CN115628703A - Measuring device and method based on ultrasonic waves - Google Patents
Measuring device and method based on ultrasonic waves Download PDFInfo
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- CN115628703A CN115628703A CN202211282014.8A CN202211282014A CN115628703A CN 115628703 A CN115628703 A CN 115628703A CN 202211282014 A CN202211282014 A CN 202211282014A CN 115628703 A CN115628703 A CN 115628703A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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Abstract
The invention provides a measuring device and a measuring method based on ultrasonic waves, which are characterized in that a three-dimensional model corresponding to an object to be measured is obtained, the coordinate and the measuring direction of a measuring point of the object to be measured are obtained, an ultrasonic generator of the measuring device is placed at a corresponding position of the object to be measured according to the coordinate, the measuring direction and the posture of the object to be measured, the ultrasonic generator is aligned with or attached to the measuring point, the ultrasonic generator of the measuring device is controlled to emit the ultrasonic waves corresponding to the three-dimensional model along the measuring direction, the layered information of the coordinate and the measuring direction of the object to be measured corresponding to the measuring point is determined according to the three-dimensional model through the echo of the ultrasonic waves received by an ultrasonic receiver of the measuring device, the coordinate of the object to be measured corresponding to the measuring point and the thickness of each layer in the measuring direction are calculated according to the echo of the ultrasonic waves, and the internal size of an article combined by multiple materials can be measured.
Description
Technical Field
The invention relates to the technical field of ultrasonic waves, in particular to a measuring device and a measuring method based on ultrasonic waves.
Background
In the industrial field, the measurement of the dimensions of materials or parts using ultrasound is a very common means. In the conventional ultrasonic measurement technology, before measurement, the sound velocity of ultrasonic waves in a material is configured in advance according to the type of the material of an object to be measured or the sound velocity of ultrasonic waves in the material is measured by using a standard block made of the same material, and then measurement of the size of the object to be measured is performed. The existing ultrasonic measurement technology can only measure the size of a single material object with uniform density, and cannot measure the internal size of an object formed by combining multiple materials.
Disclosure of Invention
The present invention is made in view of the above problems, and provides an ultrasonic-based measuring apparatus and method capable of measuring the internal dimensions of an article composed of a plurality of materials.
In view of the above, a first aspect of the present invention provides an ultrasonic-based measuring apparatus, comprising:
the three-dimensional model acquisition unit is used for acquiring a three-dimensional model corresponding to the object to be detected, wherein the three-dimensional model comprises materials, density, structure and standard size of the object;
the attitude determination unit is used for determining the attitude of the object to be measured;
a measuring point and measuring direction obtaining unit for obtaining the coordinate and measuring direction of the measuring point of the object to be measured;
the ultrasonic generator placing unit is used for placing an ultrasonic generator of the measuring device at a corresponding position of the object to be measured according to the coordinate of the measuring point, the measuring direction and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring point;
the ultrasonic wave generating unit is used for controlling an ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;
an echo measuring unit for measuring an echo of the ultrasonic wave received by an ultrasonic receiver of the measuring device;
the layered information determining unit is used for determining layered information of the object to be measured corresponding to the coordinates and the measuring direction of the measuring points according to the three-dimensional model, and the layered information comprises the number of layers and material attributes, density attributes and thickness attributes of each layer;
and the thickness calculating unit is used for calculating the thickness of each layer of the coordinate of the object to be measured corresponding to the measuring point and the measuring direction according to the echo of the ultrasonic wave.
A second aspect of the present invention provides an ultrasonic-based measurement method, including:
acquiring a corresponding three-dimensional model of an object to be detected, wherein the three-dimensional model comprises materials, density, structure and standard size of the object;
determining the posture of the object to be detected;
acquiring the coordinate and the measuring direction of the measuring point of the object to be measured;
placing an ultrasonic generator of a measuring device at a corresponding position of the object to be measured according to the coordinate of the measuring point, the measuring direction and the posture of the object to be measured, and enabling the ultrasonic generator to be aligned with or attached to the measuring point;
controlling an ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;
an echo of the ultrasonic wave received by an ultrasonic receiver of the measuring device;
determining layering information of the object to be measured corresponding to the coordinates of the measuring points and the measuring direction according to the three-dimensional model, wherein the layering information comprises layering quantity, material attributes, density attributes and thickness attributes of each layer;
and calculating the coordinate of the object to be measured corresponding to the measuring point and the thickness of each layer in the measuring direction according to the echo of the ultrasonic wave.
