CN106199612A - Unmanned boat monitored space domain phased array ultrasound wave low frequency formation method - Google Patents
Unmanned boat monitored space domain phased array ultrasound wave low frequency formation method Download PDFInfo
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- CN106199612A CN106199612A CN201610460577.XA CN201610460577A CN106199612A CN 106199612 A CN106199612 A CN 106199612A CN 201610460577 A CN201610460577 A CN 201610460577A CN 106199612 A CN106199612 A CN 106199612A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention provides a kind of unmanned boat monitored space domain phased array ultrasound wave low frequency imaging device, including: the sensor array (11) being made up of multiple independent sensor cell (12), transmitter (13), sensor unit (12) can produce a burst of ultrasonic energy when receiving the pulse excitation that described transmitter (13) produces；Receptor (14)；Send/receive switch (15), be reflected back the ultrasonic energy of described sensor array (11) from unmanned boat hull and be converted into a signal of telecommunication by sensor unit (12) and be separately applied to described receptor (14) by sending/receive switch (15)；Digitial controller (16), transmitter (13), receptor (14) and operation under sending/receive the control of the described digitial controller (16) that switch (15) is handled operator；And display system (17), produce a single echo signal and be used at the upper pixel showing image of display (17) or a line.Also provide for a kind of unmanned boat monitored space domain phased array ultrasound wave low frequency formation method.
Description
Technical field
The present invention relates to unmanned boat monitored space domain imaging method and device, particularly unmanned boat monitored space domain phased array is ultrasonic
Ripple low frequency formation method.
Background technology
Unmanned plane summons wind and rain in scientific and technological circle with pilotless automobile, and public attention goes out to the greatest extent, and in comparison, the unmanned boat of low-key is known
Name degree is slightly inferior.Being right little, unmanned boat shrouds an air of mystery all the time, and famous " Ghost Ship " is that writer fabricates boat
The classical material of sea story, and in reality, unmanned boat is that the mind of various countries' military field is precious, is the important skill of science and technology competition
Art.At present unmanned boat is in the period of high speed development, but unmanned boat is before lower water shakes down and when operation at sea, still
So face a lot of technical bottleneck not solve.
Unmanned boat, as the term suggests, it is not necessary to it is manipulated by human driver, and the most whether the appearance of " zero crewman " concept
Appropriately, opinions vary for current industry, and the reporter of publication " safety " is just it is proposed that " unmanned boat " preferable distance with reality, Qi Zhongti
Going out, if certain ship its orientation the most on fire is failed to understand, according to existing scientific and technological level, manipulate of unmanned boat is certain to make two kinds
Instruction, one is best practice, i.e. send firefighting robot searching accurate ignition point putting out, and the second is if robot
Cannot complete fire extinguishing task, unlatching high-pressure fine water mist fire-extinguishing system is completed fire extinguishing task by boats and ships, and two sets of plan is a set of standby,
Seem and there is no defect, and have a problem to avoid, even if full ship has monitoring device, but do not ensure that monitoring sets
Standby have no blind area, and if now just catch fire in blind area or be the source causing fire, then two set methods all cannot be implemented,
We can only look at ship helplessly and burnout sinking.
From this, each blind area of unmanned boat can be carried out effective imaging is problem the most to be solved, in recent years
The compressive sensing theory proposed is pointed out, with the low-limit frequency specified less than Shannon's theorems, sparse signal is adopted by i.e. 2 frequencys multiplication
Sample, equally can obtain the accurate reconstruction of signal, be applied among ultrasonic imaging, can effectively reduce data point and
Reduce sample rate, the namely imaging of ultrasound wave low frequency.Secondary nyquist sampling method in this technology presently, there are a lot of problem,
Such as unstable, it is achieved difficulty is big or priori conditions strict, can not the most effectively apply with ultrasound wave low frequency imaging it
In, therefore the present invention combines phased-array ultrasonic imaging characteristics, proposes a kind of to merge what multichannel fourier coefficient was sampled indirectly
Method, the delay introduced at each passage is segmented into two components, and one-component refers to wave beam deflection period to postpone, another
Individual component is wave beam focusing time delay, is applied to the secondary nyquist sampling of ultrasonic imaging.
In conjunction with the mathematical characteristics of B-scan type Phased array ultrasonic imaging, by indirect for multichannel fourier coefficient sampling side
Method is transformed, and obtains Type B phased-array ultrasonic low frequency formation method based on the indirect method of sampling of multichannel fourier coefficient
And device.Not only save memory space, and reduce electric energy loss, can be carried out clearly becoming to all blind areas of hull
Picture.
