A water-immersion ultrasonic scanning imaging method and system thereof

Abstract

The application discloses a water immersion ultrasonic scanning method and system, and relates to the technical field of ultrasonic detection.The water immersion ultrasonic scanning method comprises the following steps: acquiring waveform data of ultrasonic waves and concentration data of impurities in water, and pre-processing the waveform data and the concentration data; evaluating the pre-processed waveform data and the pre-processed concentration data; selecting an execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data; acquiring stable data of a scanning material, performing ultrasonic rate first detection processing on the stable data, and evaluating the stable data after the ultrasonic rate first detection processing; and selecting an execution strategy according to the evaluation results of the stable data.The application can timely reflect the concentration condition of impurities in a detection pool, adjust the ultrasonic power, increase the penetration of ultrasonic waves on the impurity concentration, and avoid the interference of the impurity concentration on the ultrasonic waves.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of ultrasonic detection, in particular to a water immersion ultrasonic scanning imaging method and system. BACKGROUND

[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 ultrasonic waves in water to detect and image internal defects such as cracks, pores and inclusions in solid materials, and is widely used in industrial and medical fields to ensure material integrity and safety.

[0003] Water immersion ultrasonic scanning can provide high sensitivity and high resolution detection, making it particularly suitable for automatic scanning imaging detection of key components in aviation, by adjusting the water distance to change the position of the focal zone in the detection object, achieving accurate evaluation of the internal structure of the material, in addition, water coupling can maintain stable acoustic coupling during movement, which is crucial for 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, which comprises: an ultrasonic detection system comprising an ultrasonic detection main body, a water tank box arranged on the ultrasonic detection main body, a variable-angle adjusting ultrasonic probe device arranged on the ultrasonic detection main body, and a workpiece placing table arranged in the water tank box; the variable-angle adjusting ultrasonic probe device is located above the workpiece placing table; the variable-angle adjusting ultrasonic probe device comprises a moving assembly mounted on the ultrasonic detection main body, a mounting plate arranged on the moving assembly, a mechanical hand fixedly connected with the mounting plate, and a first probe arranged on the mechanical hand for generating variable-angle ultrasonic waves to enter the surface of the workpiece. The application can make artificial defects in arc-shaped parts or workpieces with arc surfaces more easily detected.

[0005] For example, the invention patent with publication number CN106370729B discloses a subsurface focused ultrasonic water immersion detection method, which comprises: a subsurface focused ultrasonic water immersion detection method, first placing a workpiece to be detected in an ultrasonic water immersion detection system; determining the size of the detection surface of the workpiece to be detected, adjusting the distance h between the ultrasonic probe of the ultrasonic water immersion detection system and the workpiece to be detected, the distance h being less than the focal length H of the ultrasonic probe; detecting the workpiece to be detected to obtain a scanning image, and completing subsurface focused ultrasonic water immersion detection. The application reduces the distance h between the ultrasonic probe and the surface of the workpiece to be detected, i.e. the water distance, so that the detection mode of the ultrasonic probe is changed from surface focusing to subsurface focusing. Through subsurface focused ultrasonic water immersion detection, the problem of high clutter level in actual detection process can be solved, the detection clutter level is effectively reduced, the detection signal-to-noise ratio is improved, and the detection quality is ensured. The application method is simple, fast and easy to operate.

[0006] Workers scan the material by water immersion ultrasonic scanning imaging, however, when the impurity concentration in water increases, the ultrasonic waves emitted by the ultrasonic probe immersed in water are scattered after colliding with the impurities, thereby causing the image waveform to be disordered, increasing the difficulty of workers in judging the quality of the scanned material according to the waveform, and the existing method cannot automatically adjust the ultrasonic equipment according to the impurity condition. SUMMARY

[0007] In view of the defects of the prior art, the present application provides a water immersion ultrasonic scanning imaging method and system, which solves the problem that the image waveform is disordered due to the scattering of ultrasonic waves after colliding with impurities when the impurity concentration in water increases. To achieve the above purpose, the present application is implemented by the following technical solutions:

[0008] In a first aspect, a water immersion ultrasonic scanning imaging method comprises the following steps: Step 1, obtaining waveform data of ultrasonic waves 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 rate first detection processing on the stable data, and evaluating the stable data after the ultrasonic rate first detection processing; Step 5, selecting an execution strategy according to the evaluation results of the stable data.

[0009] Further, the specific steps of evaluating the preprocessed waveform data are as follows: setting an ultrasonic transducer, obtaining waveform data through the ultrasonic transducer, and performing standardization and normalization processing on the waveform data, wherein the waveform data includes ultrasonic amplitude and ultrasonic frequency; calculating 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 the ultrasonic amplitude; and obtaining a waveform evaluation value through comprehensive analysis of the waveform data.