Further, in the above measurement method, the step of obtaining the coordinates and the measurement direction of the measurement point of the object to be measured specifically includes:
displaying the stereoscopic model in a three-dimensional coordinate system;
marking a selectable region on the surface of the three-dimensional model according to the posture of the object to be detected, wherein the selectable region is a region which is determined according to the posture of the object to be detected and is not shielded by a bearing platform and/or a fixed component on the surface of the three-dimensional model;
receiving at least one measuring point selected by a user on the selectable area;
acquiring the coordinates of the measuring points in the three-dimensional coordinate system;
receiving a straight line which is selected by a user in the three-dimensional coordinate system and intersects with the measuring point;
and determining the direction in which the straight line extends from the measuring point to the inside of the three-dimensional model as the measuring direction corresponding to the measuring point.
Further, in the above-mentioned measuring method, after the step of receiving a straight line intersecting the measuring point selected by the user in the three-dimensional coordinate system, the method further includes:
determining a plurality of planes intersecting the straight line;
determining the intersection line of each plane and the surface of each layer of the coordinate and the measuring direction of the measuring point;
when the distance between any one of the intersection lines and the measuring point is smaller than the distance between the intersection point of the straight line on the intersection line and the measuring point, determining that the measuring direction corresponding to the straight line is not selectable;
prompting the user to select other directions of lines intersecting the measurement point and/or prompting the user to select other measurement points.
Further, in the above measurement method, before the step of obtaining the corresponding three-dimensional model of the object to be measured, the method further includes constructing the three-dimensional model, and the step of constructing the three-dimensional model specifically includes:
decomposing the object into a plurality of components according to different materials and densities;
determining the shape and standard size of each of the components;
constructing a component model for each of the components in three-dimensional space;
and combining the component models into a three-dimensional model of the object according to the position relation of the components in the object.
Further, in the above-mentioned measuring method, the step of controlling the ultrasonic generator of the measuring apparatus to emit the ultrasonic wave corresponding to the three-dimensional model in the measuring direction may specifically include:
determining an intersecting component which intersects with the straight line where the measuring direction is located in the three-dimensional model;
acquiring material properties and density properties of the intersecting components;
determining the frequency of ultrasonic waves for measuring the object to be measured according to the material property and the density property of the intersecting assembly;
configuring the frequency of the ultrasonic waves as ultrasonic wave modulation parameters of the ultrasonic wave generator;
emitting ultrasonic waves of said frequency in said measurement direction.
Further, in the above measurement method, each layer of the object to be measured corresponding to the coordinates and the measurement direction of the measurement point includes an entity layer formed by the components and a hollow layer located between the components, and the step of determining the layer information of the object to be measured corresponding to the coordinates and the measurement direction of the measurement point according to the three-dimensional model specifically includes:
determining an intersecting component which intersects with the straight line where the measuring direction is located in the three-dimensional model;
acquiring the material and the density of the intersected components as the material attribute and the density attribute of the entity hierarchy corresponding to the related components;
judging whether hollow layering exists between intersecting assemblies which intersect with the straight line where the measuring direction is located in the three-dimensional model;
when a hollow delamination exists, configuring the material property and the density property of the hollow delamination into air under standard atmospheric pressure and density thereof respectively;
acquiring coordinates of intersection points of straight lines of the measuring directions and the surfaces of the entity layering and the hollow layering in the three-dimensional coordinate system;
calculating the length of each line segment between the intersection points according to the coordinates of the intersection points in the three-dimensional coordinate system;
determining the length of the line segment as a thickness attribute of each layer in the measurement direction.
Further, in the above measurement method, the step of calculating the coordinate of the object to be measured corresponding to the measurement point and the thickness of each layer in the measurement direction according to the echo of the ultrasonic wave specifically includes:
acquiring the measurement time interval of each wave peak in the echo of the ultrasonic wave;
acquiring material properties and density properties of each layer in the measuring direction;
determining the wave velocity of the ultrasonic wave in each layer according to the material property and the density property of each layer in the measuring direction;
calculating the upper limit and the lower limit of the tolerance range of the measuring time interval according to the thickness attribute of each layer in the measuring direction and the wave speed of the ultrasonic wave in each layer;
matching the measurement time interval and the tolerance range of the measurement time interval to determine layered measurement time intervals corresponding to the respective layers in the measurement direction in the measurement time interval;
and calculating the thickness of each layer according to the layer measurement time interval and the wave speed of the ultrasonic wave in each layer.
