Surface topography detection method and device
The surface morphology information is obtained through ultrasonic echo signal, and the problems of material and color influence in the prior art are solved, and high-precision surface morphology detection is achieved.
Patent Information
- Application Number
- CN202510640711.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-19
- Publication Date
- 2025-07-22
AI Technical Summary
Existing object surface morphology detection technology is susceptible to the material and color of the target object, resulting in inaccurate detection results.
Ultrasonic echo signal is used for detection, and by obtaining the echo peak signal characteristics, the surface morphology information of the target object, including the number, distance and type of reflection surfaces, and the ultrasonic propagation speed is calibrated using temperature and humidity sensors.
It realizes stable detection without being affected by object material and color, and improves the accuracy and accuracy of object surface morphology detection.
Smart Images
Figure CN120351874A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of topography detection, and in particular, to a surface topography detection method and device. Background Art
[0002] In modern industrial production, the precise detection of the surface topography of an object is crucial. The topography information of the object surface is not only an important indicator for judging whether the product is qualified, but also widely used in the control and feedback links of automated equipment, which is of great significance for improving product quality and optimizing the production process.
[0003] Currently, in the prior art, devices such as optical probes and cameras are often used, combined with complex algorithms, to scan the object surface to generate a three-dimensional map, and then obtain the topography information of the object surface. However, in such detection schemes, the detection results are easily affected by the material and color of the target object. Different materials have different reflection and absorption characteristics of light, and color differences will also interfere with the acquisition of optical signals. Therefore, the existing object surface topography detection technology has certain limitations in practical applications. Summary of the Invention
[0004] In view of the above deficiencies in the prior art, this application provides a surface topography detection method and device to solve the problems existing in the prior art.
[0005] The technical solutions adopted in the embodiments of this application are as follows: In a first aspect, an embodiment of this application provides a surface topography detection method, which is applied to a processing module in a surface topography detection device. The method includes: Obtain an ultrasonic echo signal reflected by a target object received by an ultrasonic component in the surface topography detection device; the ultrasonic echo signal is an echo signal after the ultrasonic signal emitted by the ultrasonic component is reflected by the surface of the target object; Obtain echo peak signal characteristics according to the ultrasonic echo signal; Determine the surface topography information of the target object according to the echo peak signal characteristics.
[0006] In one embodiment, the obtaining echo peak signal characteristics according to the ultrasonic echo signal includes: Perform preprocessing on the ultrasonic signal to obtain the ultrasonic signal within the effective signal interval; Perform peak detection on the ultrasonic echo signal within the effective signal interval to obtain the number of peak signals in the ultrasonic echo signal and the arrival time of each peak signal; Determine the propagation time of each peak signal according to the emission time of the ultrasonic signal and the arrival time of each peak signal; Determine the time difference between every two peak signals according to the propagation time of each peak signal; the characteristics of the echo peak signals include: the number of peak signals, the propagation time of each peak signal, and the time difference between every two peak signals.
[0007] In one embodiment, the determining the surface topography information of the target object according to the characteristics of the echo peak signals includes: Determine the number of reflecting surfaces on the surface of the target object according to the number of peak signals; Determine the distances between the detection surface of the surface topography detection device and each reflecting surface according to the propagation time of each peak signal and a preset ultrasonic propagation speed; Determine the distance difference between every two reflecting surfaces in the preset ultrasonic propagation direction among each reflecting surface according to the time difference between every two peak signals and the preset ultrasonic propagation speed; the surface topography information includes: the number of reflecting surfaces, the distances between the detection surface and each reflecting surface, and the distance difference between every two reflecting surfaces in the preset ultrasonic propagation direction.
[0008] In one embodiment, the determining the surface topography information of the target object according to the characteristics of the echo peak signals further includes: Determine a reference reflecting surface among each reflecting surface and a reference peak signal corresponding to the reference reflecting surface according to the distances between the detection surface and each reflecting surface; Determine the types of other reflecting surfaces among each reflecting surface according to the propagation time of each peak signal and the propagation time of the reference peak signal, and the surface topography information further includes: the types of other reflecting surfaces.
