Position adjustment method and system applicable to acoustic detection equipment

Abstract

The present invention provides a position adjustment method and system suitable for acoustic detection equipment. Traditional acoustic detection equipment cannot perform adaptive positioning and clamping for detection samples of different shapes. Calibration requires the operator to repeatedly adjust the clamp position and observe the positioning accuracy by visual observation, and the positioning accuracy is poor. The present invention distinguishes shape information through model construction according to the different shapes of the detection samples, and then matches the corresponding clamping logic. Secondly, a multi-angle acquisition mechanism is established, and through image acquisition and analysis, the height and horizontal position of each component of the acoustic detection equipment can be accurately adjusted, the alignment deviation between devices is eliminated, the accurate propagation and reception of sound waves are ensured, and an automated position adjustment process is realized.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a position adjustment method and system applicable to acoustic detection equipment. Background Art

[0002] Acoustic testing equipment is an important tool for detecting the acoustic properties of objects in modern industrial production and scientific research. It can accurately analyze the internal structure, material uniformity, defects, etc. of the test samples by emitting and receiving sound waves. It is widely used in many industries such as medical testing and electronic equipment.

[0003] Currently, acoustic testing faces numerous challenges. For one thing, there's a lack of effective methods for determining the clamping position for test samples of varying shapes, making it impossible to automatically match the optimal clamping area. Traditional methods rely on manual experience to select sample clamping points, resulting in unstable clamping positions during testing and the possibility of the fixture entering the acoustic inspection range, thus affecting the accuracy of test results.

[0004] Therefore, how to adaptively determine the optimal clamping position based on different sample shapes, thereby ensuring sample clamping stability while improving detection accuracy, has become an urgent problem that needs to be solved. Summary of the Invention

[0005] The present invention provides a position adjustment method and system suitable for acoustic detection equipment, which can adaptively determine the optimal clamping position according to different sample shapes, thereby ensuring sample clamping stability while improving detection accuracy.

[0006] A first aspect of the present invention provides a method for adjusting the position of an acoustic detection device, comprising:

[0007] Constructing a detection model of the detection sample, determining a clamping area of ​​the detection sample based on shape information of the detection model, and controlling a clamping device to move to the clamping area to clamp the detection sample within the detection area;

[0008] Controlling the front view acquisition device to acquire the front view acquisition image of the detection area, adjusting the height position of the clamp device or the receiving device based on each of the front view acquisition images, and generating front view completion information;

[0009] In response to the front view completion information, a top view collection image of the detection area is collected based on the top view collection device, and the horizontal position of the clamp device and / or the receiving device is adjusted based on the top view collection image. In response to the adjustment completion information, acoustic detection is performed on the detection sample.

[0010] Optionally, in a possible implementation of the first aspect, determining a clamping area of ​​the test sample based on the shape information of the test model includes:

[0011] When the shape information is the first form of a cylinder, the detection model is used as an indirect positioning model, and the combined positioning point is determined based on the indirect positioning model and the wrapping fitting model. The clamping area of ​​the detection sample is determined based on the functional area in the clamp device and the combined positioning point.

[0012] Optionally, in a possible implementation of the first aspect, when the shape information is a first form of a cylinder, the detection model is used as an indirect positioning model, a combined positioning point is determined based on the indirect positioning model and the wrapping fitting model, and a clamping area of ​​the detection sample is determined based on a functional area in the fixture device and the combined positioning point, including:

[0013] When the shape information is a first form of a cylinder, the detection model is used as an indirect positioning model, the indirect positioning model is coordinate-processed, and the horizontal length, the longitudinal length, and the vertical length are determined based on the extreme values ​​of the indirect positioning model on each coordinate axis;

[0014] Obtaining a gap value based on a difference between a maximum value and a minimum value among the horizontal length, the longitudinal length, and the vertical length;

[0015] When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the cuboid fitting model;

[0016] When it is determined that the difference value is less than or equal to a preset value, a sphere fitting model is constructed based on the center point and the longest radius of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the sphere fitting model;

[0017] Based on the functional area in the fixture device and the combined positioning points, the clamping area of ​​the test sample is determined, and the package fitting model includes a rectangular parallelepiped fitting model and a sphere fitting model.

[0018] Optionally, in a possible implementation of the first aspect, when determining that the gap value is greater than a preset value, constructing a cuboid fitting model based on the coordinate extreme values ​​of the indirect positioning model, and determining a combined positioning point according to the indirect positioning model and the cuboid fitting model include:

[0019] When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model;

[0020] Obtaining the intersection of the model surface of the indirect positioning model and the model surface of the cuboid fitting model to obtain a selected area, and obtaining a first positioning straight line for each selected area based on a line connecting the area center point of each selected area and the model center point of the cuboid fitting model;

[0021] An intersection point between the first positioning straight line and the model surface of the indirect positioning model is obtained as a combined positioning point.

[0022] Optionally, in a possible implementation of the first aspect, when determining that the gap value is less than or equal to a preset value, constructing a sphere fitting model based on the center point and the longest radius of the indirect positioning model, and determining a combined positioning point based on the indirect positioning model and the sphere fitting model include:

[0023] When it is determined that the difference value is less than or equal to the preset value, obtaining a model surface of the indirect positioning model as an indirect surface, and a model center point of the indirect positioning model as an indirect midpoint;

[0024] Obtaining the connection distance between the surface point and the indirect midpoint on the indirect surface, selecting the largest connection distance as the longest radius, and constructing a sphere fitting model based on the model center point and the longest radius of the indirect positioning model;

[0025] Obtaining the intersection of the model surface of the indirect positioning model and the model surface of the sphere fitting model to obtain a selected area;

[0026] Obtaining a second positioning straight line for each selected area based on a line connecting the area center point of each selected area and the model center point of the sphere fitting model;

[0027] An intersection point between the second positioning straight line and the model surface of the indirect positioning model is obtained as a combined positioning point.

[0028] Optionally, in a possible implementation of the first aspect, determining the clamping area of ​​the test sample based on the functional area in the clamp device and the combined positioning point includes:

[0029] The intersection point of the combined positioning points in the selected area is used as the first positioning point, and the remaining intersection points are used as the second positioning points;

[0030] Extracting the center point of the functional area corresponding to the clamp device as the functional midpoint, aligning the functional midpoint with the first positioning point, obtaining the intersection of the functional area and the selected area, and obtaining the first clamping area;

[0031] Acquiring a morphological feature of the second positioning point, wherein the morphological feature includes a convex shape and a concave shape;

[0032] When it is determined that the morphological feature is a convex morphology, the functional midpoint is aligned with the second positioning point to obtain the intersection of the functional area and the model surface of the indirect positioning model to obtain the second clamping area;

[0033] When the morphological feature is determined to be a concave morphology, the direction along the positioning line from the second positioning point to the first positioning point is used as the constrained direction, and the positioning line is divided into two rays based on the second positioning point, the ray where the first positioning point is located is determined to be the non-constrained ray, and the remaining rays are used as constrained rays;

[0034] Setting the function midpoint at a preset distance along the constraint ray starting from the second positioning point, and moving the function midpoint based on the constraint direction until the function area and the model surface of the indirect positioning model have an intersection area, and using the corresponding intersection area as the second clamping area;

[0035] Obtaining a combined clamping area corresponding to a combined positioning point according to the first clamping area and the corresponding second clamping area;

[0036] The clamping distance between the combined clamping areas is obtained, and the combined clamping area corresponding to the maximum clamping distance is selected as the clamping area for the test sample.

