CN211179655U - Ultrasonic detection and imaging system - Google Patents
Ultrasonic detection and imaging system Download PDFInfo
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- CN211179655U CN211179655U CN201922123595.0U CN201922123595U CN211179655U CN 211179655 U CN211179655 U CN 211179655U CN 201922123595 U CN201922123595 U CN 201922123595U CN 211179655 U CN211179655 U CN 211179655U
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Abstract
The utility model relates to a nondestructive test technical field discloses an ultrasonic testing and imaging system, include the arm and be fixed in the terminal ultrasonic probe of arm, still include ultrasonic detection instrument and pulse generation device, the pulse generation device respectively with arm and ultrasonic detection instrument communication connection, the pulse generation device includes embedded controller, embedded controller is used for receiving the terminal position information that the arm sent, will scan end position information conversion and look into axle pulse and step shaft pulse and will scan and look into axle pulse and step shaft pulse and send to ultrasonic detection instrument and image. The utility model provides a pair of ultrasonic testing and imaging system acquires the positional information of arm in real time through setting up embedded controller to change the terminal positional information of arm into to sweep and look into axle pulse and step-by-step axle pulse and send for ultrasonic detection instrument, can realize ultrasonic detection instrument's formation of image smoothly.
Description
Technical Field
The utility model relates to a nondestructive test technical field especially relates to an ultrasonic testing and imaging system.
Background
The ultrasonic nondestructive detection has wide application in nondestructive flaw detection in the industrial fields of petrochemical industry, aerospace, ships, vehicles and the like. The traditional nondestructive testing method mainly depends on manual scanning, has low automation degree, and causes low scanning efficiency and possible missing detection. In order to ensure the accuracy of the inspection result and improve the detection efficiency, manufacturers have gradually started to provide automatic ultrasonic detection equipment suitable for different materials. The plate material can be detected by using the linear motion unit to carry the ultrasonic probe, and the curved surface of a workpiece with a more complex shape needs to be scanned by using special multi-axis equipment or a universal mechanical arm to fit the curved surface of the workpiece. Due to the fact that cost of manufacturing special multi-axis equipment is too high, currently, a universal joint type mechanical arm is mostly used for achieving flaw detection scanning of complex parts.
The ultrasonic detection instrument performs imaging in a two-dimensional mode, and two external pulse signals, namely a stepping axis pulse and a scanning axis pulse, need to be generated when automatic scanning is performed for accurate imaging. The universal mechanical arm cannot directly convert the motion of the tail end into the pulse to be input into the detection instrument, so that the ultrasonic detection instrument cannot image, and the application of the universal mechanical arm in ultrasonic detection of complex workpieces such as curved surfaces and the like is limited.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an ultrasonic testing and imaging system for solve or partly solve universal mechanical arm and can not directly be with terminal motion conversion for the pulse input detecting instrument, lead to ultrasonic detecting instrument can not image, thereby restricted general type mechanical arm and used the problem in the ultrasonic testing to complicated work pieces such as curved surface.
The embodiment of the utility model provides an ultrasonic testing and imaging system, include the arm and be fixed in the terminal ultrasonic probe of arm still includes ultrasonic detection instrument and pulse generation device, the pulse generation device respectively with arm and ultrasonic detection instrument communication connection, the pulse generation device includes embedded controller, embedded controller is used for receiving the terminal position information that the arm sent, with terminal position information conversion for sweep look into axle pulse and step shaft pulse and will sweep look into axle pulse and step shaft pulse and send into ultrasonic detection instrument images.
On the basis of the scheme, the pulse generating device further comprises a shell, a direct-current power supply module and a power supply interface, the embedded controller and the direct-current power supply module are arranged inside the shell, the power supply interface is arranged on the surface of the shell, and the power supply interface is connected with the direct-current power supply module.
On the basis of the scheme, the pulse generation device further comprises a power supply control module and a switch button, the power supply control module comprises a single chip microcomputer, the direct-current power supply module is connected with the single chip microcomputer, the switch button is connected with a digital input port of the single chip microcomputer, the single chip microcomputer is connected with the embedded controller through an IO port, and the single chip microcomputer is connected with the embedded controller through a digital output port.
