Real-time imaging method for automatic ultrasonic C scanning of six-axis mechanical arm

Abstract

The invention relates to the technical field of ultrasonic detection, in particular to a real-time imaging method for automatic ultrasonic C scanning of a six-axis mechanical arm. According to the technical scheme, a six-axis mechanical arm is used for driving a probe to move to conduct C scanning, C scanning line coordinates of the probe are calculated in the mode of obtaining the coordinates of the probe in real time and converted into projection coordinates, interpolation is conducted through the front C scanning line coordinates and the rear C scanning line coordinates, and real-time C scanning imaging is conducted in combination with scanning data. The method has the beneficial effects that the internal state of the detected workpiece can be observed in real time in the detection process, the scanning path can be adjusted in real time, and the efficiency and accuracy of C scanning imaging are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic detection, and particularly relates to a real-time imaging method for automated ultrasonic C-scanning of a six-axis robotic arm. Background Art

[0002] Ultrasonic C-scan imaging is a technology that uses the principle of ultrasonic flaw detection to extract echo information of a specified cross-section perpendicular to the sound beam to form a two-dimensional projection image inside a workpiece, which can quickly and intuitively reproduce the size and shape of internal defects in the workpiece and achieve the positioning and quantitative detection of defects. However, for workpieces with various irregular or complex shapes, when performing ultrasonic C-scan imaging, the movement of the probe is not limited to simple translation, but also adds many rotational movements. For such complex-shaped workpieces, the current method is to first model the workpiece and determine the scanning path in advance, and then use a robotic arm to drive the probe to perform C-scanning along the set scanning path. After obtaining relevant scanning data, surface fitting is performed according to the scanning points and a C-scan image is obtained based on the scanning data (such as the methods described in patents CN115469015A, CN114062497A, etc.). Currently, there is no method for real-time C-scan imaging of complex-shaped workpieces, and real-time imaging can obtain the scanning results in a timely manner, which is the future development trend. Moreover, for complex workpieces, their detection paths are also complex. During the actual C-scan process, in order to ensure the accuracy of the scan, it is also necessary to adjust the detection path according to the actual detection results. Summary of the Invention

[0003] The purpose of the present invention is to provide an automated ultrasonic C-scan imaging method using a six-axis robotic arm, which can achieve real-time imaging of C-scanning and does not require prior establishment of a workpiece model and setting of a detection path.

[0004] To achieve the above object, the present invention adopts the following technical solution: A real-time imaging method for automated ultrasonic C-scanning of a six-axis robotic arm, which uses the six-axis robotic arm to drive the probe of an ultrasonic phased array instrument to move along the surface of the workpiece for C-scanning. The image processing device is connected to the probe and the position acquisition card of the six-axis robotic arm. Each time the probe makes a C-movement, the image processing device obtains a C-scanning data through the probe and simultaneously obtains the position coordinates R 工具 and the pose coordinates R 位姿 of the end of the six-axis robotic arm by connecting to the position acquisition card or directly to the controller of the six-axis robotic arm; the image processing device performs real-time imaging through the following method:

[0005] S01. First, determine the coordinates P 工具 of the probe center relative to the end of the six-axis robotic arm, and combine the initial coordinates C-scan line 初始 of the C-scan line of the probe with the coordinates P 工具Calculate the coordinates of the C-scan line of the probe relative to the end of the six-axis robotic arm: C-scan line 工具 .

[0006] S02. Each time the probe moves, the image processing device acquires the C-scan data and its corresponding position coordinates R 工具 and pose coordinates R 位姿 , and based on the position coordinates R 工具 and pose coordinates R 位姿 combined with the C-scan line in step S01 工具 , calculate the coordinates of the C-scan line of this C-scan relative to the base of the six-axis robotic arm: , where xr, yr, zr are the three angular values of the pose coordinates R 位姿 (xr, yr, zr), and at the same time, correspond the C-scan data of this C-scan with the coordinates of the C-scan line 世界 . Each coordinate of the C-scan line 世界 corresponds to an amplitude value and a depth value.

