CN204314239U - X ray CT device - Google Patents
X ray CT device Download PDFInfo
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- CN204314239U CN204314239U CN201420849281.3U CN201420849281U CN204314239U CN 204314239 U CN204314239 U CN 204314239U CN 201420849281 U CN201420849281 U CN 201420849281U CN 204314239 U CN204314239 U CN 204314239U
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Abstract
The utility model provides a kind of X ray CT device, comprising: radiographic source, to examined object body divergent-ray; Objective table, holder carries examined object body and rotates; Mechanical system, controls objective table and rotates; Master controller, controls radiographic source and mechanical system; Detector, receives the ray transmitted through examined object body and is converted into digital signal; Image reconstruction unit, goes out the CT image of examined object body according to reconstructs projection data; Described CT device also comprises: sign frame, is fixed on objective table and also rotates thereupon; Monumented point, is positioned on sign frame; Video camera, the photo of monumented point before and after shooting objective table rotates; Demarcate processing unit, the data that process camera calibration produces; Monumented point image process unit, process photo, obtains the position of monumented point before and after motion.The advantage of this CT device: this device not only can detect voluminous object fast, and accurately can determine that CT detects the position of objective table in examined object body process, manufacturing cost is lower simultaneously.
Description
Technical field
The invention belongs to ray technical field of nondestructive testing, especially computer assisted tomography technology field, and in particular to a kind of X ray CT device.
Background technology
CT, Chinese full name, computer assisted tomography technology, is born in 20 century 70s, starts to be applied to medical domain, is used for carrying out to human body the CT image that tomoscan draws human body, and then diagnoses the illness.Due to the immense success that CT obtains at medical domain, the eighties in 20th century, CT has extended to industrial field of non destructive testing from medical domain, the object detected comprises aeromotor, precision parts, guided missile etc., detect workpiece with CT and have the advantages such as resolution is high, visual and clear.
At field of non destructive testing, CT launches X ray and carries out in scanning process to examined object body, and objective table holder carries examined object body and is synchronized with the movement, and radiographic source and detector then maintain static.And in order to the CT image of examined object body can be reconstructed, the data of two aspects must be obtained: often open the transmitted intensity that on photo, ray obtains after decaying because being subject to examined object body obstruction, and correspondence often opens the position of photo objective table, have half share during the data of these two aspects, the deficiency of either side all can cause reconstructing high-quality CT image.
And in order to determine corresponding stage position of often opening photo, traditional CT mainly adopts and install the modes such as rotary encoder in mechanical system, the mechanical rotation mode of objective table is converted into electric signal measure again, thus knows corresponding stage position of often opening photo.When the situation such as intense vibration, electromagnetic interference (EMI), temperature rising that the external world exists, changing into electric signal comes measuring position, and measured precision all can be greatly affected.And in field of non destructive testing, use CT inspected object, especially time large-sized object (as engine), often have that vibration is fierce, velocity of rotation slow and the situation such as temperature rising, this has had a strong impact on the measure data precision that Machinery Control System is located objective table, and then brings very adverse influence to reconstruction examined object body CT image.Meanwhile, in order to improve measuring accuracy, when a set of CT being installed, generally needing to carry out complicated debugging to Machinery Control System, being unfavorable for industrially rapid deployment and use like this.In addition, because rotary encoder itself can only measure the data of rotary motion, and CT is when inspected object (especially the large-sized object such as engine), inevitably there is vibration, CT system is made not only to there is rotary motion, also there is translation motion, thus, adopt rotary encoder objective table to be positioned to the precision that will inevitably reduce location.
Chinese Patent Application No. be 201120368673.4 patent discloses a kind of CT system not high to Mechanical course accuracy requirement, from used the mode of the original paper determination stage position such as scrambler different in the past, within the system, at least 3 monumented points are fixed on examined object surface, the principle of a point is determined according to three planes, the projection of each monumented point is obtained with at least 3 cameras, and then obtain the locus of each monumented point, according to the positional information of monumented point before and after rotating, obtain rotation matrix and the displacement of examined object body.