On the basis of the scheme, the pulse generating device further comprises a digital signal conversion board, the embedded controller is connected with the digital signal conversion board, and the digital signal conversion board is connected with the ultrasonic detection instrument.
On the basis of the scheme, the pulse generating device further comprises a status indicator lamp, and the status indicator lamp is connected with the embedded controller.
On the basis of the scheme, the pulse generation device further comprises a first interface and a second interface, the first interface and the second interface are respectively connected with the embedded controller, the mechanical arm is connected with the first interface, and the ultrasonic detection instrument is connected with the second interface.
On the basis of the scheme, the pulse generating device is in communication connection with the mechanical arm through an Ethernet or a serial bus, and the pulse generating device is connected with the ultrasonic detecting instrument through a communication cable.
The embodiment of the utility model provides a pair of ultrasonic testing and imaging system, it is used for connecting arm and ultrasonic detection instrument to set up the pulse generation device, can realize respectively through setting up embedded controller with the communication signal transmission between arm and the ultrasonic detection instrument, can acquire the positional information of arm in real time, and send the ultrasonic detection instrument with the terminal positional information conversion of arm for sweeping and looking into axle pulse and step shaft pulse, can realize ultrasonic detection instrument's formation of image smoothly, realize the smooth application of general type arm in carrying out ultrasonic testing to complicated work pieces such as curved surface, the improvement is to complicated work piece ultrasonic testing's convenience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of an ultrasonic inspection and imaging system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an imaging path of an ultrasonic detection apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a pulse generating device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a profile contour line of a workpiece to be measured in an embodiment of the present invention.
Description of reference numerals:
wherein, 1, a mechanical arm; 2. an ultrasonic detection instrument; 3. a pulse generating device; 4. an ultrasonic probe; 5. a workpiece to be tested; 301. an embedded controller; 302. a housing; 303. a DC power supply module; 304. a power supply control module; 305. a switch button; 306. a power interface; 307. a second interface; 308. a first interface; 309. a status indicator light; 310. a digital signal conversion board.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the utility model provides an ultrasonic testing and imaging system, refer to fig. 1, this system includes arm 1 and is fixed in 1 terminal ultrasonic probe 4 of arm, still include ultrasonic detection instrument 2 and pulse generation device 3, pulse generation device 3 respectively with arm 1 and ultrasonic detection instrument 2 communication connection, pulse generation device 3 includes embedded controller 301, embedded controller 301 is used for receiving the terminal position information that arm 1 sent, change terminal position information into to sweep and look into axle pulse and step shaft pulse and will sweep and look into axle pulse and step shaft pulse and send to ultrasonic detection instrument 2 and image.
The embodiment of the utility model provides a pair of ultrasonic testing and imaging system sets up arm 1 and drives ultrasonic probe 4 and sweep the inspection and detect to the material that awaits measuring. The mechanical arm 1 can be a universal mechanical arm 1, and scanning detection of workpieces with complex shapes such as curved surfaces and the like can be realized by utilizing the mechanical arm 1. The system is provided with a pulse generating device 3 which is mainly used for converting the motion of the universal mechanical arm 1 into corresponding pulses and sending the pulses to the ultrasonic detecting instrument 2, so that the ultrasonic detecting instrument 2 can smoothly realize imaging according to the pulses.
Because the universal mechanical arm 1 cannot send pulses required by imaging to the ultrasonic detection instrument 2, the universal mechanical arm 1 cannot be applied to ultrasonic detection of complex workpieces such as curved surfaces, most of the existing ultrasonic detection systems for complex workpieces such as curved surfaces need to be specially customized, so that the structure is complex, and the cost is high.