Further, in the above-described measuring method, the step of calculating the upper limit and the lower limit of the tolerance range of the measurement time interval from the thickness property of each layer in the measurement direction and the wave velocity of the ultrasonic wave in each layer specifically includes:
acquiring a maximum tolerance ratio tau configured in advance, wherein the maximum tolerance ratio is the maximum error ratio between the actual production size and the standard size of each component of the object to be detected;
obtaining a thickness attribute d of each layer in the measurement direction i And the wave velocity v of the ultrasonic wave in each layer i Wherein i = (1.2, \8230; n), n is the layered number of the coordinate and the measurement direction of the measurement point corresponding to the object to be measured;
calculating an upper limit of a tolerance range of the measurement time interval
And the lower limit of the tolerance range
Wherein d is 0 For the distances of the ultrasonic generator and the ultrasonic receiver with respect to the measuring point, v 0 Is the wave speed of the ultrasonic wave in the air.
Further, in the foregoing measurement method, the step of matching the measurement time interval and the tolerance range of the measurement time interval to determine the layered measurement time interval corresponding to each layer in the measurement direction in the measurement time interval specifically includes:
obtaining the measurement time interval t k Where k = (1.2, \8230;, m), m being the number of time intervals between echoes received by the ultrasound receiver;
configuring an array of superposed variables T i Wherein i = (1.2, \8230;, n);
configuring a pointer variable p;
let T 1 ＝t 1 Pointer variable p =1;
determine T 1 Whether or not to fall into [ tl 1 ,th 1 ]A range of (a);
if yes, T is set 1 Determining as candidate layered measurement time interval, otherwise judging T 1 Whether or not it is less than tl 1 Or greater than th 1 ；
When T is 1 >th 1 Determining a measurementIf the data is wrong, prompting the user to execute measurement again;
when T is 1 <tk 1 While making T 1 ＝t 1 +t 2 The pointer variable is increased by 1, i.e. p =2;
repeating the steps of judging and superposing until T 1 Fall into [ tl 1 ,th 1 ]Range of (1) or T 1 Greater than th 1 ；
When T is 1 Fall into [ tl 1 ,th 1 ]In the range of (1), make T 2 ＝t p+1 Adding 1 to the pointer variable;
execution and T 1 Same judging and overlapping steps till T 2 Fall into [ tl 2 ,th 2 ]Range of (1) or T 2 Greater than th 2 ；
When T is 2 >th 2 Then, discard T 1 First overlap-add time interval t 1 Let T be 1 ＝t 2 Pointer variable p =2, T is re-executed 1 Judging and superposing;
or discard T 2 Reset the pointer variable p to T 2 After the subscript corresponding to the first overlap interval of time, add 2 to the pointer variable, and re-execute T 2 Judging and superposing;
sequentially adding each element T in the superposition variable array i Executing the steps until each element T of the superposition variable array i All fall into [ tl i ,th i ]A range of (d);
each element T in the superposition variable array i Determining a layered measurement time interval corresponding to each layer in the measurement direction.
The invention provides a measuring device and a method based on ultrasonic waves, which are characterized in that a coordinate and a measuring direction of a measuring point of an object to be measured are obtained by obtaining a corresponding three-dimensional model of the object to be measured, an ultrasonic generator of the measuring device is placed at a corresponding position of the object to be measured according to the coordinate, the measuring direction and the posture of the object to be measured, the ultrasonic generator is aligned with or attached to the measuring point, the ultrasonic generator of the measuring device is controlled to emit the ultrasonic waves corresponding to the three-dimensional model along the measuring direction, the ultrasonic waves corresponding to the measuring point and the layered information of the measuring direction of the object to be measured are determined according to the three-dimensional model through the echo of the ultrasonic waves received by an ultrasonic receiver of the measuring device, the coordinate of the object to be measured corresponding to the measuring point and the thickness of each layer in the measuring direction are calculated according to the echo of the ultrasonic waves, and the internal size of an article combined by multiple materials can be measured.
Drawings
FIG. 1 is a schematic block diagram of an ultrasonic-based measurement device provided in accordance with an embodiment of the present invention;
fig. 2 is a flowchart of an ultrasonic-based measurement method according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. The terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description herein, reference to the term "one embodiment," "some embodiments," "specific examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
An ultrasonic-based measurement apparatus and method provided in accordance with some embodiments of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1, a first aspect of the present invention proposes an ultrasonic-based measuring apparatus, comprising:
the three-dimensional model acquisition unit is used for acquiring a three-dimensional model corresponding to the object to be detected, wherein the three-dimensional model comprises materials, density, structure and standard size of the object;
the attitude determination unit is used for determining the attitude of the object to be measured;
a measuring point and measuring direction obtaining unit for obtaining the coordinate and measuring direction of the measuring point of the object to be measured;
the ultrasonic generator placing unit is used for placing an ultrasonic generator of the measuring device at a corresponding position of the object to be measured according to the coordinate of the measuring point, the measuring direction and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring point;
the ultrasonic wave generating unit is used for controlling an ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;
an echo measuring unit for measuring an echo of the ultrasonic wave received by an ultrasonic receiver of the measuring device;
the layered information determining unit is used for determining layered information of the object to be measured corresponding to the coordinates of the measuring points and the measuring direction according to the three-dimensional model, wherein the layered information comprises the number of layers and the material attribute, the density attribute and the thickness attribute of each layer;
and the thickness calculation unit is used for calculating the thickness of each layer of the object to be measured corresponding to the coordinate of the measuring point and the measuring direction according to the echo of the ultrasonic wave.