Summary of the invention
Therefore on the one hand the purpose of the present invention is to provide a kind of unmanned boat monitored space domain phased array ultrasound wave low frequency imaging
Device, including: sensor array, sensor array is made up of multiple independent sensor cell, transmitter, and sensor unit is permissible
A burst of ultrasonic energy is produced when receiving the pulse excitation that transmitter produces；Receptor；Send/receive switch, from unmanned boat
Hull is reflected back the ultrasonic energy of sensor array and is converted into a signal of telecommunication by sensor unit and opens by sending/receiving
Pass is separately applied on receptor；The number that digitial controller, transmitter, receptor and transmission/reception switch are handled operator
Run under the control of word controller；And display system, carry out each complete scan by obtaining a series of echoes, send
Device gate is temporarily opened, and excites each sensor unit, then sends/receive switch gate console keyboard and open to receive the most each sensing
The echo signal that device unit produces, these single echo signals merge one single echo signal of generation in the receiver and use
Show a pixel of image or a line over the display.
Preferably, transmitter drives sensor array, and the ultrasonic energy of generation is directed to by light beam or deflects, Type B
Scanning can be moved this light beam rather than physics movable sensor array by point-to-point and perform.
Preferably, corresponding for time delay Ti is applied to the pulse that follow-up sensor unit sends by transmitter,
Time delay is 0 or is incremented by.
Preferably, transmitter includes one group of channel pulse code memory body.
Preferably, channel pulse code memory body has 128 independent sensor cell, and each pulse code memory body is preferably
One 1 byte takes advantage of the memory body of 512 bytes, stores the byte sample determining ultrasonic pulse to be produced.
Preferably, each pulse is delayed by suitable amount, postpones by sending controller by opening from digitial controller reception
Beginning, master clock, tetra-kinds of control signals of RT and θ provide.
Preferably, receptor is formed by three sections: time gain control section, Wave beam forming section and intermediate processor, and the time increases
Benefit control section includes an amplifier for each receiver channel and a time gain control circuit, each amplifier
Input is coupled to the sensor unit of correspondence and is received and amplify the echo signal that it receives, amplifier the amplification provided
Controlled by a control line driven by time gain control circuit.
Preferably, the Wave beam forming Duan Youyi receivers passage composition of receptor, each for a sensor unit.
The method that the present invention also aims to provide the phased-array ultrasonic low frequency imaging of a kind of unmanned boat prosecution region, its
It is characterised by comprising the steps:
(1) transmitter drives sensor array, and the ultrasonic energy of generation is directed to by light beam or deflects, and by one
What time delay Ti was corresponding is applied to the pulse of follow-up sensor unit, if time delay is 0 (Ti=0), and all of biography
Sensor cell is fired simultaneously, and the ultrasonic beam of generation is along being perpendicular to an axle conduction of sensor cover and being transmitted to sensing
The central authorities of device array, if what time delay (Ti) was incremented by, ultrasonic beam is θ angular spread from axis is partial to, adds continuously
To every i-th signal from one end (i=1) of sensor array to the other end (i=n) time delay increment Ti relation by
Following relational expression is given:
Ti=-(i-(n-1)/2) d sin θ/c+ (i-(n-1)/2)2d2cos2θ/2RTc+T0 (1)
Wherein:
D is distance the most equal in adjacent sensor unit 12,
C is sound wave speed in object of study,
RT is to send the region that bundle focuses on,
T0For ensureing all value of calculation (Ti) be on the occasion of delay skew；
(2) from being positioned at along being defined as what the echo that the focus point P that the ultrasonic beam distance of angle, θ is R reflects produced
The signal of telecommunication is sued for peace, and sensor unit passage single to each receptor introduces time delay, in the delay that each passage introduces
Being segmented into two components, one-component is that wave beam deflection period postpones, and another component is wave beam focusing time delay, to often
The focusing time delay component that individual receiver channel introduces is consecutive variations during receiving echo, provides and is received back to tone signal
The dynamic focusing receiving wave beam at the region R sent.It is as follows that dynamic focusing postpones component:
Tk=(k-(n-1)/2)2d2cos2θ/2RC (2)
R=is from the distance of array 11 central authorities to focus point P；
SVEL in C=measurand；
Tk=the time delay that is associated with the echo signal from kth unit；
(3) under the guiding of digitial controller (16), receptor (14) provides delay dynamically to focus in a scan
Along the P point of wave beam, a series of representatives of generation that occur of each ultrasonic pulse are positioned at a correspondence along ultrasonic beam
The data point of the reflection sound wave amount of the P point of sequence；
(4) signal that each phase control unit is received by ultrasound wave low frequency imaging deviceAll carry out multichannel Fourier
Leaf system number is sampled indirectly, obtainsDefine vector of samples c of a length of Pm={ c1,m,...,cp,m}；
(5) after obtaining the sampling of each phased array unit, they are added, obtain final vector of samples
(6) fourier coefficient vector x=S is calculated+C, wherein matrix S is the matrix of P × K, and (i, element k) is for it
sqk；
(7) formula y=H is utilized-1X draws equation groupSolving equations is obtained
Substituted into equation group, utilize minimum to form and solve
(8) equation is utilizedReconstruction signal Φ (t；θ=0)；
(9) display system (17) receives receptor (14) the volume of data point that produces and changes data and required scheme to producing
The form of picture.