The embodiment provides an ultrasonic detection and imaging system, set up pulse generation device 3 and be used for connecting arm 1 and ultrasonic detection instrument 2, can realize respectively through setting up embedded controller 301 with the arm 1 and ultrasonic detection instrument 2 between the communication signal transmission, can acquire the positional information of arm 1 in real time, and change the terminal positional information of arm 1 into and scan axle pulse and step shaft pulse and send for ultrasonic detection instrument 2, can realize ultrasonic detection instrument 2's formation of image smoothly, realize general type arm 1 and carry out the smooth application in ultrasonic detection to complicated work pieces such as curved surface, improve the convenience to complicated work piece ultrasonic detection.
Further, referring to fig. 2, when the ultrasonic probe 4 is used for ultrasonic detection by the ultrasonic detection instrument 2, imaging is performed in a two-dimensional manner, that is, an ultrasonic image generated by the ultrasonic detection instrument 2 is generated in a grid form, that is, an image is generated by moving along the X-axis direction first, then stepping is performed along the Y-axis direction, and then the image is generated by continuing to move along the X-axis direction, where an image generation path is in a grid form. The path moving along the X-axis direction is a scanning axis path, and the path moving along the Y-axis direction is a stepping axis path. When imaging, the ultrasonic detector 2 needs to perform imaging according to two pulse signals, one is scanning axis pulse and the other is stepping axis pulse.
The scan axis pulse and the step axis pulse are determined according to the movement of the tip of the robot arm 1. When the universal mechanical arm 1 is used for ultrasonic detection, a preset path can be set as a moving scanning path of the mechanical arm 1, and the mechanical arm 1 moves according to the preset path to drive the ultrasonic probe 4 to scan the surface of a workpiece 5 to be detected. The predetermined path of movement of the robot arm 1 is also typically in the form of a grid, so that the predetermined path is divided into a scanning path and a stepping path. The robot arm 1 moves alternately along a scanning path and a stepping path.
When the mechanical arm 1 moves along the scanning path, the embedded controller 301 may obtain, according to the position information of the end of the mechanical arm 1 obtained in real time, the displacement of the end of the mechanical arm 1 generated in a certain period on the scanning path through calculation, and then obtain the scanning axis pulse according to the preset scanning resolution. The ultrasonic detection instrument 2 can generate an image on a scanning axis path according to the scanning axis pulse sent by the embedded controller 301.
When the mechanical arm 1 moves along the stepping path, the embedded controller 301 may obtain, according to the position information of the end of the mechanical arm 1 obtained in real time, the displacement of the end of the mechanical arm 1 generated in a certain period on the stepping path through calculation, and then obtain the stepping axis pulse according to the preset stepping resolution. The ultrasonic detector 2 can generate an image on a stepping shaft path according to the stepping shaft pulse sent by the embedded controller 301, so as to realize smooth imaging.
On the basis of the above embodiment, further referring to fig. 3, the pulse generating device 3 further includes a housing 302, a dc power supply module 303, and a power interface 306, the embedded controller 301 and the dc power supply module 303 are disposed inside the housing 302, the power interface 306 is disposed on the surface of the housing 302, and the power interface 306 is connected to the dc power supply module 303. The relevant components of the pulse generating device 3 are enclosed inside the housing 302.
The power interface 306 is used for connecting an external power supply, and the dc power module 303 converts the 220V ac power into dc power to supply power to the embedded controller 301. To ensure the reliability of the device in use in the industrial field, the power interface 306 may employ an aviation plug. The alternating current is connected to the ports of the zero line, the live line and the ground line of the direct current power supply module 303 through the power interface 306, and the direct current power supply module 303 outputs the direct current with stable voltage.
On the basis of the above embodiment, further, the pulse generating device 3 further includes a power supply control module 304 and a switch button 305, the power supply control module 304 includes a single chip microcomputer, the dc power supply module 303 is connected to the single chip microcomputer, the switch button 305 is connected to a digital input port of the single chip microcomputer, the single chip microcomputer is connected to the embedded controller 301 through an IO port, and the single chip microcomputer is connected to the embedded controller 301 through a digital output port. That is, the single chip microcomputer can control the power supply of the embedded controller 301 to be conducted through the IO port, and can also perform signal transmission with the embedded controller 301 through the digital output port.