Specifically, in the ultrasonic-based measuring device described above, the ultrasonic receiver and the ultrasonic generator are disposed adjacent to each other so that distances between the ultrasonic receiver and the ultrasonic generator and the measuring point are substantially equal to each other. In some embodiments of the present invention, the measuring apparatus further includes a mechanical arm for fixing the ultrasonic generator and the ultrasonic receiver, and the measuring apparatus places the ultrasonic generator at a corresponding position of the object to be measured through the mechanical wall.
As shown in fig. 2, a second aspect of the present invention proposes an ultrasonic-based measurement method, including:
acquiring a corresponding three-dimensional model of an object to be detected, wherein the three-dimensional model comprises materials, density, structure and standard size of the object;
determining the posture of the object to be detected;
acquiring the coordinate and the measuring direction of the measuring point of the object to be measured;
placing an ultrasonic generator of a measuring device at a corresponding position of the object to be measured according to the coordinates of the measuring points, the measuring direction and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring points;
controlling an ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;
an echo of the ultrasonic wave received by an ultrasonic receiver of the measuring device;
determining layered information of the object to be measured corresponding to the coordinates of the measuring points and the measuring direction according to the three-dimensional model, wherein the layered information comprises the number of layers and the material attribute, the density attribute and the thickness attribute of each layer;
and calculating the coordinate of the object to be measured corresponding to the measuring point and the thickness of each layer in the measuring direction according to the echo of the ultrasonic wave.
In the above technical solution, the three-dimensional model is a standard model of the object to be measured, and the number of layers and the material property, the density property, and the thickness property of each layer in the layer information are obtained according to the coordinates of the measurement point, the measurement direction, and the structure and the standard size of the three-dimensional model. In particular, in the industrial field, after the product is assembled, welded or cast, the internal dimensions of the finished product, including the distance between each component constituting the product, can be measured by using the above method to determine whether the product meets the dimensional requirements of the standard model.
In the above measurement method, the step of obtaining the coordinates and the measurement direction of the measurement point of the object to be measured specifically includes:
displaying the stereoscopic model in a three-dimensional coordinate system;
marking a selectable region on the surface of the three-dimensional model according to the posture of the object to be detected, wherein the selectable region is a region which is determined according to the posture of the object to be detected and is not shielded by a bearing platform and/or a fixed component on the surface of the three-dimensional model;
receiving at least one measuring point selected by a user on the selectable area;
acquiring the coordinates of the measuring points in the three-dimensional coordinate system;
receiving a straight line which is selected by a user in the three-dimensional coordinate system and intersects with the measuring point;
and determining the direction in which the straight line extends from the measuring point to the inside of the three-dimensional model as the measuring direction corresponding to the measuring point.
In some embodiments of the present invention, the measuring apparatus is provided with a vision sensor for recognizing a posture of the object to be measured, and the vision sensor is used for acquiring the posture of the object to be measured, and acquiring an unobstructed area of the object to be measured, which is used for placing a bearing platform of the object to be measured or a fixing component, such as a clamp, for fixing the object to be measured, so as to determine the selectable area of the surface of the three-dimensional model.
In the above-mentioned measuring method, after the step of receiving a straight line intersecting the measuring point selected by a user in the three-dimensional coordinate system, the method further includes:
determining a plurality of planes intersecting the straight line;
determining the intersection line of each plane and the coordinates of the measuring points and the surface of each layer of the measuring direction;
when the distance between any intersection line and the measuring point is smaller than the distance between the intersection point of the straight line on the intersection line and the measuring point, determining that the measuring direction corresponding to the straight line is not selectable;
prompting the user to select other directions of lines intersecting the measurement point and/or prompting the user to select other measurement points.
