An ultrasonic-based measuring device and method

Abstract

The application provides an ultrasonic-based measuring device and method, which comprises the following steps: obtaining a three-dimensional model of a to-be-measured object, obtaining the coordinates and measuring direction of a measuring point of the to-be-measured object, placing an ultrasonic generator of a measuring device at a corresponding position of the to-be-measured object according to the coordinates of the measuring point, the measuring direction and the posture of the to-be-measured object, aligning or adhering the ultrasonic generator to the measuring point, controlling the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction, receiving the echo of the ultrasonic waves by an ultrasonic receiver of the measuring device, determining the layered information of the to-be-measured object corresponding to the coordinates and measuring direction of the measuring point according to the three-dimensional model, and calculating the thickness of each layer of the to-be-measured object corresponding to the coordinates and measuring direction of the measuring point according to the echo of the ultrasonic waves.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic waves, and in particular to an ultrasonic wave-based measuring device and method. BACKGROUND

[0002] In the industrial field, it is a very common means to measure the size of a material or a part using ultrasonic waves. In the existing ultrasonic wave measuring technology, before measurement, the speed of ultrasonic waves in the material is pre-configured according to the type of the material of the object to be measured, or the speed of ultrasonic waves in the material is measured using a standard block of the same material, and then the size of the object to be measured is measured. Using the existing ultrasonic wave measuring technology, only the size of a single material article with uniform density can be measured, and the internal size of an article composed of multiple materials cannot be measured. SUMMARY

[0003] The present application is based on the above problems, and proposes an ultrasonic wave-based measuring device and method, which can measure the internal size of an article composed of multiple materials.

[0004] Therefore, the first aspect of the present application proposes an ultrasonic wave-based measuring device, comprising:

[0005] a three-dimensional model acquisition unit configured to acquire a corresponding three-dimensional model of an object to be measured, the three-dimensional model comprising the material, density, structure and standard size of the object to be measured;

[0006] a posture determination unit configured to determine the posture of the object to be measured;

[0007] a measurement point and measurement direction acquisition unit configured to acquire the coordinates of a measurement point and the measurement direction of the object to be measured;

[0008] an ultrasonic wave generator placement unit configured to place an ultrasonic wave generator of the measuring device at a corresponding position of the object to be measured according to the coordinates of the measurement point, the measurement direction and the posture of the object to be measured, so that the ultrasonic wave generator is aligned with or attached to the measurement point;

[0009] an ultrasonic wave generation unit configured to control the ultrasonic wave generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measurement direction;

[0010] a return wave measurement unit configured to receive return waves of the ultrasonic waves received by an ultrasonic wave receiver of the measuring device;

[0011] a layered information determination unit configured to determine layered information of the object to be measured corresponding to the coordinates of the measurement point and the measurement direction according to the three-dimensional model, the layered information comprising the number of layers and the material properties, density properties and thickness properties of each layer;

[0012] a thickness calculation unit configured to calculate thicknesses of each layer corresponding to the coordinate and the measurement direction of the measurement point of the object to be measured according to the echo of the ultrasonic wave.

[0013] A second aspect of the present application provides an ultrasonic-based measurement method, comprising:

[0014] obtaining a corresponding solid model of the object to be measured, the solid model comprising material, density, structure and standard size of the object to be measured;

[0015] determining the posture of the object to be measured;

[0016] obtaining the coordinate and the measurement direction of the measurement point of the object to be measured;

[0017] placing the ultrasonic generator of the measurement device at a corresponding position of the object to be measured according to the coordinate, the measurement direction and the posture of the object to be measured, so that the ultrasonic generator is aligned with or adheres to the measurement point;

[0018] controlling the ultrasonic generator of the measurement device to emit ultrasonic waves corresponding to the solid model along the measurement direction;

[0019] receiving the echo of the ultrasonic wave by the ultrasonic receiver of the measurement device;

[0020] determining layer information of the object to be measured corresponding to the coordinate and the measurement direction of the measurement point according to the solid model, the layer information comprising the number of layers and the material attribute, the density attribute and the thickness attribute of each layer;

[0021] calculating the thicknesses of each layer corresponding to the coordinate and the measurement direction of the measurement point of the object to be measured according to the echo of the ultrasonic wave.

[0022] Further, in the above measurement method, the step of obtaining the coordinate and the measurement direction of the measurement point of the object to be measured specifically comprises:

[0023] displaying the solid model in a three-dimensional coordinate system;

[0024] marking a selectable area on the surface of the solid model according to the posture of the object to be measured, the selectable area being an area on the surface of the solid model which is not blocked by the carrying platform and / or the fixing assembly according to the posture of the object to be measured;

[0025] receiving at least one measurement point selected by the user on the selectable area;

[0026] obtaining the coordinate of the measurement point in the three-dimensional coordinate system;

[0027] receiving a line selected by the user in the three-dimensional coordinate system intersecting the measuring point;

[0028] determining a direction in which the line extends from the measuring point to the interior of the three-dimensional model as a measuring direction corresponding to the measuring point.