[0009] In one embodiment, the method further includes: Obtain the environmental temperature and / or environmental humidity parameters where the surface topography detection device is located; Calibrate the preset ultrasonic propagation speed according to the environmental temperature and / or environmental humidity parameters.
[0010] In a second aspect, an embodiment of the present application further provides a surface topography detection device, including: an ultrasonic component, a control module, and a processing module; The control module is connected to the ultrasonic component and is configured to control the ultrasonic component to emit an ultrasonic signal to a target object, so that the ultrasonic component receives an ultrasonic echo signal reflected by the surface of the target object; The processing module is connected to the ultrasonic component and is configured to obtain the ultrasonic echo signal and execute the surface topography detection method described in any of the above embodiments according to the ultrasonic echo signal.
[0011] In one embodiment, the ultrasonic component includes: an ultrasonic sensor configured to transmit ultrasonic signals and receive ultrasonic echo signals.
[0012] In one embodiment, the ultrasonic component includes: a plurality of ultrasonic sensors, wherein at least one ultrasonic sensor is configured to transmit ultrasonic signals, and at least one other ultrasonic sensor is configured to receive ultrasonic echo signals.
[0013] In one embodiment, the ultrasonic component is configured to: adjust the ultrasonic transmission sound field angle and / or the ultrasonic reception sound field angle to adjust the size of the area to be detected on the surface of the target object.
[0014] In one embodiment, the surface topography detection device further includes: a temperature sensor and / or a humidity sensor; The temperature sensor is configured to collect the ambient temperature of the surface topography detection device, and the humidity sensor is configured to collect the ambient humidity of the surface topography detection device; the temperature sensor and / or the humidity sensor are connected to the processing module so that the processing module calibrates a preset ultrasonic propagation speed based on the ambient temperature and / or the ambient humidity.
[0015] The beneficial effect of this application is: A surface topography detection method is provided. The surface topography information of the target object is obtained based on the ultrasonic echo signal, which is not affected by the reflection and absorption characteristics of light and the color of the object material, can propagate stably and bring back information about the object structure, and improves the accuracy of the object surface topography detection. Description of the Drawings
[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.
[0017] Figure 1 It is a schematic structural diagram of the surface topography detection device provided by the embodiment of this application; Figure 2 It is one of the working schematic diagrams of the ultrasonic component provided by the embodiment of this application; Figures 3(a) and 3(b) are schematic diagrams of the sound field angles of the ultrasonic component provided by this application; Figure 4 It is one of the flow schematic diagrams of the surface topography detection method provided by the embodiment of this application; Figure 5The second flowchart of the surface topography detection method provided by the embodiment of the present application; Figure 6 The second working schematic diagram of the ultrasonic component provided by the present application; Figure 7 For Figure 6 The schematic diagram of the ultrasonic signal received by the ultrasonic component shown in Figure 8 The third flowchart of the surface topography detection method provided by the embodiment of the present application; Figure 9 The fourth flowchart of the surface topography detection method provided by the embodiment of the present application; Figure 10 The third working schematic diagram of the ultrasonic component provided by the present application; Figure 11 For Figure 10 The schematic diagram of the ultrasonic signal received by the ultrasonic component shown in Figure 12 The first flowchart of the surface topography detection method provided by the embodiment of the present application; Figure 13 The third working schematic diagram of the ultrasonic component provided by the present application; Figures 14(a) and 14(b) are schematic diagrams of the surface topography of the target object; Figure 15 The fourth working schematic diagram of the ultrasonic component provided by the present application; Figure 16 For Figure 15 The schematic diagram of the ultrasonic signal received by the ultrasonic component shown in Detailed implementation manners
[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application.
[0019] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.
[0020] In the description of the present application, it should be noted that if terms such as "upper", "lower", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the products of this application are usually placed during use, it is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.
[0021] In addition, terms such as "first", "second", etc. in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.
