Water immersion ultrasonic scanning method and system

Abstract

The invention discloses a water immersion ultrasonic scanning method and system, and relates to the technical field of ultrasonic detection, and the water immersion ultrasonic scanning method comprises the following steps: obtaining waveform data of ultrasonic waves and concentration data of impurities in water, and preprocessing the waveform data and the concentration data; the preprocessed waveform data are evaluated, and the preprocessed concentration data are evaluated; selecting an execution strategy according to the evaluation result of the waveform data and the evaluation result of the concentration data; obtaining stable data of the scanning material, performing ultrasonic first detection processing on the stable data, and evaluating the stable data after the ultrasonic first detection processing; and selecting an execution strategy according to the evaluation result of the stable data. The concentration condition of impurities in the detection pool can be reflected in time, the ultrasonic power is adjusted, the penetrability of ultrasonic waves to the impurity concentration is improved, and interference of the impurity concentration to the ultrasonic waves is avoided.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic detection technology, and specifically to a water immersion ultrasonic scanning method and system thereof. Background Art

[0002] Water immersion ultrasonic scanning imaging is a non-destructive testing technology that places an ultrasonic probe in water and uses the propagation characteristics of ultrasound in water to detect and image defects inside solid materials, such as cracks, pores, and inclusions. It is widely used in industrial and medical fields to ensure the integrity and safety of materials.

[0003] Water immersion ultrasonic scanning can provide high-sensitivity and high-resolution detection, which makes it particularly suitable for automatic scanning and imaging detection of key aviation components. By adjusting the water distance, the position of the focal area in the test object can be changed to achieve accurate evaluation of the internal structure of the material. In addition, water coupling can maintain stable acoustic coupling during movement, which is crucial for achieving continuous and reliable detection.

[0004] For example, the invention patent with publication number CN114441635B discloses an ultrasonic detection system and a water immersion flaw detection method, including: an ultrasonic detection system including an ultrasonic detection body, a water tank box arranged on the ultrasonic detection body, a variable angle adjustment ultrasonic probe device arranged on the ultrasonic detection body, and a workpiece placement table arranged in the water tank box; the variable angle adjustment ultrasonic probe device is located above the workpiece placement table; the variable angle adjustment ultrasonic probe device includes a moving component installed on the ultrasonic detection body, a mounting plate arranged on the moving component, a manipulator fixedly connected to the mounting plate, and a first probe arranged on the manipulator for generating a variable angle ultrasonic wave to be injected into the workpiece surface. This application can make it easier to detect artificial defects in arc-shaped parts or workpieces with arc surfaces.

[0005] For example, the invention patent with publication number CN106370729B discloses a subsurface focused ultrasonic water immersion detection method, including: a subsurface focused ultrasonic water immersion detection method, first placing the workpiece to be inspected in an ultrasonic water immersion detection system; determining the size of the detection surface of the workpiece to be inspected, adjusting the distance h between the ultrasonic probe of the ultrasonic water immersion detection system and the workpiece to be inspected, and the distance h is less than the focal length H of the ultrasonic probe; inspecting the workpiece to be inspected, obtaining a scanning image, and completing the subsurface focused ultrasonic water immersion detection. The present invention application reduces the distance h, i.e., the water distance, from the ultrasonic probe to the surface of the workpiece to be inspected, thereby changing the ultrasonic probe detection mode from surface focusing to subsurface focusing. Through subsurface focused ultrasonic water immersion detection, the problem of high clutter level in the actual detection process can be solved, effectively reducing the detection clutter level, improving the detection signal-to-noise ratio, and ensuring the detection quality. The application method of the present invention is simple, fast and easy to operate.

[0006] Workers perform ultrasonic scanning and imaging by immersing the scanning materials in water. However, when the concentration of impurities in the water increases, the ultrasonic waves emitted by the ultrasonic probe inserted into the water collide with the impurities and are scattered, which in turn causes the image waveform to become disordered, making it more difficult for workers to judge the quality of the scanned materials based on the waveform. Existing methods cannot automatically adjust the ultrasonic equipment according to the impurity situation. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention provides a method and system for water immersion ultrasonic scanning, which solves the problem that the concentration of impurities in water increases, causing ultrasonic waves to collide with impurities and scatter, thereby causing disordered image waveforms. To achieve the above purpose, the present invention is implemented through the following technical solutions:

[0008] In a first aspect, a water immersion ultrasonic scanning imaging method comprises the following steps: step 1, obtaining ultrasonic waveform data and concentration data of impurities in water, and preprocessing the waveform data and the concentration data; step 2, evaluating the preprocessed waveform data and evaluating the preprocessed concentration data; step 3, selecting an execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data; step 4, obtaining stable data of the scanned material, performing ultrasonic first detection processing on the stable data, and evaluating the stable data after the ultrasonic first detection processing; step 5, selecting an execution strategy according to the evaluation results of the stable data.

[0009] Furthermore, the specific steps of evaluating the preprocessed waveform data are: setting an ultrasonic transducer, acquiring waveform data through the ultrasonic transducer, and standardizing and normalizing the waveform data, wherein the waveform data includes ultrasonic amplitude and ultrasonic frequency; obtaining the maximum distance from the balance point of the waveform to the peak and the maximum distance from the balance point of the waveform to the trough through ultrasonic amplitude calculation; and obtaining a waveform evaluation value through comprehensive analysis of the waveform data.