[0029] Further, in the above measuring method, after the step of receiving the line selected by the user in the three-dimensional coordinate system intersecting the measuring point, the method further comprises:

[0030] determining a plurality of planes intersecting the line;

[0031] determining an intersection line of each of the planes and each layer of the surface of the measuring point and the measuring direction;

[0032] when there is a distance between any one of the intersection lines and the measuring point smaller than a distance between the intersection point of the line on the intersection line and the measuring point, determining that the measuring direction corresponding to the line is not selectable;

[0033] prompting the user to select a line intersecting the measuring point in another direction and / or prompting the user to select another measuring point.

[0034] Further, in the above measuring method, before the step of obtaining the three-dimensional model corresponding to the object to be measured, the method further comprises constructing the three-dimensional model, and the step of constructing the three-dimensional model specifically comprises:

[0035] decomposing the object into a plurality of components according to different materials and densities;

[0036] determining the shape and standard size of each of the components;

[0037] constructing a component model of each of the components in a three-dimensional space;

[0038] combining the component models into the three-dimensional model of the object according to the positional relationship of the components in the object.

[0039] Further, in the above measuring method, the step of controlling the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model in the measuring direction specifically comprises:

[0040] determining an intersecting component in the three-dimensional model intersecting a line where the measuring direction is located;

[0041] obtaining material properties and density properties of the intersecting component;

[0042] determining a frequency of the ultrasonic waves used to measure the object to be measured according to the material properties and density properties of the intersecting component;

[0043] configure a frequency of the ultrasonic wave as an ultrasonic wave modulation parameter of the ultrasonic wave generator;

[0044] emit the ultrasonic wave of the frequency along the measurement direction.

[0045] Further, in the above measurement method, the layers corresponding to the coordinate and the measurement direction of the object to be measured include solid layers composed of the components and hollow layers between the components, and the step of determining the layer information of the object to be measured corresponding to the coordinate and the measurement direction according to the three-dimensional model specifically includes:

[0046] determining intersecting components in the three-dimensional model intersecting with a straight line along which the measurement direction lies;

[0047] obtaining materials and densities of the intersecting components as material properties and density properties of the solid layers corresponding to the related components;

[0048] judging whether there are hollow layers between the intersecting components in the three-dimensional model intersecting with the straight line along which the measurement direction lies;

[0049] when there are hollow layers, configuring material properties and density properties of the hollow layers as air and its density under standard atmospheric pressure, respectively;

[0050] obtaining coordinates of intersection points of the straight line along which the measurement direction lies and surfaces of the solid layers and the hollow layers in the three-dimensional coordinate system;

[0051] calculating lengths of each line segment between the intersection points according to the coordinates of the intersection points in the three-dimensional coordinate system;

[0052] determining the lengths of the line segments as thickness properties of each layer in the measurement direction.

[0053] Further, in the above measurement method, the step of calculating the thickness of each layer corresponding to the coordinate and the measurement direction of the object to be measured according to the echo of the ultrasonic wave specifically includes:

[0054] obtaining a measurement time interval of each wave crest in the echo of the ultrasonic wave;

[0055] obtaining material properties and density properties of each layer in the measurement direction;

[0056] determining wave speeds of the ultrasonic wave in each layer according to the material properties and the density properties of each layer in the measurement direction;

[0057] calculating upper and lower limits of a tolerance range of the measurement time interval according to the thickness properties of each layer in the measurement direction and the wave speeds of the ultrasonic wave in each layer.

[0058] matching the measurement time interval and the tolerance range of the measurement time interval to determine a layer measurement time interval corresponding to each layer in the measurement direction in the measurement time interval;

[0059] calculating the thickness of each layer according to the layer measurement time interval and the wave speed of the ultrasonic wave in each layer.

[0060] Further, in the above measurement method, the step of calculating the upper limit and the lower limit of the tolerance range of the measurement time interval according to the thickness attribute of each layer in the measurement direction and the wave speed of the ultrasonic wave in each layer specifically comprises:

[0061] obtaining a pre-configured maximum tolerance ratio τ, which is the maximum error ratio between the actual production size and the standard size of each component of the object to be measured;

[0062] obtaining the thickness attribute d i of each layer in the measurement direction and the wave speed v i of the ultrasonic wave in each layer, where i=(1, 2, …, n), and n is the number of layers corresponding to the measurement point and the measurement direction of the object to be measured;

[0063] calculating the upper limit of the tolerance range of the measurement time interval and the lower limit of the tolerance range, where d0 is the distance between the ultrasonic wave generator and the ultrasonic wave receiver relative to the measurement point, and v0 is the wave speed of the ultrasonic wave in air.

