CN109839436B - Method for synchronously fusing ultrasonic data and position data under spiral scanning mode - Google Patents
Method for synchronously fusing ultrasonic data and position data under spiral scanning mode Download PDFInfo
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Abstract
The invention discloses a method for synchronously fusing ultrasonic data and position data in a spiral scanning mode. The ultrasonic acquisition board card controls the transducer to send out excitation pulses according to the PRF, the three-axis motion platform drives the transducer to carry out ultrasonic nondestructive detection on the cylindrical detection piece in a spiral surrounding motion mode, the DSP reads ultrasonic data and position data of the current position within the interval time of every two excitation pulses, whether the ultrasonic data of the current position meet the fusion condition or not is judged according to the precision requirement of ultrasonic imaging, and the ultrasonic data and the position data which meet the requirement are synchronously fused. The invention realizes the synchronous fusion of the ultrasonic data and the position data in the spiral scanning mode, and is accurate and efficient under the condition of ensuring the detection precision.
Description
Technical Field
The invention belongs to the technical field of industrial ultrasonic nondestructive testing, and relates to a method for synchronously fusing ultrasonic data and position data in a spiral scanning mode.
Background
Cylindrical parts or raw materials represented by pipes, shafts, bars and the like are widely applied to various industries such as petroleum, natural gas, chemical industry, aerospace, trains, ships, machinery, construction, nuclear industry and the like, and have important supporting functions in relevant fields such as national economy, national defense construction, high and new technology and the like. The quality of the cylindrical parts directly determines the operation performance and the service life of related equipment, and the nondestructive testing technology is in strong demand all the time. Particularly, with the development of related equipment towards the direction of overloading, high efficiency, large scale, extreme use environment and the like, the structural size of the parts or materials is diversified, the using amount, the working pressure, the temperature and the speed are further improved, the non-destructive detection technology better shows the importance and the urgency of the non-destructive detection technology, and higher requirements are provided for the technology in the aspects of reliability, quantification, real-time performance, automatic online application capability and the like.
The ultrasonic nondestructive detection is carried out on the cylindrical parts, and the spiral scanning is a high-efficiency detection scanning mode. In the detection process, the complete coverage of the sound beam in the detection process can be ensured while the efficiency is considered. After the scanned ultrasonic data is acquired, the data is graphically characterized, which is a conventional mode of ultrasonic nondestructive testing. Therefore, only accurate ultrasonic data and matched position data are obtained, accurate imaging can be carried out, and the positions of the defects can be represented quantitatively. Therefore, under the spiral scanning mode, the ultrasonic data and the position data are subjected to high-speed synchronous fusion, so that the precision of the detection system can be improved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for synchronously fusing ultrasonic data and position data in a spiral scanning mode, which is suitable for an ultrasonic nondestructive testing system in the spiral scanning mode.
The technical scheme of the invention comprises the following steps:
the method comprises the following steps: the upper computer sets PRF parameters of the ultrasonic acquisition board card, the ultrasonic acquisition board card controls the transducer to send out excitation pulses with the frequency of fHz according to the PRF parameters, and the three-axis motion platform drives the transducer to carry out ultrasonic nondestructive detection on the cylindrical detection piece in a spiral surrounding motion mode;
step two: the DSP of the ultrasonic acquisition board card receives an interrupt request from the FPGA of the ultrasonic acquisition board card between every two excitation pulses, and the DSP reads ultrasonic data of the current position and rectangular coordinate position data P (x, y, z) of the three-axis motion platform according to the interrupt request;
step three: converting the rectangular coordinate position data P (x, y, z) read by the DSP each time from the rectangular coordinate system to the spiral coordinate system to obtain the spiral coordinate position data
The conversion formula is:
wherein r represents the spiral radius scanned by the three-axis motion platform, theta represents the spiral angle scanned by the three-axis motion platform, and xi represents the axial advancing distance scanned by the spiral of the three-axis motion platform; p is a radical ofpitchThe screw pitch of the spiral scanning of the three-axis motion platform is represented;