[0010] Furthermore, the specific method for obtaining the waveform evaluation value through comprehensive analysis of the waveform data is: In the formula, s1 represents the waveform evaluation value, j n+1 Indicates the maximum distance from the equilibrium point to the peak of the n+1th waveform, k n+1 Indicates the maximum distance from the equilibrium point to the trough of the n+1th waveform, j n Indicates the maximum distance from the equilibrium point to the peak of the nth waveform, k n represents the maximum distance from the balance point to the trough of the nth waveform, w1 represents the influence weight of the ultrasonic amplitude, and f n+1 Indicates the n+1th ultrasonic frequency, f n represents the nth ultrasonic frequency, and w2 represents the influence weight of the ultrasonic frequency.

[0011] Furthermore, the specific steps of evaluating the pre-processed concentration data are: setting a first ultrasonic sensor and a second ultrasonic sensor, acquiring concentration data through the first ultrasonic sensor and the second ultrasonic sensor, and standardizing and normalizing the concentration data, wherein the concentration data includes ultrasonic emission energy acquired by the first ultrasonic sensor, ultrasonic receiving energy, standard time required for ultrasonic emission and reception, time affected by impurities required for ultrasonic emission and reception, the distribution number of the second ultrasonic sensor, and the number of times scattered ultrasonic waves are received acquired by the second ultrasonic sensor; and obtaining a concentration evaluation value through comprehensive analysis of the concentration data.

[0012] Furthermore, the specific method for obtaining the concentration evaluation value through comprehensive analysis of the concentration data is: In the formula, s2 represents the concentration evaluation value, p2 represents the ultrasonic emission energy, p1 represents the ultrasonic reception energy, w3 represents the influence weight of the ultrasonic energy, q represents the distribution number of the second ultrasonic sensor, r represents the number of times the scattered ultrasonic wave is received, w4 represents the influence weight of the distribution number of the second ultrasonic sensor and the number of times the scattered ultrasonic wave is received, t0 represents the standard time required for ultrasonic emission and reception, t1 represents the time required for ultrasonic emission and reception affected by impurities, and w5 represents the influence weight of the time required for ultrasonic emission and reception.

[0013] Furthermore, the specific method for selecting the execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data is: real-time comparison of the waveform evaluation value with the first threshold, and real-time comparison of the concentration evaluation value with the second threshold; if the waveform evaluation value is less than or equal to the first threshold, the ultrasonic device maintains the current power of the ultrasonic wave to continue operating; if the waveform evaluation value is greater than the first threshold and the concentration evaluation value is less than or equal to the second threshold, it is determined that the frequency of the ultrasonic wave is not within the preset frequency range of the waveform, and the preset frequency range of the waveform is calibrated so that the waveform evaluation value is less than or equal to the first threshold, then the ultrasonic device maintains the current power of the ultrasonic wave to continue operating; if the waveform evaluation value is greater than the first threshold and the concentration evaluation value is greater than the second threshold, a stability test is performed on the scanned material to obtain stable data, the stable data is subjected to ultrasonic first detection processing, and the stable data after the ultrasonic first detection processing is evaluated, and the ultrasonic power is adjusted.

[0014] Furthermore, the specific steps of performing ultrasonic pre-detection processing on the stable data and evaluating the stable data after the ultrasonic pre-detection processing are: setting a vibration sensor and an image capture device, acquiring stable data through the vibration sensor and the image capture device, ultrasonically pre-detecting the scanned material based on the stable data, the stable data including the amplitude of the scanned material and the frequency of the scanned material acquired by the vibration sensor and the original distance from the feature point of the scanned material to the image capture device acquired by the image capture device, the offset distance from the feature point of the scanned material to the image capture device, the original angle of the feature point of the scanned material and the deflection angle of the feature point of the scanned material; and obtaining a stable evaluation value through comprehensive analysis of the stable data.

[0015] Furthermore, the specific method for obtaining the stability evaluation value through comprehensive analysis of stability data is: Wherein, s3 represents the stability evaluation value, x represents the amplitude of the scanned material, w6 represents the influence weight of the amplitude of the scanned material, y represents the frequency of the scanned material, w7 represents the influence weight of the frequency of the scanned material, z0 represents the original distance from the feature point of the scanned material to the image capturing device, z1 represents the offset distance from the feature point of the scanned material to the image capturing device, z3 represents the original angle of the feature point of the scanned material, z4 represents the deflection angle of the feature point of the scanned material, and w8 represents the influence weight of the distance and angle of the feature point of the scanned material.

[0016] Furthermore, the specific method for selecting an execution strategy based on the evaluation results of the stability data is: comparing the stability evaluation value with the third threshold in real time; if the stability evaluation value is less than or equal to the third threshold, the ultrasonic device increases the ultrasonic output power within the stability range of the scanned material, and continues to repeat the above operations until the waveform evaluation value drops below the first threshold and the concentration evaluation value drops below the second threshold; if the stability evaluation value is greater than the third threshold, the ultrasonic device output is stopped and the ionized water is replaced.