[0037] Optionally, in a possible implementation of the first aspect, adjusting the height position of the fixture device or the receiving device based on each of the elevation acquisition images to generate elevation completion information includes:

[0038] Obtaining a front view acquisition image corresponding to the launch device and the fixture device as a fixture adjustment image, using a center point of the launch device in the fixture adjustment image as a first reference point, and obtaining a first reference height of the first reference point;

[0039] Determine the center point of the test sample in the fixture adjustment diagram as a first adjustment point, control the fixture device to move the first adjustment point to the first reference height, and generate first completion information;

[0040] In response to the first completion information, obtaining a front view acquisition image corresponding to the receiving device and the clamping device as a receiving adjustment image, using a center point of the clamping device in the receiving adjustment image as a second reference point, and obtaining a second reference height of the second reference point;

[0041] The center point of the receiving device in the receiving adjustment diagram is determined as the second adjustment point, the driving device is controlled to move the second adjustment point to the second reference height, and the normal view completion information is generated.

[0042] Optionally, in a possible implementation of the first aspect, adjusting the horizontal position of the clamp device and / or the receiving device based on the top-view acquisition image includes:

[0043] The center point of the transmitting device in the top view acquisition image is obtained as a horizontal reference point, and the clamp device and / or the receiving device is moved to the horizontal reference point.

[0044] Optionally, in a possible implementation of the first aspect, the method further includes:

[0045] Acquire multiple surface acquisition images of the test sample, and identify attached interference objects in each of the surface acquisition images;

[0046] Connect the center point of the transmitting device and the center point of the receiving device to obtain an acoustic wave connection line, and use the surface of the test sample perpendicular to the acoustic wave connection line as a vertical plane, determine the surface acquisition map corresponding to the vertical plane as a forward influence map, and use the remaining surface acquisition maps as lateral influence maps;

[0047] Obtaining the interference quantity and interference area of ​​the interference objects attached in each of the surface acquisition images, obtaining a quantity coefficient based on a ratio of the interference quantity to a reference quantity, and obtaining an area coefficient based on a ratio of the interference area to a reference area;

[0048] Obtaining an interference coefficient of each surface acquisition diagram according to the sum of the quantity coefficient and the area coefficient, and sorting the forward influence diagrams in descending order based on the interference coefficients to obtain a first sequence;

[0049] The lateral influence diagram is sorted in descending order according to the interference coefficient to obtain a second sequence, the second sequence is added to the back of the first sequence to obtain a processing sequence, and the spray elimination device is controlled based on the processing sequence to process the attached interference object.

[0050] A second aspect of the present invention provides a position adjustment system for acoustic detection equipment, comprising:

[0051] a determination module, constructing a detection model of the detection sample, determining a clamping area of ​​the detection sample based on shape information of the detection model, and controlling a clamping device to move to the clamping area to clamp the detection sample within the detection area;

[0052] a height adjustment module, controlling the front view acquisition device to acquire the front view acquisition image of the detection area, adjusting the height position of the clamp device or the receiving device based on each front view acquisition image, and generating front view completion information;

[0053] The horizontal adjustment module responds to the front view completion information, collects the top view collection image of the detection area based on the top view collection device, adjusts the horizontal position of the clamp device and / or the receiving device based on the top view collection image, and responds to the adjustment completion information to perform acoustic detection on the detection sample.

[0054] The beneficial effects of the present invention are as follows:

[0055] 1. The present invention can automatically identify the shape of the sample and determine the optimal clamping position. Traditional acoustic detection equipment usually relies on manual experience to select or preset sample clamping points, and is unable to perform adaptive positioning and clamping for test samples of different shapes, resulting in large errors in the test results. The present invention, based on the different shapes of the test samples, distinguishes shape information through model construction, and then matches the corresponding clamping logic, effectively solving the positioning problem of samples of various shapes. The method of the present invention greatly reduces the initial position error of the test sample in the test area, avoids the deviation of the test result caused by clamping offset, and improves the accuracy and reliability of acoustic detection.

[0056] 2. The present invention can achieve efficient and intelligent calibration of the transmitting device, the test sample, and the receiving device. When calibrating and adjusting the height and horizontal position of the transmitting source, the sample, and the receiving source of traditional acoustic detection equipment, manual calibration requires the operator to repeatedly adjust the position of the fixture and observe the positioning accuracy with the naked eye. The positioning accuracy is poor. Although the existing mechanical positioning system can automatically move the device, it lacks visual feedback and cannot correct the positioning deviation in real time. The present invention establishes a multi-angle acquisition mechanism. Through image acquisition and analysis, it can achieve precise adjustment of the height and horizontal position of each component of the acoustic detection equipment, eliminate the alignment deviation between devices, ensure the accurate propagation and reception of sound waves, and realize an automated position adjustment process.

[0057] 3. The present invention can also detect the processing method of the attached interference objects on the surface of the sample to ensure the detection quality. By identifying the attached interference objects on the surface of the detection sample, and dividing the various acquisition diagrams of the detection sample surface into forward influence diagrams and lateral influence diagrams, the two types of influence diagrams are sorted and processed based on the interference coefficient. This method gives priority to the areas that have the greatest impact on acoustic detection, ensures that the main transmission path of the sound wave is unobstructed, and avoids the obstruction and scattering of the detection signal by interference objects. In addition, the elimination spray device for eliminating attached interference objects can also automatically adjust the power according to the number and area of ​​attached interference objects, so that the elimination spray device can automatically adjust the working parameters according to the scale of the interference objects, increase the power for large-scale interference objects to ensure thorough removal, and reduce the power for small-scale interference objects to avoid energy waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A flow chart of a position adjustment method applicable to acoustic detection equipment provided by the present invention;

[0059] Figure 2 A schematic diagram of the structure of an acoustic detection device provided by the present invention;

[0060] Figure 3 A schematic structural diagram of a position adjustment system for acoustic detection equipment provided by the present invention;

[0061] Among them, 1-first fixture driving mechanism, 2-second fixture driving mechanism, 3-multi-stage clamping fixture, 4-laser ranging module, 5-receiving source driving module, 6-controller and display, 7-transmitting source module, 8-water temperature detection module, 9-sample, 10-receiving source module. DETAILED DESCRIPTION

[0062] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0063] like Figure 1 As shown, the present invention provides a position adjustment method applicable to acoustic detection equipment, comprising:

[0064] S1, constructing a detection model of the detection sample, determining a clamping area of ​​the detection sample based on shape information of the detection model, and controlling a clamping device to move to the clamping area to clamp the detection sample into the detection area.

[0065] It should be noted that, in the prior art, acoustic testing equipment is widely used in industrial production and scientific research, analyzing and detecting the internal structure of samples by transmitting and receiving sound waves. Traditional acoustic testing equipment typically relies on manual experience to select or preset sample clamping points, and is unable to adaptively position and clamp test samples of different shapes, resulting in large errors in the test results. Furthermore, when calibrating and adjusting the height and horizontal position of the transmitter, sample, and receiver, traditional manual calibration requires the operator to repeatedly adjust the fixture position and visually observe the positioning accuracy, resulting in poor positioning accuracy. While existing mechanical positioning systems can automatically move the device, the lack of visual feedback prevents real-time correction of positioning deviations.

[0066] Therefore, the present invention uses model construction to differentiate shape information based on the different shapes of the test samples, thereby matching the corresponding clamping logic. Secondly, a multi-angle acquisition mechanism is established. Through image acquisition and analysis, the height and horizontal position of each component of the acoustic testing equipment can be precisely adjusted, eliminating alignment deviations between devices, ensuring the accurate propagation and reception of sound waves, and realizing an automated position adjustment process.