[0007] S03. When the C-scan performed by the probe in step S02 is the first C-scan, then: ① directly extract the x and y coordinates from the C-scan line 世界 to obtain the C-scan line XOY ; ② convert the coordinates of the C-scan line XOY into the coordinates of the C-scan line XOY像素 according to the image X starting point, image Y starting point, conversion ratio from X-axis coordinates to image pixels, and conversion ratio from Y-axis coordinates to image pixels. The amplitude value and depth value corresponding to each coordinate of the C-scan line 世界 in step S02 are synchronously corresponded to each coordinate of the C-scan line XOY像素 ; ③ perform linear interpolation on the respective coordinates of the C-scan line XOY像素 to obtain the C-scan line XOY插值 . When performing linear interpolation on the respective coordinates of the C-scan line XOY像素 , at the same time, perform linear interpolation on the amplitude value and depth value corresponding to each coordinate of the C-scan line XOY像素 , so that each coordinate of the obtained C-scan line XOY插值 corresponds to an amplitude value and a depth value; ④ map each coordinate into a corresponding color according to the amplitude value and depth value corresponding to each coordinate of the C-scan line XOY插值 to obtain the C-scan image of the C-scan line XOY插值 .

[0008] S04. When the C-scan performed by the probe in step S02 is not the first C-scan, then read the coordinates of the previous C-scan relative to the base of the six-axis robotic arm and denote it as the C-scan line 世界1 , and denote the coordinates of the current C-scan relative to the base of the six-axis robotic arm as the C-scan line 世界2, use ①, ②, ③ in step S03 to scan line C 世界2 After processing, we can get C scan lines respectively XOY2 、C sweep line XOY像素2 、C sweep line XOY插值2 , and read the C scan line of the last C scan 世界1 Corresponding C sweep line XOY1 、C sweep line XOY像素1 、C sweep line XOY插值1 ; Then scan the line according to C XOY1 and C sweep line XOY2 The position relationship of the C scan line XOY插值1 and C sweep line XOY插值2 Interpolation is performed between lines, and the C line is scanned synchronously during the interpolation process. XOY插值1 and C sweep line XOY插值2 The amplitude and depth values ​​corresponding to each coordinate are interpolated, and finally the C scan line is calculated. XOY插值2 The amplitude and depth values ​​corresponding to the coordinates of the line interpolation map each coordinate into a corresponding color, thereby realizing real-time imaging of the C-scan.

[0009] Specifically, in step S04, C scans the line XOY1 and C sweep line XOY2 When the position relationship is translation, that is, C sweep line XOY1 and C sweep line XOY2 If they are parallel to each other, when interpolating between lines, the C sweep line XOY插值1 and C sweep line XOY插值2 Linear interpolation of rectangles / parallelograms between them.

[0010] Specifically, in step S04, C scans the line XOY1 and C sweep line XOY2 When the position relationship is overlapping, there is no need to perform interpolation between lines, and C scans the line XOY插值2 According to C scanning line XOY2 Relative to C sweep line XOY1 The offset is directly from the C sweep line XOY插值1 Obtained after offset; when performing color mapping, according to the C scan line XOY插值2 The amplitude and depth values ​​corresponding to the coordinates of the C scan line XOY插值2 The coordinates in are mapped to the corresponding colors, and C sweeps the line XOY插值2 Sweep line with C XOY插值1 Overlapping coordinates, follow the C scan line XOY插值2 The amplitude and depth values ​​of the coordinates are replaced and overwritten and mapped to corresponding colors.

[0011] Specifically, in step S04, C scans the line XOY1 and C sweep line XOY2 When the positional relationship is rotation, that is, C sweep line XOY1 and C sweep line XOY2When they intersect at a point, on the C-scan line XOY插值1 and the C-scan line XOY插值2 perform linear interpolation between triangles / circles.

[0012] Specifically, in step S04, when the positional relationship between the C-scan line XOY1 and the C-scan line XOY2 is rotation, first calculate the distance between the starting point of the C-scan line XOY1 of the C-scan line XOY像素1 and the starting point of the C-scan line XOY2 of the C-scan line XOY像素2 and the distance between the end point of the starting point of the C-scan line XOY像素1 and the end point of the C-scan line XOY像素2 . If the distances do not exceed the threshold, perform triangular linear interpolation between the C-scan line XOY插值1 and the C-scan line XOY插值2 , otherwise perform circular linear interpolation between the C-scan line XOY插值1 and the C-scan line XOY插值2 .