[0017] In a second aspect, an immersion ultrasonic scanning imaging system is used to implement any one of the immersion ultrasonic scanning imaging methods described in the first aspect, including: a waveform data acquisition module, a concentration data acquisition module, a waveform data evaluation module, a concentration data evaluation module, a waveform data execution module, a concentration data execution module, a stable data acquisition and evaluation module, and a stable data execution module; the waveform data acquisition module and the concentration data acquisition module are respectively used to acquire ultrasonic waveform data and suspended impurity concentration data, and pre-process the waveform data and concentration data; the waveform data evaluation module and the concentration data evaluation module are respectively used to evaluate the pre-processed waveform data and evaluate the pre-processed concentration data; the waveform data execution module and the concentration data execution module are respectively used to select an execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data; the stable data acquisition and evaluation module is used to acquire stable data of the scanned material, perform ultrasonic first detection processing on the stable data, and evaluate the stable data after the ultrasonic first detection processing; the stable data execution module is used to select an execution strategy according to the evaluation result of the stable data.

[0018] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0019] (1) By setting an ultrasonic transducer to obtain waveform data and evaluating the waveform data to obtain a waveform evaluation value, it can effectively help the staff to judge the irregular changes of the waveform and avoid the staff from misjudging the quality of the scanned material.

[0020] (2) By setting the first ultrasonic sensor and the second ultrasonic sensor to obtain concentration data and evaluating the concentration data to obtain a concentration evaluation value, the concentration status of impurities in the detection pool can be reflected in a timely manner, which is convenient for adjusting the ultrasonic power, increasing the penetration of ultrasonic waves on impurity concentrations, and avoiding interference of impurity concentrations on ultrasonic waves.

[0021] (3) By setting up a vibration sensor and an image capture device to obtain stable data, and evaluating the stable data to obtain a stable evaluation value, it is convenient to timely feedback the impact of ultrasound on the stability of the scanned material, and avoid further abnormal detection of the scanned material due to the adjustment of the ultrasound; by replacing the ionized water, the interference of impurity concentration on the ultrasound is further avoided, thereby improving the accuracy of the staff's judgment on the waveform of the scanned material.

[0022] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a flow chart of a water immersion ultrasonic scanning imaging method applied for by the present invention.

[0024] Figure 2 This is a structural diagram of a water immersion ultrasonic scanning imaging system applied for by the present invention.

[0025] Figure 3 A line graph showing the effect of ultrasonic power on the stability of the scanned material applied for in the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the present invention application to clearly and completely describe the technical solutions in the present invention application. Obviously, the described embodiments are only part of the embodiments of the present invention application, rather than all the embodiments. Based on the embodiments in the present invention application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention application.

[0027] like Figure 1 As shown, in the first aspect, the present invention provides a water immersion ultrasonic scanning imaging method: comprising the following steps: step one, obtaining ultrasonic waveform data and concentration data of impurities in water, and preprocessing the waveform data and concentration data; step two, evaluating the preprocessed waveform data and evaluating the preprocessed concentration data; step three, selecting an execution strategy based on the evaluation results of the waveform data and the evaluation results of the concentration data; step four, obtaining stable data of the scanned material, performing ultrasonic first detection processing on the stable data, and evaluating the stable data after the ultrasonic first detection processing; step five, selecting an execution strategy based on the evaluation results of the stable data.

[0028] Specifically, the specific steps for evaluating the preprocessed waveform data are: setting an ultrasonic transducer, acquiring waveform data through the ultrasonic transducer, and standardizing and normalizing the waveform data, wherein the waveform data includes ultrasonic amplitude and ultrasonic frequency; obtaining the maximum distance from the balance point of the waveform to the peak and the maximum distance from the balance point of the waveform to the trough through ultrasonic amplitude calculation; and obtaining a waveform evaluation value through comprehensive analysis of the waveform data.

[0029] In this embodiment, the ultrasonic transducer can convert electrical signals into sound wave signals, or convert sound wave signals into electrical signals to obtain waveform data reflecting the state of the material after ultrasonic detection and scanning; the standardization and normalization of the waveform data facilitates the unified calculation of amplitude and frequency to improve the accuracy of the results. The amplitude and frequency of the waveform data can reflect the energy and penetration ability of the ultrasound. The balance point of a waveform usually refers to the average position of the waveform over a period of time, that is, the dividing point between positive and negative amplitudes. The maximum distance from the balance point to the peak represents the vertical distance from the highest point of the wave to the balance point, that is, the maximum positive amplitude; the maximum distance from the balance point to the trough represents the vertical distance from the lowest point of the wave to the balance point, that is, the maximum negative amplitude.

[0030] Specifically, the specific method for obtaining the waveform evaluation value through comprehensive analysis of waveform data is: In the formula, s1 represents the waveform evaluation value, which is used as the basis for judging the waveform change, j n+1 k represents the maximum distance from the equilibrium point to the peak of the n+1th waveform, that is, the maximum positive amplitude of the n+1th waveform. n+1 It represents the maximum distance from the equilibrium point to the trough of the n+1th waveform, that is, the maximum negative amplitude of the n+1th waveform. n+1 represents the amplitude of the n+1th waveform that fluctuates over a period of time. n+1 represents the number of n+1 ups and downs of the waveform. j n k represents the maximum distance from the equilibrium point to the peak of the nth waveform, that is, the maximum positive amplitude of the nth waveform. n It represents the maximum distance from the balance point to the trough of the nth waveform, that is, the maximum negative amplitude of the nth waveform. n represents the amplitude of the nth waveform that fluctuates within a period of time. n represents n ups and downs of the waveform. w1 represents the influence weight of the ultrasonic amplitude. The historical data is obtained through experiments and stored in the database for easy retrieval. It is used to reflect the importance of the ultrasonic amplitude. f n+1 represents the n+1th ultrasonic frequency, n+1 represents the n+1th waveform frequency that fluctuates within a period of time, represents the period of the n+1th ultrasonic wave, f n represents the nth ultrasonic frequency, n represents the nth waveform frequency that fluctuates over a period of time, It represents the period of the nth ultrasonic wave, w2 represents the influence weight of the ultrasonic frequency, and the historical data is obtained through experiments and stored in the database for easy retrieval, which is used to reflect the importance of the ultrasonic frequency. n is a positive integer, which can be greater than or equal to 2.

