JP6516358B2 - Measuring device - Google Patents

Description

  The present invention relates to a measuring device, and more particularly to a measuring device that simultaneously measures the shape of an object existing inside and outside the fluid and the flow velocity distribution of the fluid.

  Currently, work is being carried out toward the decommissioning of the Fukushima Daiichi Nuclear Power Station. At the Fukushima Daiichi Nuclear Power Station, it is thought that fuel debris, which is melted and solidified together with the structural material and the control rods, is scattered in the pressure vessel and in the lower part of the containment vessel.

  At present, as a method of recovering such fuel debris, from the viewpoint of minimizing the exposure of workers, adoption of “submersion method” is considered to take fuel debris from the upper part of the containment vessel in a state of being flooded. ing.

  Here, in the submersion method, it is required to accurately capture the position and shape of the fuel debris to be submerged, but since the transparency of the stagnant water is low, a camera can not obtain a clear image of the object.

  In this regard, Non-Patent Document 1 discloses a method of creating an image of an object to be measured using an aperture synthesis method from a waveform acquired by array ultrasonic measurement.

K. Kimoto and S. Hirose, “Sizing of Horizontal Cracks by Array Ultrasonic Deep Scratch Test,” Proceedings of the Annual Meeting of the Fall Meeting of the Japanese National Institute of Non-Destructive Inspections, p. 47-50, 2008.

  In the submersion method, work can not be started unless it is confirmed that fuel debris is completely submersed. Therefore, one measurement system is used to detect the shape of fuel debris in various states, such as a state in which the whole is exposed in the air, a state in which a part is exposed in the air and immersed in water, and a state in which the whole is completely submerged. Is required. Also, if there is a risk that fuel debris may be exposed from the water surface during work if there is a leak of water injected due to damage to the containment vessel, there will be a risk that fuel debris will be exposed from the water surface. It is desirable to be able to detect

  The present invention has been made in view of the above-described needs, and the present invention provides a novel measuring device capable of simultaneously measuring the shape of an object existing inside and outside the fluid and the flow velocity distribution of the fluid. The purpose is to

  As a result of intensive investigation into the configuration of a measuring device that simultaneously measures the shape of an object existing inside and outside the fluid and the flow velocity distribution of the fluid, the present inventors have arrived at the following configuration and reached the present invention. .

  That is, according to the present invention, it is a measuring device for measuring the shape of an object existing inside and outside the fluid and the flow velocity distribution of the fluid, and an array sensor in which a plurality of transducers are arranged in a row; Two or more pulsers and receivers for controlling the drive of the plurality of transducers to cause pulse ultrasound waves to be emitted sequentially from transducers at different positions and detecting echo signals of the pulse ultrasound waves via the respective transducers; Object shape measuring means for measuring the surface shape of an object that reflects the pulse ultrasonic wave by performing aperture synthesis processing based on an echo signal detected via a vibrator, and separating at a predetermined distance or more A flow velocity vector meter that detects the Doppler frequency of an echo signal detected via the first and second transducers and measures the flow velocity vector based on the detected two Doppler frequencies And said flow velocity vector measuring means comprises: two detected Doppler frequencies; a unit vector in a direction connecting a reflection position of the pulse ultrasonic wave and a center of the vibrator for transmitting the pulse ultrasonic wave; A first vector, which is a unit vector in a direction connecting the reflection position of the pulse ultrasound and the center of the first transducer, and a unit in the direction connecting the reflection position of the pulse ultrasound and the center of the second transducer A measuring device is provided that calculates a flow velocity vector based on the second unit vector, which is a vector.

  As described above, according to the present invention, a novel measuring device capable of simultaneously measuring the shape of an object existing inside and outside the fluid and the flow velocity distribution of the fluid is provided.

The schematic diagram which shows the structure of the measuring device of this embodiment. FIG. 2 is a conceptual diagram for explaining drive control of the ultrasonic array sensor of the present embodiment. The figure which shows the waveform of an echo signal typically. The conceptual diagram for demonstrating the principle of aperture synthetic | combination. The figure which shows the aspect which measures the surface shape of an object. The figure which shows the ultrasonic array sensor which arranged the vibrator | oscillator in matrix form. The schematic diagram for demonstrating the flow velocity vector distribution measurement part. The conceptual diagram for demonstrating the measurement principle of flow velocity vector. The figure which shows the visualization data which present the surface shape of an object, and flow velocity vector distribution. 5 is a flowchart showing processing executed by the measuring device of the present embodiment.