[0022] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "set" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a direct connection or an indirect connection through an intermediate medium, and can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0023] It should be noted that, without conflict, the features in the embodiments of the present application can be combined with each other.
[0024] The following will first give a specific example description of the surface topography detection device provided by the present application in conjunction with the drawings. Figure 1 It is a schematic structural diagram of the surface topography detection device provided by the embodiment of the present application. As Figure 1 shown, the device includes an ultrasonic component, a control module, and a processing module. These three parts cooperate with each other to jointly complete the detection task of the surface topography of the target object.
[0025] Among them, the control module is connected to the ultrasonic component, and its main function is to precisely control the ultrasonic component. Specifically, the control module issues instructions to make the ultrasonic component emit specific ultrasonic signals to the target object according to predetermined rules and parameters, providing a starting signal for subsequent detection work.
[0026] The ultrasonic component includes an ultrasonic sensor. Figure 2One of the working schematic diagrams of the ultrasonic component provided by the embodiment of the present application is as follows Figure 2 As shown, under the instruction of the control module, the ultrasonic sensor emits ultrasonic signals towards the target object. When the ultrasonic signals encounter the surface of the target object, a reflection phenomenon will occur, and the ultrasonic sensor will receive the ultrasonic echo signals reflected by the surface of the target object.
[0027] The processing module is also connected to the ultrasonic component. Its main function is to obtain the ultrasonic echo signals received by the ultrasonic component. Then, the processing module will execute the corresponding surface topography detection method based on the ultrasonic echo signals to obtain the surface topography information of the target object.
[0028] In summary, the surface topography detection device provided by the present application obtains the surface topography information of the target object based on the ultrasonic echo signals. Different from the optical method, ultrasonic waves do not rely on the reflection and absorption of light. Therefore, it is not affected by the reflection and absorption characteristics of light and the color of the object material. Whether it is a dark or light object, an object of different materials such as metal, plastic or ceramic, ultrasonic waves can propagate relatively stably and bring back information about the object structure, improving the accuracy of object surface topography detection.
[0029] In one embodiment, the ultrasonic component may include an ultrasonic sensor, which is used for both emitting ultrasonic signals and receiving ultrasonic echo signals. Only setting one ultrasonic sensor is beneficial to reducing the complexity of the ultrasonic component, making the detection device smaller in size and lighter in weight, and facilitating installation and integration into various different application scenarios, such as portable detection devices, etc. Moreover, when a single sensor emits and receives ultrasonic waves, its working characteristics are relatively stable, avoiding the possible performance differences and inconsistencies caused by using two different sensors (a sensor for emitting ultrasonic signals and a sensor for receiving ultrasonic signals). This helps to improve the accuracy and reliability of measurement. For example, in a distance measurement application, it can more accurately calculate the round-trip time of ultrasonic waves, thereby obtaining a more accurate distance value.
[0030] In another embodiment, the ultrasonic component may include multiple ultrasonic sensors. Among them, at least one ultrasonic sensor is used for emitting ultrasonic signals, and at least one other ultrasonic sensor is used for receiving ultrasonic echo signals. That is, the ultrasonic sensors for emitting ultrasonic signals and receiving ultrasonic signals are not the same, and the number of ultrasonic sensors for emitting ultrasonic signals and receiving ultrasonic signals is not limited.
[0031] This method is different from the method where a single sensor both transmits and receives. Multiple transmitting sensors can enhance the signal coverage range, and multiple receiving sensors can improve the ability to collect and process echo signals, thus playing a role in applications with relatively high requirements for the working scenario range. For example, in industrial inspections of some large scenarios, multiple ultrasonic sensors cooperate with each other to more accurately detect information such as the shape and position of an object.
[0032] In one embodiment, the ultrasonic component is configured to be able to adjust the ultrasonic transmitting sound field angle and / or the ultrasonic receiving sound field angle to adjust the size of the area to be detected on the surface of the target object. For example, in FIGS. 3(a) and 3(b), different sound field angles θ1 and θ2 result in different sizes of the detection area for the target object.
