sound scanning method, device, computer equipment and storage medium |
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