[0010] Further, the specific method for obtaining a waveform evaluation value through comprehensive analysis of the waveform data is as follows: ; wherein, represents the waveform evaluation value, represents the maximum distance from the balance point of the nth+1 waveform to the peak, represents the maximum distance from the balance point of the nth+1 waveform to the trough, represents the maximum distance from the balance point of the nth waveform to the peak, represents the maximum distance from the balance point of the nth waveform to the trough, represents the influence weight of the ultrasonic amplitude, represents the nth+1 ultrasonic frequency, represents the nth ultrasonic frequency, represents the influence weight of the ultrasonic frequency.

[0011] Further, the specific step of evaluating the pre-processed concentration data is: setting a first ultrasonic sensor and a second ultrasonic sensor, obtaining concentration data through the first ultrasonic sensor and the second ultrasonic sensor, standardizing and normalizing the concentration data, the concentration data including ultrasonic emission energy obtained by the first ultrasonic sensor, ultrasonic receiving energy, standard time required for ultrasonic emission and receiving, impurity-affected time required for ultrasonic emission and receiving, distribution number of the second ultrasonic sensor, and number of received scattered ultrasonic waves obtained by the second ultrasonic sensor; obtaining a concentration evaluation value through comprehensive analysis of the concentration data.

[0012] Further, the specific method of obtaining a concentration evaluation value through comprehensive analysis of the concentration data is: ; wherein, represents the concentration evaluation value, represents the ultrasonic emission energy, represents the ultrasonic receiving energy, represents the influence weight of the ultrasonic energy, represents the distribution number of the second ultrasonic sensor, represents the number of received scattered ultrasonic waves, represents the influence weight of the distribution number of the second ultrasonic sensor and the number of received scattered ultrasonic waves, standard time required for ultrasonic emission and receiving, impurity-affected time required for ultrasonic emission and receiving, represents the influence weight of the time required for ultrasonic emission and receiving.

[0013] Further, the specific method of selecting an execution strategy according to the evaluation results of the waveform data and the concentration data is: comparing the waveform evaluation value with a first threshold value in real time, and comparing the concentration evaluation value with a second threshold value in real time; if the waveform evaluation value is less than or equal to the first threshold value, the ultrasonic equipment continues to work with the current power of the ultrasonic wave; if the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is less than or equal to the second threshold value, it is determined that the frequency of the ultrasonic wave is not within the preset frequency range of the waveform, the preset frequency range of the waveform is calibrated so that the waveform evaluation value is less than or equal to the first threshold value, and the ultrasonic equipment continues to work with the current power of the ultrasonic wave; if the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is greater than the second threshold value, stability data is obtained by performing stability detection on the scanned material, ultrasonic rate first detection processing is performed on the stability data, the stability data after the ultrasonic rate first detection processing is evaluated, and the ultrasonic power is adjusted.

[0014] Further, the specific steps of the ultrasonic wave first detection processing of the stable data and the evaluation of the stable data after the ultrasonic wave first detection processing are: setting a vibration sensor and an image shooting device, obtaining stable data through the vibration sensor and the image shooting device, and first detecting the scanning material through the ultrasonic wave according to the stable data. The stable data includes the amplitude of the scanning material obtained by the vibration sensor, the frequency of the scanning material, and the original distance from the feature point of the scanning material to the image shooting device, the offset distance from the feature point of the scanning material to the image shooting device, the original angle of the feature point of the scanning material, and the deflection angle of the feature point of the scanning material. The stable evaluation value is obtained through comprehensive analysis of the stable data.

[0015] Further, the specific method of obtaining the stable evaluation value through comprehensive analysis of the stable data is: ; wherein, represents the stable evaluation value, represents the amplitude of the scanning material, represents the influence weight of the amplitude of the scanning material, represents the frequency of the scanning material, represents the influence weight of the frequency of the scanning material, represents the original distance from the feature point of the scanning material to the image shooting device, represents the offset distance from the feature point of the scanning material to the image shooting device, represents the original angle of the feature point of the scanning material, represents the deflection angle of the feature point of the scanning material, represents the influence weight of the distance and angle of the feature point of the scanning material.

[0016] Further, the specific method of selecting an execution strategy according to the evaluation result of the stable data is: comparing the stable evaluation value with a third threshold value in real time; if the stable evaluation value is less than or equal to the third threshold value, the ultrasonic wave equipment increases the ultrasonic wave output power in the stability range of the scanning material, and continues to repeat the above operation until the waveform evaluation value is reduced to below the first threshold value and the concentration evaluation value is reduced to below the second threshold value; if the stable evaluation value is greater than the third threshold value, the ultrasonic wave equipment stops outputting, and the ionized water is replaced.

[0017] In a second aspect, a water-immersion ultrasonic scanning imaging system is used to implement the water-immersion ultrasonic scanning imaging method in any of the first aspect, comprising: 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 waveform data of ultrasonic waves and concentration data of suspended impurities, and to 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 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 scanning material, to perform ultrasonic rate first detection processing on the stable data, and to evaluate the stable data after the ultrasonic rate first detection processing; and the stable data execution module is used to select an execution strategy according to the evaluation results of the stable data.