[0067] Among them, the test model is a digital model of the sample reconstructed through three-dimensional scanning or CAD data. Specifically, it can be generated by an optical scanner in conjunction with modeling software to extract the geometric features of the sample. The clamping device is a mechanical device used to clamp the test sample. It has movable and adjustable functional areas (such as claws, etc.), and can grasp and fix the sample according to the determined clamping area. A multi-stage clamp can be used. The clamping area refers to the area that contacts the test sample when the clamping device clamps the test sample. The detection area is the designated spatial range for acoustic detection equipment to detect the sample. For example, it can be in a water tank to facilitate subsequent sound wave detection. Within this area, the transmitting device and the receiving device can stably transmit and receive sound waves to ensure the smooth progress of the detection process.

[0068] First, a test model of the test sample is constructed, converting the sample's actual shape into a digital model to provide a foundation for subsequent analysis. Next, the shape information of the test model is analyzed to distinguish between cylindrical and non-cylindrical objects. Different strategies are used to determine the clamping area for each shape. Finally, the clamping device is controlled to move to the determined clamping area, clamping the test sample and transferring it into the test area.

[0069] Through step S1, the shape of the sample can be automatically identified and an adaptive clamping area determination method can be adopted, thereby improving the fixing effect of the clamp device on the sample, while reducing manual intervention and reducing operating errors.

[0070] In some embodiments, step S1 (determining the clamping area of ​​the test sample based on the shape information of the tested model) includes S11:

[0071] S11, when the shape information is the first form of a cylinder, the detection model is used as an indirect positioning model, and the combined positioning point is determined based on the indirect positioning model and the wrapping fitting model. The clamping area of ​​the detection sample is determined based on the functional area in the clamp device and the combined positioning point.

[0072] It is easy to understand that step S11 serves as a classification basis, and divides the detection model into two categories: cylinders and non-cylinders according to shape information through geometric feature analysis.

[0073] Specifically, when the shape information is the first form of a cylinder, the detection model is used as an indirect positioning model and geometrically approximated by a wrapping fitting model (rectangle / sphere) to simplify it into a computable regular geometric body. The wrapping fitting model refers to an auxiliary geometric body wrapped around the outside of the detection model to approximate the cylindrical shape. Specifically, it can be achieved by spatially wrapping using a rectangular fitting model or a sphere fitting model to provide a quantifiable positioning reference. For example, when inspecting bones in the medical field, a rectangular fitting model can be constructed for slender bones, and a sphere fitting model can be constructed for bones that are approximately spherical. The combined positioning point is the center point of the intersection area between the indirect positioning model surface and the wrapping fitting model surface, or the intersection point of the line connecting this center point and the center of the wrapping fitting model with the surface of the indirect positioning model. Based on the functional area in the fixture device and the combined positioning point, the clamping area of ​​the test sample is determined.

[0074] In some embodiments, step S11 (when the shape information is the first form of a cylinder, using the detection model as an indirect positioning model, determining a combined positioning point based on the indirect positioning model and the wrapping fitting model, and determining a clamping area of ​​the detection sample based on the functional area in the fixture device and the combined positioning point) includes S111-S115:

[0075] S111, when the shape information is a first form of a cylinder, using the detection model as an indirect positioning model, coordinate processing the indirect positioning model, and determining the horizontal length, the longitudinal length, and the vertical length based on the extreme values ​​of the indirect positioning model on each coordinate axis;

[0076] It can be understood that coordinate processing refers to converting the indirect positioning model into an orthogonal coordinate system to quantify the model's geometric dimensions. Coordinate extremes refer to the maximum and minimum values ​​of the indirect positioning model along each coordinate axis. They are used to determine the extension of the indirect positioning model in each direction. The horizontal, vertical, and vertical lengths are determined based on the coordinate extremes.

[0077] S112: Obtain a gap value based on the difference between the maximum value and the minimum value of the horizontal length, the longitudinal length, and the vertical length.

[0078] It is not difficult to understand that the gap value refers to the difference between the maximum and minimum values ​​of the lengths in the three directions of horizontal length, longitudinal length and vertical length, which reflects the regularity of the sample shape. It can be used to judge whether the shape of the indirect positioning model is close to a cuboid or a sphere, making it convenient to subsequently construct a fitting model based on the cuboid or sphere.

[0079] S113: When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the cuboid fitting model.

[0080] It's understood that the preset value refers to a pre-set threshold used to distinguish between different shape processing methods. When the gap value is greater than the preset value, a cuboid fitting model is constructed based on the coordinate extremes of the indirect positioning model. The cuboid fitting model is a cuboid that completely encloses the indirect positioning model. Then, a combined positioning point is determined based on the indirect positioning model and the cuboid fitting model.

[0081] In some embodiments, step S113 (when determining that the gap value is greater than a preset value, constructing a cuboid fitting model based on the coordinate extreme values ​​of the indirect positioning model, and determining a combined positioning point based on the indirect positioning model and the cuboid fitting model) includes A1-A3:

[0082] A1: When it is determined that the gap value is greater than a preset value, a rectangular parallelepiped fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model.

[0083] It can be understood that the cuboid fitting model is constructed based on the maximum and minimum values ​​on each coordinate axis.

[0084] A2, obtain the intersection of the model surface of the indirect positioning model and the model surface of the rectangular fitting model to obtain the selected area, and obtain the first positioning straight line of each selected area based on the line connecting the area center point of each selected area and the model center point of the rectangular fitting model.

[0085] It can be understood that the selected area is the intersection of the indirect positioning model and the parcel fitting model. Furthermore, in this step, the selected area is the intersection of the indirect positioning model and the cuboid fitting model. The first positioning line is the line connecting the center point of the selected area and the center point of the cuboid fitting model.

[0086] A3: Obtain an intersection point between the first positioning straight line and the model surface of the indirect positioning model as a combined positioning point.

[0087] It is not difficult to understand that the first positioning straight line is intersected with the model surface of the indirect positioning model to obtain the actual contact point as the combined positioning point.

[0088] S114: When it is determined that the gap value is less than or equal to a preset value, a sphere fitting model is constructed based on the center point and the longest radius of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the sphere fitting model.

[0089] It is understood that when the gap value is less than or equal to the preset value, a sphere fitting model is constructed based on the center point and the longest radius of the indirect positioning model, where the longest radius refers to the maximum distance from the center point of the indirect positioning model to all points on its surface. Then, a combined positioning point is determined based on the indirect positioning model and the sphere fitting model.

[0090] In some embodiments, step S114 (when determining that the gap value is less than or equal to a preset value, constructing a sphere fitting model based on the center point and the longest radius of the indirect positioning model, and determining a combined positioning point based on the indirect positioning model and the sphere fitting model) includes B1-B5:

[0091] B1. When it is determined that the difference value is less than or equal to a preset value, a model surface of the indirect positioning model is obtained as an indirect surface, and a model center point of the indirect positioning model is obtained as an indirect midpoint.

[0092] B2, obtaining the connection distance between the surface point and the indirect midpoint on the indirect surface, selecting the largest connection distance as the longest radius, and constructing a sphere fitting model based on the model center point and the longest radius of the indirect positioning model.

[0093] It is not difficult to understand that the sphere fitting model is constructed by further determining the longest radius through the connection distance of the indirect surface and the indirect midpoint.