Preferably, if needing an A sweep, the amount of series data point is as just the function plotting of time.If needed
Wanting B-scan, each data point in series is used to control the brightness of a pixel in image, carries out by continuous deflection angle
(θ) scanning of a series of measurements composition provides display necessary data.
Preferably, result images data are written into after storage is changed in the memory body 155 of the two-dimensional array of scan data, note
Recalling body control piece provides the twoport to memory body to access, and digital scan converter can be at video-stream processor reading update data
Simultaneously constantly with the continuous updated value of new data, the video-stream processor operator command response to receiving from control panel, right
After conversion in memory body, scan data performs traditional image processing function.
According to below in conjunction with the accompanying drawing detailed description to the specific embodiment of the invention, those skilled in the art will be brighter
Above-mentioned and other purposes, advantage and the feature of the present invention.
Accompanying drawing explanation
Describe some specific embodiments of the present invention the most by way of example, and not by way of limitation in detail.
Reference identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these
Accompanying drawing is not necessarily drawn to scale.The target of the present invention and feature will be apparent from view of the description below in conjunction with accompanying drawing,
In accompanying drawing:
Fig. 1 is the block diagram of the ultrasonic imaging system using the present invention；
Fig. 2 is the graphical explanation of signal in the block diagram of transmitter part in composition diagram 1 and any passage of transmitter；
Fig. 3 is the circuit block diagram that temporal frequency of the present invention controls a preferred embodiment of wave filter；
Fig. 4 is the conceptual scheme of the band filter of the temporal frequency control wave filter of composition diagram 3；
Detailed description of the invention
For Fig. 1, a ultrasonic imaging system includes a sensor array 11, and sensor array 11 is by multiple independences
Sensor unit 12 forms, and driver element 12 can produce a burst of ultrasonic wave energy when receiving the pulse excitation that transmitter 13 produces
Amount.The ultrasonic energy being reflected back sensor array 11 from unmanned boat hull is converted into a telecommunications by each sensor unit 12
Number and 15 be separately applied on receptor 14 by one group of switch.Transmitter 13, receptor 14 and switch 15 are handled operator
Digitial controller 16 control under run.Carrying out each complete scan by obtaining a series of echoes, transmitter 13 gates
Temporarily opening, excite each sensor unit 12, then switch 15 gate is opened and is produced with the most each sensor unit 12 of reception
Raw echo signal, these single echo signals merge one single echo signal of generation in receptor 14 and are used for producing
One pixel of display 17 epigraph or a line.
Transmitter 13 drives sensor array 11, and the ultrasonic energy of generation is directed to by light beam or deflects.One B
Scanning can be moved this light beam rather than physics movable sensor array 11 by point-to-point and perform.So far, transmitter 13 will
The pulse 20 being applied to follow-up sensor unit 12 that one time delay Ti is corresponding.If time delay is 0 (Ti=0),
All of sensor unit 12 is fired simultaneously, and the ultrasonic beam of generation is conducted also along the axle 21 being perpendicular to sensor cover
And it is transmitted to the central authorities of sensor array 11.If time delay (Ti) is incremented by, as it is shown in figure 1, ultrasonic beam is from axis
The lower θ angular spread of 21 deflections.It is added to the every i-th letter to the other end (i=n) of the one end (i=1) from sensor array continuously
Number the relation of time delay increment Ti be given by following relational expression:
Ti=-(i-(n-1)/2) d sin θ/c+ (i-(n-1)/2)2d2cos2θ/2RTc+T0 (1)
Wherein
D is distance the most equal in adjacent sensor unit 12,
C is sound wave speed in object of study,
RT is to send the region that bundle focuses on,
T0For ensureing all value of calculation (Ti) be on the occasion of delay skew.
Wave beam is pressed set angle θ deflection by the Section 1 of this expression formula, fixes when transmitted beam needs to be focused onto one
Section 2 during region.Scanned by the time delay Ti section of execution of progressive change continuous agitation.Angle, θ can be with little increment
Be varied to continuous direction upper deflecting send wave beam.When the direction of wave beam is above the axis of centres 21, the timing of pulse 20
Reversing, but the formula of equation (1) stands good.
Referring still to Fig. 1, launch ultrasonic energy from the reflective object being positioned at the continuous position along ultrasonic beam and produce
Echo signal.These signals are by each sensor unit perception of sensor array 11, from specified point echo signal timely
The sample representation of amount is at the volume reflection of specific region (R).Due to propagation distance between focus point P and each sensor unit 12
Difference, in any case, these echo signals will not occur simultaneously, and their amplitude is unequal.The function of receptor 14 is to put
Greatly with these single echo signals of modulation, give suitable time delay to each, they are added up offer one individually
Echo signal, this signal accurately demonstrates that ultrasonic energy is from being positioned at along being defined as the ultrasonic beam distance of angle, θ for R's
Focus point P reflects.