  Hereinafter, the present invention will be described with the embodiment shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings. In the drawings referred to below, the same reference numerals are used for the common elements, and the description thereof will be omitted as appropriate.

  FIG. 1 is a schematic view showing the configuration of a measuring apparatus 100 according to an embodiment of the present invention. The measuring apparatus 100 according to this embodiment includes an ultrasonic array sensor 10, a pulsar receiver 20, an AD converter 30, and a computer 40. Here, the computer 40 functions as an object shape measurement unit 42, a flow velocity vector distribution measurement unit 44, and a measurement result output unit 46.

  As shown in FIG. 1, the ultrasonic array sensor 10 is configured as a linear array sensor in which a plurality of transducers 12 are arranged in a row, and in the present embodiment, the pulsar / receiver 20 is each transducer Each transducer 12 is configured to emit a short pulse signal of an ultrasonic wave by driving 12 by a pulse Doppler method. On the other hand, the echo (reflected wave) of the ultrasonic wave transmitted by each transducer 12 is configured to be received by each transducer 12, and each transducer 12 receives the received echo as an electric signal (hereinafter referred to as an echo). It converts into a signal and outputs to the pulser receiver 20. The pulser / receiver 20 outputs an echo signal (analog signal) detected through each vibrator 12 to the AD converter 30, and the AD converter 30 converts the echo signal into a digital signal and outputs the digital signal to the computer 40.

  In this embodiment, the pulser / receiver 20 drives the vibrator 12 so that the period for transmitting ultrasonic waves (hereinafter referred to as transmission period) and the period for receiving an echo (hereinafter referred to as reception period) are alternately repeated. Control. The pulser / receiver 20 selects and drives one transducer 12 sequentially arranged at a different position among the N transducers 12 constituting the ultrasonic array sensor 10 each time a transmission period comes, Every time a reception period arrives, an echo signal is detected via the transducer 12 of 2 or more and N or less. For example, as shown in FIG. 2, the pulser / receiver 20 sequentially switches the transducers 12 adjacent in the scanning direction one by one from the left end (1ch) to the right end (Nch) of the row each time the transmission period arrives. The echo signal can be detected through all (N) transducers 12 each time the drive period is received and a reception period arrives.

  In the present embodiment, one set of unique pulser / receiver 20 and AD converter 30 is prepared for each of N transducers 12, and echo signals detected from N transducers 12 are simultaneously obtained. Although it is desirable to process, when performing measurement using one set of pulser receiver 20 and AD converter 30, echo signals detected from N transducers 12 using a multiplexer (N to 1) May be processed by time division.

  Further, the present embodiment does not limit the driving order of the transducers 12 in the transmission period, and it may be an aspect in which pulse ultrasonic waves are transmitted from the transducers 12 at different positions each time the transmission period arrives. Further, as shown in FIG. 2, it is not essential to detect the echo signals from all the transducers 12 in the reception period, but from the transducers 12 in a mode (number and position) that can achieve the desired accuracy with respect to the measured value. It may be configured to detect an echo signal.

  The outline of the configuration of the measurement apparatus 100 according to the present embodiment has been described above, and subsequently, the process performed by the object shape measurement unit 42 will be described. In the following description, FIG. 1 will be referred to as appropriate.

  In the present embodiment, one transducer 12 transmits pulsed ultrasonic waves in the transmission period, and the plurality of transducers 12 receive the echoes in the reception period. FIG. 3 schematically shows the waveform of an echo signal detected from each transducer 12 during the reception period. As shown in FIG. 3, the echo signal detected from each transducer 12 includes a component E 1 corresponding to the echo reflected by the stationary object 52 submerged in the stream 50. Here, the stationary object 52 is, for example, fuel debris scattered in the pressure vessel or in the lower part of the containment vessel.