But, in above-mentioned patent, there is following defect: monumented point is arranged on examined object surface by (1), many problems can be caused: the surface of some object (as spheroid) is difficult to fixed signal point; Before detecting each addressee object, all first monumented point must be fixed on its surface, be difficult to detect fast a large amount of examined object body; In order to improve shooting precision, camera should under field range can cover the prerequisite of set of landmarks, close set of landmarks as far as possible, when front and back examined object body is in different size, according to this patent, just have to regulate phase unit, make it as far as possible near set of landmarks, it is loaded down with trivial details that this can make to detect operation, affecting in efficiency (2) this patent, is determine that the principle of a point draws the position of monumented point according to three planes, so, the camera quantity used is at least 3, and the cost of CT device can be caused relatively high.
Utility model content
The purpose of this utility model is to propose a kind of X ray CT device, and this device not only can detect voluminous object fast, and accurately can determine that CT detects the position of objective table in examined object body process, and manufacturing cost is lower simultaneously.
The technical solution of the utility model: a 1. X ray CT device, comprising: radiographic source, to examined object body divergent-ray; Objective table, holder carries examined object body and rotates; Mechanical system, controls objective table and rotates; Master controller, controls radiographic source and mechanical system; Detector, receives the ray transmitted through examined object body and is converted into digital signal; Image reconstruction unit, goes out the CT image of examined object body according to reconstructs projection data; Described CT device also comprises: sign frame, is fixed on objective table and also rotates thereupon; Monumented point, is positioned on sign frame; Video camera, the photo of monumented point before and after shooting objective table rotates; Demarcate processing unit, the data that process camera calibration produces; Monumented point image process unit, process photo, obtains the position of monumented point before and after motion, thus in the hope of the rotation amount of monumented point and translational movement, can also equal rotation amount and the translational movement of examined object body.
X ray CT device described in the utility model, its video camera is at least two and these video cameras are distributed in the top of monumented point.
X ray CT device described in the utility model, its video camera is ccd video camera or cmos camera or digital camera.
X ray CT device described in the utility model, its video camera is distributed in the top of monumented point, and each camera coverage scope all covers the region that all monumented points may occur in rotary course.
X ray CT device described in the utility model, before video camera shooting monumented point photo, must demarcate video camera.
X ray CT device described in the utility model, its video camera intersects to be put or laid parallel, makes it possible to from different angular observation monumented points.
X ray CT device described in the utility model, its monumented point has three at least, and size is different or shape is different.
X ray CT device described in the utility model, its monumented point is positioned on sign frame.
X ray CT device described in the utility model, its sign frame covers the region that all video cameras may be taken.
X ray CT device described in the utility model, its principle of work is: before described X ray CT device scanning examined object body, first demarcate described video camera, to determine the intrinsic parameter of at least two described video cameras and outer parameter.Then, at least three monumented points be positioned on sign frame are taken, obtain a photo, be used for the position determining that monumented point starts.Then, objective table holder examined object body and is rotated, with X ray CT device scanning examined object body (namely refer in device rotary course, repeatedly launch x-ray bombardment examined object body).While x-ray source launches x-ray bombardment examined object body at every turn, described video camera carries out shooting photo to monumented point simultaneously.After the end of scan, x-ray source launches X ray to examined object body shooting multiple pictures, described video camera also have taken the photo of the equal number of monumented point simultaneously, so just obtains the two aspect data that CT image reconstruction is necessary, the intensity namely after X ray projection and corresponding detection position.Finally, computing machine utilizes the data obtained, and uses corresponding commonly known algorithm, as process of iteration, direct back projection method, Filtered Back-projection etc., reconstructs the 3-D view of examined object body.
The beneficial effects of the utility model are: (1) Machinery Control System need not install the devices such as rotary encoder, reduce the complexity of Machinery Control System, carry out in link (2) the utility model of loaded down with trivial details debugging to CT system before also eliminating scanning object simultaneously, sign frame is arranged on objective table, can rotate along with the rotation of objective table, monumented point is arranged on sign frame, thus the grand movement of objective table is converted into the (motion here of motion among a small circle of monumented point, include in fact and rotate and move), there is design ingenious, measure simple advantage (3) the utility model and utilize positioning principle in machine vision, not only can draw the rotation amount of objective table, the translational movement of objective table can also be drawn, make measurement data more accurate, rebuild image more clear (4) compared with above-mentioned patent, when surveying a large amount of examined object health check-up, not need before each detection all fixed signal point on examined object body, only need once demarcation before detection just can detect fast a large amount of examined object body, detection efficiency improves greatly.In addition, due to the positioning principle of applied for machines vision, therefore video camera number can be kept to 2, reduce the cost of X ray CT device.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment according to X ray CT device described in the utility model.