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

[0019] (1) By setting the ultrasonic transducer to acquire waveform data and evaluating the waveform data to obtain a waveform evaluation value, the irregular changes of the waveform can be effectively judged by the staff, and the staff can avoid misjudgment of the quality of the scanning material.

[0020] (2) By setting the first ultrasonic sensor and the second ultrasonic sensor to acquire concentration data and evaluating the concentration data to obtain a concentration evaluation value, the concentration of impurities in the detection pool can be timely reflected, the ultrasonic power can be adjusted, the penetration of ultrasonic waves to impurity concentration can be increased, and the interference of impurity concentration to ultrasonic waves can be avoided.

[0021] (3) By setting the vibration sensor and the image shooting device to acquire stable data and evaluating the stable data to obtain a stable evaluation value, the influence of ultrasonic waves on the stability of the scanning material can be timely fed back, and the detection of the scanning material can be further abnormal due to the adjustment of ultrasonic waves; by replacing the ionized water, the interference of impurity concentration to ultrasonic waves can be further avoided, and the judgment accuracy of the staff on the waveform of the scanning material can be improved.

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

[0023] Figure 1 A water-immersion ultrasonic scanning imaging method flowchart of the present application.

[0024] Figure 2 A structure diagram of a water immersion ultrasonic scanning imaging system according to the present application.

[0025] Figure 3 A broken line graph of the influence of ultrasonic power on the stability of scanning materials according to the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] As shown in Figure 1 the first aspect, the present application provides a water immersion ultrasonic scanning imaging method, comprising the following steps: step one, obtaining waveform data of ultrasonic waves and concentration data of impurities in water, and pre-processing the waveform data and the concentration data; step two, evaluating the pre-processed waveform data and evaluating the pre-processed concentration data; step three, selecting an execution strategy according to the evaluation results of the waveform data and the evaluation results of the concentration data; step four, obtaining stability data of scanning materials, performing ultrasonic rate first detection processing on the stability data, and evaluating the stability data after the ultrasonic rate first detection processing; and step five, selecting an execution strategy according to the evaluation results of the stability data.

[0028] Specifically, the specific steps of evaluating the pre-processed waveform data are as follows: setting an ultrasonic transducer, obtaining waveform data through the ultrasonic transducer, and performing standardization and normalization processing on the waveform data, wherein the waveform data includes ultrasonic amplitude and ultrasonic frequency; obtaining the maximum distance from the equilibrium point of the waveform to the peak and the maximum distance from the equilibrium 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 the present embodiment, the ultrasonic transducer can convert an electrical signal into an acoustic signal, or convert an acoustic signal into an electrical signal, to obtain waveform data, reflecting the state of the scanning materials after ultrasonic detection. Standardization and normalization processing of the waveform data facilitates unified calculation of the amplitude and frequency, so as to improve the accuracy of the results. The amplitude and frequency of the waveform data can reflect the energy size and penetration ability of the ultrasonic waves. The equilibrium point of the waveform usually refers to the average position of the waveform within a period of time, i.e. the demarcation point of positive and negative amplitudes. The maximum distance from the equilibrium point to the peak represents the vertical distance from the highest point of the wave to the equilibrium point, i.e. the maximum positive amplitude. The maximum distance from the equilibrium point to the trough represents the vertical distance from the lowest point of the wave to the equilibrium point, i.e. the maximum negative amplitude.

[0030] Specifically, the specific method for obtaining the waveform evaluation value through waveform data comprehensive analysis is: ; wherein, represents the waveform evaluation value, which is used as the basis for judging the waveform change, represents the maximum distance from the balance point to the peak of the n+1th waveform, i.e., the maximum positive amplitude of the n+1th waveform, represents the maximum distance from the balance point to the trough of the n+1th waveform, i.e., the maximum negative amplitude of the n+1th waveform, n+1 represents the n+1th waveform amplitude fluctuating in a period of time, and n+1 represents n+1 waveforms rising and falling, represents the maximum distance from the balance point to the peak of the nth waveform, i.e., the maximum positive amplitude of the nth waveform, represents the maximum distance from the balance point to the trough of the nth waveform, i.e., the maximum negative amplitude of the nth waveform, n represents the nth waveform amplitude fluctuating in a period of time, and n represents n waveforms rising and falling, represents the influence weight of the ultrasonic wave amplitude, historical data obtained through experiments are stored in a database for easy calling, and are used to reflect the importance of the ultrasonic wave amplitude, represents the n+1th ultrasonic wave frequency, n+1 represents the n+1th waveform frequency fluctuating in a period of time, represents the period of the n+1th ultrasonic wave, represents the n+1th ultrasonic wave frequency, n+1 represents the n+1th waveform frequency fluctuating in a period of time, represents the period of the n+1th ultrasonic wave, represents the influence weight of the ultrasonic wave frequency, historical data obtained through experiments are stored in a database for easy calling, and are used to reflect the importance of the ultrasonic wave frequency, n is a positive integer, and n can be greater than or equal to 2.