[0033] Among them, the method of adjusting the ultrasonic transmitting sound field angle and / or the ultrasonic receiving sound field angle, for example, can be to install the sensor at a certain angle relative to the surface of the object to be measured, which can change the transmitting and receiving directions of the ultrasonic signal, thereby adjusting the coverage range of the sound field angle to a certain extent. Or, place a reflector or refractor near the sensor, and change the propagation direction of the ultrasonic signal by reflecting or refracting the ultrasonic signal, and then adjust the sound field angle.
[0034] By adjusting the sound field angle, the detection accuracy can be improved. For example, for some target objects with complex shapes and small sizes, by reducing the detection area, it is possible to focus more on specific parts, reduce interference from the surrounding environment, and thus more accurately detect minute defects or features; it can also adapt to different detection requirements and flexibly meet various detection requirements; it can optimize the detection efficiency. When a large area needs to be detected, increasing the ultrasonic transmitting sound field angle and / or the receiving sound field angle can cover a larger range, reducing the detection time and cost.
[0035] In one embodiment, the surface topography detection device may further include a temperature sensor and / or a humidity sensor. Among them, the temperature sensor is used to collect the ambient temperature where the surface topography detection device is located, and the humidity sensor is used to collect the ambient humidity where the surface topography detection device is located. The temperature sensor and / or the humidity sensor are connected to the processing module so that the processing module calibrates the preset ultrasonic propagation speed based on the ambient temperature and / or the ambient humidity.
[0036] This application also provides a surface topography detection method, which is applied to the processing module in the surface topography detection device. The following will specifically illustrate the method provided by this application through multiple examples in conjunction with the accompanying drawings.
[0037] Figure 4 It is one of the schematic flowcharts of the surface topography detection method provided by the embodiments of this application. As Figure 4 shown, the method includes: S101. Obtain the ultrasonic echo signal reflected by the target object received by the ultrasonic component in the surface topography detection device.
[0038] The ultrasonic component in the surface topography detection device emits ultrasonic waves towards the target object. When the ultrasonic waves encounter the target object, they will be reflected to form an ultrasonic echo signal. That is, the ultrasonic echo signal is the echo signal after the ultrasonic signal emitted by the ultrasonic component is reflected by the surface of the target object.
[0039] Then, the ultrasonic component receives the ultrasonic echo signal reflected from the target object. The ultrasonic echo signal contains various information about the surface characteristics of the target object and the ultrasonic propagation process.
[0040] S102. Obtain the echo peak signal characteristics according to the ultrasonic echo signal.
[0041] The received ultrasonic echo signal is an electrical signal that changes with time. The echo peak signal characteristics refer to some characteristics related to the peak extracted from this electrical signal. These characteristic parameters can reflect the information when the ultrasonic signal is reflected on the surface of the target object, and these information are related to the surface topography of the target object to a certain extent.
[0042] S103. Determine the surface topography information of the target object according to the echo peak signal characteristics.
[0043] Finally, according to the extracted echo peak signal characteristics, the surface topography information of the target object can be determined.
[0044] In summary, the method of this embodiment provides a surface topography detection method. By obtaining the surface topography information of the target object based on the ultrasonic echo signal, it is not affected by the light reflection and absorption characteristics and color of the object material, can stably propagate and bring back information about the object structure, and improves the accuracy of object surface topography detection.
[0045] As Figure 5 shown, S102 obtaining the echo peak signal characteristics according to the ultrasonic echo signal may include: S201. Preprocess the ultrasonic signal to obtain the ultrasonic signal within the effective signal interval.
[0046] In the actual detection process, in addition to the ultrasonic signal within the effective interval, there will also be some other unnecessary signals, namely interference signals and noise. The interference signals and noise will have a negative impact on the analysis of the ultrasonic signal within the effective interval. For example, they will cover up the characteristics of the effective signal, making the signal analysis difficult, thus reducing the accuracy of surface topography detection.