[0031] Specifically, the specific steps for evaluating the preprocessed concentration data are: setting a first ultrasonic sensor and a second ultrasonic sensor, acquiring concentration data through the first ultrasonic sensor and the second ultrasonic sensor, and standardizing and normalizing the concentration data, wherein the concentration data includes the ultrasonic emission energy, ultrasonic receiving energy, standard time required for ultrasonic emission and reception, and time affected by impurities required for ultrasonic emission and reception acquired by the first ultrasonic sensor, as well as the distribution number of the second ultrasonic sensor and the number of times scattered ultrasonic waves are received acquired by the second ultrasonic sensor; and obtaining a concentration evaluation value through comprehensive analysis of the concentration data.

[0032] In this embodiment, the first ultrasonic sensor is used to transmit and receive ultrasonic energy for detecting and scanning materials, and is placed in the ultrasonic probe. A number of second ultrasonic sensors are distributed around the detection pool to receive scattered ultrasonic energy and record the number of times scattered ultrasonic waves are received. The detection pool is used to contain ionized water and place scanning materials. The standardization and normalization of concentration data facilitates the unified calculation of ultrasonic energy, the number of distribution of second ultrasonic sensors, the number of times scattered ultrasonic waves are received, and the time required for ultrasonic emission and reception, so as to improve the accuracy of the results. When ultrasonic waves penetrate impurities, part of the energy is scattered, resulting in inconsistency between the energy emitted by the ultrasonic wave and the energy received. The standard time required for ultrasonic emission and reception is the time it takes for the ultrasonic wave to go back and forth when there are no impurities in the detection pool; the time affected by impurities required for ultrasonic emission and reception is the time it takes for the ultrasonic wave to penetrate the impurities and go back and forth when there are impurities in the detection pool.

[0033] Specifically, the specific method for obtaining the concentration evaluation value through comprehensive analysis of concentration data is: Wherein, s2 represents the concentration assessment value, which is used as the basis for judging whether the concentration is increased; p2 represents the ultrasonic emission energy, which is the ultrasonic wave emitted by the sensor but has not penetrated the impurities; p1 represents the ultrasonic reception energy, which is the ultrasonic wave received by the sensor and has penetrated the impurities; w3 represents the influence weight of the ultrasonic energy, which is the historical data obtained through experiments and stored in the database for easy retrieval, and is used to reflect the importance of ultrasonic energy; q represents the number of distribution of the second ultrasonic sensors, which are distributed on the inner walls of the detection pool to facilitate the reception of ultrasonic waves scattered from all directions due to the influence of impurities; r represents the number of times the second ultrasonic sensor receives scattered ultrasonic waves, which is recorded once each time the second ultrasonic sensor receives scattered ultrasonic waves; w4 represents the number of distribution of the second ultrasonic sensors and the number of times the second ultrasonic sensors receive scattered ultrasonic waves. The influence weight of the number of waves is obtained through experiments and the historical data is stored in the database for easy retrieval. It is used to reflect the importance of the distribution quantity of the second ultrasonic sensor and the number of times the scattered ultrasonic wave is received. T0 represents the standard time required for ultrasonic emission and reception, which is the time for ultrasonic emission and reception in impurity-free ionized water. T1 represents the time required for ultrasonic emission and reception affected by impurities, which is the time for ultrasonic emission and reception in impurity-containing ionized water. When the ultrasonic wave penetrates the impurities, part of the ultrasonic wave is scattered, resulting in energy attenuation, which reduces the speed at which the ultrasonic wave continues to penetrate the impurities and prolongs the time for ultrasonic emission and reception. W5 represents the influence weight of the time required for ultrasonic emission and reception. The historical data is obtained through experiments and stored in the database for easy retrieval. It is used to reflect the importance of the time required for ultrasonic emission and reception.

[0034] Specifically, the specific method for selecting the execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data is: real-time comparison of the waveform evaluation value with the first threshold, and real-time comparison of the concentration evaluation value with the second threshold; if the waveform evaluation value is less than or equal to the first threshold, the ultrasonic device maintains the current power of the ultrasonic wave to continue operating; if the waveform evaluation value is greater than the first threshold and the concentration evaluation value is less than or equal to the second threshold, it is determined that the frequency of the ultrasonic wave is not within the preset frequency range of the waveform, and the preset frequency range of the waveform is calibrated so that the waveform evaluation value is less than or equal to the first threshold, then the ultrasonic device maintains the current power of the ultrasonic wave to continue operating; if the waveform evaluation value is greater than the first threshold and the concentration evaluation value is greater than the second threshold, a stability test is performed on the scanned material to obtain stable data, the stable data is subjected to ultrasonic first detection processing, and the stable data after the ultrasonic first detection processing is evaluated, and the ultrasonic power is adjusted according to the evaluation result to reduce the influence of impurity concentration on the ultrasonic wave.