[0094] B3, obtaining the intersection of the model surface of the indirect positioning model and the model surface of the sphere fitting model to obtain a selected area.

[0095] It can be understood that the selected area is the intersection area of ​​the indirect positioning model and the package fitting model. Further, in this step, the selected area is the intersection area of ​​the indirect positioning model and the sphere fitting model.

[0096] B4, obtaining a second positioning straight line for each selected area based on a line connecting the area center point of each selected area and the model center point of the sphere fitting model.

[0097] It is easy to understand that the second positioning straight line refers to a straight line connecting the center point of the selected area and the model center point of the sphere fitting model.

[0098] B5. Obtain an intersection point between the second positioning straight line and the model surface of the indirect positioning model as a combined positioning point.

[0099] It is easy to understand that the second positioning straight line is intersected with the model surface of the indirect positioning model to obtain the actual contact point as the combined positioning point.

[0100] It should be noted that when the gap value is less than or equal to the preset value, the case where the indirect positioning model is a sphere is not considered here, because at this time the shapes of the indirect positioning model and the package fitting model are exactly the same. At this time, any two symmetrical points with the diameter and the surface of the sphere can be directly selected as the clamping positions.

[0101] S115, determining a clamping area of ​​the test sample based on the functional area in the fixture device and the combined positioning points, wherein the package fitting model includes a cuboid fitting model and a sphere fitting model.

[0102] It is not difficult to understand that the combined positioning points obtained by the wrapping fitting model and the indirect positioning model are used to clamp the functional area of ​​the clamping device to the surface of the test sample and determine the clamping area.

[0103] In some embodiments, step S115 (determining the clamping area of ​​the test sample based on the functional area in the clamp device and the combined positioning point) includes C1-C8:

[0104] C1, the intersection point of the combined positioning points in the selected area is used as the first positioning point, and the remaining intersection points are used as the second positioning points.

[0105] It is not difficult to understand that the first positioning point is the intersection point of the combined positioning points located in the selected area, and the second positioning point is the intersection point of the combined positioning points located in the non-selected area.

[0106] C2, extracting the center point of the functional area corresponding to the clamp device as the functional midpoint, aligning the functional midpoint with the first positioning point, obtaining the intersection of the functional area and the selected area, and obtaining the first clamping area.

[0107] It is understood that the functional midpoint is the center point of the functional area, that is, the geometric center point of the functional area. Align the functional midpoint with the first positioning point, and the intersection area of ​​the functional area and the selected area is the first clamping area.

[0108] C3, obtaining the morphological features of the second positioning point, where the morphological features include a convex shape and a concave shape.

[0109] It should be noted that, for the second positioning point, different adjustment methods are selected according to the surface morphological features of the indirect positioning model at its location, and the morphological features include convex morphology and concave morphology.

[0110] C4. When it is determined that the morphological feature is a convex shape, the functional midpoint is aligned with the second positioning point to obtain the intersection of the functional area and the model surface of the indirect positioning model to obtain the second clamping area.

[0111] It can be understood that when the morphological feature of the location of the second positioning point is a convex shape, the functional midpoint is directly aligned with the second positioning point, and the intersection area of ​​the functional area and the model surface of the indirect positioning model is the second clamping area.

[0112] C5. When it is determined that the morphological feature is a concave morphology, the direction along the positioning straight line from the second positioning point to the first positioning point is used as the constrained direction, and the positioning straight line is divided into two rays based on the second positioning point. The ray where the first positioning point is located is determined to be a non-constrained ray, and the remaining rays are used as constrained rays.

[0113] It can be understood that the direction along the positioning straight line (the first positioning straight line or the second positioning straight line) from the second positioning point to the first positioning point is used as the constraint direction (i.e., the movement direction of the functional area), and the positioning straight line is divided into two rays based on the second positioning point, the ray where the first positioning point is located is determined to be the non-constrained ray, and the remaining rays are used as constrained rays.

[0114] C6, set the functional midpoint at a preset distance along the constraint ray with the second positioning point as the starting point, and move the functional midpoint based on the constraint direction until the functional area has an intersection area with the model surface of the indirect positioning model, and use the corresponding intersection area as the second clamping area.

[0115] It is understandable that when the morphological feature of the position where the second positioning point is located is a concave shape, the functional area of ​​the clamping device is unable to directly contact the second positioning point, and thus direct clamping cannot be achieved. It is necessary to define a spatial range in which the functional area can move along the positioning straight line until an effective contact area between the functional area and the model surface of the indirect positioning model is found. The functional midpoint is set at a preset distance along the constraint ray with the second positioning point as the starting point (the functional midpoint is set on the constraint ray, and the functional midpoint is set at a position at a preset distance from the second positioning point), and the functional midpoint is moved based on the constraint direction (from the position of the preset distance to the second positioning point) until the functional area has an intersection area with the model surface of the indirect positioning model, and the corresponding intersection area is used as the second clamping area.

[0116] C7. Obtain a combined clamping area corresponding to the combined positioning point according to the first clamping area and the corresponding second clamping area.

[0117] C8, obtaining the clamping distance between the combined clamping areas, and selecting the combined clamping area corresponding to the maximum clamping distance as the clamping area for the test sample.

[0118] It can be understood that, for one or more combined clamping areas, the combined clamping area corresponding to the maximum clamping distance is taken as the clamping area for the test sample. A larger clamping distance means a more stable supporting torque, reducing the risk of sample shaking.

[0119] It should be noted that acoustic detection devices have a wide range of applications in the field of ultrasonic testing of medical materials. While the aforementioned embodiment describes a cylindrical sample shape, they are also applicable to other irregular objects, such as tetrahedrons. The core of this approach lies in the combination of an indirect positioning model and a wrapping fitting model, which transforms complex shapes into regular geometric forms for processing, thereby achieving precise positioning of test samples of arbitrary shapes.

[0120] Generally, the samples for acoustic wave testing are cylinders or cuboids. Therefore, for regular cuboids, there are corresponding solutions for determining the clamping area, as follows:

[0121] S12, when the shape information is a second non-cylindrical form, using the inspection model as a direct positioning model, selecting a set of positioning surfaces in the direct positioning model, and determining a clamping area of ​​the inspection sample based on the functional area in the fixture device and the positioning surfaces;

[0122] It is understandable that the second form of the non-cylindrical body is generally a cuboid. When the shape information of the detection model is a cuboid, the cuboid detection model can be used directly as a direct positioning model for positioning. Its regular geometric features can provide a clear reference for the selection of the positioning surface and the determination of the clamping area, without the need for complex conversion, reducing the difficulty and amount of positioning. By utilizing its geometric regular characteristics, a set of symmetrical planes are selected as positioning surfaces, and the positioning surfaces are used for geometric matching with the functional area of ​​the fixture device. The functional area is the physical area in the fixture device that directly contacts the test sample and generates a clamping force, usually including the contact surface of the clamp, the adsorption surface of the suction cup, etc. Based on the functional area in the fixture device and the positioning surface, the clamping area of ​​the test sample is determined. Furthermore, the clamping area is the area where the functional area contacts the positioning surface.

[0123] In some embodiments, step S12 (when the shape information is a non-cylindrical second form, using the inspection model as a direct positioning model, selecting a set of positioning surfaces in the direct positioning model, and determining the clamping area of ​​the inspection sample based on the functional area in the fixture device and the positioning surfaces) includes S121-S122:

[0124] S121, when the shape information is a second form that is not a cylinder, the detection model is used as a direct positioning model, a group of corresponding faces in the direct positioning model are selected as preliminary faces, and a preliminary distance between the center point of the preliminary face and the model center point of the direct positioning model is obtained.