For the instantaneous signal of telecommunication summation to producing from the echo of focus point P, sensor unit single to each receptor
Passage introduces time delay.In the situation of linear array 11, the delay introduced at each passage is segmented into two components, and one
Individual component refers to wave beam deflection period to postpone, and another component is wave beam focusing time delay.The wave beam received deflects and poly-
Burnt time delay is exactly and the delay (Ti) sent as postponing described above.But, each receiver channel is introduced
Focusing time delay component is consecutive variations during receiving echo, provides and is received back to connecing at the region R that tone signal sends
Receive the dynamic focusing of wave beam.It is as follows that dynamic focusing postpones component:
Tk=(k-(n-1)/2)2d2cos2θ/2RC (2)
R=is from the distance of array 11 central authorities to focus point P；
SVEL in C=measurand；And
Tk=the time delay that is associated with the echo signal from kth unit, is used for and other echo signal continuous phase
Add
Under the guiding of digitial controller 16, receptor 14 provides delay in a scan, thus the deflection of receptor 14 with
The direction of the wave beam deflection of track transmitter 13 and it in continuum, echo signal sample and suitably delay is provided
Dynamically focus on the P point along wave beam.Therefore, the generation a series of representatives of generation of each ultrasonic pulse are positioned at along super
The data point of the reflection sound wave amount of the P point of one corresponding sequence of beam of sound.
The signal that each phase control unit is received by B ultrasound low frequency imaging deviceAll carry out multichannel Fu
Vertical leaf system number is sampled indirectly, obtainsDefine vector of samples c of a length of Pm={ c1,m,...,
cp,m}；After obtaining the sampling of each phased array unit, they are added, obtain final vector of samplesCalculate fourier coefficient vector x=S+C, wherein matrix S is the matrix of P × K, and (i, element k) is for it
sqk；Utilize formula y=H-1X draws equation groupSolving equations is obtainedSubstituted into
Equation group, utilizes minimum to form and solvesUtilize equationReconstruction signal Φ (t；θ=
0)。
Display system 17 receives the volume of data point of receptor 14 generation and changes data to the shape producing required image
Formula.Such as, if needing an A sweep, the amount of series data point is as just the function plotting of time.If needing B-scan,
Each data point in series is used to control the brightness of a pixel in image, carry out by continuous deflection angle (θ) be
Row measure composition scanning provides display necessary data.
To the Fig. 2 being connected with Fig. 1, transmitter 13 includes that one group of channel pulse code memory body set notation is memory body 50.
In a preferred embodiment, there are 128 independent sensor cell 12, therefore, have 128 autonomous channel pulse code memory bodys 50.Often
Individual pulse code memory body 50 typically 1 byte takes advantage of the memory body of 512 bytes, stores and determines ultrasonic pulse to be produced
The byte sample 51 of 52.In the preferred embodiment, by the master clock of 40MHz read out word from each pulse code memory body 50
Joint sample 51 also is applied to be put into signal to the driver 53 being suitable for driving the power level of sensor 11.Byte sample is one
41 bytes produce the ultrasonic pulse 52 of a 5MHz with 40 bytes sequence alternately.These ultrasonic pulses 52 are applied
To sensor unit 12 and produce ultrasonic energy response.If all 512 bytes all by with, one is centrally located at carrier frequency
(in this example of 5MHz) narrow bandwidth can be launched to the pulse of 40kHz.
As it appears from the above, in order to the transmission wave beam of ultrasonic energy is deflected into required direction (θ), to each in N channel
Pulse 52, it is necessary to be delayed by suitable amount.These postpone by from digitial controller 16 (Fig. 1) receive four kinds of control signals (from the beginning of,
Master clock, RT and θ) transmission controller 54 provide.Use input control signal θ, fixing transmission focus RT and above-mentioned equation
(1), send controller 54 and calculate the delay increment Ti needed for continuously transmitting between passage.When receiving the control signal of beginning,
Send one to first sendaisle 50 controlled in the 54 possible phase places of gating 40MHz master clock signals four kinds.Subsequently
Each delay time lag Ti, 40MHz master clock signal four kinds in succession in phase place one may be strobed and pass to next
Individual channel pulse code memory body 50 is until all N=128 passages all produce their ultrasonic pulse 52.Each transmitter leads to
Road 50 is reset, and after its whole byte sample is the most sent, then transmitter 13 waits from digitial controller 16
Next θ and next start control signal.As it appears from the above, in presently preferred embodiment of the invention, a complete B sweeps
Retouch and be deflected through the 90 degree of section groups being centrally located at the axis of centres 21 (Fig. 1) by the Δ θ increment of 128 ultrasonic pulses 1
Become.