[0035] In this implementation, the first threshold and the second threshold are obtained through experiments and stored in the database through historical data, and are called when needed;

[0036] When the waveform evaluation value is less than or equal to the first threshold, it indicates that the waveform is normal and the concentration of impurities has no effect on the waveform. The ultrasonic probe in the ionized water transmits ultrasonic waves to the scanned material and then returns to the ultrasonic probe. The ultrasonic probe maintains the current power of the ultrasonic wave and continues to operate.

[0037] When the waveform evaluation value is greater than the first threshold and the concentration evaluation value is less than or equal to the second threshold, the waveform display device is connected to the ultrasonic probe. Since the waveform display device has multiple ultrasonic signals of different frequencies coexisting, the preset frequency range can avoid the mixing effect between signals of different frequencies and reduce mutual interference. Therefore, when the impurity concentration is normal but the waveform displayed in the waveform display device is abnormal, the waveform display device compares the shape and characteristics of the ultrasonic frequency with the preset waveform. When the difference is large, the DDS technology is used for frequency synthesis. By adjusting the frequency control of the DDS, the accumulation speed of the accumulator is changed, and then the output frequency is adjusted to match the frequency of the ultrasonic wave, so that the waveform displayed on the waveform display device is normal;

[0038] If the waveform evaluation value is greater than the first threshold and the concentration evaluation value is greater than the second threshold, increasing the ultrasonic power will enhance the ultrasonic penetration of impurities and reduce ultrasonic scattering, thereby reducing ultrasonic energy attenuation and round-trip time. However, increasing the ultrasonic power to a certain extent will cause the scanning material to vibrate, making the ultrasonic echo signal unstable, and thus making it impossible to make the waveform evaluation value below the first threshold, affecting the workers' judgment on the quality of the scanned materials. Therefore, before increasing the ultrasonic power, a stability test should be performed on the scanning material.

[0039] Ultrasonic first detection processing means that when the stable data of the scanned material is obtained, the ultrasonic power is directly increased to detect the quality of the scanned material without evaluation. If the waveform evaluation value at this time is below the first threshold and the concentration evaluation value is below the second threshold, no evaluation is required, which saves the time of ultrasonic quality detection of the scanned material and improves the working efficiency of the equipment;

[0040] If the power of the ultrasound is increased to detect the quality of the scanned material, and the waveform evaluation value is above the first threshold, it is necessary to evaluate the stable data after the ultrasound first detects and processes it, and then adjust the ultrasound power based on the evaluation result to reduce the impact of impurity concentration on the ultrasound.

[0041] Specifically, the specific steps of performing ultrasonic first detection processing on stable data and evaluating the stable data after ultrasonic first detection processing are: setting a vibration sensor and an image capture device, acquiring stable data through the vibration sensor and the image capture device, ultrasonic first detecting the scanned material according to the stable data, the stable data including the amplitude of the scanned material and the frequency of the scanned material acquired by the vibration sensor and the original distance from the feature point of the scanned material to the image capture device acquired by the image capture device, the offset distance from the feature point of the scanned material to the image capture device, the original angle of the feature point of the scanned material and the deflection angle of the feature point of the scanned material; and obtaining a stable evaluation value through comprehensive analysis of the stable data.

[0042] In this embodiment, the vibration sensor is used to collect vibration amplitude and vibration frequency data of the scanned material, the vibration amplitude of the scanned material represents the distance of the material from the equilibrium position to the maximum deviation position, and the vibration frequency of the scanned material represents the number of times the material completes vibration in a unit time. The image capture device is used to capture a number of images of the scanned material and model the images, and then identify and track the feature points of the image, the feature points include the corner points of the image, and the corner points can provide good differentiation, so that the degree of image transformation can be easily calculated after the image transformation.

[0043] The original distance from the feature point of the scanned material to the image capture device: The corner points of the image when the scanned material is stationary are calculated using the Harris corner detection algorithm. The algorithm slides a small window horizontally and vertically on the image. If the movement of the window in any direction causes a significant change in grayscale, then the center point of the window is a corner point.

[0044] SIFT technology is used for feature point matching. The algorithm detects SIFT feature points with unique directions in the image, that is, points whose size, brightness, rotation and contrast remain unchanged when the image moves, and generates a descriptor for each feature point. This descriptor remains unchanged to rotation, scaling and brightness changes. SIFT feature points are then extracted from several images and the best matching feature points are found by comparing the shortest distances of their descriptors. The essential matrix is ​​calculated based on the matched feature points, and the rotation matrix and translation vector are decomposed to obtain the rotation and movement data of the camera. The position of the feature point in three-dimensional space is calculated based on the rotation and movement data and the position of the matched feature point in the image. Finally, the original distance z0 from the feature point of the scanned material to the image capture device is obtained according to the position of the image capture device and the position of the feature point in three-dimensional space.

[0045] The offset distance from the feature points of the scanned material to the image capture device: The Harris corner detection algorithm is used to calculate the corner points of the image when the scanned material is offset, and the SIFT technology is used to match the feature points. The essential matrix is ​​calculated through the matched feature points, and the essential matrix is ​​decomposed to obtain the rotation matrix and translation vector, and the rotation and movement data of the camera are obtained. The position of the feature point in the three-dimensional space is calculated through the rotation and movement data and the position of the matched feature point in the image. Finally, the offset distance z1 from the feature point of the scanned material to the image capture device is calculated based on the position of the image capture device and the position of the feature point in the three-dimensional space.