In particular, due to the complexity of the internal structure of the combined object, the surfaces of the layers inside the combined object may present various irregular shapes, and when a distance from the measurement point on any intersecting line is smaller than a distance from the measurement point to an intersection point of the straight line on the intersecting line, so that the ultrasonic wave reaches the layered surface where the intersecting line is located to be reflected, the earliest echo reaching the ultrasonic receiver is not reflected by the position of the straight line where the measurement direction is located, thereby causing inaccurate measurement results. Further, in some embodiments of the present invention, when there is a point on any one of the intersecting lines which is closer to the measurement point than the intersection point of the straight line on the intersecting line is, the measurement direction is marked as a suggested measurement point. When the straight line where the measuring direction is located passes through the three-dimensional model, two intersection points are formed between the straight line and the surface of the three-dimensional model, one intersection point is a measuring point selected by a user, and when the distance between any one intersection line and the measuring point is smaller than the distance between the intersection point of the straight line on the intersection line and the measuring point, the other intersection point is a possible optional measuring direction corresponding to the measuring direction of the straight line.
In the foregoing measurement method, before the step of obtaining the corresponding three-dimensional model of the object to be measured, the method further includes constructing the three-dimensional model, and the step of constructing the three-dimensional model specifically includes:
decomposing the object into a plurality of components according to different materials and densities;
determining the shape and standard size of each of the components;
constructing a component model for each of the components in three-dimensional space;
and combining the component models into a three-dimensional model of the object according to the position relation of the components in the object.
In the modeling stage, the three-dimensional models are combined using component models of standard dimensions, each component being a uniform density component of the same material.
In the above measurement method, the step of controlling the ultrasonic generator of the measurement apparatus to emit the ultrasonic wave corresponding to the three-dimensional model in the measurement direction specifically includes:
determining an intersecting component which intersects with a straight line where the measuring direction is located in the three-dimensional model;
acquiring material properties and density properties of the intersecting components;
determining the frequency of ultrasonic waves for measuring the object to be measured according to the material property and the density property of the intersecting assembly;
configuring the frequency of the ultrasonic wave as an ultrasonic wave modulation parameter of the ultrasonic wave generator;
emitting ultrasonic waves of said frequency in said measuring direction.
In the above-mentioned measuring method, each layer of the object to be measured corresponding to the coordinate and the measuring direction of the measuring point includes an entity layer formed by the components and a hollow layer located between the components, and the step of determining the layer information of the object to be measured corresponding to the coordinate and the measuring direction of the measuring point according to the three-dimensional model specifically includes:
determining an intersecting component which intersects with a straight line where the measuring direction is located in the three-dimensional model;
acquiring the material and the density of the intersected components as the material attribute and the density attribute of the entity hierarchy corresponding to the related components;
judging whether hollow layering exists between intersecting assemblies which intersect with the straight line where the measuring direction is located in the three-dimensional model;
configuring material properties and density properties of a hollow laminate to be air at standard atmospheric pressure and its density, respectively, when the hollow laminate is present;
acquiring coordinates of intersection points of straight lines of the measuring directions and the surfaces of the entity layering and the hollow layering in the three-dimensional coordinate system;
calculating the length of each line segment between the intersection points according to the coordinates of the intersection points in the three-dimensional coordinate system;
determining the length of the line segment as a thickness attribute of each layer in the measurement direction.
Specifically, the hollow layering is a layered structure corresponding to a hollow region formed by components of the object to be measured, which are not tightly attached to each other in the measurement direction. In the general case, these hollow areas are filled with air, using air at standard atmospheric pressure and its density as the material and density properties of the hollow laminate. In other embodiments of the present invention, when the measurement environment of the measurement apparatus is a liquid environment, for example, the object to be measured is located under water, the material property and the density property of the hollow layered structure are configured to be water and its density, respectively, at a standard atmospheric pressure.
In the above measurement method, the step of calculating the coordinate of the object to be measured corresponding to the measurement point and the thickness of each layer in the measurement direction according to the echo of the ultrasonic wave specifically includes:
acquiring the measurement time interval of each wave peak in the echo of the ultrasonic wave;
acquiring material properties and density properties of each layer in the measuring direction;
determining the wave velocity of the ultrasonic wave in each layer according to the material property and the density property of each layer in the measuring direction;
calculating the upper limit and the lower limit of the tolerance range of the measuring time interval according to the thickness attribute of each layer in the measuring direction and the wave speed of the ultrasonic wave in each layer;
matching the measurement time interval and the tolerance range of the measurement time interval to determine layered measurement time intervals corresponding to the respective layers in the measurement direction in the measurement time interval;
and calculating the thickness of each layer according to the layer measurement time interval and the wave speed of the ultrasonic wave in each layer.