Receptor 14 is formed by three sections: a time gain control section 100, a Wave beam forming section 101, and a centre
Processor 102.Time gain controls end 100 and includes an amplifier 105 to each receiver channel and a time gain
Control circuit 106.The input of each amplifier 105 is coupled to the sensor unit 12 of correspondence and is received and returning of amplifying that it receives
Tone signal.The amplification provided by amplifier 105 passes through a control line driven by time gain control circuit 106 107
Control.As it is known in the art, when the scope of echo signal increases, and its amplitude reduces.As a result of which it is, unless from farther
Exaggerated more than from reflector nearby of the echo signal that distance reflector sends, the brightness of image is the most apart from (R)
Function reduces rapidly.This amplifies by operator's control, and he manually arranges 8 (representative value) individual TGC linear potentiometer to providing
The value of one brightness relatively uniform in whole Scanning Section region.Echo signal obtain time interval determine it launch from
Scope, and this time interval be divide into 8 sections by TGC control circuit 106.It is right that 8 potentiometric settings are used at 8
Each of the time interval answered arranges the gain of amplifier 105, therefore echo signal in obtaining time interval with one
The amount always increased is exaggerated.As discussed below, the present invention uses and controls with the TGC being used for arranging amplifier 105 gain
The digital form that signal 107 is identical.This numeral TGC gain control signal is providing in the bus 109 of intermediate processor.
The Wave beam forming section 101 of receptor 14 includes N=128 independent receiver channel 110.As below by more detail
Explanation, each receiver channel 110 input 111 reception from which TGC amplifiers 105 simulate echo signal, and
I bus 112 and Q bus 113 produces a succession of digitized output valve.Each of these I and Q-value represents each signal
The sample of envelope echo signal on specific range (R).These samples are postponed according to the method described above therefore when them
When summing point 114 and 115 is added with each I and the Q sample sample from other receiver channel 110, they represent from deflection
The upper distance of light beam (θ) is amount and the phase place of the echo signal of the some P reflection of R.In the preferred embodiment, each echo signal exists
Sample with the equal intervals of about 150 μm in whole scan line (being typically 40 to 200mm) region.
Intermediate processor section 102 accepts wave beam sampling from summing point 114 and 115.I and the Q-value of the sampling of each wave beam are 16
The digitized representation of byte homophase and the quadratic component of 1 amount of the sound wave reflected from a bit (R, θ).Intermediate processor 102 is permissible
These wave beam samples are performed multiple calculating, selects according to the type decided of image to be reconstructed.Such as, if to generate one
Traditional spirogram picture, the detection process shown in 120 is achieved by, each digital quantity M with each wave beam sample and 121 defeated
Going out to calculate, intermediate processor 102 can also include a correction processor 122.The inspection of this correction processor 122 receives
Wave beam sample also calculates transmitter 13 and receptor 14 and can the correction value in test subsequently focus on to improve wave beam
And deflection.This correction is necessary, such as in view of from the sound wave approach medium in a scan of each sensor unit
Heterogencity.
The present invention is also adopted by the correction processor 123 as shown in TFC (temporal frequency control) wave filter.As below by detail
Introducing, TFC wave filter 123 receives the I from summing point 114 and 115 and Q signal in its input 124 and 125, corresponding at it
Output 126 generate corresponding I with 127 " and Q " signal stream.Typically, the output 126 and 127 of TFC wave filter 123 will be directly
Practice to the input of measurement processor 120 next at processor output 121 generation wave beam value samples.
With particular reference to Fig. 1 and 4, receptor 14 produces the digital number of a series of 8 bytes in its output 121, is answered
Use the input of display system 17." scan data " is stored in memory body 150, scan data array 150 in the matrix form for this
The corresponding field angle (θ) of row and acquisition consistent, the row of scan data array 150 obtain along each wave beam with corresponding sample
The distance (R) taken is consistent.Show that each input value to be deposited at array 150 from R and the θ control signal 151 and 152 of receptor 14
The position of storage, 153 those values of a memory body control circuit are write and are suitably remembered address in array 150.Scanning can connect
Repeat continuously, scan data array 150 will be updated continuously from the data stream of receptor 14.
Scan data in array 150 is read by a digital scan converter 154 and is transformed into and produces required image
Form.If producing traditional B-scan image, such as, the value M (R, θ) being stored in scan data array 150 is changed
Become display image in position (x, y) amount of pixel value M (x, y).A ultrasound image data so from polar coordinate to
The conversion of cartesian coordinate is described.
The particular conversion no matter digital scan converter 154 produces, result images data scan after being written into storage conversion
In the memory body 155 of the two-dimensional array of data.One memory body controls 156 offers and accesses the twoport of memory body 155, therefore counts
Word scan converter 154 can be constantly with the continuous updated value of new data while video-stream processor 157 reading update data.
The video-stream processor 157 operator command response to receiving from control panel 158, scans after the conversion in memory body 155
Data perform traditional image processing function.Such as, the luminance level region that after the conversion in memory body 155, scan data shows
The luminance area of display device 160 may be exceeded well over.Even, the brightness resolution of scan data after the conversion in memory body 155
The brightness resolution of human eye may be exceeded well over, generally provide the control of manual operation, allow the operator to select a brightness value
Window, obtains maximum image contrast by window.Video-stream processor is scan data after memory body 155 reads conversion, it is provided that
Required image optimization and write optimization brightness value to display memory body 161 in.