[0031] Specifically, the specific steps for evaluating the preprocessed concentration data are as follows: setting a first ultrasonic wave sensor and a second ultrasonic wave sensor, obtaining concentration data through the first ultrasonic wave sensor and the second ultrasonic wave sensor, standardizing and normalizing the concentration data, the concentration data including ultrasonic wave emission energy, ultrasonic wave reception energy, ultrasonic wave emission and reception required standard time obtained by the first ultrasonic wave sensor, and impurity-affected time required for ultrasonic wave emission and reception, and the number of distributed second ultrasonic wave sensors and the number of received scattered ultrasonic waves obtained by the second ultrasonic wave sensor; obtaining a concentration evaluation value through comprehensive analysis of the concentration data.

[0032] In the embodiment, the first ultrasonic sensor is used to emit and receive ultrasonic energy for detecting the scanning material, and is arranged in the ultrasonic probe. A plurality of second ultrasonic sensors are distributed around the inner wall of the detection pool for receiving the scattered ultrasonic energy and recording the number of times of receiving the scattered ultrasonic energy. The detection pool is used to contain ionized water and place the scanning material. The standardization and normalization of the concentration data facilitate the unified calculation of the ultrasonic energy, the distributed number of the second ultrasonic sensors, the number of times of receiving the scattered ultrasonic energy, and the time required for the ultrasonic emission and reception, so as to improve the accuracy of the results. When the ultrasonic wave penetrates the impurities, part of the energy is scattered, resulting in the inconsistency between the energy of the ultrasonic emission and the energy of the ultrasonic reception. The standard time required for the ultrasonic emission and reception is the time for the ultrasonic wave to go back and forth in the ionized water without impurities. The time affected by the impurities required for the ultrasonic emission and reception is the time for the ultrasonic wave to go back and forth in the ionized water with impurities.

[0033] Specifically, the specific method for obtaining the concentration evaluation value through comprehensive analysis of the concentration data is as follows: ; wherein, represents the concentration evaluation value, which is used as the basis for judging the concentration increase, represents the ultrasonic emission energy, the ultrasonic wave emitted by the sensor but not yet penetrating the impurities, represents the ultrasonic reception energy, the ultrasonic wave received by the sensor and having penetrated the impurities, represents the influence weight of the ultrasonic energy, the historical data obtained through experiments and stored in the database for easy calling, which is used to reflect the importance of the ultrasonic energy, represents the distributed number of the second ultrasonic sensors, which are distributed on the inner wall of the detection pool to facilitate the reception of the ultrasonic wave scattered from all directions due to the influence of the impurities, represents the number of times of receiving the scattered ultrasonic energy obtained by the second ultrasonic sensor, which is recorded each time the second ultrasonic sensor receives the scattered ultrasonic energy, represents the influence weight of the distributed number of the second ultrasonic sensors and the number of times of receiving the scattered ultrasonic energy, the historical data obtained through experiments and stored in the database for easy calling, which is used to reflect the importance of the distributed number of the second ultrasonic sensors and the number of times of receiving the scattered ultrasonic energy, represents the standard time required for the ultrasonic emission and reception, which is the time for the ultrasonic wave to emit and receive in the ionized water without impurities, represents the time affected by the impurities required for the ultrasonic emission and reception, which is the time for the ultrasonic wave to emit and receive in the ionized water with impurities. When the ultrasonic wave penetrates the impurities, part of the ultrasonic wave is scattered, resulting in the energy attenuation and reducing the speed of the ultrasonic wave to continue penetrating the impurities, thereby prolonging the time required for the ultrasonic emission and reception, The influence weight representing the time required for ultrasonic wave emission and reception is obtained through historical data from experiments and stored in a database for calling, and is used to reflect the importance of the time required for ultrasonic wave emission and reception.

[0034] Specifically, the specific method of selecting the execution strategy according to the evaluation result of the waveform data and the evaluation result of the concentration data is: comparing the waveform evaluation value with the first threshold value in real time, and comparing the concentration evaluation value with the second threshold value in real time; if the waveform evaluation value is less than or equal to the first threshold value, the ultrasonic wave equipment continues to work with the current power of the ultrasonic wave; if the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is less than or equal to the second threshold value, it is determined that the frequency of the ultrasonic wave is not within the preset frequency range of the waveform, the preset frequency range of the waveform is calibrated so that the waveform evaluation value is less than or equal to the first threshold value, and the ultrasonic wave equipment continues to work with the current power of the ultrasonic wave; if the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is greater than the second threshold value, stability data is obtained by performing stability detection on the scanned material, the stability data is subjected to ultrasonic wave rate first detection processing, and the stability data after the ultrasonic wave rate first detection processing is evaluated, and the ultrasonic wave power is adjusted according to the evaluation result to reduce the influence of impurity concentration on the ultrasonic wave.