[0013] The beneficial effects of the present invention are as follows: By using a six-axis robotic arm to drive the probe to move for C-scan, the C-scan coordinates of the probe can be calculated by obtaining the probe coordinates in real time and converted into projection coordinates. Then, interpolation is performed based on the front and back C-scan coordinates and combined with the scan data for real-time C-scan imaging. The internal state of the workpiece to be detected can be observed in real time during the detection process and the scan path can be adjusted in real time, improving the efficiency and accuracy of C-scan imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 is a schematic flowchart of a real-time imaging method for automated ultrasonic C-scan of a six-axis robotic arm in an embodiment;

[0015] Attached Figure 2 is a flowchart for performing line interpolation when the positional relationship between the C-scan line XOY1 and the C-scan line XOY2 is translation in an embodiment;

[0016] Attached Figure 3 is an image during actual operation according to the Figure 2 interpolation method;

[0017] Attached Figure 4 is a specific flowchart for performing linear interpolation of a triangle in an embodiment;

[0018] Attached Figure 5 is an image during actual operation according to the Figure 4 described interpolation method;

[0019] Attached Figure 6 is a schematic diagram of the shape of the workpiece used in the experiment in an embodiment;

[0020] Attached Figure 7 It is the C-scan imaging diagram obtained from the experiment in the embodiment. Specific implementation manner

[0021] Example 1, referring to Figure 1 , a real-time imaging method for automated ultrasonic C-scan of a six-axis robotic arm. This method uses the six-axis robotic arm to drive the probe of the ultrasonic phased array instrument, causing the probe to move along the surface of the workpiece for C-scan. The image processing device is connected to the probe and the position acquisition card of the six-axis robotic arm. Each time the probe moves, the image processing device obtains a C-scan data through the probe and at the same time obtains the position coordinates R 工具 and pose coordinates R 位姿 of the end of the six-axis robotic arm by connecting to the position acquisition card or directly to the controller of the six-axis robotic arm. In this embodiment, the six-axis robotic arm can collect the position coordinates and pose coordinates of the end of the six-axis robotic arm by configuring a position acquisition card, and then connect the image processing device to the position acquisition card to achieve data acquisition; or the image processing device can directly connect to the controller of the six-axis robotic arm to collect the position coordinates and pose coordinates of the end of the six-axis robotic arm. The image processing device performs real-time imaging through the following method:

[0022] S01. First, determine the coordinate P 工具 of the probe center relative to the end of the six-axis robotic arm. According to the initial coordinate C-scan line 初始 of the C-scan line of the probe and combining the coordinate P 工具 , calculate the coordinate C-scan line 工具 of the C-scan line of the probe relative to the end of the six-axis robotic arm.

[0023] S02. Each time the probe moves, the image processing device obtains a C-scan data and its corresponding position coordinates R 工具 and pose coordinates R 位姿 , and according to the position coordinates R 工具 and pose coordinates R 位姿 and combining the C-scan line 工具 in step S01, calculate the coordinate of the C-scan line of this C-scan relative to the base of the six-axis robotic arm: , where xr, yr, zr are the three angular values of the pose coordinates R 位姿 (xr, yr, zr). At the same time, correspond the C-scan data of this C-scan with the coordinates of the C-scan line 世界 . Each coordinate of the C-scan line 世界 corresponds to an amplitude value and a depth value.

[0024] S03. When the C-scan performed by the probe in step S02 is the first C-scan, then ① directly from the C-scan line 世界Extract the x and y coordinates to get the C scan line XOY ; ② According to the image X starting point, image Y starting point, X-axis coordinate to image pixel conversion ratio, Y-axis coordinate to image pixel conversion ratio, C scan line XOY Coordinate conversion into C sweep line XOY像素 Coordinates, C scan line in step S02 世界 The amplitude and depth values ​​corresponding to each coordinate of the C scan line are synchronized XOY像素 Each coordinate of C; ③ Scan the line XOY像素 Linear interpolation is performed on each coordinate of to obtain the C sweep line XOY插值 , in the C sweep line XOY像素 When linear interpolation is performed on the coordinates of XOY像素 Linear interpolation is performed on the amplitude and depth values ​​corresponding to each coordinate of the C scan line. XOY插值 Each coordinate corresponds to an amplitude and a depth value; ④ According to the C scan line XOY插值 The amplitude and depth values ​​corresponding to each coordinate map each coordinate into a corresponding color to obtain a C scan line XOY插值 C-scan image.