In the above-mentioned measuring method, the step of calculating the upper limit and the lower limit of the tolerance range of the measurement time interval according to the thickness property of each layer in the measurement direction and the wave velocity of the ultrasonic wave in each layer specifically includes:
acquiring a maximum tolerance ratio tau configured in advance, wherein the maximum tolerance ratio is the maximum error ratio between the actual production size and the standard size of each component of the object to be detected;
obtaining a thickness attribute d of each layer in the measurement direction i And the wave velocity v of the ultrasonic wave in each layer i Wherein i = (1.2, \8230;, n), n is that the object to be measured corresponds to the measuring pointThe number of layers of coordinates and measurement directions;
calculating an upper limit of a tolerance range of the measurement time interval
And the lower limit of the tolerance range
Wherein d is 0 For the distances of the ultrasonic generator and the ultrasonic receiver with respect to the measuring point, v 0 Is the wave speed of the ultrasonic wave in the air.
In the above-mentioned measuring method, the step of matching the measuring time interval and the tolerance range of the measuring time interval to determine the layered measuring time interval corresponding to each layer in the measuring direction in the measuring time interval specifically includes:
obtaining the measurement time interval t k Where k = (1.2, \8230;, m), m being the number of time intervals between echoes received by the ultrasound receiver;
configuring an array of superposed variables T i Wherein i = (1.2, \8230;, n);
configuring a pointer variable p;
let T 1 ＝t 1 Pointer variable p =1;
judgment of T 1 Whether or not it falls into [ tl 1 ,th 1 ]A range of (d);
if yes, T is set 1 Determining as candidate layered measurement time interval, otherwise judging T 1 Whether or not it is less than tl 1 Or greater than th 1 ；
When T is 1 >th 1 When the measurement data is wrong, prompting the user to execute the measurement again;
when T is 1 <tk 1 When making T 1 ＝t 1 +t 2 The pointer variable is increased by 1, i.e. p =2;
repeating the steps of judging and superposing until T 1 Fall into [ tl 1 ,th 1 ]Range of (1) or T 1 Greater than th 1 ；
When T is 1 Fall into [ tl 1 ,th 1 ]In the range of (1), let T 2 ＝t p+1 Adding 1 to the pointer variable;
execution and T 1 Same judging and overlapping steps till T 2 Fall into [ tl 2 ,th 2 ]Or range of (a) or T 2 Greater than th 2 ；
When T is 2 >th 2 While discarding T 1 First overlap-add time interval t 1 Let T be 1 ＝t 2 Pointer variable p =2, T is re-executed 1 Judging and superposing;
or discard T 2 Resetting the pointer variable p to T 2 After the index corresponding to the first time interval is superimposed, the pointer variable is incremented by 2, and T is re-executed 2 Judging and superposing;
sequentially comparing each element T in the superposition variable array i The steps are executed until each element T of the superposition variable array i All fall into [ tl i ,th i ]A range of (d);
each element T in the superposition variable array i A hierarchical measurement time interval is determined for each hierarchy in the measurement direction.
The invention provides a measuring device and a method based on ultrasonic waves, which are characterized in that a coordinate and a measuring direction of a measuring point of an object to be measured are obtained by obtaining a corresponding three-dimensional model of the object to be measured, an ultrasonic generator of the measuring device is placed at a corresponding position of the object to be measured according to the coordinate, the measuring direction and the posture of the object to be measured, the ultrasonic generator is aligned with or attached to the measuring point, the ultrasonic generator of the measuring device is controlled to emit the ultrasonic waves corresponding to the three-dimensional model along the measuring direction, the ultrasonic waves corresponding to the measuring point and the layered information of the measuring direction of the object to be measured are determined according to the three-dimensional model through the echo of the ultrasonic waves received by an ultrasonic receiver of the measuring device, the coordinate of the object to be measured corresponding to the measuring point and the thickness of each layer in the measuring direction are calculated according to the echo of the ultrasonic waves, and the internal size of an article combined by multiple materials can be measured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, 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. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
In accordance with embodiments of the present invention, as set forth above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An ultrasonic-based measuring device, comprising:
the device comprises a three-dimensional model acquisition unit, a three-dimensional model acquisition unit and a three-dimensional model processing unit, wherein the three-dimensional model acquisition unit is used for acquiring a three-dimensional model corresponding to an object to be detected, and the three-dimensional model comprises materials, density, structure and standard size of the object;
the attitude determination unit is used for determining the attitude of the object to be measured;
a measuring point and measuring direction obtaining unit for obtaining the coordinate and measuring direction of the measuring point of the object to be measured;
the ultrasonic generator placing unit is used for placing an ultrasonic generator of the measuring device at a corresponding position of the object to be measured according to the coordinate of the measuring point, the measuring direction and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring point;
the ultrasonic wave generating unit is used for controlling an ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;
an echo measuring unit for measuring an echo of the ultrasonic wave received by an ultrasonic receiver of the measuring device;
the layered information determining unit is used for determining layered information of the object to be measured corresponding to the coordinates and the measuring direction of the measuring points according to the three-dimensional model, and the layered information comprises the number of layers and material attributes, density attributes and thickness attributes of each layer;
and the thickness calculating unit is used for calculating the thickness of each layer of the coordinate of the object to be measured corresponding to the measuring point and the measuring direction according to the echo of the ultrasonic wave.