  In the present embodiment, the object shape measurement unit 42 measures the surface shape of the stationary object 52 based on the component E1 of the echo signal input to the computer 40. Specifically, the object shape measurement unit 42 measures the surface shape of the stationary object 52 by performing the aperture combining process based on the component E1 detected through the two or more vibrators 12. Here, aperture combining is a method of virtually obtaining an aperture (receiving element) having a large aperture by combining received signals received at different positions. The principle of aperture synthesis applied to the present embodiment will be outlined below based on FIG.

  Here, it is assumed that the pulse ultrasonic wave transmitted by the vibrator 12a is reflected at the position X on the stationary object 52, and the three vibrators 12b, 12c, and 12d receive the echoes.

In this case, the required time T _b to the echo transducer 12a from to disseminate the pulsed ultrasound is received by the transducer 12b, a sound speed c of the medium flow 50, the center of the vibrator 12a and the transducer A curve b in which the position X can exist is geometrically determined from the separation distance L _{ab at} the center of 12 b. Similarly, from the required time _Tc from when the pulse ultrasonic wave is transmitted to when the echo is received by the transducer 12c, the speed of sound c, and the distance L _ac between the center of the transducer 12a and the center of the transducer 12c. A curve c in which the position X can exist is geometrically determined, and a required time T _d from the transmission of the pulse ultrasonic wave to the reception of the echo by the vibrator 12 _d , the speed of sound c, and the center of the vibrator 12 a a distance L _ad from position X can exist curve d of the center of the transducer 12d is determined geometrically. And in this case, the presence of the position X is estimated in the vicinity of the area where the three curves b, c, d intersect.

  Here, although an aspect is shown in which echo signals detected from the three transducers 12 are combined, it is needless to say that the estimation accuracy becomes higher as the number of echo signals to be combined is increased. The object shape measurement unit 42 selects two or more transducers 12 considered to be necessary for achieving a desired accuracy in terms of measurement values, and performs aperture synthesis processing based on the echo signals detected therefrom.

  In the present embodiment, as described above, the pulser / receiver 20 sequentially changes the position of the transducer 12 that transmits pulse ultrasonic waves to scan the measurement line in a one-dimensional manner. On the other hand, the object shape measurement unit 42 performs aperture synthesis on echo signals detected from the plurality of transducers 12 in synchronization with the scanning of the measurement line, and applies known position estimation algorithms such as DBF method and MUSIC method to this. Thus, the process of estimating the position X on each measurement line is repeated. As a result, the two-dimensional surface shape of the stationary object 52 is measured.

  FIG. 5 schematically shows an aspect in which the two-dimensional surface shape of the stationary object 52 is measured by the measuring device 100 of the present embodiment. When the object to be measured has a complicated shape, the propagation direction of the echo may be largely different depending on the position where the pulse ultrasonic wave is incident. For example, as shown in FIG. 5A, when the pulse ultrasonic wave is incident on the position X1, its echo propagates back on the propagation line of the pulse ultrasonic wave. In this case, since high intensity echo signals are detected, highly accurate position information can be obtained for the position X1. On the other hand, when the pulse ultrasonic wave is incident on the position X2, its echo propagates in a direction deviated from the propagation line of the pulse ultrasonic wave. In this case, although the intensity of the echo signal detected from the transducer 12 in the vicinity of the propagation line of the pulse ultrasonic wave becomes weak, the aperture is generated based on the echo signals detected from the plurality of transducers 12 arranged in the echo propagation direction. Since the position information of the position X2 can be obtained by performing the combining process, as shown in FIG. 5B, it is possible to obtain a surface shape free from defects as a result.

  As an ultrasonic array sensor, in place of the above-described linear array sensor, an array sensor in which a plurality of transducers as illustrated in FIG. The three-dimensional surface shape of the stationary object 52 can be measured by scanning dimensionally.

  The process performed by the object shape measurement unit 42 has been described above. Subsequently, the process performed by the flow velocity vector distribution measurement unit 44 will be described.