[0064] Further, in the above measurement method, the step of matching the measurement time interval and the tolerance range of the measurement time interval to determine a layer measurement time interval corresponding to each layer in the measurement direction in the measurement time interval specifically comprises:

[0065] obtaining the measurement time interval t k , where k=(1, 2, …, m), and m is the number of time intervals between the echoes received by the ultrasonic wave receiver;

[0066] configuring an array of superposition variables T i , where i=(1, 2, …, n);

[0067] configuring a pointer variable p;

[0068] setting T1=t1 and the pointer variable p=1;

[0069] determining whether T1 falls within the range [tl1, th1];

[0070] If yes, T1 is determined as a candidate hierarchical measurement time interval, otherwise whether T1 is less than tl1 or greater than th1 is determined;

[0071] When T1>th1, it is determined that the measurement data is incorrect, and the user is prompted to re-perform the measurement;

[0072] When T1<tk1, T1 is set to t1+t2, and the pointer variable is incremented by 1, i.e. p=2;

[0073] The above determination and superposition steps are repeated until T1 falls within the range of [tl1,th1] or T1 is greater than th1;

[0074] When T1 falls within the range of [tl1,th1], T2 is set to t p+1 , and the pointer variable is incremented by 1;

[0075] The same determination and superposition steps as T1 are performed until T2 falls within the range of [tl2,th2] or T2 is greater than th2;

[0076] When T2>th2, the first superposition time interval t1 of T1 is discarded, T1 is set to t2, the pointer variable p=2, and the determination and superposition steps of T1 are re-performed;

[0077] Or the first superposition time interval of T2 is discarded, the pointer variable p is reset to the subscript corresponding to the first superposition time interval of T2, the pointer variable is incremented by 2, and the determination and superposition steps of T2 are re-performed;

[0078] Each element T i in the superposition variable array is sequentially performed according to the above steps until each element T i in the superposition variable array falls within the range of [tl i ,th i ];

[0079] Each element T i in the superposition variable array is determined as a hierarchical measurement time interval corresponding to each hierarchical layer in the measurement direction.

[0080] The application provides an ultrasonic-based measuring device and method, which comprises the following steps: obtaining a three-dimensional model of a to-be-measured object, obtaining the coordinates and measuring direction of a measuring point of the to-be-measured object, placing an ultrasonic generator of the measuring device at a corresponding position of the to-be-measured object according to the coordinates of the measuring point, the measuring direction and the posture of the to-be-measured object, so that the ultrasonic generator is aligned with or adheres to the measuring point, controlling the ultrasonic generator to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction, determining the layered information of the to-be-measured object corresponding to the coordinates and measuring direction of the measuring point according to the three-dimensional model, and calculating the thickness of each layer of the to-be-measured object corresponding to the coordinates and measuring direction of the measuring point according to the echo of the ultrasonic waves received by the ultrasonic receiver of the measuring device. The internal size of an object composed of multiple materials can be measured. BRIEF DESCRIPTION OF DRAWINGS

[0081] Figure 1 is a schematic block diagram of an ultrasonic-based measuring device provided by an embodiment of the application;

[0082] Figure 2 is a flowchart of an ultrasonic-based measuring method provided by an embodiment of the application. DETAILED DESCRIPTION

[0083] In order to more clearly understand the above-mentioned purposes, features and advantages of the application, the application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other without conflict.

[0084] In the following description, many specific details are set forth in order to provide a thorough understanding of the application, however, the application can also be implemented in other ways different from those described herein, therefore, the protection scope of the application is not limited by the specific embodiments disclosed below.

[0085] In the description of the application, the term "a plurality of" refers to two or more, unless otherwise explicitly specified. The terms "upper", "lower", and the like refer to the orientation or positional relationship shown in the drawings, which are merely used to facilitate the description of the application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application. The terms "connected", "mounted", "fixed", and the like should be interpreted broadly, for example, "connected" can be fixed connection, or detachable connection, or integral connection; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. In addition, the terms "first", "second", and the like are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second", and the like can explicitly or implicitly include one or more features. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0086] In the description of the present application, the terms "one embodiment", "some embodiments", "a specific embodiment", and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0087] A kind of ultrasonic-based measuring device and method provided according to some embodiments of the present application are described below with reference to the drawings.

[0088] As shown in Figure 1 The first aspect of the present application proposes an ultrasonic-based measuring device, comprising:

[0089] A three-dimensional model acquisition unit is configured to acquire a corresponding three-dimensional model of the object to be measured, wherein the three-dimensional model includes the material, density, structure and standard size of the object to be measured.

[0090] A posture determination unit is configured to determine the posture of the object to be measured.

[0091] A measurement point and direction acquisition unit is configured to acquire the coordinates of the measurement point and the measurement direction of the object to be measured.