[0035] In the embodiment, the first threshold value and the second threshold value are obtained through historical data from experiments and stored in a database, and called when needed;

[0036] When the waveform evaluation value is less than or equal to the first threshold value, it indicates that the waveform is normal and the concentration of impurities has no effect on the waveform, the ultrasonic wave probe in the ionized water emits ultrasonic wave to the scanned material and returns to the ultrasonic wave probe, and the ultrasonic wave probe continues to work with the current power of the ultrasonic wave;

[0037] When the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is less than or equal to the second threshold value, the waveform display device is connected with the ultrasonic wave probe, because there are multiple ultrasonic wave signals with different frequencies existing in the waveform display device at the same time, the preset frequency range can avoid the mixing effect between different frequency signals and reduce mutual interference, so 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 wave frequency with the preset waveform, when the difference is large, the frequency synthesis is performed by using the DDS technology, the output frequency is adjusted by adjusting the frequency control of the DDS and changing the accumulation speed of the accumulator, so as 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 value and the concentration evaluation value is greater than the second threshold value, since increasing the power of the ultrasonic wave enhances the penetration of the ultrasonic wave to the impurities, reduces the scattering of the ultrasonic wave, and further reduces the energy attenuation and round trip time of the ultrasonic wave, but the power of the ultrasonic wave increases to a certain extent, which causes the scanned material to vibrate, making the echo signal of the ultrasonic wave unstable, and further unable to make the waveform evaluation value below the first threshold value, affecting the judgment of the worker on the quality detection of the scanned material, so before increasing the power of the ultrasonic wave, a stability detection is performed on the scanned material.

[0039] The ultrasonic wave first detection processing means that after obtaining the stability data of the scanned material, the power of the ultrasonic wave is directly increased for quality detection of the scanned material without evaluation, and if the waveform evaluation value is below the first threshold value and the concentration evaluation value is below the second threshold value at this time, no evaluation is needed, which saves the time for quality detection of the scanned material by the ultrasonic wave and improves the working efficiency of the equipment.

[0040] If the power of the ultrasonic wave is increased for quality detection of the scanned material, and the waveform evaluation value is above the first threshold value at this time, the stability data after the ultrasonic wave first detection processing needs to be evaluated, and then the power of the ultrasonic wave is adjusted according to the evaluation result to reduce the influence of the impurity concentration on the ultrasonic wave.

[0041] Specifically, the specific steps of performing the ultrasonic wave first detection processing on the stability data and evaluating the stability data after the ultrasonic wave first detection processing are as follows: setting a vibration sensor and an image capturing device, obtaining the stability data through the vibration sensor and the image capturing device, and detecting the scanned material by the ultrasonic wave according to the stability data. The stability data includes the amplitude and frequency of the scanned material obtained by the vibration sensor, and the original distance from the feature point of the scanned material to the image capturing device, the offset distance from the feature point of the scanned material to the image capturing device, the original angle of the feature point of the scanned material, and the deflection angle of the feature point of the scanned material obtained by the image capturing device. The stability evaluation value is obtained by comprehensive analysis of the stability data.

[0042] In the embodiment, the vibration sensor is used to collect the vibration amplitude and vibration frequency data of the scanned material. The vibration amplitude of the scanned material represents the distance from the balanced position to the maximum deviation position of the material, and the vibration frequency of the scanned material represents the number of vibrations completed by the material in a unit time. The image capturing device is used to capture a plurality of images of the scanned material and model the plurality of images, and then identify and track the feature points of the images. The feature points include the corner points of the images, which can provide good discrimination, so that the transformation of the images is convenient for calculating the transformation degree of the images.

[0043] The original distance from the feature point of the scanned material to the image shooting device: the corner points of the image when the scanned material is static are calculated by the Harris corner point detection algorithm, the algorithm is that a small window is slid horizontally and vertically on the image, if the movement of the window in any direction leads to significant changes in the gray scale, then the center point of the window is a corner point;

[0044] The feature point matching is performed by using the SIFT technology, the algorithm is that the SIFT feature points with unique direction in the image are detected, that is, the points which are invariant in size, brightness, rotation degree and contrast when the image moves, and a descriptor is generated for each feature point, the descriptor is invariant to rotation, scale, brightness change, then the SIFT feature points are extracted in several images, and the best matching feature points are found by comparing the shortest distances of the descriptors, the essential matrix is calculated through the matched feature points, the rotation matrix and the translation vector are obtained by decomposing the essential matrix, the rotation and movement data of the camera are obtained, the positions of the feature points in the three-dimensional space are calculated through the rotation and movement data and the positions of the matched feature points in the image, and finally the original distance from the feature point of the scanned material to the image shooting device is obtained by calculating according to the position of the image shooting device and the position of the feature point in the three-dimensional space .