  In the present embodiment, as described above, one transducer 12 transmits pulse ultrasonic waves in the transmission period, and the plurality of transducers 12 receive the echoes in the reception period. At this time, the pulse ultrasonic wave transmitted by the vibrator 12 is reflected by the moving fine particles on the moving particle 50, and each vibrator 12 receives its echo (reflected wave). The echo signal detected from each transducer 12 includes a component E2 corresponding to the echo reflected by the fine particle, as shown in FIG.

  Here, the flow velocity vector distribution measurement unit 44 measures a two-dimensional flow velocity vector distribution of the flow 50 based on the component E2 of the echo signal input to the computer 40. Specifically, the flow velocity vector distribution measurement unit 44 measures the two-dimensional flow velocity vector distribution of the flow 50 based on the component E2 detected via the two transducers 12 separated by a predetermined distance or more. The principle of measurement of the two-dimensional flow velocity vector will be described below based on the conceptual diagram shown in FIG.

As shown in FIG. 8, when the transducer e transmits a pulse ultrasonic wave of the fundamental frequency f ₀ , the pulse ultrasonic wave reflects the flow to the minute particles S moving at the velocity V, and the reflected wave is a predetermined wave or more. It is received by two transducers α and β, which are separated by a distance. The flow velocity vector distribution measurement unit 44 performs frequency analysis on the two echo signals (component E2) detected from the two transducers α and β by an appropriate method such as an autocorrelation method, and the Doppler frequency from each echo signal f Detect _D. Here, the predetermined distance or more means an appropriate distance in light of the measurement principle described below.

Here, the Doppler frequency f _Dα detected from the echo signal of the oscillator α can be expressed by the following equation (1), and the Doppler frequency f _Dβ detected from the echo signal of the oscillator β is represented by the following equation (2) Can be represented.

In the above equations (1) and (2), f ₀ represents the fundamental frequency of the pulsed ultrasonic wave emitted by the transducer e, c represents the velocity of sound of the medium, and e _e represents the center of the microparticle S and the transducer e. Represents a unit vector in the connecting direction, e _α represents a unit vector in the direction connecting the particle S with the center of the oscillator α, and e _β represents a unit vector in the direction connecting the center of the particle S with the oscillator β, V represents a two-dimensional flow velocity vector of the microparticles S.

  Here, when the above equation (1) and the above equation (2) are simultaneously established and expressed using a matrix, the following equation (3) is obtained.

  And if the said Formula (3) is arranged, the flow velocity vector V will be represented by following formula (4).

In the present embodiment, the flow velocity vector distribution measurement unit 44 _inputs the Doppler frequencies f _Dα and f _Dβ detected from the echo signals of the two transducers α and β into the above equation (4) to generate the two-dimensional flow velocity of the microparticles S. Calculate the vector V. Here, e _e , e _α and e _β in the above equation (4) are the position of the micro particle S on the measurement line (the reflection position of the ultrasonic wave) and the centers of each of the vibrator e, α and β. Geometrically determined from the position. The position of the microparticle S on the measurement line is determined by the central position of each of the transducers e, α and β, and the propagation time of the ultrasonic wave measured by each of the two transducers α and β It is geometrically determined from the emission time θ of the pulse ultrasonic wave transmitted from the transducer e) and the time from e transmitting the pulse ultrasonic wave to returning as its echo).

  In the present embodiment, the pulser / receiver 20 sequentially changes the position of the transducer e that transmits the pulse ultrasonic wave to scan the measurement line one-dimensionally. On the other hand, the flow velocity vector distribution measurement unit 44 repeats the process of calculating the two-dimensional flow velocity vector V of the minute particle S present on each measurement line according to the above equation (4) in synchronization with the scanning of the measurement line. As a result, the flow velocity vector distribution on the two-dimensional plane of the flow 50 is measured.

  In addition, it replaces with the linear array sensor shown in FIG. 8 as an ultrasonic array sensor, and employ | adopts the array sensor by which several vibrator | oscillators illustrated in FIG.6 (b) are arrange | positioned in matrix form. A three-dimensional flow velocity vector can be measured.