[0092] An ultrasonic generator placement unit is used to place the ultrasonic generator of the measuring device at the corresponding position of the object to be measured according to the coordinates of the measuring point, the measuring direction, and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring point.

[0093] An ultrasonic generating unit is used to control the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;

[0094] An echo measurement unit is used to receive the echo of the ultrasonic wave through the ultrasonic receiver of the measuring device;

[0095] The layer information determination unit is used to determine the layer information of the object under test corresponding to the measurement point and the measurement direction based on the three-dimensional model. The layer information includes the number of layers and the material properties, density properties and thickness properties of each layer.

[0096] The thickness calculation unit is used to calculate the coordinates of the object under test corresponding to the measurement point and the thickness of each layer in the measurement direction based on the echo of the ultrasonic wave.

[0097] Specifically, in the aforementioned ultrasonic-based measuring device, the ultrasonic receiver and the ultrasonic generator are arranged adjacent to each other, such that the distances between the ultrasonic receiver and the ultrasonic generator and the measuring point are approximately equal. In some embodiments of the present invention, the measuring device further includes a robotic arm for fixing the ultrasonic generator and the ultrasonic receiver, and the measuring device places the ultrasonic generator at the corresponding position of the object to be measured through the robotic wall.

[0098] like Figure 2 As shown, a second aspect of the present invention provides an ultrasonic-based measurement method, comprising:

[0099] Obtain a three-dimensional model of the object to be tested, wherein the three-dimensional model includes the material, density, structure and standard dimensions of the object;

[0100] Determine the orientation of the object to be measured;

[0101] Obtain the coordinates and measurement direction of the measurement point of the object to be measured;

[0102] Based on the coordinates of the measurement point, the measurement direction, and the posture of the object to be measured, the ultrasonic generator of the measuring device is placed at the corresponding position of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measurement point.

[0103] The ultrasonic generator of the measuring device is controlled to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction;

[0104] receiving, by an ultrasonic receiver of the measuring device, the echo of the ultrasonic wave;

[0105] determining, according to the solid model, layered information of the object to be measured corresponding to the coordinate and the measuring direction of the measuring point, the layered information including the number of layers and the material attribute, the density attribute and the thickness attribute of each layer;

[0106] calculating, according to the echo of the ultrasonic wave, the thickness of each layer of the object to be measured corresponding to the coordinate and the measuring direction of the measuring point.

[0107] In the above technical solution, the solid model is a standard model of the object to be measured, and the number of layers and the material attribute, the density attribute and the thickness attribute of each layer in the layered information are obtained according to the coordinate of the measuring point, the measuring direction, and the structure and standard size of the solid model. Specifically, in the industrial field, after the product completes the assembly, welding or casting combination process, the above method can be used to measure the internal size of the finished product, including the distance between each component constituting the product, to determine whether the product meets the size requirements of the standard model.

[0108] In the above measuring method, the step of obtaining the coordinate and the measuring direction of the measuring point of the object to be measured specifically includes:

[0109] displaying the solid model in a three-dimensional coordinate system;

[0110] marking a selectable area on the surface of the solid model according to the posture of the object to be measured, the selectable area being an area on the surface of the solid model that is not blocked by the carrying platform and / or the fixed component according to the posture of the object to be measured;

[0111] receiving at least one measuring point selected by the user on the selectable area;

[0112] obtaining the coordinate of the measuring point in the three-dimensional coordinate system;

[0113] receiving a straight line selected by the user in the three-dimensional coordinate system and intersecting the measuring point;

[0114] determining the direction in which the straight line extends from the measuring point to the inside of the solid model as the measuring direction corresponding to the measuring point.

[0115] In some embodiments of the present application, the measuring device is provided with a vision sensor for identifying the posture of the object to be measured, the posture of the object to be measured is acquired through the vision sensor, and the unobstructed area of the bearing platform used for placing the object to be measured or the fixing assembly used for fixing the object to be measured, such as a clamp, is acquired, so as to determine the optional area of the surface of the three-dimensional model.

[0116] In the above-mentioned measuring method, after the step of receiving the straight line selected by the user in the three-dimensional coordinate system and intersecting the measuring point, the method further comprises:

[0117] determining a plurality of planes intersecting the straight line;

[0118] determining the intersection line of each of the planes and the respective layered surface of the coordinate and measuring direction of the measuring point;

[0119] when there is a distance between any one of the intersection lines and the measuring point that is less than the distance between the intersection point of the straight line on the intersection line and the measuring point, determining that the measuring direction corresponding to the straight line is not selectable;

[0120] prompting the user to select a straight line intersecting the measuring point in another direction and / or prompting the user to select another measuring point.