Fig. 2 is the workflow diagram of an embodiment according to X ray CT device described in the utility model.
Fig. 3 is video camera pin-hole imaging geometric relationship figure.
Fig. 4 is the schematic diagram of binocular solid machine vision.
Fig. 5 is the scaling board schematic diagram of an embodiment according to X ray CT device described in the utility model.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.Should be appreciated that embodiment described herein is only for instruction and explanation of the utility model, and be not used in restriction the utility model, can not be interpreted as more superior than other examples.
Fig. 1 is the structural representation of an embodiment according to X ray CT device described in the utility model.As shown in Figure 1, the X ray CT device of the present embodiment, comprising: radiographic source 1, to examined object body divergent-ray; Objective table 2, holder carries examined object body 12 and rotates; Mechanical system 3, controls objective table 2 and rotates; Master controller 4, controls radiographic source 1 and mechanical system 2; Detector 5, receives the ray transmitted through examined object body 12 and is converted into digital signal; Image reconstruction unit 6, goes out the CT image of examined object body 12 according to reconstructs projection data; Described CT device also comprises: sign frame 7, is fixed on objective table 2 and also rotates thereupon; Monumented point 8(comprises three monumented points here, is respectively monumented point 8a, monumented point 8b and monumented point 8c), be positioned on sign frame; Video camera 9(comprises 2 video cameras here, is respectively 9a and 9b), the photo of monumented point before and after shooting objective table 2 rotates; Demarcate processing unit 10, the data that process camera calibration produces; Monumented point image process unit 11, process photo, obtains the position of monumented point 8 before and after motion, thus in the hope of the rotation amount of monumented point 8 and translational movement, can also equal rotation amount and the translational movement of examined object body 12.
Here note, take film that monumented point 8 obtains and distinguish to x-ray source 1 be launched film that x-ray bombardment examined object body 12 obtains and video camera 9 and come, in the utility model, the former is called photo, and the latter is called photo.
For 2 video cameras, elect ccd video camera as here.
2 video cameras are distributed in the top of 3 monumented points, and each camera coverage scope all covers the region that 3 monumented points may occur in rotary course; Distance between 3 monumented points should not be too large, to ensure to be covered by the visual field of 2 video cameras.
2 video cameras intersect to be put or laid parallel, makes it possible to from different angular observation 3 monumented points.
3 monumented points are spheroid, its diameter are set to 15mm respectively, 10mm, 5mm, and so demarcation processing unit 10 that makes promptly can carry out feature extracting and matching according to the size difference of 3 monumented point images, and then calculates camera interior and exterior parameter.
3 monumented points are all positioned on sign frame 7, so synchronized movement that can make objective table 2, sign frame 7 and 3 monumented points.
Sign frame 7 covers the region that 2 video cameras may be taken, and that is, the photo of 2 video camera shootings only has the image of sign frame 7 and 3 monumented points, so interference can avoiding the factors such as examined object body 12.
Fig. 2 is the workflow diagram of an embodiment according to X ray CT device described in the utility model.In the present embodiment, the workflow of X ray CT device is: before X ray CT device detects examined object body, first demarcate 2 video cameras, checker array calibrating plate selected by demarcation element used, to determine the respective intrinsic parameter of video camera 9a and video camera 9b and outer parameter.Then, 3 monumented points be positioned on sign frame 7 are taken, obtains a photo, be used for the position determining that monumented point starts.Then, objective table 2 asks examined object body 12 to rotate, with X ray CT device scanning examined object body (namely refer in device rotary course, repeatedly launch x-ray bombardment examined object body).While x-ray source 1 launches x-ray bombardment examined object body 12 at every turn, 2 video cameras carry out shooting photo to 3 monumented points simultaneously.After the end of scan, x-ray source 1 is launched X ray and is obtained multiple pictures to examined object body 12 shooting, and the photo obtaining the equal number of 3 monumented points also taken by 2 video cameras simultaneously.The photo at every turn obtained is processed, obtain the three-dimensional coordinate of 3 monumented points when objective table is positioned at each position, and then solve 3 coordinate points relative to rotation amount during initial position and translational movement, namely objective table 2 is relative to the translational movement of initial position and rotation amount.So just obtain the two aspect data that CT image reconstruction is necessary, the intensity namely after X ray projection and corresponding detection position.Finally, computing machine utilizes the data obtained, and uses corresponding commonly known algorithm, as process of iteration, direct back projection method, Filtered Back-projection etc., reconstructs the CT image of examined object body 12.