This point will be described based on FIG. 6B. The flow velocity vector distribution measurement unit 44 separates at a predetermined distance or more when the pulse ultrasonic wave of the fundamental frequency f ₀ is transmitted from the vibrator e. With respect to three echo signals detected from one oscillator (α, β, γ), frequency analysis is performed by an appropriate method such as an autocorrelation method, and a Doppler frequency f _D is detected from each echo signal. The flow velocity vector distribution measurement unit 44 _inputs Doppler frequencies f _Dα , f _Dβ and f _Dγ detected from echo signals of the three transducers (α, β and γ) into the following equation (5) and Calculate the dimensional flow velocity vector V.

In the above equation (5), f ₀ represents the fundamental frequency of the pulsed ultrasonic wave transmitted by the transducer e, c represents the velocity of sound of the medium, and e _e represents a unit connecting the center of the microparticle S and the center of the transducer e. Represents a vector, e _α represents a unit vector in a direction connecting the microparticle S and the center of the oscillator α, e _β represents a unit vector in a direction connecting the microparticle S and the center of the oscillator β, and e _γ represents a micro A unit vector in a direction connecting the center of the particle S and the oscillator γ is shown, and V is a three-dimensional flow velocity vector of the particle S.

Here, e _e , e _α , e _β and e _γ in the above equation (5) are the position of the micro particle S on the measurement line (the reflection position of the ultrasonic wave) and the transducers e, α, β and γ, respectively. Geometrically determined from the center position of And, the position of the micro particle S on the measurement line is the propagation time of the ultrasonic wave measured by the center position of each of the transducers e, α, β and γ and each of the three transducers (α, β, γ) It is geometrically determined from (the time from when the vibrator e emits pulse ultrasonic wave to when it returns as echo thereof) and the emission angle θ of the pulse ultrasonic wave emitted from the vibrator e.

  In this case, the pulser / receiver 20 scans the measurement line two-dimensionally by sequentially changing the position of the transducer e that transmits pulse ultrasonic waves. On the other hand, the flow velocity vector distribution measurement unit 44 repeats the process of calculating the three-dimensional flow velocity vector V of the minute particles S present on each measurement line according to the above equation (5) in synchronization with the scanning of the measurement line. As a result, the flow velocity vector distribution in the three-dimensional space of the flow 50 is measured.

  The process performed by the flow velocity vector distribution measurement unit 44 has been described above. Subsequently, the process performed by the measurement result output unit 46 will be described.

  The measurement result output unit 46 of the present embodiment generates visualization data by combining the surface shape of the object output by the object shape measurement unit 42 and the flow velocity vector distribution output by the flow velocity vector distribution measurement unit 44 and generating visualization data Is output as the measurement result. FIG. 9 exemplarily shows the measurement result output from the measurement result output unit 46. According to the present embodiment, as shown in FIG. 9, visualization data is provided to the user as the measurement result, which simultaneously presents the surface shape of the stationary object 52 present in the fluid and the flow velocity vector distribution of the fluid. .

  FIG. 9 shows visualization data that simultaneously presents the two-dimensional surface shape of the stationary object 52 and the two-dimensional flow velocity vector distribution, but an array in which a plurality of transducers are arranged in a matrix as an ultrasonic array sensor In the case of employing a sensor, the measurement result output unit 46 generates and outputs visualization data that simultaneously presents the three-dimensional surface shape of the stationary object 52 and the three-dimensional flow velocity vector distribution.

  Finally, the process executed by the measuring device 100 of the present embodiment will be described based on the flowchart shown in FIG.

  When measurement is started, in step 101, pulse ultrasound is oscillated from one of the N transducers 12 constituting the ultrasound array sensor 10, and the reflected waves (echoes) thereof are divided into a plurality of echoes. The signal is received by the vibrator 12. In the subsequent step 102, the reflection position of the pulse ultrasonic wave is estimated based on the plurality of echo signals detected by the plurality of transducers 12. Thereafter, the above process is repeated for N measurement lines (that is, N transducers 12) (S103, No).

  Thereafter, when the processing is completed for all the measurement lines (S103, Yes), the process proceeds to step 104, and an image of the surface shape of the stationary object 52 is reconstructed from the estimated N reflection positions.