[0125] It is not difficult to understand that the second form of non-cylindrical objects is generally a cuboid. When the shape information of the detection model is a cuboid, the cuboid detection model can be used as a direct positioning model for direct positioning. The six faces of the cuboid can be divided into three groups of preliminary faces (front-back, left-right, and top-bottom). The distance from the center point of each group of preliminary faces to the center of the cuboid is the preliminary distance.

[0126] S122, selecting the preliminary surface corresponding to the maximum preliminary distance as the positioning surface, aligning the center point of the functional area in the fixture device with the center point of the positioning surface, and obtaining the intersection area of ​​the functional area and the positioning surface as the clamping area of ​​the test sample.

[0127] It is understandable that the selection of a group of preliminary selected surfaces with the largest preliminary distance as the positioning surface is, on the one hand, because the selection of the clampable position with the largest distance is to prevent the clamping device from entering the acoustic wave detection range, and on the other hand, the surface away from the center of gravity can provide a greater supporting torque, reducing the risk of sample shaking. Furthermore, the center of the functional area of ​​the clamping device is aligned with the center of the positioning surface to ensure that the clamp is in full contact with the sample, and then the intersection area of ​​the functional area and the positioning surface is obtained as the clamping area of ​​the test sample.

[0128] Through the above scheme, the present application can automatically adapt to test samples with different surface morphologies, effectively avoiding positioning errors caused by surface concave and convex features while ensuring clamping stability.

[0129] See also Figure 2 , is an acoustic detection device, including a transmitting device (transmitting source module), a detection sample (sample), a receiving device (receiving source module), a clamping device (multi-stage clamping clamp), etc. The transmitting source module transmits sound waves through the sample and is received by the receiving source module. When performing acoustic detection under existing circumstances, there is often a problem of inconsistent heights or levels among the transmitting source module, sample, and receiving source module, resulting in large deviations in the detection results. The present invention establishes a multi-angle acquisition mechanism, and through image acquisition and analysis, it can achieve precise adjustment of the height and horizontal position of each component of the acoustic detection equipment, eliminate alignment deviations between devices, ensure the accurate propagation and reception of sound waves, and realize an automated position adjustment process.

[0130] S2, controlling the front view acquisition device to acquire the front view acquisition images of the detection area, adjusting the height position of the clamp device or the receiving device based on each of the front view acquisition images, and generating front view completion information.

[0131] In some embodiments, step S2 (controlling the front view acquisition device to acquire the front view acquisition image of the detection area, adjusting the height position of the clamping device or the receiving device based on each front view acquisition image, and generating the front view completion information) includes S21-S24:

[0132] S21, obtaining a front view acquisition image corresponding to the launch device and the clamp device as a clamp adjustment image, taking the center point of the launch device in the clamp adjustment image as a first reference point, and obtaining a first reference height of the first reference point.

[0133] It can be understood that the orthographic acquisition device refers to a visual acquisition device that shoots the detection area (such as a clamp device, a receiving device, a receiving device, etc.) to obtain an orthographic perspective image, such as an industrial camera.

[0134] During the height adjustment stage, unlike the existing technology that only uses one image to adjust the height of multiple objects, in order to achieve higher image detail accuracy, this solution collects multiple images, and each image contains only two objects. The height of one object is adjusted based on the height reference of the other object.

[0135] Obtain the corresponding frontal view images of the transmitter and fixture as the fixture adjustment diagram. This frontal view image contains image data of the frontal visual information of the test area (transmitter, test sample, and receiver) and is used to analyze the height position relationship of each device. Based on the fixture adjustment diagram, the center point of the transmitter is used as the first reference point, the initial reference point for the entire height adjustment process, and the height of this first reference point is obtained as the first reference height.

[0136] S22, determining the center point of the test sample in the fixture adjustment diagram as the first adjustment point, controlling the fixture device to move the first adjustment point to the first reference height, and generating first completion information.

[0137] It is understood that by determining the first reference height in step S21, the height of the test sample is further adjusted. Specifically, the center point of the test sample in the fixture adjustment diagram is used as the first adjustment point, and the fixture device is controlled to move the first adjustment point to the first reference height to generate the first completion information.

[0138] The first completion information is information indicating that the height adjustment of the detection sample is completed.

[0139] S23, in response to the first completion information, obtaining the front view acquisition diagram corresponding to the receiving device and the clamp device as a receiving adjustment diagram, using the center point of the clamp device in the receiving adjustment diagram as a second reference point, and obtaining a second reference height of the second reference point.

[0140] It is understood that responding to the first completion information refers to responding to the first completion information and executing the subsequent acquisition of the receiving adjustment diagram. Furthermore, after the height adjustment of the test sample is completed, the corresponding front view acquisition diagram of the receiving device and the fixture device is obtained as the receiving adjustment diagram, the center point of the fixture device in the receiving adjustment diagram is used as the second reference point, and the height of the second reference point is obtained as the second reference height.

[0141] The second reference point is used as a reference point for adjusting the receiving device after the adjustment of the clamp device is completed.

[0142] S24, determining the center point of the receiving device in the receiving adjustment diagram as the second adjustment point, controlling the driving device to move the second adjustment point to the second reference height, and generating front-facing completion information.

[0143] It is understood that by determining the second reference height in step S23, the height of the receiving device is further adjusted. Specifically, the center point of the receiving device in the receiving adjustment diagram is used as the second adjustment point, and the second adjustment point is moved to the second reference height by the driving device to generate the normal view completion information.

[0144] The driving device is a device for adjusting the height and horizontal position of the receiving device, and the receiving device is installed on the driving device. The front-facing completion information is information indicating that the height adjustment of the receiving device is completed.

[0145] S3, in response to the front view completion information, collect a top view collection image of the detection area based on the top view collection device, adjust the horizontal position of the clamp device and / or the receiving device based on the top view collection image, and in response to the adjustment completion information, perform acoustic detection on the detection sample.

[0146] In some embodiments, step S3 (adjusting the horizontal position of the clamping device and / or the receiving device based on the top view acquisition image) includes S31:

[0147] S31, obtaining the center point of the transmitting device in the top view acquisition image as a horizontal reference point, and moving the clamp device and / or the receiving device to the horizontal reference point.

[0148] It can be understood that responding to the front-view completion information is to respond to the front-view completion information generated in step S24, and to perform the subsequent collection of the overhead acquisition map. The overhead acquisition device is a visual acquisition device installed directly above the detection area, which is used to collect the overhead image of the detection area. The overhead acquisition map of the detection area is collected by the overhead acquisition device. The overhead acquisition map contains image data of the visual information of the detection area in the overhead direction (transmitting device, detection sample, receiving device) for analyzing the horizontal position relationship of each device. Based on the overhead acquisition map, the center point of the transmitting device is used as the horizontal reference point, that is, the reference point for horizontal position adjustment. According to the horizontal reference point, the position of the detection sample and the receiving device is adjusted so that the center point of the detection sample, the center point of the receiving device, and the horizontal reference point are on the same horizontal line. The horizontal position adjustment is completed, and the adjustment completion information is generated and responded through the controller to perform acoustic detection of the detection sample.

[0149] The adjustment completion information is a status signal indicating that the horizontal position adjustment is completed.