Video memory 161 is shown control circuit 162 and is shared by memory body control circuit 163, and the brightness value of there is mapped
Control the brightness of corresponding pixel points on display 160.Display controller 162 is the integrating circuit that a business is available for, design
Operate the special type of display 160.Such as, display 160 can be a CRT, and wherein display controller 162 is one
Video data is also mapped by individual offer desired level and the CRT control chip of vertical sweep circuit in a scan in the suitable time
On CRT.
Apparent to one skilled in the art, display system 17 can take various forms middle one and depend on
The capacity of special ultrasonic system and motility.In above-mentioned preferred embodiment, realize digital scan with sequencing microprocessor
Transducer and display function, the display system caused, is therefore the most flexible and powerful.
The Wave beam forming section 101 of receptor 14 is made up of a receivers passage 110, each unit 12 to sensor 11
(Fig. 1).Each receiver channel to from digitial controller 16 (Fig. 1) initiation command, 40MH at master clock, distance signal (R) and
Field angle signal (θ) response realizes digital beam systematic function.These include: at analog-to-digital converter 200 to simulation
Input signal is sampled, at demodulator 201 to signal modulation of sampling to obtain；High frequency demodulator 201 produced with low pass filter 202
Rate and signal filtering；Data rate is reduced at withdrawal device 203；Postpone FIFO (as advanced/first go out memory body) 204 and phase place rotation
The digit data stream turning the inner generation of device 205 carries out time delay and regulates mutually.All these unit are received passage by one and control
206 control, and its response orders the clock needed for producing and control signal from what digitial controller 16 (Fig. 1) came.The most real at this
Executing in example, all these unit are included on a single integrating circuit.
The analog input signal of waveform 210 image conversion is sampled by analog-to-digital converter 200, with from receiving passage control
The aturegularaintervals that the rising edge of the delay sampling clock of 206 determines.In a preferred embodiment, sampled clock signal is 40MHz
Clock signal enable use the ultrasonic frequency of up to 20MHz and without prejudice to nyquist sampling criterion.When using surpassing of 5MHz
During sound carrier frequency, such as, sample 8 times at each carrier cycle, with 40MHz speed in the output of analog-to-digital converter
End produces the digital signal of 10 bytes.These samples are supplied to the reference common phase of each sample Yu the ultrasonic carrier of transmission
The demodulator mixed mutually with control signal 206.SINE (sinusoidal) value be digitally multiplied by sample input signal produces one
The supply demodulation of low pass filter 202, the value (I) of common phase, COSINE (cosine) value is adopted to obtain input signal numeral phase by identical
Take advantage of and produce demodulation secondary phase value (Q) supplying independent low pass filter 202.Low pass filter 202 is finite impulse response (FIR) filter
The debugging of ripple device is to the different frequency provided through demodulator 201, but intercepts higher and frequency, the input of each low pass filter
Signal, thus be the digital value stream of the 40MHz of the amount showing the I of each echo signal envelope or Q component.
The speed of the demodulation I of echo signal and Q component sampling is extracted device 203 and reduces.The digital signal of 12 bytes with
The speed of 40MHz is fed to withdrawal device, is not high enough to from the viewpoint of accurately, but whole system is difficult to the data rate that maintains.
Consistent, every 8 numeral samples of withdrawal device 203 are chosen and are reduced data rate to 5MHz.This correspond to receive passage and controls
The frequency of the baseband clocks signal that device 206 produces, and it is used to operate the remaining element of receiver channel.The I of withdrawal device 203 and
Q output signal thus the digitized samples 219 of echo signal envelope.Extraction ratio and baseband clock frequency can be with change in values 8:1
With other value outside 5MHz.
The echo signal envelope weather of the numeral sample representative solving mediation extraction is delayed by FIFO204 and phase rotation device
205 postpone to provide required wave beam deflection and wave beam to focus on.These postpone to be attached to the above-mentioned simulation extremely numeral that is applied to and change
In the coarse delay that the delay sampling clock signal of device 200 provides.It is to say, the total delay provided by receiver channel 110 is
Supply analog-to-digital converter 200, what the delay sampling clock signal of delay FIFO204 and phase rotation device 205 provided prolongs
Sum late.Postponing FIFO204 is that continuous number sample value memory body of write while being produced with 5MHz by withdrawal device 203 sets
Standby.The value of these storages is written to continuous print memory body address, then reads from memory device and is supplied to phase rotation device
205.The memory address that the amount postponed, the memory address being just provided from numeral sample and the numeral sample just received store
Difference determine.5MHz baseband clocks signal establishes the interval of 200 nanoseconds between storage numeral sample, and therefore FIFO204 is permissible
There is provided with the increment of 200 nanoseconds and be 25.6 delicate time delays to the maximum.Phase rotation device 205 makes the digitized of echo signal again
Now can be delayed by FIFO204 to postpone less than the amount of the resolution of 200 nanoseconds.I and the Q numeral sample of supply phase rotation device 205
A phasor1 221 can be passed through, and postrotational I and the Q numeral sample produced can reproduce by phasor1 222.Vow mutually
The amount (such as I and each vector of Q component) of amount is constant, but the value of I and Q has relative to each other been changed thus exports phase
Vector 222 is from input phasor1 221 amount of have rotated Δ θ.Phase place can be advanced by+Δ φ) can also be postponed (-
Δ φ), as the response to the phase control signal received in the bus receiving channel controller 206.