[0046] Original angle of feature points of scanned materials: Harris corner detection algorithm is used to calculate the corner points of the image when the scanned material is stationary. SIFT technology is used to match feature points. The horizontal and vertical gradients are calculated from the position where the brightness of the pixel image changes fastest. The horizontal gradient, i.e. the partial derivative of the x-coordinate, is t x1 , the vertical gradient, that is, the partial derivative to the left of the y-axis is t y1 , the direction of the matching feature point is determined by the ratio of the vertical gradient to the horizontal gradient, that is, At this time, z3 is the original angle.

[0047] Deflection angle of feature points of scanned materials: The corner points of the image when the scanned material is deflected are calculated using the Harris corner detection algorithm, and feature point matching is performed using SIFT technology. The horizontal and vertical gradients are calculated from the position where the brightness of the pixel image changes fastest. The horizontal gradient, i.e. the partial derivative of the x-coordinate, is t x2 , the vertical gradient, that is, the partial derivative to the left of the y-axis is t y2 , the direction of the matching feature point is determined by the ratio of the vertical gradient to the horizontal gradient, that is, At this time, z4 is the deflection angle.

[0048] Specifically, the specific method for obtaining the stability evaluation value through comprehensive analysis of stability data is: Wherein, s3 represents the stability evaluation value, which is used as the basis for judging the stability of the scanned material, x represents the amplitude of the scanned material, that is, the distance from the equilibrium position to the maximum deviation position of the material, w6 represents the influence weight of the amplitude of the scanned material, which is obtained through experiments and stored in the database for easy retrieval, and is used to reflect the importance of the amplitude of the scanned material, y represents the frequency of the scanned material, which represents the number of times the material completes vibration in unit time, w7 represents the influence weight of the frequency of the scanned material, which is obtained through experiments and stored in the database for easy retrieval, and is used to reflect the importance of the frequency of the scanned material, z0 represents the original distance from the feature point of the scanned material to the image capture device, It represents the distance between the camera and the feature point of the scanned material when the scanned material is stationary, z1 represents the offset distance from the feature point of the scanned material to the image camera, and represents the distance between the camera and the feature point of the scanned material when the scanned material is offset, z3 represents the original angle of the feature point of the scanned material, and represents the angle of the feature point on the three-dimensional coordinate axis when the scanned material is stationary, z4 represents the deflection angle of the feature point of the scanned material, and represents the angle of the feature point on the three-dimensional coordinate axis when the scanned material is deflected, w8 represents the influence weight of the distance and angle of the feature point of the scanned material, and the historical data is obtained through experiments and stored in the database for easy call, which is used to reflect the importance of the distance and angle of the feature point of the scanned material.

[0049] like Figure 3 As shown, specifically, the specific method of selecting the execution strategy according to the evaluation result of the stability data is: comparing the stability evaluation value with the third threshold in real time; if the stability evaluation value is less than or equal to the third threshold, the ultrasonic device increases the ultrasonic output power within the stability range of the scanned material, and continues to repeat the above operations until the waveform evaluation value drops below the first threshold and the concentration evaluation value drops below the second threshold; if the stability evaluation value is greater than the third threshold, the ultrasonic device output is stopped and the ionized water is replaced.

[0050] In this implementation, the third threshold is historical data obtained through experiments and stored in a database, which can be called when needed;

[0051] When the stability evaluation value is less than or equal to the third threshold, it means that the ultrasonic wave after the power increase is within the stable range of the scanning material, and the ultrasonic wave is increased or decreased within the stable range of the scanning material until the waveform evaluation value decreases below the first threshold and the concentration evaluation value decreases below the second threshold;

[0052] When ultrasonic waves are used to detect scanning materials, the scanning materials have a stability range when facing ultrasonic power. If the power of the ultrasonic wave is not within this range, the waveform evaluation value is greater than the first threshold value, which means: the ultrasonic wave is smaller than this range and has insufficient penetration into the impurity concentration, causing the waveform evaluation value to be greater than the first threshold value and the concentration evaluation value to be greater than the second threshold value; if the ultrasonic wave is much larger than this range, the jitter of the scanning material is enhanced, increasing the scattering of the ultrasonic wave in the material, which may also cause the waveform evaluation value to be greater than the first threshold value.

[0053] Table 1 Effect of ultrasonic power on the stability of scanned materials

[0054]

[0055] As shown in Table 1, the table shows the power of the ultrasonic wave within the stability range of the scanned material. The smaller the values ​​of the amplitude, frequency, offset distance and deflection angle in the table, the more stable the scanned material is. When the power of the ultrasonic wave gradually decreases, Group 3 is the inflection point, indicating that the ultrasonic wave power of Group 3 is the most suitable power, making the detected waveform most accurate. The reason for the inflection point is that the power of Group 1 and Group 2 is greater, which in turn drives the energy of the scanned material to shake more. The power of Group 4 and Group 5 is smaller, but the power is close to the natural frequency of the scanned material, causing the resonance of the scanned material, which may increase the instability of the scanned material.