step four:taking the helical coordinate position data initially (for the first time) read by the DSP as the helical coordinate initial position data
Taking the spiral coordinate position data obtained by the second reading of the DSP as the current position data of the spiral coordinate
Recording helical coordinate initial position data
As the initial helix angle thetap0And current position data of spiral coordinates
As the current spiral angle thetap1Determining a fusion threshold value according to the precision requirement of ultrasonic imaging and judging the current spiral angle thetap1Whether data fusion is performed is specifically as follows:
if theta | |p1-θp0||<Initial helix angle θp0The value is unchanged, the next rectangular coordinate position data is returned to the step two, the rectangular coordinate position data is converted into spiral coordinate position data according to the step three, and the spiral angle theta in the spiral coordinate position data is obtained and used as the new current spiral angle thetap1And the new current helix angle theta is setp1From the initial helix angle thetap0The judgment is made again according to the present step,
if theta | |p1-θp0| | > or less, the current helix angle thetap1Converting into corresponding rectangular coordinate position data P (x, y, z), synchronously fusing current spiral angle thetap1Storing the synchronously fused data in a data queue of the DSP according to the corresponding rectangular coordinate position data P (x, y, z) and the current ultrasonic data; while simultaneously adjusting the current helix angle thetap1As a new initial helix angle thetap0Returning to the step two, converting the rectangular coordinate position data read next time into spiral coordinate position data according to the step three, and acquiring the spiral angle theta in the converted spiral coordinate position data as a new oneCurrent helix angle thetap1The new current spiral angle thetap1With the new initial helix angle thetap0Judging again according to the step;
step five: and repeating the second step to the fourth step until the DSP acquires all data sets which accord with the imaging precision under one complete spiral scanning, and finishing the detection.
Preferably, the ultrasonic data is ASCAN data generated by an interdigital transducer and received by an FPGA, and the rectangular coordinate position data P (X, Y, Z) is obtained according to the position coordinates of an X axis, a Y axis and a Z axis of the three-axis motion platform relative to a coordinate origin.
Preferably, the ultrasonic nondestructive testing system for realizing the method comprises an upper computer (1), an ultrasonic acquisition board card (2), a transducer (4), an encoder (5), a three-axis motion platform (6) and a cylindrical detection piece (7), wherein the upper computer (1) and the transducer (4) are both connected with the ultrasonic acquisition board card (2), the three-axis motion platform (6) is connected with the ultrasonic acquisition board card (2) through the encoder (5), the three-axis motion platform (6) is connected with the transducer (4) in a clamping manner and drives the transducer (4) to perform spiral scanning around the cylindrical detection piece (7), and the transducer (4) sends excitation pulses to perform ultrasonic nondestructive testing on the cylindrical detection piece (7).
Preferably, the ultrasonic acquisition board card (2) comprises an FPGA and a DSP, the FPGA receives ultrasonic data detected by the transducer (4), and the position data of the three-axis motion platform (6) is sent to the FPGA through the encoder (5).
Preferably, the cylindrical detection part comprises a pipe, a shaft and a bar.
According to the invention, the reading of the position data is synchronously triggered by the ultrasonic excitation pulse, the position data obtained by triggering each excitation pulse is screened out according to the final imaging precision, the position data meeting the imaging precision requirement is fused with the ultrasonic data of the position, and the fused position data is stored in a data queue of a DSP and applied to a subsequent processing module. The ultrasonic acquisition board card can record the motion data of three axes, convert the data from a rectangular coordinate system to a spiral coordinate system, and judge whether to fuse the ultrasonic data and the position data according to the motion angle. The fused judgment condition can be flexibly adjusted through software, and the application range of the ultrasonic detection system is widened.
The invention has the following beneficial effects:
(1) and synchronous fusion of ultrasonic data and position data under a spiral scanning mode is realized.
(2) The method can set different fusion thresholds according to the requirement of imaging precision, has stronger applicability compared with the similar method of triggering through position information under the condition of ensuring the precision, and is not restricted by hardware conditions.
(3) The method is more efficient under the condition of ensuring the detection precision according to the fusion rule provided by the imaging precision.
Drawings
Fig. 1 is a schematic diagram of an ultrasonic detection system in a spiral scanning mode.