Because binocular machine vision is key of the present utility model, binocular machine vision comprises: several parts such as camera calibration, image corresponding point matching, three-dimensional reconstruction.Just explain binocular machine vision in conjunction with the present embodiment below.
Fig. 3 is video camera pin-hole imaging geometric relationship figure.As shown in Figure 3, the subpoint p of spatial point P on photo is spatial point P and video camera photocentre
the intersection point of line and photo.Projection from three dimensions to two bit-plane images relates to the conversion of 4 coordinate systems.4 coordinates are:
photographic coordinate system
: often open digital photo and be expressed as a matrix in a computer, true origin is be positioned at the matrix upper left corner
, u and v is expressed as pixel line number in a matrix and columns
imaging plane coordinate system
: with the intersection point of camera optical axis and photo
for initial point, x, y-axis are parallel with u, v axle respectively
camera coordinate system
: true origin
be positioned at photocentre,
with
parallel with x-axis, y-axis respectively
world coordinate system
: the real coordinate system namely describing objective world, can be fixed in scene on object, can be used for the position describing video camera and other any objects.
According to the relevant knowledge in machine vision, suppose that a picture point is at photographic coordinate system
in coordinate be designated as that (u, v), at world coordinate system
middle coordinate is designated as
, both transformational relations are
In formula, S is scale factor, known; F is the Intrinsic Matrix of video camera;
for the outer parameter matrix of video camera, M is projection matrix.R and T is expressed as camera coordinate system relative to the rotational component of world coordinate system and displacement component.F, R, T and M are defined as respectively
In formula,
be expressed as the focal length on x, y direction
be expressed as the photo coordinate of primary optical axis and photo plane point of intersection.
Fig. 4 is the schematic diagram of binocular solid machine vision.As shown in Figure 4, according to video camera pin-hole imaging principle, 1, space P picture point p is in the picture the line of P point and video camera photocentre O and the intersection point of camera review, then spatial point P is positioned at straight line
on.If the picture point of known spatial 1 P in left and right video camera is respectively
, then former spatial point P was both positioned at space line
on, be positioned at straight line again
on, namely former point position in space is on the intersection point of two straight lines.So, just can draw the three-dimensional coordinate of former spatial point to two intersection between lines points, the ultimate principle of Here it is binocular machine vision.In order to realize the process asking for former spatial point P three-dimensional coordinate, solve two problems: (1) is in order to obtain the equation of two straight lines, first must try to achieve two video cameras image transformation matrix separately, arbitrary on problem of calibrating (2) two images of Here it is video camera must corresponding same spatial point to picture point, so just can ensure two straight line intersection, picture point matching problem that Here it is.
Below in conjunction with the course of work of the present embodiment illustratively X ray CT device of the present utility model.
Camera calibration: demarcate and adopt traditional camera calibration method, step is as follows: by one
chequered with black and white checkerboard grid be printed on an A4 paper, be then entirely attached on flat board and make scaling board, scaling board is as shown in Figure 5.Scaling board is placed on sign frame, then the photo of 2 video camera shooting scaling boards is used, rotate scaling board angle again, take the photo of about 15, then utilize and demarcate processing unit, extract minutiae also mates, and calculates the intrinsic parameter of video camera and outer parameter (world coordinate system is here selected to overlap with left camera coordinate system), thus is aware of the projection matrix of 2 video cameras
(reference book: machine vision. Zhang Guangjun is write. Science Press .ISBN 7-03-014717-0).