[0056] Therefore, each time the ultrasonic test scans the material, the stability evaluation is first performed on the scanned material and the stability evaluation value is less than or equal to the third threshold, and the optimal ultrasonic power is also adjusted to improve the accuracy of the waveform. When the stability evaluation value is greater than the third threshold, that is, no matter how the ultrasonic wave is adjusted, the waveform evaluation value is always above the first threshold and the concentration evaluation value is always above the second threshold, then it is necessary to replace a pool of clean ionized water. The reason for first adjusting the ultrasonic power to reduce the waveform evaluation value to below the first threshold and the concentration evaluation value to below the second threshold is that it is more convenient than replacing ionized water and improves the working efficiency of the equipment.

[0057] When replacing ionized water, first stop the equipment and take out the scanning materials in the pool, then open the drain valve to drain the contaminated ionized water, close the drain valve and open the water inlet valve at the same time, until the ionized water falls into the pool to a certain extent, then close the water inlet valve, continue to put scanning materials in the pool and turn on the equipment. The whole process is more cumbersome and time-consuming than adjusting the ultrasonic power.

[0058] like Figure 2As shown, in the second aspect, a water immersion ultrasonic scanning imaging system is used to implement any one of the water immersion ultrasonic scanning imaging methods described in the first aspect, including: a waveform data acquisition module, a concentration data acquisition module, a waveform data evaluation module, a concentration data evaluation module, a waveform data execution module, a concentration data execution module, a stable data acquisition and evaluation module and a stable data execution module; the waveform data acquisition module and the concentration data acquisition module are respectively used to acquire the waveform data of the ultrasonic wave and the concentration data of the suspended impurities, and pre-process the waveform data and the concentration data; the waveform data evaluation module and the concentration data evaluation module are respectively used to evaluate the pre-processed waveform data and evaluate the pre-processed concentration data; the waveform data execution module and the concentration data execution module are respectively used to select an execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data; the stable data acquisition and evaluation module is used to acquire the stable data of the scanned material, perform ultrasonic first detection processing on the stable data, and evaluate the stable data after the ultrasonic first detection processing; the stable data execution module is used to select an execution strategy according to the evaluation result of the stable data.

[0059] In the present application, the waveform data acquisition module and the concentration data acquisition module can be used to respectively acquire the waveform data of the ultrasonic wave and the concentration data of the suspended impurities, and pre-process the waveform data and the concentration data; the waveform data evaluation module and the concentration data evaluation module can be used to respectively evaluate the pre-processed waveform data and the pre-processed concentration data; the waveform data execution module and the concentration data execution module can be used to respectively select the execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data; the stable data acquisition and evaluation module can be used to acquire the stable data of the scanned material, perform ultrasonic first detection processing on the stable data, and evaluate the stable data after ultrasonic first detection processing; the stable data execution module can be used to select the execution strategy according to the evaluation results of the stable data, and then the waveform data and the concentration data can be obtained, and the concentration data can be evaluated to obtain the concentration evaluation value, which can timely reflect the concentration status of the impurities in the detection pool, facilitate the adjustment of the ultrasonic power, increase the penetration of the ultrasonic wave to the impurity concentration, and avoid the interference of the impurity concentration to the ultrasonic wave.

[0060] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0061] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A water immersion ultrasonic scanning imaging method, characterized in that: The following steps are involved: Step 1: Obtaining ultrasonic waveform data and concentration data of impurities in water, and preprocessing the waveform data and concentration data; Step 2: evaluating the preprocessed waveform data and evaluating the preprocessed concentration data; Step 3: Select an execution strategy based on the evaluation results of the waveform data and the evaluation results of the concentration data; Step 4: Obtain stable data of the scanned material, perform ultrasonic first detection processing on the stable data, and evaluate the stable data after ultrasonic first detection processing; Step 5: Select an execution strategy based on the evaluation results of stable data.

2. The method for water immersion ultrasonic scanning imaging according to claim 1, characterized in that: The specific steps of evaluating the preprocessed waveform data are: Setting an ultrasonic transducer, acquiring waveform data through the ultrasonic transducer, and standardizing and normalizing the waveform data, wherein the waveform data includes ultrasonic amplitude and ultrasonic frequency; The maximum distance from the balance point of the waveform to the wave crest and the maximum distance from the balance point of the waveform to the wave trough are obtained by calculating the ultrasonic amplitude; The waveform evaluation value is obtained through comprehensive analysis of the waveform data.

3. The water immersion ultrasonic scanning imaging method according to claim 2, characterized in that: The specific method for obtaining the waveform evaluation value through comprehensive analysis of waveform data is: In the formula, s1 represents the waveform evaluation value, j n+1 Indicates the maximum distance from the equilibrium point to the peak of the n+1th waveform, k n+1 Indicates the maximum distance from the equilibrium point to the trough of the n+1th waveform, j n Indicates the maximum distance from the equilibrium point to the peak of the nth waveform, k n represents the maximum distance from the balance point to the trough of the nth waveform, w1 represents the influence weight of the ultrasonic amplitude, and f n+1 Indicates the n+1th ultrasonic frequency, f n represents the nth ultrasonic frequency, and w2 represents the influence weight of the ultrasonic frequency.

4. The water immersion ultrasonic scanning imaging method according to claim 3, characterized in that: The specific steps of evaluating the pre-processed concentration data are: A first ultrasonic sensor and a second ultrasonic sensor are provided, concentration data are acquired through the first ultrasonic sensor and the second ultrasonic sensor, and the concentration data are standardized and normalized, wherein the concentration data includes ultrasonic emission energy acquired by the first ultrasonic sensor, ultrasonic reception energy, standard time required for ultrasonic emission and reception, time affected by impurities required for ultrasonic emission and reception, the distribution number of the second ultrasonic sensor, and the number of times scattered ultrasonic waves are received acquired by the second ultrasonic sensor; The concentration evaluation value is obtained through comprehensive analysis of concentration data.