[0025] S04: When the C scan performed by the probe in step S02 is not the first C scan, the coordinates relative to the six-axis robot arm base obtained by the last C scan are read and recorded as the C scan line. 世界1 The coordinates of the six-axis robot arm base obtained by this C scan are recorded as the C scan line 世界2 , use ①, ②, ③ in step S03 to scan line C 世界2 After processing, we can get C scan lines respectively XOY2 、C sweep line XOY像素2 、C sweep line XOY插值2 , and read the C scan line of the last C scan 世界1 Corresponding C sweep line XOY1 、C sweep line XOY像素1 、C sweep line XOY插值1 ; Then scan the line according to C XOY1 and C sweep line XOY2 The position relationship of the C scan line XOY插值1 and C sweep line XOY插值2 Interpolation is performed between lines, and the C line is scanned synchronously during the interpolation process. XOY插值1 and C sweep line XOY插值2 The amplitude and depth values ​​corresponding to each coordinate are interpolated, and finally the C scan line is calculated. XOY插值2 The amplitude and depth values ​​corresponding to the coordinates of the line interpolation map each coordinate into a corresponding color, thereby realizing real-time imaging of the C-scan.

[0026] Among them, in step S04, C scans the line XOY1 and C sweep line XOY2The positional relationships are divided into three types: translation, overlap, and rotation.

[0027] When the C-scan line XOY1 and the C-scan line XOY2 are in a translational relationship, that is, the C-scan line XOY1 and the C-scan line XOY2 are parallel to each other, then during line interpolation, linear interpolation of a rectangle / parallelogram is performed between the C-scan line XOY插值1 and the C-scan line XOY插值2 .

[0028] Since when the C-scan line XOY1 and the C-scan line XOY2 are in a translational relationship, they are parallel to each other. Therefore, after converting the two into image pixels, the lengths of the C-scan line XOY像素1 and the C-scan line XOY像素2 are basically the same. Correspondingly, the lengths of the C-scan line XOY插值1 and the C-scan line XOY插值2 are also the same, and the number of pixel points is the same. Thus, based on the similarity of interpolation, it can be completed by using one-dimensional interpolation of the first point + translational interpolation result, that is, only the first point needs to be interpolated between lines, and subsequent points can be obtained by translating according to the line interpolation of the first point, thereby avoiding repeated interpolation between each point of the C-scan line XOY插值1 and the C-scan line XOY插值2 , so as to improve the interpolation efficiency. As Figure 2 shown, it is the flowchart of line interpolation when the positional relationship between the C-scan line XOY1 and the C-scan line XOY2 is translational. As Figure 3 shown, it is the image during actual operation according to the interpolation method described in Figure 2 .

[0029] When the C-scan line XOY1 and the C-scan line XOY2 are in an overlapping relationship, then no line interpolation is required, and the C-scan line XOY插值2 can be directly obtained by offsetting from the C-scan line XOY2 relative to the C-scan line XOY1 ; during color mapping, according to the amplitude and depth values corresponding to the coordinates of the C-scan line XOY插值1 , the coordinates in the C-scan line XOY插值2 are mapped into corresponding colors. For the coordinates where the C-scan line XOY插值2 overlaps with the C-scan line XOY插值2 and the C-scan line XOY插值1 , they are replaced and overwritten according to the amplitude and depth values of the coordinates of the C-scan line XOY插值2 and mapped into corresponding colors..

[0030] When in step S04, the C-scan line XOY1 and the C-scan lineXOY2 When the positional relationship is rotation, that is, the C-scan line XOY1 and the C-scan line XOY2 intersect at a point, then linear interpolation of a triangle / circle is performed between the C-scan line XOY插值1 and the C-scan line XOY插值2 . Specifically, when the positional relationship between the C-scan line XOY1 and the C-scan line XOY2 is rotation, first calculate the starting point of the C-scan line XOY1 of the C-scan line XOY像素1 and the starting point of the C-scan line XOY2 of the C-scan line XOY像素2 , as well as the distance between the end point of the starting point of the C-scan line XOY像素1 and the end point of the C-scan line XOY像素2 . If the distances do not exceed the threshold, it is considered that the included angle between the C-scan line XOY1 and the C-scan line XOY2 is small, and only a relatively simple linear interpolation of a triangle needs to be performed between the C-scan line XOY插值1 and the C-scan line XOY插值2 . If the distance exceeds the set threshold, it is considered that the included angle between the C-scan line XOY1 and the C-scan line XOY2 is large, and a relatively accurate circular linear interpolation needs to be performed between the C-scan line XOY插值1 and the C-scan line XOY插值2 .