For general description receiver channel 110 and why describe I and the Q output signal of each receiver channel 110 in detail be
Sample is added together and forms a beam signal.
In figure 3, implementing the TFC wave filter 123 of the present invention, it is right that display includes that an input 124 and 125 is connected to receive
The rotator circuit 250 of I and the Q wave beam sample answered.Rotator circuit 250 with above address in previously cited United States Patent (USP)
It is disclosed that identical in No.4,896,287.It instructs (Δ θ) when each in the phase offset of input 251 reception numeral
I and Q digital beam sample is when its input 124 and 125 is received.The phasor1 represented by I and Q input component is rotated one
Individual amount Δ θ, the component of generation, postrotational phasor1 is generated as the I ' in bus 252 and 253 and Q ' signal.
Digit phase cheaply orders (Δ θ) to have a Δ θ processor 254 to produce.TGC gain signal quilt in bus 109
Being applied to the address that processor 254 starts, the data of the memory address being stored in corresponding address are read and for for rotator
Circuit 250 calculates phase offset order Δ θ when dropping from the signal of the control line 255 reading clock (not shown).Digitized
The value of phase offset order (Δ θ) is therefore the function of TGC gain signal, explains in greater detail below.TFC wave filter 123
Also the relative value of the frequency component of an I ' adjusting rotator circuit 250 generation and Q ' signal is included.In short distance, always
The loss of signal is the least, has good signal to noise ratio, and the postrotational I ' of echo signal and Q ' component of signal are each high-pass filter
The most whole bandwidth is used to form image.This makes image resolution ratio improve, especially at lateral dimension.Relative, longer away from
Big from lower total loss of signal, poor signal to noise, the postrotational I ' of echo signal and Q ' component of signal are each low-pass filters, because of
This is reduced in the bandwidth of distance signal contributive to image.This filtering improves penetrance, owing to noise bandwidth exists
Distance is built with axial image resolution for sacrificing.
Performing the circuit of these filtering operations, wherein the first order 260 is made up of a low pass filter, the second level 261 by
One high pass filter composition.Be expressed as the block of Z-1 and represent unit delay, symbol+and × represent adder and multiplier respectively.
The finite impulse response (FIR) digitized filtered device wherein low pass filter 260 that wave filter 260 and 261 is traditional has an impulse response
(1, A1,1) and high pass filter have an impulse response (-1, A2 ,-1).Each piece of circulation, a new data value is added
To wave filter 260.Postpone the depositor realization of the clock control transmitted between depositor by data at each clock edge.?
In one clock cycle, all of mathematical operation (such as addition or multiplication) is performed.There is the low pass of impulse response (1, A1,1)
Wave filter 260 performs two additions and a multiplication in arbitrary given clock cycle.The data entering wave filter are added to two
The data of wave filter input were arrived before the individual clock cycle.The output signal that this computing produces is added to the filter before the clock cycle
Ripple device input signal, be multiplied amendment with coefficient A1.Again, all of mathematical operation performed within a clock cycle, therefore
To each input signal to wave filter, there is an output signal (as streamline realizes).The output signal of low pass filter 260
Along streamline enter high pass filter 261 input produce a streamline band filter, the feature of wave filter completely by
The selection of coefficient A1 and A2 controls.In short distance, the coefficient A1 of low pass filter 260 has substantially been increased above high-pass filtering
The coefficient A2 of device 261, therefore high pass filter 261 will determine the wave filter response near field.On the other hand, during distance, high
The coefficient A2 of bandpass filter 261 has substantially been increased above the coefficient A1 of low pass filter 260, therefore low pass filter 260
Determine the response of wave filter 258 (Fig. 3).In a preferred embodiment, ultrasonic sensor 11 is with the carrier frequency of 5MHz, band
Width about 2MHz and the generation pulse in Gaussian Energy Distribution in this bandwidth.Wave filter 260 and 261 is that traditional three FIR (has
Limit impulse response) wave filter, wherein monosystem number A1 determines the frequecy characteristic of low pass, and the frequency that monosystem number A2 determines high pass is special
Levy.
Referring again to Fig. 3, an importance of the present invention is phase offset order and the filtering of rotator circuit 250
The realization that coefficient order A1 and A2 of device 258 can produce as the function of the TGC gain signal in bus 109.Coefficient order
A1 and A2 is stored in the memory body 265 and 266 of correspondence and they are read from memory body and pass through control line 255
Read clock signal is applied directly to wave filter 258.What TGC gain signal bus 109 was connected to memory body 265 and 266 takes the lead in ground
Location, the amplitude of TGC gain signal has customized and has been stored in coefficient value A1 and A2 of particular address in continuous memory body address.