[0150] In some embodiments, precise adjustment of the height and horizontal position of various components of the acoustic detection equipment can also be achieved by:

[0151] like Figure 2 First, the positions of the transmitter (transmitter source module) and receiver (receiver source module) remain unchanged. The fixture is moved to traverse the test sample within the test area. By scanning the waveform at each location, candidate areas with excellent waveform quality are quickly identified. The receiver uses a highly sensitive piezoelectric sensor to acquire acoustic signals, which are then amplified and converted to digital before being input into the control unit. A wavelet transform combined with threshold filtering is used to extract significant waveform features (such as the first wave peak and rising edge slope) and automatically remove noise interference. If the waveform signal-to-noise ratio (SNR) exceeds a set threshold, the fixture's current position is considered a candidate area. For example, a large step size is used to traverse the height and horizontal position of the test sample to identify areas with high signal strength. Within these candidate areas, the step size is reduced and fine-tuning of angle parameters is increased to refine the search for the initial optimal position. For example, in medical ultrasound testing, fine-tuning the angle can reduce tissue reflection interference and enhance echo clarity.

[0152] Then, the positions of the transmitting device and the test sample (i.e., the fixture device) are kept unchanged, and the distance between the transmitting device and the receiving device is also kept unchanged. The mobile driving device makes the receiving device traverse and scan in the test area, and determines the optimal middle position according to the waveform characteristics to ensure that the sound wave propagation path coincides with the axis of the test sample.

[0153] Finally, the laser ranging module is used to scan the sample length L in real time with an accuracy of ±0.1mm. The distance between the transmitting device and the receiving device is automatically adjusted according to the L value to obtain the optimal waveform diagram. The stroke adjustment range covers 50-1000mm.

[0154] This solution achieves precise adjustment of the positions of various components of the acoustic detection equipment through phased traversal scanning: first, with the positions of the transmitting device and the receiving device fixed, the mobile clamp device traverses and scans the test sample within the detection area in a manner of first large steps and then small steps, combined with angle fine-tuning, and uses a high-sensitivity piezoelectric sensor to collect acoustic wave signals. The effective waveform features are extracted through wavelet transform and threshold filtering, and the candidate areas are screened and the initial optimal position is determined based on the waveform signal-to-noise ratio being higher than the set threshold. Then, the position of the transmitting device and the test sample, and the distance between the transmitting and receiving devices are kept unchanged, and the mobile drive device drives the receiving device to traverse and scan, and the intermediate optimal position is determined based on the waveform characteristics to ensure that the sound wave propagation path coincides with the sample axis. Finally, the sample length is obtained with the help of a laser ranging module with an accuracy of ±0.1mm, and the distance between the transmitting device and the receiving device is automatically traversed and adjusted (stroke 50-1000mm) to obtain the optimal waveform diagram, which significantly improves the accuracy and efficiency of detection.

[0155] Based on the above embodiment, D1-D5 are also included:

[0156] It should be noted that some acoustic wave detection of test samples is performed in liquid. That is, the transmitter, test sample, and receiver within the corresponding detection area are all in liquid. In this case, interfering objects attached to the test sample surface can interfere with the propagation of acoustic waves. Interfering objects are interfering substances attached to the surface or interface of the test sample, such as bubbles and water droplets.

[0157] Therefore, it is necessary to process the interferences attached to the test sample. In this embodiment, the distribution of interferences attached to multiple surfaces of the test sample is obtained through multiple surface acquisition images, and then the number and area of ​​interferences attached to each surface are quantified to obtain the interference coefficient. The priority of removing interferences attached to each surface is realized according to the size of the interference coefficient.

[0158] D1, obtaining a plurality of surface acquisition images of the test sample, and identifying attached interference objects in each of the surface acquisition images.

[0159] It can be understood that multiple surface acquisition images of the test sample are obtained by the image acquisition device. The surface acquisition images are images of each surface of the test sample, and the attached interference objects on each surface of the test sample are identified through the surface acquisition images.

[0160] D2, connect the center point of the transmitting device with the center point of the receiving device to obtain the acoustic wave connection line, take the surface of the test sample perpendicular to the acoustic wave connection line as the vertical plane, determine the surface acquisition map corresponding to the vertical plane as the forward influence map, and use the remaining surface acquisition maps as the lateral influence maps.

[0161] It can be understood that the center point of the transmitting device is connected to the center point of the receiving device to obtain a sound wave connecting line, and the surface of the test sample perpendicular to the sound wave connecting line is taken as a vertical surface. Figure 2 The vertical surface refers to the left and right end surfaces of the test sample opposite the transmitter and receiver, respectively. The surface acquisition images corresponding to these vertical surfaces are determined as the forward influence images. That is, the surface acquisition images corresponding to the left and right end surfaces are used as the forward image images, and the remaining surface acquisition images are used as the lateral influence images.

[0162] D3, obtaining the interference quantity and interference area of ​​the interference objects attached in each of the surface acquisition images, obtaining a quantity coefficient based on the ratio of the interference quantity to the reference quantity, and obtaining an area coefficient based on the ratio of the interference area to the reference area.

[0163] It is understood that the interference quantity and interference area of ​​the attached interference objects in each surface collection image are obtained. The interference quantity refers to the total number of attached interference objects in each surface collection image, and the interference area refers to the total area of ​​the attached interference objects in each surface collection image. Based on the ratio of the interference quantity to the reference quantity, a quantity coefficient is obtained, and based on the ratio of the interference area to the reference area, an area coefficient is obtained.

[0164] The reference quantity is a preset reference threshold for measuring the number of interferences attached to the surface of the test sample, and the reference area is a preset reference threshold for measuring the coverage area of ​​interferences attached to the surface of the test sample.

[0165] D4, obtaining the interference coefficient of each surface acquisition map according to the sum of the quantity coefficient and the area coefficient, and sorting the forward influence maps in descending order based on the interference coefficient to obtain a first sequence.

[0166] It can be understood that, for the quantity coefficient and area coefficient corresponding to each surface acquisition map obtained in step D3, the sum of the quantity coefficient and the area coefficient is used as the interference coefficient of each surface acquisition map. In this embodiment, the interference coefficient is used to quantify the degree of influence of the interference attached to the surface of the test sample on the test result, and then the positive influence map is sorted in descending order according to the interference coefficient to obtain the first sequence.

[0167] D5, sorting the lateral influence diagram in descending order according to the interference coefficient to obtain a second sequence, adding the second sequence to the end of the first sequence to obtain a processing sequence, and controlling the spray elimination device to process the attached interference object based on the processing sequence.

[0168] It is understood that the lateral influence maps are sorted in descending order according to the interference coefficient to obtain a second sequence, which is then appended to the end of the first sequence to obtain a processing sequence. Specifically, the processing sequence is a priority sequence formed by integrating and arranging the processing order of each surface acquisition map. It combines the first sequence (forward influence map sorting) and the second sequence (lateral influence map sorting). Based on the processing sequence, the spray device is controlled to process attached interference objects.

[0169] Among them, the elimination injection device is an actuator used to directionally remove interferences attached to the surface of the test sample. It can be controlled by a micro pump or solenoid valve to generate a small directional gas source or water flow.

[0170] It should be noted that when acoustic detection is performed in the prior art, the attachments on the sample surface are selectively eliminated. When eliminating, water flow or air source is generally sprayed randomly, and the spray direction and spray power of the spray device are not limited. For example, the entire sample surface is treated with the same spray direction, duration and power, ignoring the differences in the number, area and distribution of interferers. For example, for a small amount of scattered tiny interferers, high-power long-term spraying is also used, resulting in a waste of energy and cleaning agents. For large areas with dense interferers, fixed patterns are difficult to completely remove, resulting in residual interferers affecting the acoustic detection results.