Fig. 2 is a timing diagram of the ultrasound acquisition board PRF and DSP interrupts.
Fig. 3 is a flow chart of ultrasound data and location data fusion.
In the figure, 1, an upper computer, 2, an ultrasonic acquisition board card, 4, a transducer, 5, an encoder, 6, a three-axis motion platform and 7, a cylindrical detection piece.
Detailed Description
The invention is further explained with reference to the drawings and the embodiments.
As shown in fig. 3, the specific operation flow of the present invention can be divided into the following steps:
the method comprises the following steps: the upper computer sets a PRF (pulse Repetition frequency) parameter of the ultrasonic acquisition board card, the ultrasonic acquisition board card controls the transducer to send out an excitation pulse with the frequency of fHz according to the PRF parameter, and the three-axis motion platform drives the transducer to carry out ultrasonic nondestructive detection on the cylindrical detection piece in a spiral surrounding motion mode according to the pulse frequency with the frequency of fHz;
in specific implementation, the cylindrical detection part comprises a pipe fitting, a shaft fitting, a bar and other cylindrical parts.
Step two: the DSP of the ultrasonic acquisition board card receives an interrupt request from the FPGA of the ultrasonic acquisition board card between every two excitation pulses, and the DSP reads ultrasonic data of the current position and rectangular coordinate position data P (x, y, z) of the three-axis motion platform according to the interrupt request;
the DSP receives an interrupt request between two pulses, the time sequence of the ultrasonic excitation pulse and the interrupt request obtained by the DSP is shown in figure 2, and after the DSP obtains the interrupt request, the ultrasonic data and the position data at the current moment, namely the rectangular coordinate position of the triaxial moving platform relative to the origin, are read and are marked as P (x, y, z).
In a specific implementation, the ultrasonic data is ASCAN data generated by the transducer and received by the FPGA, and the rectangular coordinate position data P (X, Y, Z) is obtained according to position coordinates of an X axis, a Y axis and a Z axis of the three-axis motion platform, that is, X, Y and Z in P (X, Y, Z) respectively represent coordinates of the X axis, the Y axis and the Z axis relative to an origin.
Step three: converting the rectangular coordinate position data P (x, y, z) from the rectangular coordinate system to the spiral coordinate system to obtain the spiral coordinate position data
The conversion formula is:
wherein r represents the spiral radius scanned by the triaxial motion platform, theta represents the spiral angle, and xi represents the axial advancing distance scanned by the triaxial motion platform; p is a radical ofpitchThe screw pitch of the spiral scanning of the three-axis motion platform is represented;
step four: taking the helical coordinate position data read initially (i.e. for the first time) by the DSP as the helical coordinate initial position data
Taking the spiral coordinate position data obtained by the second reading of the DSP as the current position data of the spiral coordinate
Recording helical coordinate initial position data
As the initial helix angle thetap0And current position data of spiral coordinates
As the current spiral angle thetap1Determining a fusion threshold value according to the precision requirement of ultrasonic imaging and judging the current spiral angle thetap1Whether data fusion is performed is specifically as follows:
if theta | |p1-θp0||<Initial helix angle θp0The value is unchanged, the next rectangular coordinate position data is returned to the step two, the rectangular coordinate position data is converted into spiral coordinate position data according to the step three, and the spiral angle theta in the spiral coordinate position data is obtained and used as the new current spiral angle thetap1And the new current helix angle theta is setp1From the initial helix angle thetap0Judging whether to perform data fusion again according to the step;
if theta | |p1-θp0| | > or less, fusing the current helix angle thetap1Corresponding spiral coordinate current position data
Taking the current ultrasonic data as a data set, completing the synchronous fusion of the ultrasonic data and the position data, and storing the data set in a data queue of the DSP so as to be applied to a subsequent processing module; while simultaneously adjusting the current helix angle thetap1As a new initial helix angle thetap0Returning to the step two, converting the rectangular coordinate position data read next time into spiral coordinate position data according to the step three, and acquiring the spiral angle theta in the converted spiral coordinate position data as a new current spiral angle thetap1Judging whether to perform data fusion again according to the step;
step five: and judging whether the spiral motion is finished or not, if not, repeating the second step to the fifth step until the DSP acquires all data sets which accord with the imaging precision in a one-time complete spiral scanning mode, and finishing the detection.