The temporal frequency of the present invention controls the reception ripple that wave filter is easily implemented and applied to be formed in intermediate processor
Bundle.Its structure by deriving into TGC gain signal, an existing letter of ultrasonic imaging system by the control parameter of filter
Number governing equation and by considerable simplification.Those skilled in the art can make the board concept much illustrated the most from here and take off
From modifications and variations.It is to be understood that additional statement is intended to cover all these amendment in true spirit of the present invention
And change.
Claims (5)
1. the method for a unmanned boat prosecution region phased-array ultrasonic low frequency imaging, it is characterised in that comprise the steps:
(1) described transmitter (13) drives described sensor array (11), the ultrasonic energy of generation be directed to by light beam or
Deflection, and by the pulse (20) being applied to follow-up sensor unit (12) corresponding for time delay Ti, if the time prolongs
Being 0 (Ti=0) late, all of sensor unit (12) is fired simultaneously, and the ultrasonic beam of generation is along being perpendicular to sensor cover
An axle (21) conduct and be transmitted to the central authorities of sensor array (11), if what time delay (Ti) was incremented by, ultrasonic
Wave beam is θ angular spread from axis (21) is partial to, is added to one end (i=1) from sensor array continuously to the other end (i=
The relation of the time delay increment Ti of every i-th signal n) is given by following relational expression:
Ti=-(i-(n-1)/2) dsin θ/c+ (i-(n-1)/2)2d2cos2θ/2RTc+T0 (1)
Wherein:
D is distance the most equal in adjacent sensor unit 12,
C is sound wave speed in object of study,
RT is to send the region that bundle focuses on,
T0For ensureing all value of calculation (Ti) be on the occasion of delay skew；
(2) from being positioned at along being defined as the telecommunications that the echo that the focus point P that the ultrasonic beam distance of angle, θ is R reflects produces
Number summation, sensor unit passage single to each receptor introduce time delay, the delay introduced at each passage is permissible
Being divided into two components, one-component is that wave beam deflection period postpones, and another component is wave beam focusing time delay, connects each
Receive the focusing time delay component that device passage introduces and receiving consecutive variations during echo, provide and be received back to tone signal and send
Region R at receive wave beam dynamic focusing, dynamic focusing postpone component as follows:
Tk=(k-(n-1)/2)2d2cos2θ/2RC (2)
R=is from the distance of array 11 central authorities to focus point P；
SVEL in C=measurand；
Tk=the time delay that is associated with the echo signal from kth unit；
(3) under the guiding of described digitial controller (16), described receptor (14) provides delay dynamically to gather in a scan
Burnt in the P point along wave beam, a series of representatives of generation that occur of each ultrasonic pulse are positioned at along ultrasonic beam
The data point of the reflection sound wave amount of the P point of corresponding sequence；
(4) signal that each phase control unit is received by ultrasound wave low frequency imaging deviceAll carry out multichannel Fourier leaf system
Number sampling indirectly, obtainsDefine vector of samples c of a length of Pm={ c1,m,...,cp,m}；
(5) after obtaining the sampling of each phased array unit, they are added, obtain final vector of samples
(6) fourier coefficient vector x=S is calculated+C, wherein matrix S is the matrix of P × K, and (i, element k) is s for itqk；
(7) formula y=H is utilized-1X draws equation groupk∈Κ；Solving equations is obtainedBy its generation
Enter equation group, utilize minimum to form and solve
(8) equation is utilizedReconstruction signal Φ (t；θ=0)；
(9) described display system (17) receives volume of data point that described receptor (14) produces and changes data to producing institute
Need the form of image.
The method of a kind of unmanned boat prosecution region phased-array ultrasonic low frequency imaging the most according to claim 1, its feature
It is: if needing an A sweep, the amount of series data point is as just the function plotting of time.If needing B-scan, it is
Each data point in row is used to control the brightness of a pixel in image, carries out by a series of to continuous deflection angle (θ)
Measuring composition scanning provides display necessary data.
The method of a kind of unmanned boat prosecution region phased-array ultrasonic low frequency imaging the most according to claim 2, its feature
It is: result images data are written into after storage is changed in the memory body (155) of the two-dimensional array of scan data, described memory body
Control piece (156) provides the twoport to described memory body (155) to access, and digital scan converter (154) can process in display
Constantly with the continuous updated value of new data while device (157) reading update data.
The method of a kind of unmanned boat prosecution region phased-array ultrasonic low frequency imaging the most according to claim 3, its feature
It is: the described video-stream processor (157) the operator command response to receiving from control panel (158).
The method of a kind of unmanned boat prosecution region phased-array ultrasonic low frequency imaging the most according to claim 3, its feature
It is: after the conversion inner to described memory body (155), scan data performs traditional image processing function.
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| CN201610460577.XA CN106199612A (en) | 2016-06-22 | 2016-06-22 | Unmanned boat monitored space domain phased array ultrasound wave low frequency formation method |
| PCT/CN2016/095100 WO2017219473A1 (en) | 2016-06-22 | 2016-08-14 | Ultrasonic low-frequency phased array imaging method for unmanned vessel monitoring region |
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