Obtain image: open X ray CT device, objective table 2 is held in the palm, and examined object body 12 rotates, namely refer in device rotary course with X ray CT device scanning examined object body 12(, repeatedly launch x-ray bombardment examined object body 12).While x-ray source 1 launches x-ray bombardment examined object body 12 at every turn, 2 video cameras carry out shooting photo to 3 monumented points simultaneously.After the end of scan, x-ray source 1 is launched X ray and is obtained multiple pictures to the shooting of examined object body, and the photo obtaining the equal number of monumented point also taken by 2 video cameras simultaneously.
Image corresponding point matching: image corresponding point matching refers to the picture point found in two images corresponding to same spatial point.According to constraints such as epipolar-line constraint, unique constraints, disparity continuity constraint, sequence continuity constraints in image corresponding point matching, apply certain method, as the coupling based on region, the coupling based on characteristics of image and the method such as coupling based on phase place, the corresponding point in the image of two video cameras in left and right are mated.Due to the spheroid that monumented point is rule, use based on the matching process in region, can match rapidly in two photos at every turn taken rapidly 3 monumented points image (reference book: machine vision. Zhang Guangjun is write. Science Press .ISBN 7-03-014717-0).
Three-dimensional reconstruction: three-dimensional reconstruction here refers to the three-dimensional coordinate of monumented point position when solving each shooting monumented point photo, and the position being aware of monumented point is also just equivalent to the position being aware of objective table.By Image Feature Point Matching, for two photos of arbitrary time shooting, 3 monumented points image in two photos is through overmatching one_to_one corresponding, and the projection matrix of two video cameras
also obtaining through demarcating, solving the three-dimensional coordinate of 3 monumented points below.Here world coordinate system overlaps with left camera coordinate system, for some monumented points, is assumed to be mark 8a, supposes to be respectively in the picture point of two video camera 9a and video camera 9b
, then have:
Wherein,
be respectively image
homogeneous coordinates in respective image coordinate system, all known.Matrix (1-2) and (1-3) are launched, cancellation respectively
, obtain about
4 linear equations:
from cartesian geometry relevant knowledge, three-dimensional plane equation is linear equation, and the simultaneous of two plane equations is the equation of space line, and the geometric meaning of formula (1.4) was
, the geometric meaning of formula (1.5) was
.Because spatial point P is simultaneously at straight line
on, so simultaneous formula (1.4) and formula (1.5) just can solve the coordinate of monumented point 7a
.In fact, only have 3 to be independently in 4 equations of formula (1.4) and formula (1.5), select any 3 equations just can solve 3 unknown numbers
.And in practice, due to total noisy interference, so least square method can be utilized to obtain 3 unknown numbers, to reduce error.
Profit uses the same method, and can solve the three-dimensional coordinate of other two monumented point 8b and 8c corresponding on current photo.In like manner, the three-dimensional coordinate of 3 monumented points in the photo of corresponding arbitrary two video camera shootings can be solved.
Solve rotation amount and the translational movement of objective table: for the ease of reading, here 3 monumented points are designated as A, B, C, when initial position, clap a photo by 2 video cameras are simultaneously each, 3 positions of monumented point in world coordinate system can be tried to achieve according to said process, be designated as
, can uniquely determine a bit according to these three points
, make 3 vectors
orthogonal.Then, with point
for initial point, vector
vector of unit length
for coordinate axis sets up stage coordinate system
, rotation matrix corresponding between stage coordinate system with world coordinate system is designated as
, then matrix
meet condition be:
Therefore,
Turn to some positions at objective table, similar said process, will now be designated as by monumented point
, with the point determined
for initial point, with 3 vectors
vector of unit length
for coordinate axis, set up stage coordinate system now
, the rotation matrix corresponding with between world coordinate system of stage coordinate system is now
the condition met is:
Therefore,
For any point in the examined object body on objective table, if when it is positioned at initial position, the positional representation in world coordinate system is
, at coordinate system
in positional representation be
; And rotate after its at coordinate system
in positional representation be
, in world coordinate system, position is expressed as
, then have following equation to set up:
By (1-6) and (1-7) two formulas, solve
Therefore, the rotation matrix that can obtain examined object body is
, translation matrix is
, after namely examined object body position variation relative to the rotation amount before variation be
, translational movement is
, and the position known (initial position) before variation, so obtain the position after the motion of examined object body.