[0121] Specifically, due to the complexity of the internal structure of the combined object, the internal layered surface of the combined object can present various irregular shapes. When there is a distance between any one of the intersection lines and the measuring point that is less than the distance between the intersection point of the straight line on the intersection line and the measuring point, the earliest echo reaching the ultrasonic receiver is not reflected from the position of the straight line in the measuring direction when the ultrasonic wave reaches the layered surface of the intersection line, thereby resulting in inaccurate measurement results. Further, in some embodiments of the present application, when there is a distance between any one of the intersection lines and the measuring point that is less than the distance between the intersection point of the straight line on the intersection line and the measuring point, another intersection point of the straight line in the measuring direction and the surface of the three-dimensional model is marked as a suggested measuring point. The straight line in the measuring direction has two intersection points with the surface of the three-dimensional model when it passes through the three-dimensional model, one of which is the measuring point selected by the user, and the other of which is the possible selectable measuring direction corresponding to the measuring direction of the straight line when there is a distance between any one of the intersection lines and the measuring point that is less than the distance between the intersection point of the straight line on the intersection line and the measuring point.

[0122] In the above-mentioned measuring method, before the step of acquiring the corresponding three-dimensional model of the object to be measured, the method further comprises constructing the three-dimensional model, and the step of constructing the three-dimensional model specifically comprises:

[0123] Decomposing an object into a plurality of components according to different materials and densities;

[0124] Determining the shape and standard size of each component;

[0125] Constructing a component model of each component in a three-dimensional space;

[0126] Combining the component models into a three-dimensional model of the object according to the positional relationship of the components in the object.

[0127] In the modeling stage, the three-dimensional model is combined using component models of standard sizes, each being a component of uniform density of the same material.

[0128] In the above measurement method, the step of controlling the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measurement direction specifically comprises:

[0129] Determining the intersecting components in the three-dimensional model intersecting with the straight line along which the measurement direction lies;

[0130] Obtaining the material properties and density properties of the intersecting components;

[0131] Determining the frequency of the ultrasonic waves used to measure the object to be measured according to the material properties and density properties of the intersecting components;

[0132] Configuring the frequency of the ultrasonic waves as the ultrasonic modulation parameter of the ultrasonic generator;

[0133] Emitting the ultrasonic waves of the frequency along the measurement direction.

[0134] In the above measurement method, each layer corresponding to the coordinates and measurement direction of the measurement point of the object to be measured includes a solid layer composed of the components and a hollow layer located between the components, and the step of determining the layer information corresponding to the coordinates and measurement direction of the measurement point of the object to be measured according to the three-dimensional model specifically comprises:

[0135] Determining the intersecting components in the three-dimensional model intersecting with the straight line along which the measurement direction lies;

[0136] Obtaining the material and density of the intersecting components as the material properties and density properties of the solid layer corresponding to the related components;

[0137] Judging whether there is a hollow layer between the intersecting components in the three-dimensional model intersecting with the straight line along which the measurement direction lies;

[0138] When there is a hollow layer, configuring the material properties and density properties of the hollow layer as air and its density under standard atmospheric pressure, respectively;

[0139] obtaining coordinates of intersection points between a straight line where the measuring direction is located and surfaces of the layered structure of the entity, the hollow layered structure in the three-dimensional coordinate system;

[0140] calculating lengths of each line segment between the intersection points according to the coordinates of the intersection points in the three-dimensional coordinate system;

[0141] determining the lengths of the line segments as thickness attributes of each layered structure in the measuring direction.

[0142] Specifically, the hollow layered structure is a layered structure corresponding to a hollow region formed due to that components constituting the object to be measured are not closely fitted in the measuring direction. In general cases, the hollow region is filled with air, and air under standard atmospheric pressure and its density are used as the material attribute and the density attribute of the hollow layered structure. In other embodiments of the present application, when the measuring environment of the measuring device is a liquid environment, for example, when the object to be measured is located underwater, water under standard atmospheric pressure and its density are configured as the material attribute and the density attribute of the hollow layered structure, respectively.

[0143] In the above measuring method, the step of calculating the coordinates of the object to be measured corresponding to the measuring point and the thickness of each layered structure in the measuring direction according to the echo of the ultrasonic wave specifically comprises:

[0144] obtaining a measuring time interval of each wave crest in the echo of the ultrasonic wave;

[0145] obtaining material attributes and density attributes of each layered structure in the measuring direction;

[0146] determining wave speeds of the ultrasonic wave in each layered structure according to the material attributes and the density attributes of each layered structure in the measuring direction;

[0147] calculating upper and lower limits of a tolerance range of the measuring time interval according to the thickness attributes of each layered structure in the measuring direction and the wave speeds of the ultrasonic wave in each layered structure;

[0148] matching the measuring time interval and the tolerance range of the measuring time interval to determine a layered measuring time interval corresponding to each layered structure in the measuring direction in the measuring time interval;

[0149] calculating the thickness of each layered structure according to the layered measuring time interval and the wave speeds of the ultrasonic wave in each layered structure.