[0171] Therefore, the present invention obtains the elimination direction of the elimination spray device by identifying the attached interferers on the surface of the test sample and simultaneously calculating key indicators such as the starting point area and the stacking coefficient. Ultimately, the surface elimination coefficient is obtained and sorted in ascending order to form a scientific surface elimination sequence. This process determines a reasonable removal order, giving priority to areas of interferers that are difficult to remove and have a significant impact on the test results (such as the end faces of the test sample opposite the transmitter and receiver), significantly improving the targetedness and effectiveness of the removal operation. In addition, the elimination spray device can also automatically adjust its power according to the number and area of ​​attached interferers, allowing the elimination spray device to automatically adjust its operating parameters according to the number and area of ​​interferers, increasing power for large-scale interferers to ensure thorough removal, and reducing power for small-scale interferers to avoid energy waste.

[0172] Based on the above embodiment, it also includes E1-E4:

[0173] E1, obtaining the elimination direction of the spray elimination device in each of the surface acquisition images, obtaining the first attached interference object located in the elimination direction in the surface acquisition image as the starting interference object, and obtaining the center point of the starting interference object as the elimination point.

[0174] It should be noted that there is more than one column of attached interference objects in the surface acquisition map. By obtaining the elimination direction of the elimination spray device and combining it with the surface acquisition map, the first attached interference object in each column of attached interference objects is locked as the starting interference object, and the center point of the starting interference object is obtained as the elimination point.

[0175] E2, taking the elimination point as a starting point and based on the elimination direction, sequentially determining a plurality of attached interferers as stacked interferers, and sequentially counting the number of stacked interferers corresponding to the stacked interferers of each starting interferer.

[0176] It can be understood that the stacked interferers refer to a set of multiple attached interferers arranged in sequence along the elimination direction starting from the elimination point, and the number of stacked interferers corresponding to each starting interferer is counted.

[0177] The number of stacked interferences refers to the total number of stacked interferences corresponding to each starting interference.

[0178] E3, based on the ratio of the starting point area of ​​the starting point interferer to the attachment base area, the starting point coefficient is obtained, and the stacking coefficient is obtained according to the ratio of the number of stacking interferers to the number of stacking bases.

[0179] It can be understood that the starting point area refers to the area of ​​the starting point interferer, the attachment base area is a pre-set basic value for measuring the area of ​​the attached interferer on the surface of the test sample, and the starting point coefficient refers to the ratio of the starting point area of ​​the starting point interferer to the attachment base area. The larger the starting point coefficient, the larger the starting point area, which reflects the size of each starting point interferer.

[0180] The stacking base number is a pre-set basic value used to measure the density of stacked interference objects. The stacking coefficient refers to the ratio of the stacking interference number to the stacking base number. The larger the stacking coefficient, the larger the stacking interference number, which reflects the size of the stacking interference number corresponding to each starting point interference object.

[0181] E4. Obtain a surface elimination coefficient according to the sum of the starting point coefficient and the stacking coefficient, and sort the starting point interferers in ascending order based on the surface elimination coefficient to obtain a surface elimination sequence.

[0182] It can be understood that the surface elimination coefficient is the sum of the starting point coefficient and the stacking coefficient. The larger the surface elimination coefficient corresponding to the starting point interferer, the more difficult it is to remove the starting point interferer and its stacking interferers, and the higher the priority of elimination. Therefore, the starting point interferers are sorted in ascending order based on the surface elimination coefficient to obtain the surface elimination sequence, which is the priority sequence of the elimination work. The larger the surface elimination coefficient, the closer the starting point interferer is to the front, and the higher the priority of elimination.

[0183] Based on the above embodiment, it also includes F1-F3:

[0184] F1, count the total number and total area corresponding to each starting interferer and stacked interferer, obtain the first elimination coefficient based on the ratio of the total number to the elimination basic number, and obtain the second elimination coefficient based on the ratio of the total area to the elimination basic area.

[0185] It can be understood that the total number refers to the sum of the number of each starting point interferer and its corresponding stacked interferer, and the total area refers to the sum of the area of ​​each starting point interferer and its corresponding stacked interferer. The first elimination coefficient is obtained based on the ratio of the total number and the elimination basic number, and the second elimination coefficient is obtained based on the ratio of the total area and the elimination basic area.

[0186] The elimination base quantity is a preset reference quantity value, and the elimination base area is a preset reference area value.

[0187] F2, obtaining a first adjustment value based on the product of the first elimination coefficient and the first weight, and obtaining a second adjustment value based on the product of the second elimination coefficient and the second weight.

[0188] It should be noted that the first weight and the second weight are both pre-set weight values ​​based on actual detection scenarios.

[0189] F3: Obtain an elimination adjustment value based on the sum of the first adjustment value and the second adjustment value, and obtain an elimination power by multiplying the elimination adjustment value by a preset power.

[0190] It can be understood that the elimination adjustment value is the sum of the first adjustment value and the second adjustment value, and the elimination power is obtained by multiplying the elimination adjustment value and the preset power.

[0191] Among them, the preset power is a pre-set power value, and the elimination power is the actual removal power of the elimination spray device that ultimately acts on each column of attached interference objects, thereby realizing automatic power adjustment of the elimination spray device based on attached interference objects.

[0192] See also Figure 3 , is a schematic structural diagram of a position adjustment system for an acoustic detection device provided in an embodiment of the present invention, wherein the position adjustment system for an acoustic detection device comprises:

[0193] a determination module, constructing a detection model of the detection sample, determining a clamping area of ​​the detection sample based on shape information of the detection model, and controlling a clamping device to move to the clamping area to clamp the detection sample within the detection area;

[0194] a height adjustment module, controlling the front view acquisition device to acquire the front view acquisition image of the detection area, adjusting the height position of the clamp device or the receiving device based on each front view acquisition image, and generating front view completion information;

[0195] The horizontal adjustment module responds to the front view completion information, collects the top view collection image of the detection area based on the top view collection device, adjusts the horizontal position of the clamp device and / or the receiving device based on the top view collection image, and responds to the adjustment completion information to perform acoustic detection on the detection sample.

[0196] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the position of an acoustic detection device, characterized in that: include: Constructing a detection model of the detection sample, determining a clamping area of ​​the detection sample based on shape information of the detection model, and controlling a clamping device to move to the clamping area to clamp the detection sample within the detection area; When the shape information is a first form of a cylinder, the detection model is used as an indirect positioning model, a combined positioning point is determined based on the indirect positioning model and the wrapping fitting model, and a clamping area of ​​the detection sample is determined based on the functional area in the fixture device and the combined positioning point; When the shape information is a first form of a cylinder, the detection model is used as an indirect positioning model, the indirect positioning model is coordinate-processed, and the horizontal length, the longitudinal length, and the vertical length are determined based on the extreme values ​​of the indirect positioning model on each coordinate axis; Obtaining a gap value based on a difference between a maximum value and a minimum value among the horizontal length, the longitudinal length, and the vertical length; When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the cuboid fitting model; When it is determined that the difference value is less than or equal to a preset value, a sphere fitting model is constructed based on the center point and the longest radius of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the sphere fitting model; Based on the functional area in the fixture device and the combined positioning points, the clamping area of ​​the test sample is determined, and the package fitting model includes a cuboid fitting model and a sphere fitting model; Controlling the front view acquisition device to acquire the front view acquisition image of the detection area, adjusting the height position of the clamp device or the receiving device based on each of the front view acquisition images, and generating front view completion information; In response to the front view completion information, a top view collection image of the detection area is collected based on the top view collection device, and the horizontal position of the clamp device and / or the receiving device is adjusted based on the top view collection image. In response to the adjustment completion information, acoustic detection is performed on the detection sample.