According to above-mentioned steps, just the position of the objective table of each X-ray photographs corresponding can be determined, also the position (because both synchronized movement) of examined object body just, finally, computing machine utilizes the data (namely X-ray intensity and corresponding examined object body movement position two aspect data) obtained, use corresponding commonly known algorithm, as process of iteration, direct back projection method, Filtered Back-projection etc., reconstruct the 3-D view of examined object body.
Although described out a preferred embodiment of the present utility model by reference to the accompanying drawings, but those skilled in the art are to be understood that, for the X ray CT device that above-mentioned the utility model proposes, various improvement can also be made on the basis not departing from the utility model content.Therefore, protection domain of the present utility model should be determined by the content of appending claims.
Claims (9)
1. an X ray CT device, comprising:
X-ray source, detects to examined object body divergent-ray it;
Objective table, holder carries examined object body and rotates;
Mechanical system, controls objective table and rotates;
Master controller, controls radiographic source and mechanical system;
Detector, receives the ray transmitted through examined object body and is converted into digital signal;
Image reconstruction unit, goes out the CT image of examined object body according to reconstructs projection data;
It is characterized in that, described CT device also comprises:
Sign frame, is fixed on objective table and also rotates thereupon;
Monumented point, is positioned on sign frame;
Video camera, the photo of monumented point in shooting objective table rotation process;
Demarcate processing unit, the data that process camera calibration produces, obtain the inside and outside parameter of video camera;
Monumented point image process unit, process photo, obtains the position of monumented point before and after motion, thus in the hope of the rotation amount of monumented point and translational movement, can also equal rotation amount and the translational movement of examined object body.
2. X ray CT device according to claim 1, is characterized in that, described video camera is at least two and these video cameras are distributed in the top of monumented point.
3. X ray CT device according to claim 1, is characterized in that, described video camera is ccd video camera or cmos camera or digital camera.
4. X ray CT device according to claim 3, is characterized in that, described video camera is distributed in the top of monumented point, and each camera coverage scope all covers the region that all monumented points may occur in rotary course.
5. X ray CT device according to claim 4, is characterized in that, before video camera shooting monumented point photo, must demarcate video camera.
6. X ray CT device according to claim 5, is characterized in that, described video camera intersects to be put or laid parallel, makes it possible to from different angular observation monumented points.
7. X ray CT device according to claim 6, is characterized in that, described monumented point has three at least, and size is different or shape is different.
8. X ray CT device according to claim 7, is characterized in that, described monumented point is positioned on sign frame.
9. X ray CT device according to claim 8, is characterized in that, described sign frame covers the region that all video cameras may be taken.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104502378B (en) * | 2014-12-30 | 2017-02-22 | 四川大学 | X-ray CT (Computed Tomography) device |
| CN110057327A (en) * | 2018-01-19 | 2019-07-26 | 株式会社三丰 | Measurement X ray CT device and its anti-interference method |
| CN114252461A (en) * | 2020-09-23 | 2022-03-29 | 贝克休斯油田作业有限责任公司 | Positioning of an X-ray imaging system using an optical camera |
-
2014
- 2014-12-30 CN CN201420849281.3U patent/CN204314239U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104502378B (en) * | 2014-12-30 | 2017-02-22 | 四川大学 | X-ray CT (Computed Tomography) device |
| CN110057327A (en) * | 2018-01-19 | 2019-07-26 | 株式会社三丰 | Measurement X ray CT device and its anti-interference method |
| CN114252461A (en) * | 2020-09-23 | 2022-03-29 | 贝克休斯油田作业有限责任公司 | Positioning of an X-ray imaging system using an optical camera |
| EP3974819A1 (en) * | 2020-09-23 | 2022-03-30 | Baker Hughes Oilfield Operations LLC | Positioning of x-ray imaging system using an optical camera |
| CN114252461B (en) * | 2020-09-23 | 2024-01-23 | 贝克休斯油田作业有限责任公司 | Positioning of an X-ray imaging system using an optical camera |
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