[0150] In the above measuring method, the step of calculating the upper and lower limits of the tolerance range of the measuring time interval according to the thickness attributes of each layered structure in the measuring direction and the wave speeds of the ultrasonic wave in each layered structure specifically comprises:

[0151] obtaining a pre-configured maximum tolerance ratio τ, which is the maximum error ratio between the actual production size and the standard size of each component of the object to be measured;

[0152] obtaining the thickness attribute d of each layer in the measurement direction i and the wave speed v of the ultrasonic wave in each layer i wherein i = (1, 2, …, n), n is the number of layers corresponding to the coordinate and measurement direction of the measurement point of the object to be measured;

[0153] calculating the upper limit of the tolerance range of the measurement time interval and the lower limit of the tolerance range wherein d0 is the distance of the ultrasonic wave generator and the ultrasonic wave receiver relative to the measurement point, and v0 is the wave speed of the ultrasonic wave in air.

[0154] In the above measurement method, the matching of the measurement time interval and the tolerance range of the measurement time interval to determine the layer measurement time interval corresponding to each layer in the measurement direction in the measurement time interval comprises:

[0155] obtaining the measurement time interval t k wherein k = (1, 2, …, m), m is the number of time intervals between the echoes received by the ultrasonic wave receiver;

[0156] configuring an array of superposition variables T i wherein i = (1, 2, …, n);

[0157] configuring a pointer variable p;

[0158] setting T1 = t1 and the pointer variable p = 1;

[0159] determining whether T1 falls within the range of [tl1, th1];

[0160] if yes, determining T1 as a candidate layer measurement time interval, otherwise determining whether T1 is less than tl1 or greater than th1;

[0161] when T1 > th1, determining that the measurement data is incorrect, prompting the user to re-execute the measurement;

[0162] when T1 < tk1, setting T1 = t1 + t2 and the pointer variable p = 2;

[0163] repeating the above determination and superposition steps until T1 falls within the range of [tl1, th1] or T1 is greater than th1;

[0164] when T1 falls within the range of [tl1, th1], setting T2 = tp+1 , the pointer variable is added 1;

[0165] The same judgment and superposition steps as T1 are performed until T2 falls within the range of [tl2, th2] or T2 is greater than th2;

[0166] When T2>th2, the first superposition time interval t1 of T1 is discarded, T1=t2, the pointer variable p=2, and the judgment and superposition steps of T1 are re-executed;

[0167] Or the first superposition time interval of T2 is discarded, the pointer variable p is reset to the subscript corresponding to the first superposition time interval of T2, the pointer variable is added 2, and the judgment and superposition steps of T2 are re-executed;

[0168] Each element T i The above steps are executed until each element T i of the superposition variable array falls within the range of [tl i ,th i ];

[0169] Each element T i of the superposition variable array is determined as a layer measurement time interval corresponding to each layer in the measurement direction.

[0170] The application provides an ultrasonic-based measuring device and method, which obtains a three-dimensional model of a to-be-measured object, obtains a coordinate and a measurement direction of a measurement point of the to-be-measured object, places an ultrasonic generator of the measuring device at a corresponding position of the to-be-measured object according to the coordinate of the measurement point, the measurement direction and a posture of the to-be-measured object, aligns or adheres the ultrasonic generator to the measurement point, controls the ultrasonic generator to emit ultrasonic waves corresponding to the three-dimensional model along the measurement direction, receives echoes of the ultrasonic waves by an ultrasonic receiver of the measuring device, determines layer information of the to-be-measured object corresponding to the coordinate and the measurement direction of the measurement point according to the three-dimensional model, and calculates thicknesses of each layer of the to-be-measured object corresponding to the coordinate and the measurement direction of the measurement point according to the echoes of the ultrasonic waves, so that the internal size of an object composed of multiple materials can be measured.

[0171] It is to be understood that the phrases such as first and second, and the like, used herein only serve to identify the nature of the subjects or operations, and do not necessarily imply that there is any such actual relationship or order between these subjects or operations. Also, the use of terms such as "including", "containing", or any other variation thereof, is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or even inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the stated elements.

[0172] In accordance with the practices of the present application, these embodiments have been described in relation to the above-described embodiments, which are intended to be illustrative only and not restrictive of the application. There many modifications and variations to the embodiments described herein that will be apparent to those of ordinary skill in the art. It is therefore contemplated that the application shall not be limited to the particular embodiments described herein, but rather the scope of the present application is to be given the broadest interpretation of the appended claims to which all patentable equivalents are intended to be encompassed.