Usually, the embedded controller 301 is powered on to start the system, and when the embedded controller 301 is powered off directly, the embedded controller 301 may be performing read/write operations on a disk or an SD card, and long-term abnormal shutdown may cause damage to a file system of the embedded controller 301, which may result in a failure to start the system, and may affect the service life. To ensure that data files on the disk or SD card are not damaged, the running system should be shut down before power is turned off.
However, in order to improve the usability of the pulse generating apparatus 3, a human-computer interaction interface is not provided, and only the switch button 305 is provided, that is, after the user only needs to press the switch button 305 to start the system, the program automatically runs in the background. In this case, in order to implement "soft-off", a power control module 304 may be disposed between the dc power module 303 and the embedded controller 301, the power module supplies power to the embedded controller 301 through an IO port, a power supply input IO port on the embedded controller 301 is connected to an IO output port corresponding to the power control module 304 through a wire, and the dc power module 303 is connected to a power input end of the power control module 304 through a wire. Namely, the power control module 304 is configured to control power conduction between the direct-current power module 303 and the embedded controller 301.
The power control module 304 is mainly composed of a micro-singlechip, an IO interface, and related circuits and electronic components. When the dc power module 303 is powered on, the power is supplied to the single chip microcomputer on the power control module 304. A switch button 305 of the device is connected to a digital input IO of the single chip microcomputer through an electric wire, and corresponding signals can be sent to the single chip microcomputer by opening and closing the switch button 305. When a user presses a button to start up the computer, the hardware interrupt triggers a program in the single chip microcomputer to control a corresponding port on a pin of the single chip microcomputer to output high/low level, and direct current meeting the requirement is transmitted to a corresponding port of the embedded controller 301 through an IO port on the power supply control module 304 after passing through the amplifying circuit, so that the embedded controller can obtain energy to realize the start-up.
When the system needs to be shut down, the switch button 305 on the device can be pressed again, at this time, the single chip microcomputer outputs a high/low level signal to the embedded controller 301 through another digital output port, the embedded controller 301 performs polling check on the signal or directly uses the signal as hardware interrupt connection, and when the signal is detected, the embedded controller 301 automatically calls a shutdown instruction to shut down the system. The single chip microcomputer program on the power control module 304 automatically starts timing after the user presses the button to shut down the power supply, and the power supply is cut off through the IO port after the embedded controller 301 is normally shut down after a certain time delay.
On the basis of the above embodiment, further, the pulse generating device 3 further includes a digital signal conversion board 310, the embedded controller 301 is connected to the digital signal conversion board 310, and the digital signal conversion board 310 is connected to the ultrasonic detection apparatus 2.
In order to ensure reliable communication between the embedded controller 301 and the external ultrasound probe apparatus 2, the digital signal conversion board 310 is used to perform voltage conversion while isolating noise (the digital signal voltage standards of the embedded controller 301 and the ultrasound apparatus may not be consistent). Digital signal conversion mainly realizes 'electro-optic-electro' conversion through an optical coupler (photoelectric coupler) device and a related circuit, and uses light as a medium to couple an input end signal to an output end so as to realize electrical isolation. The output signal has no influence on the input end and has strong anti-interference capability.
On the basis of the above embodiment, further, the pulse generating device 3 further includes a status indicator lamp 309, and the status indicator lamp 309 is connected to the embedded controller 301. Status indicator lights 309 may be provided on the surface of the housing.
The status indicator 309 (two or more) is used to indicate the power and working status of the device, and can be implemented by different color leds. The indicator light is installed on the panel of the device, and is controlled to be turned on or off directly through the digital output IO port of the embedded controller 301, or is connected to the status indicator light 309 through the digital signal conversion board 310. When the embedded controller 301 is powered on and enters a ready-to-operate state, the power status indicator lamp 309 is illuminated through the corresponding IO port. The working state indicator lamp 309 can indicate the current working state of the instrument, the working state indicator lamp 309 is always on when the device is connected to the mechanical arm 1 through a net port, and if the connection between the device and the mechanical arm 1 is in a problem, the working state indicator lamp 309 is controlled to be turned off through the embedded controller 301, so that a user is prompted to perform connection inspection. When the device enters a pulse-generating operating state, the operating state indicator 309 may flash in a certain pattern to indicate the current operating state.