[0047] Therefore, in order to improve the accuracy of surface topography detection, interference signals, noises, etc. outside the ultrasonic signals within the effective interval can also be preprocessed. For example, filtering techniques can be used. By designing appropriate filters, frequency components outside the effective interval can be filtered out, or signal enhancement techniques can be used to enhance the ultrasonic signals within the effective interval and relatively reduce the influence of interference signals and noises. Through these preprocessing measures, the ultrasonic signals within the effective interval can be made clearer and the features more obvious, thereby improving the accuracy of surface topography detection.
[0048] S202. Perform peak detection on the ultrasonic echo signals within the effective signal interval to obtain the number of peak signals in the ultrasonic echo signals and the arrival time of each peak signal.
[0049] After obtaining the ultrasonic signals within the effective signal interval, performing peak detection on the ultrasonic echo signals within the effective signal interval can obtain the characteristics of the echo peak signals. Among them, the characteristics of the echo peak signals can include, for example, the number i (i = 1, 2, 3,...; i represents the identifier of the peak signal) of peak signals and the arrival time of each peak signal. Among them, the arrival time of each peak refers to the time when the echo signal corresponding to each peak reaches the ultrasonic component.
[0050] S203. Determine the propagation time of each peak signal according to the transmission time of the ultrasonic signal and the arrival time of each peak signal.
[0051] The transmission time of the ultrasonic signal refers to the time when the ultrasonic component transmits the ultrasonic signal. Subtracting the transmission time of the ultrasonic signal from the arrival time of each peak can obtain the propagation time of each peak signal, denoted as t i (i = 1, 2, 3,...; i represents the identifier of the peak signal).
[0052] S204. Determine the time difference between every two peak signals according to the propagation time of each peak signal.
[0053] The time difference between every two peak signals can also be determined according to the propagation time of each peak signal, denoted as Δt ij (i = 1, 2, 3,...; j = 1, 2, 3,...; i ≠ j).
[0054] In summary, the characteristics of the echo peak signals include: the number of peak signals, the propagation time of each peak signal, and the time difference between every two peak signals. Optionally, the characteristics of the echo peak signals can also include the amplitude of the peak, the width of the peak, etc. By analyzing and processing the signals, such as filtering, amplifying, digitizing, etc., these peaks can be accurately found and their characteristic parameters can be extracted.
[0055] Take Figure 6 and Figure 7For example, Figure 6 This is the second working schematic diagram of the ultrasonic component provided by this application, Figure 7 It is Figure 6 A schematic diagram of the ultrasonic signal received by the ultrasonic component shown in, such as Figure 6 and Figure 7 shown, Figure 6 There are 4 ultrasonic peak signals in the effective signal interval corresponding to the target object in. According to the rule that the closer to the ultrasonic component, the earlier the ultrasonic peak signal is in time sequence, Figure 7 The peak signal 1, peak signal 2, peak signal 3, and peak signal 4 shown in correspond to Figure 6 The reflecting surface 1, reflecting surface 2, reflecting surface 3, and reflecting surface 4 in respectively.
[0056] Therefore, the characteristics of the echo peak signal can be obtained, including: (1) 4 echo peak signals; (2) The propagation times of the 4 peak signals are t1, t2, t3, and t4 in sequence; (3) The time difference Δt of each peak signal ij (i = 1, 2, 3, ……; j = 1, 2, 3, ……; i ≠ j), that is: Δt 12 = t1 - t2, Δt 13 = t1 - t3, Δt 14 = t1 - t4, Δt 23 = t2 - t3, Δt 24 = t2 - t4, Δt 34 = t3 - t4.
[0057] According to the characteristics of the extracted echo peak signal, the surface topography information of the target object can be determined. For example, if the peak appearance times are different, it may mean that the distances between different positions on the surface of the target object and the detection device are different, so that the contour information of the surface can be drawn. Through comprehensive analysis and processing of the characteristics of multiple echo peak signals, the surface topography of the target object, such as information on surface roughness, flatness, contour shape, etc., can be gradually constructed.