Claims

1. An ultrasonic-based measuring device, characterized in that, include: A 3D model acquisition unit is used to acquire a 3D model of the object to be tested, wherein the 3D model includes the material, density, structure and standard dimensions of the object; An attitude determination unit is used to determine the attitude of the object under test. The measurement point and measurement direction acquisition unit is used to acquire the coordinates and measurement direction of the measurement point of the object to be measured; An ultrasonic generator placement unit is used to place the ultrasonic generator of the measuring device at the corresponding position of the object to be measured according to the coordinates of the measuring point, the measuring direction, and the posture of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measuring point. An ultrasonic generating unit is used to control the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction; An echo measurement unit is used to receive the echo of the ultrasonic wave through the ultrasonic receiver of the measuring device; The layer information determination unit is used to determine the layer information of the object under test corresponding to the measurement point and the measurement direction based on the three-dimensional model. The layer information includes the number of layers and the material properties, density properties and thickness properties of each layer. A thickness calculation unit is used to calculate the coordinates of the object under test corresponding to the measurement point and the thickness of each layer in the measurement direction based on the echo of the ultrasonic wave. The hierarchical information determination unit is specifically used for: Identify the intersecting components in the 3D model that intersect with the line containing the measurement direction; Obtain the material and density of the intersecting components as the material and density attributes of the entity layer corresponding to the intersecting components; Determine whether there is a hollow layer between the intersecting components of the three-dimensional model that intersect with the straight line containing the measurement direction; When hollow layers exist, the material properties and density properties of the hollow layers are respectively configured as air and its density under standard atmospheric pressure; Obtain the coordinates of the intersection point of the line containing the measurement direction and the surfaces of the solid layer and the hollow layer in the three-dimensional coordinate system displaying the solid model; Calculate the length of each line segment between the intersection points based on the coordinates of the intersection points in the three-dimensional coordinate system; The length of the line segment is determined as the thickness attribute of each layer in the measurement direction; The thickness calculation unit is specifically used for: The measurement time interval of each peak in the echo of the ultrasonic wave is obtained; Obtain the material properties and density properties of each layer in the measurement direction; The wave velocity of the ultrasonic wave in each layer is determined based on the material properties and density properties of each layer in the measurement direction. The upper and lower limits of the tolerance range of the measurement time interval are calculated based on the thickness properties of each layer in the measurement direction and the wave velocity of the ultrasonic wave in each layer. The measurement time interval and the tolerance range of the measurement time interval are matched to determine the layered measurement time interval corresponding to each layer in the measurement direction within the measurement time interval; The thickness of each layer is calculated based on the time interval between layer measurements and the wave velocity of the ultrasonic waves in each layer.

2. A measurement method based on ultrasound, characterized in that, include: Obtain a three-dimensional model of the object to be tested, wherein the three-dimensional model includes the material, density, structure and standard dimensions of the object; Determine the orientation of the object to be measured; Obtain the coordinates and measurement direction of the measurement point of the object to be measured; Based on the coordinates of the measurement point, the measurement direction, and the posture of the object to be measured, the ultrasonic generator of the measuring device is placed at the corresponding position of the object to be measured, so that the ultrasonic generator is aligned with or attached to the measurement point. The ultrasonic generator of the measuring device is controlled to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction; The echo of the ultrasonic wave received by the ultrasonic receiver of the measuring device; The layering information of the object under test corresponding to the measurement point and the measurement direction is determined based on the three-dimensional model. The layering information includes the number of layers and the material properties, density properties and thickness properties of each layer. The coordinates of the object under test corresponding to the measurement point and the thickness of each layer in the measurement direction are calculated based on the echo of the ultrasonic wave. The steps for determining the layer information of the coordinates and measurement direction of the measurement point corresponding to the object under test based on the three-dimensional model specifically include: Identify the intersecting components in the 3D model that intersect with the line containing the measurement direction; Obtain the material and density of the intersecting components as the material and density attributes of the entity layer corresponding to the intersecting components; Determine whether there is a hollow layer between the intersecting components of the three-dimensional model that intersect with the straight line containing the measurement direction; When hollow layers exist, the material properties and density properties of the hollow layers are respectively configured as air and its density under standard atmospheric pressure; Obtain the coordinates of the intersection point of the line containing the measurement direction and the surfaces of the solid layer and the hollow layer in the three-dimensional coordinate system displaying the solid model; Calculate the length of each line segment between the intersection points based on the coordinates of the intersection points in the three-dimensional coordinate system; The length of the line segment is determined as the thickness attribute of each layer in the measurement direction; The steps for calculating the coordinates of the object under test corresponding to the measurement point and the thickness of each layer in the measurement direction based on the echo of the ultrasonic wave specifically include: The measurement time interval of each peak in the echo of the ultrasonic wave is obtained; Obtain the material properties and density properties of each layer in the measurement direction; The wave velocity of the ultrasonic wave in each layer is determined based on the material properties and density properties of each layer in the measurement direction. The upper and lower limits of the tolerance range of the measurement time interval are calculated based on the thickness properties of each layer in the measurement direction and the wave velocity of the ultrasonic wave in each layer. The measurement time interval and the tolerance range of the measurement time interval are matched to determine the layered measurement time interval corresponding to each layer in the measurement direction within the measurement time interval; The thickness of each layer is calculated based on the time interval between layer measurements and the wave velocity of the ultrasonic waves in each layer.