[0031] Among them, when performing linear interpolation of a triangle, due to the different angles of the C-scan line XOY1 and the C-scan line XOY2 , the number of pixels of the interpolated C-scan line XOY插值1 and the C-scan line XOY插值2 on the pixel image is not necessarily the same, and the shapes of the regions enclosed by the two are also different. To improve the interpolation efficiency, first determine the boundary points of the C-scan line XOY插值1 and the C-scan line XOY插值2 respectively, and then perform interpolation between the boundary points of the C-scan line XOY插值1 and the C-scan line XOY插值2 . Then directly perform interpolation within the region enclosed by the C-scan line XOY插值1 and the C-scan line XOY插值2 and the interpolated boundary points. At this time, interpolation can be traversed in the X-axis direction or the Y-axis direction according to the shapes of the C-scan line XOY插值1 and the C-scan line XOY插值2 on the pixel image to improve the interpolation efficiency. As Figure 4 shows, it is the specific flowchart when performing linear interpolation of a triangle, Figure 5 is the image when actually operating according to the interpolation method described Figure 4 .

[0032] Among them, when performing circular linear interpolation, it is also based on the C-scan line XOY1 and the C-scan line XOY2 to determine whether to perform one-way circular linear interpolation or two-way circular linear interpolation according to the intersection position of the C-scan line XOY1 and the C-scan line XOY2 . When the intersection of the C-scan line XOY1 and the C-scan line XOY2 is located at the endpoint or off-line point of the C-scan line XOY1 and the C-scan line XOY2 , one-way circular linear interpolation is adopted. When the intersection of the C-scan line XOY1 and the C-scan line XOY2 is located at the internal point of the C-scan line XOY插值1 and the C-scan line XOY插值2 , two-way circular linear interpolation is adopted. In addition, when performing circular linear interpolation, it can be operated according to the specific process of performing triangular linear interpolation as described above. The difference is that when interpolating between the boundary points of the C-scan line XOY插值1 and the C-scan line XOY插值2 , instead of directly interpolating on the line connecting the two boundary points, boundary points are interpolated according to the radius length of the circle between the two boundary points. At the same time, when traversing and interpolating within the area enclosed by the C-scan line

[0033] In this embodiment, experiments are also carried out on the workpiece shown in Figure 6 according to the real-time imaging method described in this embodiment. The instrument uses the MetaScan PA instrument of Shantou Ultrasonic Instrument Research Institute Co., Ltd., and the probe uses a 3.5L64-0.8-6.4-W25 wheel probe. Starting element: 1; Ending element: 64; Aperture: 20; Scanning type: line scan; Angle: 0°. After the experiment, the imaging results shown in Figure 7 are obtained. The image within the red frame in Figure 7 is the real-time obtained C-scan image.