On the basis of the above embodiment, further, the pulse generating apparatus 3 further includes a first interface 308 and a second interface 307, the first interface 308 and the second interface 307 are respectively connected to the embedded controller 301, the mechanical arm 1 is connected to the first interface 308, and the ultrasonic detection device 2 is connected to the second interface 307. The first interface 308 and the second interface 307 may be provided on a surface of the housing.
On the basis of the above embodiment, further, the pulse generating device 3 is connected to the robot arm 1 through ethernet or a serial bus in a communication manner, and the pulse generating device 3 is connected to the ultrasonic detection apparatus 2 through a communication cable. In order to obtain the real-time position and posture of the motion of the mechanical arm 1, the embedded controller 301 communicates with the mechanical arm 1 through an ethernet interface. The controller sends an instruction to the mechanical arm 1 to inquire the position and the posture of the mechanical arm according to a set period, or the mechanical arm 1 sends the position and the posture of the mechanical arm to the embedded controller 301 at regular time.
On the basis of the foregoing embodiments, further, the present embodiment provides an ultrasound detecting and imaging method based on the ultrasound detecting and imaging system in any of the foregoing embodiments, the ultrasound detecting and imaging method including: the mechanical arm 1 drives the ultrasonic probe 4 to scan the material to be detected according to a preset path; acquiring the tail end position information of the mechanical arm 1 in real time; converting the tail end position information of the mechanical arm 1 into a scanning axis pulse signal and a stepping axis pulse signal; and respectively sending the scanning axis pulse and the stepping axis pulse to the ultrasonic detection instrument 2 for imaging according to the scanning axis pulse signal and the stepping axis pulse signal.
The number of the scanning axis pulse signals, that is, the scanning axis pulses, and the embedded controller 301 may send the corresponding number of the scanning axis pulses to the ultrasonic detection instrument 2 according to the obtained scanning axis pulse signals. Also, the embedded controller 301 sends a corresponding number of step-axis pulses to the ultrasonic probe apparatus 2 according to the obtained step-axis pulse signal.
On the basis of the above embodiment, further, converting the end position information of the robot arm 1 into the scanning axis pulse signal and the stepping axis pulse signal includes: determining a scanning path and a stepping path according to a preset path of the tail end movement of the mechanical arm 1; acquiring displacement of the tail end of the mechanical arm 1 on a scanning path according to the tail end position information of the mechanical arm 1 on the scanning path, and acquiring a scanning shaft pulse signal according to a preset scanning resolution; and according to the position information of the tail end of the mechanical arm 1 on the stepping path, obtaining the displacement of the tail end of the mechanical arm 1 on the stepping path, and according to the preset stepping resolution, obtaining a stepping axis pulse signal.
The scanning axis pulse signal can be determined according to the displacement of the tail end of the mechanical arm 1 on a scanning path and the scanning resolution. Since the preset path of the end of the robot arm 1 is known, the scanning path and the stepping path are known and determined, and therefore, the displacement of the end of the robot arm 1 on the scanning path can be determined according to the position information of the end of the robot arm 1. Likewise, the step axis pulse signal may be determined based on the location of the end of the robot arm 1 on the step path and the step resolution. The position of the end of the robot arm 1 on the stepping path may be determined based on the position information of the end of the robot arm 1.
When the universal mechanical arm 1 is used for ultrasonic detection, a preset path can be set as a moving scanning path of the mechanical arm 1, and the mechanical arm 1 moves according to the preset path to drive the ultrasonic probe 4 to scan the surface of a workpiece 5 to be detected. The predetermined path of movement of the robot arm 1 is also typically in the form of a grid, so that the predetermined path is divided into a scanning path and a stepping path. The robot arm 1 moves alternately along a scanning path and a stepping path.
When the mechanical arm 1 moves along the scanning path, the embedded controller 301 may obtain, according to the position information of the end of the mechanical arm 1 obtained in real time, the displacement of the end of the mechanical arm 1 generated in a certain period on the scanning path through calculation, and then obtain the scanning axis pulse according to the preset scanning resolution. The ultrasonic detection instrument 2 can generate an image on a scanning axis path according to the scanning axis pulse sent by the embedded controller 301.