2. An ultrasonic-based measurement method, comprising:
acquiring a corresponding three-dimensional model of an object to be detected, wherein the three-dimensional model comprises materials, density, structure and standard size of the object;
determining the posture of the object to be detected;
acquiring the coordinate and the measuring direction of the measuring point of the object to be measured;
placing an ultrasonic generator of a measuring device at a corresponding position of the object to be measured according to the coordinates of the measuring points, the measuring direction and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring points;
controlling an ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;
an echo of the ultrasonic wave received by an ultrasonic receiver of the measuring device;
determining layered information of the object to be measured corresponding to the coordinates of the measuring points and the measuring direction according to the three-dimensional model, wherein the layered information comprises the number of layers and the material attribute, the density attribute and the thickness attribute of each layer;
and calculating the coordinate of the object to be measured corresponding to the measuring point and the thickness of each layer in the measuring direction according to the echo of the ultrasonic wave.
3. The measurement method according to claim 2, wherein the step of obtaining the coordinates and the measurement direction of the measurement point of the object to be measured specifically comprises:
displaying the stereoscopic model in a three-dimensional coordinate system;
marking a selectable region on the surface of the three-dimensional model according to the posture of the object to be detected, wherein the selectable region is a region which is determined according to the posture of the object to be detected and is not shielded by a bearing platform and/or a fixed component on the surface of the three-dimensional model;
receiving at least one measuring point selected by a user on the selectable area;
acquiring the coordinates of the measuring points in the three-dimensional coordinate system;
receiving a straight line which is selected by a user in the three-dimensional coordinate system and intersects with the measuring point;
and determining the direction in which the straight line extends from the measuring point to the inside of the three-dimensional model as the measuring direction corresponding to the measuring point.
4. The measurement method according to claim 3, further comprising, after the step of receiving a straight line intersecting the measurement point selected by a user in the three-dimensional coordinate system:
determining a plurality of planes intersecting the straight line;
determining the intersection line of each plane and the surface of each layer of the coordinate and the measuring direction of the measuring point;
when the distance between any intersection line and the measuring point is smaller than the distance between the intersection point of the straight line on the intersection line and the measuring point, determining that the measuring direction corresponding to the straight line is not selectable;
prompting the user to select other directions of lines intersecting the measurement point and/or prompting the user to select other measurement points.
5. The measurement method according to claim 3, wherein before the step of obtaining the corresponding three-dimensional model of the object to be measured, the method further comprises the step of constructing the three-dimensional model, and the step of constructing the three-dimensional model specifically comprises:
decomposing the object into a plurality of components according to different materials and densities;
determining the shape and standard size of each of the components;
constructing a component model for each of the components in three-dimensional space;
and combining the component models into a three-dimensional model of the object according to the position relation of the components in the object.
6. The measuring method according to claim 5, wherein the step of controlling the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model in the measuring direction specifically comprises:
determining an intersecting component which intersects with the straight line where the measuring direction is located in the three-dimensional model;
acquiring material properties and density properties of the intersecting components;
determining the frequency of ultrasonic waves for measuring the object to be measured according to the material attribute and the density attribute of the intersecting assembly;
configuring the frequency of the ultrasonic waves as ultrasonic wave modulation parameters of the ultrasonic wave generator;
emitting ultrasonic waves of said frequency in said measuring direction.
7. The measurement method according to claim 5, wherein each layer of the object to be measured corresponding to the coordinates and the measurement direction of the measurement point includes a physical layer formed by the components and a hollow layer located between the components, and the step of determining the layer information of the object to be measured corresponding to the coordinates and the measurement direction of the measurement point according to the three-dimensional model specifically includes:
determining an intersecting component which intersects with the straight line where the measuring direction is located in the three-dimensional model;
acquiring the material and density of the intersected components as the material attribute and density attribute of the entity layering corresponding to the related components;
judging whether hollow layering exists between intersecting assemblies which intersect with the straight line where the measuring direction is located in the three-dimensional model;
configuring material properties and density properties of a hollow laminate to be air at standard atmospheric pressure and its density, respectively, when the hollow laminate is present;
acquiring coordinates of intersection points of straight lines of the measuring directions and the surfaces of the entity layering and the hollow layering in the three-dimensional coordinate system;
calculating the length of each line segment between the intersection points according to the coordinates of the intersection points in the three-dimensional coordinate system;
determining the length of the line segment as a thickness attribute of each layer in the measurement direction.