5. The water immersion ultrasonic scanning imaging method according to claim 4, characterized in that: The specific method for obtaining the concentration evaluation value through comprehensive analysis of concentration data is: In the formula, s2 represents the concentration evaluation value, p2 represents the ultrasonic emission energy, p1 represents the ultrasonic reception energy, w3 represents the influence weight of the ultrasonic energy, q represents the distribution number of the second ultrasonic sensor, r represents the number of times the second ultrasonic sensor receives scattered ultrasonic waves, w4 represents the influence weight of the distribution number of the second ultrasonic sensor and the number of times the second ultrasonic sensor receives scattered ultrasonic waves, t0 represents the standard time required for ultrasonic emission and reception, t1 represents the time required for ultrasonic emission and reception affected by impurities, and w5 represents the influence weight of the time required for ultrasonic emission and reception.

6. The water immersion ultrasonic scanning imaging method according to claim 5, characterized in that: The specific method of selecting the execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data is: Comparing the waveform evaluation value with the first threshold in real time, and comparing the concentration evaluation value with the second threshold in real time; If the waveform evaluation value is less than or equal to the first threshold, the ultrasonic device maintains the ultrasonic wave at the current power and continues to operate; If the waveform evaluation value is greater than the first threshold and the concentration evaluation value is less than or equal to the second threshold, it is determined that the frequency of the ultrasonic wave is not within the preset frequency range of the waveform, and the preset frequency range of the waveform is calibrated so that the waveform evaluation value is less than or equal to the first threshold, and the ultrasonic device maintains the current power of the ultrasonic wave to continue operating; If the waveform evaluation value is greater than the first threshold and the concentration evaluation value is greater than the second threshold, a stability test is performed on the scanned material to obtain stable data, the stable data is subjected to ultrasonic first detection processing, and the stable data after the ultrasonic first detection processing is evaluated, and the ultrasonic power is adjusted according to the evaluation result.

7. The method for water immersion ultrasonic scanning imaging according to claim 6, characterized in that: The specific steps of performing ultrasonic first detection processing on the stable data and evaluating the stable data after ultrasonic first detection processing are as follows: A vibration sensor and an image capture device are provided, and stable data are obtained through the vibration sensor and the image capture device. The ultrasonic wave first detects the scanned material according to the stable data, and the stable data includes the amplitude of the scanned material and the frequency of the scanned material obtained by the vibration sensor, and the original distance from the characteristic point of the scanned material to the image capture device obtained by the image capture device, the offset distance from the characteristic point of the scanned material to the image capture device, the original angle of the characteristic point of the scanned material, and the deflection angle of the characteristic point of the scanned material; The stability assessment value is obtained through comprehensive analysis of stability data.

8. The water immersion ultrasonic scanning imaging method according to claim 7, characterized in that: The specific method for obtaining the stability evaluation value through comprehensive analysis of stability data is: Wherein, s3 represents the stability evaluation value, x represents the amplitude of the scanned material, w6 represents the influence weight of the amplitude of the scanned material, y represents the frequency of the scanned material, w7 represents the influence weight of the frequency of the scanned material, z0 represents the original distance from the feature point of the scanned material to the image capturing device, z1 represents the offset distance from the feature point of the scanned material to the image capturing device, z3 represents the original angle of the feature point of the scanned material, z4 represents the deflection angle of the feature point of the scanned material, and w8 represents the influence weight of the distance and angle of the feature point of the scanned material.

9. The water immersion ultrasonic scanning imaging method according to claim 8, characterized in that: The specific method of selecting the execution strategy according to the evaluation result of stable data is: comparing the stability evaluation value with a third threshold in real time; If the stability evaluation value is less than or equal to the third threshold, the ultrasonic device increases the ultrasonic output power within the stability range of the scanned material, and continues to repeat the above operation until the waveform evaluation value decreases below the first threshold and the concentration evaluation value decreases below the second threshold; If the stability evaluation value is greater than the third threshold, the ultrasonic device output is stopped and the ionized water is replaced.

10. A water immersion ultrasonic scanning imaging system, used to implement a water immersion ultrasonic scanning imaging method according to any one of claims 1 to 9, characterized in that: include: A waveform data acquisition module, a concentration data acquisition module, a waveform data evaluation module, a concentration data evaluation module, a waveform data execution module, a concentration data execution module, a stable data acquisition and evaluation module, and a stable data execution module; The waveform data acquisition module and the concentration data acquisition module are used to acquire the waveform data of the ultrasonic wave and the concentration data of the suspended impurities, respectively, and pre-process the waveform data and the concentration data; The waveform data evaluation module and the concentration data evaluation module are used to evaluate the pre-processed waveform data and the pre-processed concentration data respectively; The waveform data execution module and the concentration data execution module are used to select an execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data, respectively; The stable data acquisition and evaluation module is used to acquire stable data of the scanned material, perform ultrasonic first detection processing on the stable data, and evaluate the stable data after ultrasonic first detection processing; The stable data execution module is used to select an execution strategy according to the evaluation result of the stable data.

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