When the mechanical arm 1 moves along the stepping path, the embedded controller 301 may obtain, according to the position information of the end of the mechanical arm 1 obtained in real time, the position of the end of the mechanical arm 1 generated in a certain period on the stepping path through calculation, and then obtain the stepping axis pulse according to the preset stepping resolution. The ultrasonic detector 2 can generate an image on a stepping shaft path according to the stepping shaft pulse sent by the embedded controller 301, so as to realize smooth imaging.
In addition to the above embodiment, linear displacements of the end of the robot arm 1 generated at preset time intervals are respectively used as the displacement of the end of the robot arm 1 on the scanning path and the displacement of the end of the robot arm 1 on the stepping path.
The linear displacement generated by the tail end of the mechanical arm 1 at the preset interval time is the linear distance between the front point and the rear point of the tail end of the mechanical arm 1 at the preset interval time. The preset time interval is the time interval between two adjacent times of acquiring the tail end position information of the mechanical arm 1. For example, when the sampling point of the end position of the previous mechanical arm 1 is a and the sampling point of the end position of the previous mechanical arm 1 is B at the preset interval time, the linear displacement generated by the end of the mechanical arm 1 at the preset interval time is the linear displacement
The linear displacement of the end of the robot arm 1 can be taken as the displacement on the scanning path as well as the displacement on the stepping path.
When the mechanical arm 1 actually scans complex workpieces such as curved surfaces, the preset path is not necessarily a straight line, but may also be irregular shapes such as curved surfaces, and the preset path is not necessarily regular movement along the X axis, the Y axis or the Z axis. Therefore, the scanning path and the stepping path are also irregular, and therefore, the displacement of the end of the mechanical arm 1 on the scanning path and the displacement of the end of the mechanical arm 1 on the stepping path may not be a linear displacement, but because the preset time interval is short and is generally set to be in the millisecond level, the displacement generated by the end of the mechanical arm 1 in the preset time interval is very small, and therefore, the linear displacement can be used as the displacement on the scanning path and the displacement on the stepping path to calculate and obtain the pulse signal, and the obtained ultrasonic image has high accuracy and is convenient to calculate.
On the basis of the above embodiments, further, the present embodiment provides an ultrasonic detection and imaging system and method, which facilitate sending pulses corresponding to the motion conversion of the universal mechanical arm 1 to the ultrasonic detection instrument 2, and the ultrasonic instrument will automatically image based on the received scanning and stepping pulses.
The whole automatic ultrasonic scanning detection system is shown in figure 1, an ultrasonic probe 4 is arranged at the tail end of a mechanical arm 1, can be attached to the surface of a workpiece to be detected for nondestructive detection, and can be scanned according to a preset scanning path, a pulse generation device 3 and the mechanical arm 1 can be communicated in an Ethernet or serial bus mode, the position and the posture of the tail end of the mechanical arm 1 are obtained in real time, 2 paths of pulses are generated while the mechanical arm 1 performs scanning movement through internal operation of the device and are output to an ultrasonic detection instrument 2, pulse digital signals are transmitted between the pulse generation device 3 and the ultrasonic detection instrument 2 through a communication cable with a shielding layer, and the interface can adopt L EMO (Raymond interference) to ensure stable, reliable and convenient connection.
Fig. 3 shows an internal schematic diagram of the pulse generating device 3, which mainly includes an embedded controller 301, a dc power supply, a digital signal conversion board 310, a power control module 304, a status indicator 309, and related interfaces. The ultrasonic detection instrument 2 can receive and analyze orthogonal pulses, the orthogonal pulses refer to an A phase and a B phase of an encoder, rectangular wave pulse signals can be output respectively, the phase difference between the two signals is 90 degrees, the anti-noise performance is good, and the accuracy can be effectively improved during communication encoding.