3. The measurement method according to claim 2, characterized in that, The steps for obtaining the coordinates and measurement direction of the measurement point of the object to be measured specifically include: Display the 3D model in a three-dimensional coordinate system; Selectable regions are marked on the surface of the stereo model according to the posture of the object under test. The selectable regions are areas on the surface of the stereo model that are not obscured by the support platform and / or fixed components, as determined by the posture of the object under test. Receive at least one measurement point selected by the user in the selectable area; Obtain the coordinates of the measurement point in the three-dimensional coordinate system; Receive the straight line selected by the user in the three-dimensional coordinate system that intersects with the measurement point; The direction in which the straight line extends from the measurement point into the interior of the 3D model is determined as the measurement direction corresponding to the measurement point.

4. The measurement method according to claim 3, characterized in that, After receiving the line selected by the user in the three-dimensional coordinate system that intersects the measurement point, the method further includes: Identify multiple planes that intersect the stated line; Determine the intersection lines of each plane with the coordinates of the measurement point and the surfaces of each layer in the measurement direction; When there is a point on any intersecting line that is less than the distance between the point where the line intersects the line and the measurement point, the measurement direction corresponding to the line is determined to be unselectable. The system prompts the user to select a straight line in another direction that intersects the measurement point and / or prompts the user to select another measurement point.

5. The measurement method according to claim 3, characterized in that, Before the step of obtaining the corresponding 3D model of the object to be tested, the method further includes constructing the 3D model. The step of constructing the 3D model specifically includes: The object is broken down into multiple components according to its material and density. Determine the shape and standard dimensions of each component; Construct a component model for each of the aforementioned components in three-dimensional space; The component models are assembled into a three-dimensional model of the object according to the positional relationship of the components within the object.

6. The measurement method according to claim 5, characterized in that, The specific steps of controlling the ultrasonic generator of the measuring device to emit ultrasonic waves corresponding to the three-dimensional model along the measuring direction include: Identify the intersecting components in the 3D model that intersect with the line containing the measurement direction; Obtain the material and density properties of the intersecting components; The frequency of the ultrasonic waves used to measure the object under test is determined based on the material and density properties of the intersecting components. The frequency of the ultrasonic wave is configured as the ultrasonic modulation parameter of the ultrasonic generator; An ultrasonic wave of the specified frequency is emitted along the measurement direction.

7. The measurement method according to claim 2, characterized in that, The steps of calculating the upper and lower limits of the tolerance range of the measurement time interval based on the thickness properties of each layer in the measurement direction and the wave velocity of the ultrasonic wave in each layer specifically include: Get the pre-configured maximum tolerance ratio The maximum tolerance ratio is the maximum error ratio between the actual production size and the standard size of each component of the object under test; Obtain the thickness attributes of each layer in the measurement direction. and the wave velocity of the ultrasound in each layer ,in , The number of layers corresponding to the coordinates and measurement direction of the measurement point of the object under test; Calculate the upper limit of the tolerance range for the measurement time interval. and the lower limit of the tolerance range. ,in The distance between the ultrasonic generator and the ultrasonic receiver relative to the measurement point. The speed of the ultrasonic wave in the air is denoted as .

8. The measurement method according to claim 7, characterized in that, The step of matching the measurement time interval and the tolerance range of the measurement time interval to determine the layered measurement time interval corresponding to each layer in the measurement direction specifically includes: Obtain the measurement time interval ,in , The number of time intervals between echoes received by the ultrasonic receiver; Configure stacked variable array ,in ; Configure pointer variables ; make pointer variables ; judge Whether it falls into Scope; When the judgment is yes, then If determined as a candidate stratification measurement time interval, otherwise judge Is it less than or greater than ; when If the measurement data is found to be incorrect, the user is prompted to re-perform the measurement. when At that time, Increment the pointer variable by 1, that is ; Repeat the above judgment and superposition steps until... fall into range or Greater than ; when fall into When within the range, make Increment the pointer variable by 1; Execution and The same judgment and superimposed steps until fall into range or Greater than ; when When discarding The first superimposed time interval ,make pointer variables Re-execute The steps of judgment and superposition; Or discard The first superposition time interval will be used to set the pointer variable. Reset to After determining the index corresponding to the first superimposed time interval, increment the pointer variable by 2 and re-execute. The steps of judgment and superposition; Each element in the superimposed variable array is processed in sequence. Perform the above steps until each element of the superimposed variable array is reached. All fell into Scope; Each element in the superimposed variable array The time interval for layer measurement is determined as the interval for each layer in the measurement direction.

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