The ultrasonic nondestructive testing system is shown in figure 1, an upper computer 1 and a transducer 4 are both connected with an ultrasonic acquisition board card 2, a three-axis motion platform 6 is connected with the ultrasonic acquisition board card 2 through an encoder 5, the transducer 4 is connected with the three-axis motion platform 6 in a clamping manner and drives the transducer 4 to scan around a cylinder detection piece 7 in a spiral manner, and the transducer 4 sends excitation pulses to carry out ultrasonic nondestructive testing on the cylinder detection piece 7.
The ultrasonic acquisition board card 2 acquires ultrasonic data and encoder data of the triaxial movement platform 6, the upper computer 1 performs emission control and data acquisition on the ultrasonic acquisition board card 2, and in the embodiment, the upper computer sets the PRF frequency of the ultrasonic acquisition board card to be fHz, so that the triaxial movement platform 6 performs spiral movement, and ultrasonic nondestructive detection in a spiral scanning mode is realized.
The ultrasonic acquisition board card 2 comprises an FPGA and a DSP, the FPGA receives ultrasonic data detected by the transducer 4, and the position data of the triaxial motion platform 6 is sent to the FPGA through the encoder 5.
In the prior art, the ultrasonic data and the position data of ultrasonic spiral scanning are synchronized according to an encoder pulse signal, the fusion threshold value of the position data and the ultrasonic data is fixed, and the fusion threshold value cannot be adjusted at any time according to imaging precision. . According to the invention, through the reading of the ultrasonic excitation pulse synchronous trigger position data, the position data obtained by triggering each excitation pulse can be screened out to fuse the position data meeting the imaging precision requirement with the ultrasonic data of the position according to the set imaging precision, and then the position data is stored in the ultrasonic acquisition board card 2, and all the synchronously fused data are sent to the upper computer 1 for data processing, so that the high-speed synchronous fusion of the ultrasonic data and the position data in a spiral scanning mode is realized, the accurate positioning of the defect position can be realized, and the precision of the detection system is improved. Compared with the prior art, the method has low requirement on hardware, can adjust the fusion threshold value according to actual requirements, and efficiently realizes ultrasonic imaging with various resolutions.
Claims (3)
1. The method for synchronously fusing the ultrasonic data and the position data under the spiral scanning mode is characterized by comprising the following steps of:
the method comprises the following steps: the upper computer sets PRF parameters of the ultrasonic acquisition board card, the ultrasonic acquisition board card controls the transducer to send out excitation pulses with the frequency of fHz according to the PRF parameters, and the three-axis motion platform drives the transducer to carry out ultrasonic nondestructive detection on the cylindrical detection piece in a spiral surrounding motion mode;
step two: the DSP of the ultrasonic acquisition board card receives an interrupt request from the FPGA of the ultrasonic acquisition board card between every two excitation pulses, and the DSP reads ultrasonic data of the current position and rectangular coordinate position data P (x, y, z) of the three-axis motion platform according to the interrupt request;
step three: converting the rectangular coordinate position data P (x, y, z) read by the DSP each time from the rectangular coordinate system to the spiral coordinate system to obtain the spiral coordinate position data
The conversion formula is:
wherein r represents the spiral radius scanned by the three-axis motion platform, theta represents the spiral angle scanned by the three-axis motion platform, and xi represents the axial advancing distance scanned by the spiral of the three-axis motion platform; p is a radical ofpitchThe screw pitch of the spiral scanning of the three-axis motion platform is represented;
step four: taking the spiral coordinate position data initially read by the DSP as the spiral coordinate initial position data
Taking the spiral coordinate position data obtained by the second reading of the DSP as the current position data of the spiral coordinate
Recording helical coordinate initial position data
As the initial helix angle thetap0And a screwRotational coordinate current position data