For an ultrasonic detection instrument, when a scanning axis or a stepping axis receives a pulse, the ultrasonic image can automatically refresh a corresponding unit. The resolution of the pulse generation (i.e., how many corresponding orthogonal pulses are output within a certain motion interval) can be set in embedded controller 301, and a higher resolution results in a more accurate scanned ultrasound image, but increases processing and communication time.
If the profile line of a workpiece 5 to be measured is an irregular curve as shown in fig. 4, the mechanical arm 1 drives the probe to move perpendicularly to the profile line along the X-axis direction, and steps along the Y-axis direction. Assuming that the sampling point of the position of the previous robot arm 1 is a and the sampling point of the position of the previous robot arm 1 is B in the control period set by the embedded controller 301, since the control period is very short (in milliseconds), the distance moved by the robot arm 1 in the time period may be approximately equal to that of the control period
Where Δ X, Δ Y, and Δ Z are amounts of movement in the X/Y/Z axis direction calculated from the positions of the robot arm 1 at the previous time and the next time.
According to the set scanning/stepping axis resolution step, the number of pulses which should be sent by the scanning or stepping axis in the time period can be calculated to be N ═ delta AB/step; the embedded controller 301 controls the corresponding digital output port to generate orthogonal pulses within the control period according to the calculated number N of pulses.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an ultrasonic testing and imaging system, includes the arm and is fixed in the terminal ultrasonic probe of arm, its characterized in that still includes ultrasonic detection instrument and pulse generation device, pulse generation device respectively with arm and ultrasonic detection instrument communication connection, pulse generation device includes embedded controller, embedded controller is used for receiving the terminal positional information that the arm sent, with terminal positional information conversion scan the axle pulse and step shaft pulse and will scan the axle pulse and step shaft pulse send to ultrasonic detection instrument images.
2. The ultrasonic testing and imaging system of claim 1, wherein the pulse generator further comprises a housing, a dc power module and a power interface, the embedded controller and the dc power module are disposed inside the housing, the power interface is disposed on a surface of the housing, and the power interface is connected to the dc power module.
3. The ultrasonic detection and imaging system of claim 2, wherein the pulse generator further comprises a power control module and a switch button, the power control module comprises a single chip microcomputer, the direct current power module is connected with the single chip microcomputer, the switch button is connected with a digital input port of the single chip microcomputer, the single chip microcomputer is connected with the embedded controller through an IO port, and the single chip microcomputer is simultaneously connected with the embedded controller through a digital output port.
4. The ultrasonic testing and imaging system of claim 1, wherein the pulse generating device further comprises a digital signal converter board, the embedded controller is connected to the digital signal converter board, and the digital signal converter board is connected to the ultrasonic probing apparatus.
5. The ultrasonic testing and imaging system of claim 1, wherein the pulse generating means further comprises a status indicator light, the status indicator light being connected to the embedded controller.
6. The ultrasonic testing and imaging system of claim 1, wherein the pulse generating device further comprises a first interface and a second interface, the first interface and the second interface are respectively connected to the embedded controller, the mechanical arm is connected to the first interface, and the ultrasonic testing instrument is connected to the second interface.
7. The ultrasonic testing and imaging system of claim 1, wherein the pulse generating device is communicatively coupled to the robotic arm via an ethernet or serial bus, and wherein the pulse generating device is coupled to the ultrasonic probe via a communication cable.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112051329A (en) * | 2020-08-31 | 2020-12-08 | 四川云卓创新科技有限公司 | Automatic ultrasonic plate wave detection method |
| CN112326793A (en) * | 2020-11-05 | 2021-02-05 | 北京理工大学 | Manipulator backtracking movement method based on ultrasonic C-scan projection view defect relocation |
-
2019
- 2019-12-02 CN CN201922123595.0U patent/CN211179655U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112051329A (en) * | 2020-08-31 | 2020-12-08 | 四川云卓创新科技有限公司 | Automatic ultrasonic plate wave detection method |
| CN112326793A (en) * | 2020-11-05 | 2021-02-05 | 北京理工大学 | Manipulator backtracking movement method based on ultrasonic C-scan projection view defect relocation |
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