2. The method according to claim 1, characterized in that When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the cuboid fitting model, including: When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model; Obtaining the intersection of the model surface of the indirect positioning model and the model surface of the cuboid fitting model to obtain a selected area, and obtaining a first positioning straight line for each selected area based on a line connecting the area center point of each selected area and the model center point of the cuboid fitting model; An intersection point between the first positioning straight line and the model surface of the indirect positioning model is obtained as a combined positioning point.

3. The method according to claim 1, characterized in that When it is determined that the gap value is less than or equal to a preset value, a sphere fitting model is constructed based on the center point and the longest radius of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the sphere fitting model, including: When it is determined that the difference value is less than or equal to the preset value, obtaining a model surface of the indirect positioning model as an indirect surface, and a model center point of the indirect positioning model as an indirect midpoint; Obtaining the connection distance between the surface point and the indirect midpoint on the indirect surface, selecting the largest connection distance as the longest radius, and constructing a sphere fitting model based on the model center point and the longest radius of the indirect positioning model; Obtaining the intersection of the model surface of the indirect positioning model and the model surface of the sphere fitting model to obtain a selected area; Obtaining a second positioning straight line for each selected area based on a line connecting the area center point of each selected area and the model center point of the sphere fitting model; An intersection point between the second positioning straight line and the model surface of the indirect positioning model is obtained as a combined positioning point.

4. The method according to claim 2 or 3, characterized in that The determining of the clamping area of ​​the test sample based on the functional area in the clamp device and the combined positioning point includes: The intersection point of the combined positioning points in the selected area is used as the first positioning point, and the remaining intersection points are used as the second positioning points; Extracting the center point of the functional area corresponding to the clamp device as the functional midpoint, aligning the functional midpoint with the first positioning point, obtaining the intersection of the functional area and the selected area, and obtaining the first clamping area; Acquiring a morphological feature of the second positioning point, wherein the morphological feature includes a convex shape and a concave shape; When it is determined that the morphological feature is a convex morphology, the functional midpoint is aligned with the second positioning point to obtain the intersection of the functional area and the model surface of the indirect positioning model to obtain the second clamping area; When the morphological feature is determined to be a concave morphology, the direction along the positioning line from the second positioning point to the first positioning point is used as the constrained direction, and the positioning line is divided into two rays based on the second positioning point, the ray where the first positioning point is located is determined to be the non-constrained ray, and the remaining rays are used as constrained rays; Setting the function midpoint at a preset distance along the constraint ray starting from the second positioning point, and moving the function midpoint based on the constraint direction until the function area and the model surface of the indirect positioning model have an intersection area, and using the corresponding intersection area as the second clamping area; Obtaining a combined clamping area corresponding to a combined positioning point according to the first clamping area and the corresponding second clamping area; The clamping distance between the combined clamping areas is obtained, and the combined clamping area corresponding to the maximum clamping distance is selected as the clamping area for the test sample.

5. The method according to claim 1, wherein The step of adjusting the height position of the fixture device or the receiving device based on each of the elevation acquisition images to generate elevation completion information includes: Obtaining a front view acquisition image corresponding to the launch device and the fixture device as a fixture adjustment image, using a center point of the launch device in the fixture adjustment image as a first reference point, and obtaining a first reference height of the first reference point; Determine the center point of the test sample in the fixture adjustment diagram as a first adjustment point, control the fixture device to move the first adjustment point to the first reference height, and generate first completion information; In response to the first completion information, obtaining a front view acquisition image corresponding to the receiving device and the clamping device as a receiving adjustment image, using a center point of the clamping device in the receiving adjustment image as a second reference point, and obtaining a second reference height of the second reference point; The center point of the receiving device in the receiving adjustment diagram is determined as the second adjustment point, and the driving device is controlled to move the second adjustment point to the second reference height to generate the normal view completion information.

6. The method according to claim 1, characterized in that The horizontal position adjustment of the clamp device and / or the receiving device based on the top view acquisition image includes: The center point of the transmitting device in the top view acquisition image is obtained as a horizontal reference point, and the clamp device and / or the receiving device is moved to the horizontal reference point.

7. The method according to claim 1, characterized in that Also includes: Acquire multiple surface acquisition images of the test sample, and identify attached interference objects in each of the surface acquisition images; Connect the center point of the transmitting device and the center point of the receiving device to obtain an acoustic wave connection line, and use the surface of the test sample perpendicular to the acoustic wave connection line as a vertical plane, determine the surface acquisition map corresponding to the vertical plane as a forward influence map, and use the remaining surface acquisition maps as lateral influence maps; Obtaining the number and area of ​​interference of the interference objects attached in each of the surface acquisition images, obtaining a quantity coefficient based on a ratio of the number of interference objects to a reference number, and obtaining an area coefficient based on a ratio of the interference area to a reference area; Obtaining an interference coefficient of each surface acquisition diagram according to the sum of the quantity coefficient and the area coefficient, and sorting the forward influence diagrams in descending order based on the interference coefficients to obtain a first sequence; The lateral influence diagram is sorted in descending order according to the interference coefficient to obtain a second sequence, the second sequence is added to the back of the first sequence to obtain a processing sequence, and the spray elimination device is controlled based on the processing sequence to process the attached interference object.

8. A position adjustment system for acoustic detection equipment, characterized in that: include: a determination module, constructing a detection model of the detection sample, determining a clamping area of ​​the detection sample based on shape information of the detection model, and controlling a clamping device to move to the clamping area to clamp the detection sample within the detection area; When the shape information is a first form of a cylinder, the detection model is used as an indirect positioning model, a combined positioning point is determined based on the indirect positioning model and the wrapping fitting model, and a clamping area of ​​the detection sample is determined based on the functional area in the fixture device and the combined positioning point; When the shape information is a first form of a cylinder, the detection model is used as an indirect positioning model, the indirect positioning model is coordinate-processed, and the horizontal length, the longitudinal length, and the vertical length are determined based on the extreme values ​​of the indirect positioning model on each coordinate axis; Obtaining a gap value based on a difference between a maximum value and a minimum value among the horizontal length, the longitudinal length, and the vertical length; When it is determined that the gap value is greater than a preset value, a cuboid fitting model is constructed based on the coordinate extreme values ​​of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the cuboid fitting model; When it is determined that the difference value is less than or equal to a preset value, a sphere fitting model is constructed based on the center point and the longest radius of the indirect positioning model, and a combined positioning point is determined according to the indirect positioning model and the sphere fitting model; Based on the functional area in the fixture device and the combined positioning points, the clamping area of ​​the test sample is determined, and the package fitting model includes a cuboid fitting model and a sphere fitting model; a height adjustment module, controlling the front view acquisition device to acquire the front view acquisition image of the detection area, adjusting the height position of the clamp device or the receiving device based on each of the front view acquisition images, and generating front view completion information; The horizontal adjustment module responds to the front view completion information, collects the overhead collection image of the detection area based on the overhead collection device, adjusts the horizontal position of the clamp device and / or the receiving device based on the overhead collection image, and responds to the adjustment completion information to perform acoustic detection on the detection sample.

Images