As the current spiral angle thetap1Determining a fusion threshold value according to the precision requirement of ultrasonic imaging and judging the current spiral angle thetap1Whether data fusion is performed is specifically as follows:
if theta | |p1-θp0I <, initial helix angle θp0The value is unchanged, the next rectangular coordinate position data is returned to the step two, the rectangular coordinate position data is converted into spiral coordinate position data according to the step three, and the spiral angle theta in the spiral coordinate position data is obtained and used as the new current spiral angle thetap1And the new current helix angle theta is setp1From the initial helix angle thetap0The judgment is made again according to the present step,
if theta | |p1-θp0| | > or less, the current helix angle thetap1Converting into corresponding rectangular coordinate position data P (x, y, z), synchronously fusing current spiral angle thetap1Storing the synchronously fused data in a data queue of the DSP according to the corresponding rectangular coordinate position data P (x, y, z) and the current ultrasonic data; while simultaneously adjusting the current helix angle thetap1As a new initial helix angle thetap0Returning to the step two, converting the rectangular coordinate position data read next time into spiral coordinate position data according to the step three, and acquiring the spiral angle theta in the converted spiral coordinate position data as a new current spiral angle thetap1The new current spiral angle thetap1With the new initial helix angle thetap0Judging again according to the step;
step five: repeating the second step to the fourth step until the DSP obtains all data sets which accord with the imaging precision under one complete spiral scanning, and finishing the detection;
the ultrasonic data is ASCAN data generated by an interdigital transducer and received by an FPGA, and the rectangular coordinate position data P (X, Y, Z) is obtained according to the position coordinates of an X axis, a Y axis and a Z axis of the three-axis motion platform relative to the origin of a coordinate;
the ultrasonic nondestructive testing system for realizing the method comprises an upper computer (1), an ultrasonic acquisition board card (2), a transducer (4), an encoder (5), a three-axis motion platform (6) and a cylindrical testing part (7), wherein the upper computer (1) and the transducer (4) are connected with the ultrasonic acquisition board card (2), the three-axis motion platform (6) is connected with the ultrasonic acquisition board card (2) through the encoder (5), the three-axis motion platform (6) is connected with the transducer (4) in a clamping manner and drives the transducer (4) to perform spiral scanning around the cylindrical testing part (7), and the transducer (4) sends out an excitation pulse to perform ultrasonic nondestructive testing on the cylindrical testing part (7).
2. The method for synchronously fusing ultrasonic data and position data in the spiral scanning mode according to claim 1, wherein the method comprises the following steps: the ultrasonic acquisition board card (2) comprises an FPGA and a DSP, the FPGA receives ultrasonic data obtained by detection of the transducer (4), and position data of the three-axis motion platform (6) are sent to the FPGA through the encoder (5).
3. The method for synchronously fusing ultrasonic data and position data in the spiral scanning mode according to claim 1, wherein the method comprises the following steps: the cylindrical detection part comprises a pipe fitting, a shaft fitting and a bar.
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| CN101403603B (en) * | 2008-11-14 | 2010-06-02 | 天津大学 | Large scale scanning survey apparatus and method based on laser ranging and Bluetooth transmission |
| US8365584B1 (en) * | 2011-07-13 | 2013-02-05 | General Electric Company | Apparatus for inspecting turbomachine components in-situ |
| CN103156637B (en) * | 2011-12-12 | 2017-06-20 | Ge医疗***环球技术有限公司 | Ultrasound volume image data processing method and equipment |
| CN103948399B (en) * | 2013-07-25 | 2016-03-23 | 合肥工业大学 | Based on the 3-D supersonic imaging method of non-diffraction ripple under sector scanning mode |
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| CN101893605A (en) * | 2010-05-24 | 2010-11-24 | 北京欧宁航宇检测技术有限公司 | Modularized multi-axis ultrasonic water immersion detecting system |
| CN103969330A (en) * | 2014-04-28 | 2014-08-06 | 河海大学常州校区 | Ultrasonic flaw detection device for internal defect of pipeline |
| CN109001301A (en) * | 2018-07-27 | 2018-12-14 | 爱德森（厦门）电子有限公司 | A kind of ultrasonic imaging detection device of sheet metal point quality |
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