[0045] The offset distance from the feature point of the scanned material to the image shooting device: the corner points of the image when the scanned material is offset are calculated by the Harris corner point detection algorithm, the feature point matching is performed by using the SIFT technology, the essential matrix is calculated through the matched feature points, the rotation matrix and the translation vector are obtained by decomposing the essential matrix, the rotation and movement data of the camera are obtained, the positions of the feature points in the three-dimensional space are calculated through the rotation and movement data and the positions of the matched feature points in the image, and finally the offset distance from the feature point of the scanned material to the image shooting device is obtained by calculating according to the position of the image shooting device and the position of the feature point in the three-dimensional space .

[0046] The original angle of the feature point of the scanned material: the corner points of the image when the scanned material is static are calculated by the Harris corner point detection algorithm, the feature point matching is performed by using the SIFT technology, the horizontal gradient and the vertical gradient are calculated through the position of the pixel point image brightness change fastest, the horizontal gradient is the partial derivative of x coordinate , the vertical gradient is the partial derivative of y axis left , the direction of the matched feature point is determined by the ratio of the vertical gradient and the horizontal gradient, that is ; at this time is the original angle.

[0047] The feature point deflection angle of the scanning material is calculated by the Harris corner point detection algorithm, the feature points are matched by the SIFT technology, the horizontal gradient and the vertical gradient are calculated by the position where the image brightness of the pixel point changes fastest, the horizontal gradient is the partial derivative of the x coordinate, that is , the vertical gradient is the partial derivative of the left y axis, that is , the direction of the matched feature points is determined by the ratio of the vertical gradient and the horizontal gradient, that is ; at this time is the deflection angle.

[0048] Specifically, the specific method for obtaining the stability evaluation value through stable data comprehensive analysis is: ; in the formula, represents the stability evaluation value, which is used as the judgment basis for the stability of the scanning material, represents the amplitude of the scanning material, that is, the distance of the material from the equilibrium position to the maximum deviation position, represents the influence weight of the amplitude of the scanning material, the historical data obtained through experiments are stored in the database for easy calling, and are used to reflect the importance of the amplitude of the scanning material, represents the frequency of the scanning material, which represents the number of vibrations completed by the material in a unit of time, represents the influence weight of the frequency of the scanning material, the historical data obtained through experiments are stored in the database for easy calling, and are used to reflect the importance of the frequency of the scanning material, represents the original distance of the feature point of the scanning material to the image shooting device, which represents the distance between the feature point of the scanning material and the shooting device when the scanning material is static, represents the offset distance of the feature point of the scanning material to the image shooting device, which represents the distance between the feature point of the scanning material and the shooting device when the scanning material is offset, represents the original angle of the feature point of the scanning material, which represents the angle of the feature point on the three-dimensional coordinate axis when the scanning material is static, represents the deflection angle of the feature point of the scanning material, which represents the angle of the feature point on the three-dimensional coordinate axis when the scanning material is deflected, represents the influence weight of the distance and angle of the feature point of the scanning material, the historical data obtained through experiments are stored in the database for easy calling, and are used to reflect the importance of the distance and angle of the feature point of the scanning material.

[0049] As Figure 3As 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 value in real time; if the stability evaluation value is less than or equal to the third threshold value, the ultrasonic device increases the ultrasonic output power in the stability range of the scanned material, and continues to repeat the above operation until the waveform evaluation value is reduced to below the first threshold value and the concentration evaluation value is reduced to below the second threshold value; if the stability evaluation value is greater than the third threshold value, the ultrasonic device stops outputting, and the ionized water is replaced.

[0050] In the embodiment, the third threshold value is obtained by experimental history data and stored in the database, and called when needed;

[0051] When the stability evaluation value is less than or equal to the third threshold value, it means that the ultrasonic wave after increasing the power is in the stable range of the scanned material, and the ultrasonic wave is increased or decreased in the stable range of the scanned material until the waveform evaluation value is reduced to below the first threshold value and the concentration evaluation value is reduced to below the second threshold value.

[0052] When the ultrasonic wave detects the scanned material, the scanned material has a stability range facing the ultrasonic power. If the power of the ultrasonic wave is not in this range, the waveform evaluation value is greater than the first threshold value, which means that the ultrasonic wave is less than this range, and the penetration of the impurity concentration is not enough, so that the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is greater than the second threshold value. If the ultrasonic wave is much greater than this range, the jitter of the scanned material is enhanced, the scattering of the ultrasonic wave in the material is increased, and the waveform evaluation value may also be greater than the first threshold value.

[0053] Table 1 Influence of ultrasonic power on stability of scanned material

[0054]

[0055] As shown in Table 1, the table is the power of the ultrasonic wave in the stability range of the scanned material. The smaller the values of 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, which means that the ultrasonic power of group 3 is the most suitable power, so that the accuracy of the detected waveform is the highest. The reason why there is an inflection point is that the power of group 1 and group 2 is larger, so the energy to drive the scanned material to vibrate is larger. The power of group 4 and group 5 is smaller, but the power is close to the natural frequency of the scanned material, which causes the resonance of the scanned material, and also increases the instability of the scanned material.