8. The measurement method according to claim 7, wherein the step of calculating the thickness of each layer of the object to be measured corresponding to the coordinates of the measurement point and the measurement direction from the echo of the ultrasonic wave specifically includes:
obtaining the measurement time interval of each wave crest in the echo of the ultrasonic wave;
acquiring material properties and density properties of each layer in the measuring direction;
determining the wave velocity of the ultrasonic wave in each layer according to the material property and the density property of each layer in the measuring direction;
calculating the upper limit and the lower limit of the tolerance range of the measuring time interval according to the thickness attribute of each layer in the measuring direction and the wave speed of the ultrasonic wave in each layer;
matching the measurement time interval and a tolerance range of the measurement time interval to determine layered measurement time intervals corresponding to respective layers in the measurement direction in the measurement time interval;
and calculating the thickness of each layer according to the layer measurement time interval and the wave speed of the ultrasonic wave in each layer.
9. The measurement method according to claim 8, wherein the step of calculating the upper and lower limits of the tolerance range of the measurement time interval from the thickness property of each layer in the measurement direction and the wave velocity of the ultrasonic wave in each layer specifically comprises:
acquiring a maximum tolerance ratio tau configured in advance, wherein the maximum tolerance ratio is the maximum error ratio between the actual production size and the standard size of each component of the object to be detected;
obtaining a thickness attribute d of each layer in the measurement direction i And the wave velocity v of the ultrasonic wave in each layer i Wherein i = (1.2, \8230; n), n is the layered number of the coordinate and the measurement direction of the measurement point corresponding to the object to be measured;
calculating an upper limit of a tolerance range of the measurement time interval
And the lower limit of the tolerance range
Wherein d is 0 V is the distance of the ultrasonic generator and the ultrasonic receiver relative to the measuring point 0 Is the wave speed of the ultrasonic wave in the air.
10. The measurement method according to claim 9, wherein the step of matching the measurement time interval and the tolerance range of the measurement time interval to determine the layered measurement time interval corresponding to each layer in the measurement direction in the measurement time interval specifically comprises:
obtaining the measurement time interval t k Where k = (1.2, \8230; m), m being the number of time intervals between echoes received by the ultrasonic receiver;
configuring an array of superposed variables T i Wherein i = (1.2, \8230;, n);
configuring a pointer variable p;
let T be 1 ＝t 1 Pointer variable p =1;
determine T 1 Whether or not it falls into [ tl 1 ,th 1 ]A range of (d);
if yes, the T is judged 1 Determining as candidate layered measurement time interval, otherwise judging T 1 Whether or not it is less than tl 1 Or greater than th 1 ；
When T is 1 >th 1 When the measurement data is wrong, prompting the user to execute measurement again;
when T is 1 <tl 1 When making T 1 ＝t 1 +t 2 The pointer variable is increased by 1, i.e. p =2;
repeating the steps of judging and superposing until T 1 Fall into [ tl 1 ,th 1 ]Range of (1) or T 1 Greater than th 1 ；
When T is 1 Fall into [ tl 1 ,th 1 ]In the range of (1), let T 2 ＝t p+1 Adding 1 to the pointer variable;
execution and T 1 Same judging and overlapping steps till T 2 Fall into [ tl 2 ,th 2 ]Or range of (a) or T 2 Greater than th 2 ；
When T is 2 >th 2 While discarding T 1 First superposition time interval t 1 Let T be 1 ＝t 2 Pointer variable p =2, T is re-executed 1 Is judged byBreaking and superposing;
or discard T 2 Resetting the pointer variable p to T 2 After the subscript corresponding to the first overlap interval of time, add 2 to the pointer variable, and re-execute T 2 Judging and superposing;
sequentially adding each element T in the superposition variable array i The steps are executed until each element T of the superposition variable array i All fall into [ tl i ,th i ]A range of (d);
each element T in the superposition variable array i A hierarchical measurement time interval is determined for each hierarchy in the measurement direction.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116400374A (en) * | 2023-05-04 | 2023-07-07 | 深圳市华众自动化工程有限公司 | Measuring device and method based on high-precision laser signal acquisition |
| CN116400374B (en) * | 2023-05-04 | 2024-05-03 | 深圳市华众自动化工程有限公司 | Measuring device and method based on high-precision laser signal acquisition |
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