[0034] Of course, the above is only a preferred embodiment of the present invention, and it does not limit the scope of use of the present invention. Therefore, all equivalent changes made on the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time imaging method for automatic ultrasonic C-scanning of a six-axis robotic arm, characterized in that: A six-axis robotic arm is used to drive the probe of the ultrasonic phased array instrument, causing the probe to move along the surface of the workpiece for C-scanning. The image processing device is connected to the probe and the six-axis robotic arm. Each time the probe moves, the image processing device obtains C-scanning data through the probe and simultaneously obtains the position coordinates R of the end of the six-axis robotic arm by connecting to the position acquisition card or directly to the controller of the six-axis robotic arm. 工具 and the pose coordinates R 位姿 ; The image processing device performs real-time imaging through the following method: S01. First, determine the coordinates P of the probe center relative to the end of the six-axis robotic arm 工具 , according to the initial coordinates C-scan line of the probe's C-scan line 初始 Combined with the coordinates P 工具 Calculate the coordinates C-scan line of the probe's C-scan line relative to the end of the six-axis robotic arm 工具 ; S02. Every time the probe moves, the image processing device acquires C-scan data and its corresponding position coordinates R 工具 and pose coordinates R 位姿 , and based on the position coordinates R 工具 and pose coordinates R 位姿 combined with the C-scan line in step S01 工具 , calculates the coordinates of the C-scan line of this C-scan relative to the base of the six-axis robotic arm: , where xr, yr, zr are the three angular values of the pose coordinates R 位姿 (xr, yr, zr), and at the same time corresponds the C-scan data of this C-scan with the coordinates of the C-scan line 世界 . Each coordinate of the C-scan line 世界 corresponds to an amplitude and a depth value; S03. When the C-scan performed by the probe in step S02 is the first C-scan, then ① directly extract the x and y coordinates from the C-scan line 世界 to obtain the C-scan line XOY ; ② convert the C-scan line XOY coordinates into the C-scan line XOY像素 coordinates according to the image X starting point, image Y starting point, conversion ratio from X-axis coordinate to image pixel, and conversion ratio from Y-axis coordinate to image pixel. Each coordinate of the C-scan line 世界 in step S02 synchronously corresponds to the amplitude and depth value of each coordinate of the C-scan line XOY像素 ; ③ perform linear interpolation on each coordinate of the C-scan line XOY像素 to obtain the C-scan line XOY插值 . When performing linear interpolation on each coordinate of the C-scan line XOY像素 , simultaneously perform linear interpolation on the amplitude and depth values corresponding to each coordinate of the C-scan line XOY像素 , so that each coordinate of the obtained C-scan line XOY插值 corresponds to an amplitude and a depth value; ④ map each coordinate into the corresponding color according to the amplitude and depth values corresponding to each coordinate of the C-scan line XOY插值 to obtain the C-scan image of the C-scan line XOY插值 ; S04. When the C-scan performed by the probe in step S02 is not the first C-scan, the coordinates relative to the base of the six-axis robotic arm obtained from the previous C-scan are read and denoted as the C-scan line. 世界1 And the coordinates relative to the base of the six-axis robotic arm obtained from the current C-scan are denoted as the C-scan line. 世界2 Using ①, ②, ③ in step S03 to process the C-scan line 世界2 respectively to obtain the C-scan line XOY2 , the C-scan line XOY像素2 , the C-scan line XOY插值2 . And read the C-scan lines 世界1 corresponding to the C-scan line XOY1 , the C-scan line XOY像素1 , the C-scan line XOY插值1 of the previous C-scan; Then, according to the positional relationship between the C-scan line XOY1 and the C-scan line XOY2 , perform line interpolation between the C-scan line XOY插值1 and the C-scan line XOY插值2 . During the interpolation process, synchronously interpolate the amplitude and depth values corresponding to each coordinate of the C-scan line XOY插值1 and the C-scan line XOY插值2 . Finally, map each coordinate into the corresponding color according to the amplitude and depth values of the C-scan line XOY插值2 and the coordinates corresponding to the interpolated line to achieve real-time imaging of the C-scan.​​​​​​​ 2. The real-time imaging method for six-axis robotic arm automated ultrasonic C-scan according to claim 1, characterized in that: In the step S04, the C-scan line XOY1 and the C-scan line XOY2 are in a translational position relationship, that is, the C-scan line XOY1 and the C-scan line XOY2 are parallel to each other. Then, when performing line interpolation, linear interpolation of a rectangle / parallelogram is carried out between the C-scan line XOY插值1 and the C-scan line XOY插值2 .

3. A real-time imaging method for automated ultrasonic C-scanning of a six-axis robotic arm according to claim 1, characterized in that: In the step S04, the C-scan line XOY1 and the C-scan line XOY2 are in an overlapping positional relationship, then there is no need for interpolation between the lines, and the C-scan line XOY插值2 can be directly offset from the C-scan line XOY2 according to the offset of the C-scan line XOY1 ; when performing color mapping, the coordinates in the C-scan line XOY插值1 are mapped into corresponding colors according to the amplitude and depth values corresponding to the coordinates of the C-scan line XOY插值2 . For the coordinates where the C-scan line XOY插值2 overlaps with the C-scan line XOY插值2 and the C-scan line XOY插值1 , they are replaced and overwritten according to the amplitude and depth values of the coordinates of the C-scan line XOY插值2 and mapped into corresponding colors.

4. A real-time imaging method for automated ultrasonic C-scanning of a six-axis robotic arm according to claim 1, characterized in that: In the step S04, the C-scan line XOY1 and the C-scan line XOY2 are in a rotational positional relationship, that is, when the C-scan line XOY1 and the C-scan line XOY2 intersect at a point, then linear interpolation of a triangle / circle is performed between the C-scan line XOY插值1 and the C-scan line XOY插值2 ​ 5. A real-time imaging method for automated ultrasonic C-scanning of a six-axis robotic arm according to claim 4, characterized in that: In the step S04, the C-scan line XOY1 and the C-scan line XOY2 are in a rotational positional relationship. First, calculate the distances between the starting points of the C-scan lines XOY1 of the C-scan line XOY像素1 and the starting points of the C-scan lines XOY2 of the C-scan line XOY像素2 as well as the distance between the end point of the starting point of the C-scan line XOY像素1 and the end point of the C-scan line XOY像素2 . If the distances do not exceed the threshold, perform triangular linear interpolation between the C-scan line XOY插值1 and the C-scan line XOY插值2 . Otherwise, perform circular linear interpolation between the C-scan line XOY插值1 and the C-scan line XOY插值2 .

Images