[0056] Therefore, in each ultrasonic detection scan material, the first to do stability evaluation and make stability evaluation value is less than or equal to the third threshold value, also need to adjust the best ultrasonic power to improve the accuracy of waveform. When the stability evaluation value is greater than the third threshold value, that is, no matter how to adjust the ultrasonic, the waveform evaluation value is always above the first threshold value and the concentration evaluation value is always above the second threshold value, at this time, it is necessary to replace a pool of clean ionized water, why first by adjusting the power of ultrasonic to make the waveform evaluation value below the first threshold value and the concentration evaluation value below the second threshold value is because it is more convenient than replacing ionized water, improve the working efficiency of the equipment.

[0057] When replacing ionized water, first stop the device operation and take out the pool of scanning materials, then open the drain valve, drain the contaminated ionized water, close the drain valve at the same time, open the water inlet valve, 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 open the device, the whole process is more complicated and time-consuming than adjusting the power of ultrasonic.

[0058] As shown in Figure 2 The second aspect, a water immersion ultrasonic scanning imaging system for implementing any of the water immersion ultrasonic scanning imaging method of the first aspect, comprising: waveform data acquisition module, concentration data acquisition module, waveform data evaluation module, concentration data evaluation module, waveform data execution module, concentration data execution module, stable data acquisition and evaluation module and stable data execution module; waveform data acquisition module and concentration data acquisition module are respectively used for acquiring waveform data of ultrasonic and concentration data of suspended impurities, and pre-processing the waveform data and concentration data; waveform data evaluation module and concentration data evaluation module are respectively used for evaluating the pre-processed waveform data and evaluating the pre-processed concentration data; waveform data execution module and concentration data execution module are respectively used for selecting execution strategy according to the evaluation results of waveform data and concentration data; stable data acquisition and evaluation module is used for acquiring stable data of scanning materials, performing ultrasonic rate first detection processing on the stable data, and evaluating the stable data after ultrasonic rate first detection processing; stable data execution module is used for selecting execution strategy according to the evaluation results of stable data.

[0059] In the application, the waveform data acquisition module and the concentration data acquisition module can be used to acquire the waveform data of the ultrasonic wave and the concentration data of the suspended impurities respectively, and to pre-process the waveform data and the concentration data; the waveform data evaluation module and the concentration data evaluation module can be 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 can be 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 the stable data of the scanned material, to perform ultrasonic rate first detection on the stable data, and to evaluate the stable data after the ultrasonic rate first detection; the stable data execution module is used to select an execution strategy according to the evaluation results of the stable data, so that the waveform data and the concentration data can be obtained, the concentration data can be evaluated to obtain a concentration evaluation value, the concentration condition of the impurities in the detection pool can be reflected in time, the ultrasonic power can be adjusted, the penetration of the ultrasonic wave to the impurity concentration can be increased, and the interference of the impurity concentration to the ultrasonic wave can be avoided.

[0060] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are 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 inherent to such process, method, article, or apparatus.

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

Claims

1. A water-immersion ultrasonic scanning imaging method, characterized by, The method comprises the following steps: Step 1: obtaining waveform data of ultrasonic waves 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; The specific method of selecting an 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 a first threshold value in real time, and comparing the concentration evaluation value with a second threshold value in real time; if the waveform evaluation value is less than or equal to the first threshold value, the ultrasonic wave equipment continues to work at the current power of the ultrasonic wave; if the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is less than or equal to the second threshold value, it is determined that the frequency of the ultrasonic wave is not within the preset frequency range of the waveform, the preset frequency range of the waveform is calibrated so that the waveform evaluation value is less than or equal to the first threshold value, and then the ultrasonic wave equipment continues to work at the current power of the ultrasonic wave; if the waveform evaluation value is greater than the first threshold value and the concentration evaluation value is greater than the second threshold value, the stability data of the scanned material is obtained through stability detection, the stability data is subjected to ultrasonic wave rate first detection processing, and the stability data after the ultrasonic wave rate first detection processing is evaluated; The specific steps of the ultrasonic wave rate first detection processing and the evaluation of the stability data after the ultrasonic wave rate first detection processing are as follows: vibration sensors and image shooting devices are arranged, the stability data is obtained through the vibration sensors and the image shooting devices, the ultrasonic wave detects the scanned material in advance according to the stability data, and the stability data includes the amplitude of the scanned material obtained by the vibration sensor, the frequency of the scanned material, and the original distance from the feature point of the scanned material to the image shooting device, the offset distance from the feature point of the scanned material to the image shooting device, the original angle of the feature point of the scanned material, and the deflection angle of the feature point of the scanned material; wherein the ultrasonic wave rate first detection processing means that when the stability data of the scanned material is obtained, the power of the ultrasonic wave is first increased for quality detection of the scanned material without evaluation, and if the waveform evaluation value is below the first threshold value and the concentration evaluation value is below the second threshold value at this time, evaluation is not required; if the power of the ultrasonic wave is increased for quality detection of the scanned material and the waveform evaluation value is above the first threshold value at this time, the stability data after the ultrasonic wave rate first detection processing needs to be evaluated, and then the power of the ultrasonic wave is adjusted according to the evaluation results to reduce the influence of impurity concentration on the ultrasonic wave; a stability evaluation value is obtained through comprehensive analysis of the stability data; an execution strategy is selected according to the evaluation results of the stability data.