  In the subsequent step 105, a combination of elements (vibrator 12) for transmitting and receiving ultrasonic waves for measuring the flow velocity vector is determined. Specifically, for each of the N transducers 12 constituting the ultrasound array sensor 10, a set of transducers 12 for detecting an echo signal of the pulsed ultrasound wave oscillated by the transducer 12 is determined. Here, when a linear array sensor is used as the ultrasonic array sensor 10, a set of two transducers 12 is determined for one transducer 12, and a matrix array sensor is used as the ultrasonic array sensor 10. In the case where one vibrator 12 is used, a set of three vibrators 12 is determined.

  In the present embodiment, two or more sets of transducers 12 for detecting an echo signal may be determined for one transducer 12. Further, in the present embodiment, the vibrator 12 which can not receive the reflected wave (echo) is geometrically specified from the surface shape of the stationary object 52 obtained in step 104, and the specified vibrator 12 is used as an echo signal. Measurement accuracy can be improved by removing from the candidate of the transducer to be detected.

  In the subsequent step 106, among the N transducers 12 constituting the ultrasound array sensor 10, one set of transducers 12 that oscillates pulse ultrasound and oscillates pulse ultrasound from one of the transducers 12 is determined. The reflected wave (echo) is received by the vibrator 12 of FIG. In the following step 107, the Doppler frequency is detected based on the echo signal detected from the received reflected wave (echo). Thereafter, the above process is repeated for N measurement lines (that is, N transducers 12) (S108, No).

  Thereafter, when the process is completed for all the measurement lines (S108, Yes), the process proceeds to step 109, and the flow velocity vector on each measurement line is calculated based on the Doppler frequencies detected in the N measurement lines. If two or more sets of transducers 12 for detecting an echo signal are determined for one transducer 12 in step 105 above, two or more flow velocity vectors are calculated for one measurement point. In this case, the measurement accuracy can be improved by appropriately combining the calculated flow velocity vector according to the intensity of the echo signal.

  In the following step 110, based on the image information of the surface shape of the stationary object 52 acquired in the previous step 104 and the information on the flow velocity vector acquired in the previous step 109, the surface shape and flow velocity vector distribution of the stationary object 52 are Generate visualization data to be presented simultaneously. Then, in the final step 111, the generated visualization data is output as a measurement result, and the process is ended.

  As described above, according to the measuring device 100 of the present embodiment, it is possible to simultaneously measure the shape of an object present inside and outside the fluid and the flow velocity distribution of the fluid. According to the present embodiment, it is possible to confirm the position and the shape of the fuel debris and to confirm the immersion state of the fuel debris from the flow velocity distribution around it. Further, thermal convection of the fluid can be detected from the flow velocity distribution around the fuel debris, and it becomes possible to indirectly estimate the heat generation property of the fuel debris. Furthermore, since it is possible to detect the leak point of stagnant water from the flow velocity distribution measured in various places, it becomes possible to stop the work of collecting fuel debris and repair the leak point before exposing workers to danger. .

  In addition, as an application scene of the measuring apparatus of the present invention, the recovery work of fuel debris accompanying the decommissioning of a nuclear power plant has been described as an example, but the measuring apparatus of the present invention is used for its application It goes without saying that there is no limitation. In addition, within the scope of the embodiment that those skilled in the art can consider, the present invention is included in the scope of the present invention as long as the functions and effects of the present invention are exhibited.

  Each function of the computer 40 described above can be realized by a device executable program described in C, C ++, C #, Java (registered trademark) or the like, and the program of this embodiment is a hard disk device, a CD-ROM It can be stored and distributed in a device readable recording medium such as an MO, a DVD, a flexible disk, an EEPROM, an EPROM, etc., and can be transmitted via a network in a format that other devices can use.