2. The water immersion ultrasonic scanning imaging method of claim 1, wherein: The specific steps of evaluating the preprocessed waveform data are as follows: ultrasonic transducers are arranged, the waveform data is obtained through the ultrasonic transducers, the waveform data is subjected to standardization and normalization processing, and the waveform data includes ultrasonic amplitude and ultrasonic frequency; 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 are obtained through ultrasonic amplitude calculation; a waveform evaluation value is obtained through comprehensive analysis of the waveform data.

3. The method of claim 2, wherein: The specific method for obtaining the waveform evaluation value through comprehensive analysis of the waveform data is: In the formula, s1 represents a waveform evaluation value, j n+1 represents the maximum distance from the equilibrium point to the crest of the n+1th waveform, k n+1 represents the maximum distance from the equilibrium point to the trough of the n+1th waveform, j n represents the maximum distance from the equilibrium point to the crest of the n+1th waveform, k n represents the maximum distance from the equilibrium point to the trough of the n+1th waveform, w1 represents an influence weight of the ultrasonic wave amplitude, f n+1 represents the n+1th ultrasonic wave frequency, f n represents the n+1th ultrasonic wave frequency, w2 represents an influence weight of the ultrasonic wave frequency.

4. The water immersion ultrasonic scanning imaging method of claim 3, wherein: The specific steps for evaluating the preprocessed concentration data are: The first ultrasonic sensor and the second ultrasonic sensor are arranged, and the concentration data is obtained through the first ultrasonic sensor and the second ultrasonic sensor, and the concentration data is standardized and normalized, wherein the concentration data includes ultrasonic emission energy, ultrasonic receiving energy, standard time required for ultrasonic emission and receiving, impurity-affected time required for ultrasonic emission and receiving, distribution quantity of the second ultrasonic sensor, and number of received scattered ultrasonic waves obtained by the second ultrasonic sensor; A concentration evaluation value is obtained through comprehensive analysis of the concentration data.

5. The method of claim 4, wherein: 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 receiving energy, w3 represents the influence weight of the ultrasonic energy, q represents the distribution quantity of the second ultrasonic sensor, r represents the number of received scattered ultrasonic waves obtained by the second ultrasonic sensor, w4 represents the influence weight of the distribution quantity of the second ultrasonic sensor and the number of received scattered ultrasonic waves, t0 represents the standard time required for ultrasonic emission and receiving, t1 represents the impurity-affected time required for ultrasonic emission and receiving, and w5 represents the influence weight of the time required for ultrasonic emission and receiving.

6. The water immersion ultrasonic scanning imaging method of claim 5, wherein: The specific method for obtaining the stability evaluation value through comprehensive analysis of the stability data is: In the formula, 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.

7. The method of claim 6, wherein: The specific method for selecting an execution strategy according to the evaluation result of the stability data is: The stability evaluation value is compared with the third threshold value in real time; If the stability evaluation value is less than or equal to the third threshold value, the ultrasonic device increases the ultrasonic output power within the stability range of the scanned material, and the above operation is repeated until the waveform evaluation value is reduced to below the first threshold value and the concentration evaluation value is reduced to below the second threshold value; If the stability evaluation value is greater than the third threshold value, the ultrasonic device stops outputting, and the ionized water is replaced.

8. A water-immersion ultrasound scanning imaging system for implementing the water- immersion ultrasound scanning imaging method of any one of claims 1-7, characterized in that, It comprises: 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 stability data acquisition and evaluation module, and a stability data execution module; The waveform data acquisition module and the concentration data acquisition module are respectively used for acquiring waveform data of ultrasonic waves and concentration data of suspended impurities, and pre-processing the waveform data and the concentration data; The waveform data evaluation module and the concentration data evaluation module are respectively used for evaluating the preprocessed waveform data and evaluating the preprocessed concentration data; The waveform data execution module and the concentration data execution module are respectively used for selecting an execution strategy according to the evaluation result of the waveform data and the evaluation result of the concentration data; The stable data acquisition and evaluation module is used for acquiring stable data of the scanned material, performing ultrasonic rate first detection processing on the stable data, and evaluating the stable data after the ultrasonic rate first detection processing; The stable data execution module is used for selecting an execution strategy according to the evaluation result of the stable data.

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