DESCRIPTION OF SYMBOLS 10 ... Ultrasonic array sensor 12 ... Vibrator 20 ... Pulsar receiver 30 ... AD converter 40 ... Computer 42 ... Object shape measurement part 44 ... Flow velocity vector distribution measurement part 46 ... Measurement result output part 50 ... Flow 52 ... Stationary object

Claims (6)

A measuring device for measuring the shape of an object existing inside and outside a fluid and the flow velocity vector distribution of the fluid,
An array sensor in which a plurality of transducers are arranged in a row;
A pulser receiver that controls driving of the plurality of transducers so as to emit pulse ultrasonic waves from transducers at different positions one after another, and detects an echo signal of the pulse ultrasonic waves through each transducer;
An object shape measurement unit that measures the surface shape of an object that reflects the pulse ultrasonic wave by performing aperture synthesis processing based on echo signals detected through two or more transducers;
A flow velocity that detects a Doppler frequency of an echo signal detected through a first transducer and a second transducer separated by a predetermined distance or more and measures a flow velocity vector based on the detected two Doppler frequencies Including vector measurement means,
The flow velocity vector measuring means
The two detected Doppler frequencies,
A unit vector in a direction connecting a reflection position of the pulse ultrasonic wave and a center of the vibrator that transmits the pulse ultrasonic wave;
A first vector which is a unit vector in a direction connecting the reflection position of the pulse ultrasonic wave and the center of the first transducer;
A second unit vector that is a unit vector in a direction connecting the reflection position of the pulse ultrasonic wave and the center of the second transducer;
Calculate the flow velocity vector based on
Measuring device. The measuring device according to claim 1, wherein the flow velocity vector measuring means measures a two-dimensional flow velocity vector V based on the following equation (1).
(In the above equation, f ₀ represents the fundamental frequency of pulse ultrasound, c represents the speed of sound, e _e represents the unit vector, e _α represents the first vector, and e _β represents the second A vector is shown, f _Dα indicates the Doppler frequency of an echo signal detected through the first transducer, and f _Dβ indicates a Doppler frequency of an echo signal detected through the second transducer. ) Furthermore, it includes measurement result output means for outputting as a measurement result visualization data that simultaneously presents the surface shape of the object and the flow velocity vector.
The measuring device according to claim 1 or 2. A measuring device for measuring the shape of an object existing inside and outside a fluid and the flow velocity vector distribution of the fluid,
An array sensor in which a plurality of transducers are arranged in a matrix,
A pulser receiver that controls driving of the plurality of transducers so as to emit pulse ultrasonic waves from transducers at different positions one after another, and detects an echo signal of the pulse ultrasonic waves through each transducer;
An object shape measurement unit that measures the surface shape of an object that reflects the pulse ultrasonic wave by performing aperture synthesis processing based on echo signals detected through two or more transducers;
Detecting Doppler frequencies of echo signals detected via the first transducer, the second transducer, and the third transducer that are separated from each other by a predetermined distance or more and are not on the same straight line; Flow velocity vector measuring means for measuring a flow velocity vector based on the three detected Doppler frequencies;
The flow velocity vector measuring means
The three detected Doppler frequencies,
A unit vector in a direction connecting a reflection position of the pulse ultrasonic wave and a center of the vibrator that transmits the pulse ultrasonic wave;
A first vector which is a unit vector in a direction connecting the reflection position of the pulse ultrasonic wave and the center of the first transducer;
A second unit vector that is a unit vector in a direction connecting the reflection position of the pulse ultrasonic wave and the center of the second transducer;
A third unit vector which is a unit vector in a direction connecting the reflection position of the pulse ultrasonic wave and the center of the third transducer;
Measure the flow velocity vector based on
Measuring device. The measuring device according to claim 4, wherein the flow velocity vector measuring means measures a three-dimensional flow velocity vector V based on the following equation (2).
(In the above equation (2), f ₀ represents the fundamental frequency of pulse ultrasound, c represents the speed of sound, e _e represents the unit vector, e _α represents the first vector, and e _β is the above _{Represents a} second vector, e _γ represents the third vector, f _{D α} represents the Doppler frequency of an echo signal detected through the first transducer, and f _{D β} represents the second transducer And the Doppler frequency of the echo signal detected via the third _transducer is indicated by f _{D .gamma} .). Furthermore, it includes measurement result output means for outputting as a measurement result visualization data that simultaneously presents the surface shape of the object and the flow velocity vector.
The measuring device according to claim 4 or 5.