[0058] Specifically, as Figure 8 shown, S103 determining the surface topography information of the target object according to the characteristics of the echo peak signal may include: S301. Determine the number of reflecting surfaces on the surface of the target object according to the number of peak signals.
[0059] When ultrasonic waves are emitted onto a target object, reflections occur at different positions. If there are multiple different reflecting surfaces on the surface of the target object, such as protrusions, depressions, or areas of different materials on the object surface, multiple peaks will appear in the echo signals generated when the ultrasonic waves return to the detection device after reflection at these places. Each peak signal usually corresponds to a specific reflecting surface. By counting the number of peak signals, the number of reflecting surfaces on the surface of the target object can be determined.
[0060] For example, according to Figure 7 4 echo peak signals can be obtained. Then, correspondingly, Figure 6 the surface of the target object shown has 4 reflecting surfaces.
[0061] S302. Determine the distances between the detection surface of the surface topography detection device and each reflecting surface according to the propagation time of each peak signal and the preset ultrasonic wave propagation speed.
[0062] The speed of ultrasonic waves propagating in a medium is known. After the detection device emits ultrasonic waves, the ultrasonic waves start from the detection surface, reach the reflecting surface on the surface of the target object and then reflect back to the detection surface. The time when the peak signal appears is the propagation time experienced by the ultrasonic waves from emission to reception. According to the principle that distance equals speed multiplied by time, since the ultrasonic waves travel a round-trip distance from the detection surface to the reflecting surface and then back to the detection surface, the distance d between the detection surface and each reflecting surface is d = v×t / 2, where v is the preset ultrasonic wave propagation speed and t is the propagation time of the peak signal. Through this formula, the distance between the detection surface and each reflecting surface can be calculated, so as to understand the relative position relationship between different positions on the surface of the target object and the detection device, providing basic data for analyzing the surface topography.
[0063] For example, Figure 6 the distances h1, h2, h3, and h4 between the ultrasonic component position shown and each reflecting surface of the target object are respectively: h1 = v×(t1 / 2); h2 = v×(t2 / 2); h3 = v×(t3 / 2); h4 = v×(t4 / 2).
[0064] where v is the propagation speed of ultrasonic waves in the medium, that is, the preset ultrasonic wave propagation speed.
[0065] S303. Determine the distance difference between every two reflecting surfaces among each reflecting surface in the preset ultrasonic wave propagation direction according to the time difference between every two peak signals and the preset ultrasonic wave propagation speed.
[0066] Similarly, according to the principle that distance equals speed multiplied by time, in the preset ultrasonic propagation direction, the distance difference Δd between these two reflecting surfaces is Δd = v×Δt / 2. Since the ultrasonic wave travels from one reflecting surface to another and then reflects back, it needs to be divided by 2. By calculating the time difference between every two peak signals and combining the preset ultrasonic propagation speed, the distance difference between every two reflecting surfaces in the preset ultrasonic propagation direction among the reflecting surfaces can be obtained. According to the height distance difference Δh between the reflecting surfaces ij it is possible to know the maximum height difference of the flatness of the object surface, that is, the distance difference corresponding to the two peak signals with the largest time difference; information such as the minimum height difference, that is, the distance difference corresponding to the two peak signals with the smallest time difference.
[0067] This distance difference information helps to further accurately describe the undulations and changes on the surface of the target object, so as to more accurately determine the surface topography of the target object.
[0068] For example, Figure 6 the height distance difference Δh between the reflecting surfaces shown ij (i = 1, 2, 3, ……; j = 1, 2, 3, ……; i≠j), that is: Δh 12 = v×Δt 12 / 2, Δh 13 = v×Δt 13 / 2, Δh 14 = v×Δt 14 / 2, Δh 23 = v×Δt 23 / 2, Δh 24 = v×Δt 24 / 2, Δh 34 = v×Δt 34 / 2.
[0069] In summary, the surface topography information includes the number of reflecting surfaces, the detection surface, the distances between the detection surface and the reflecting surfaces, and the distance differences between every two reflecting surfaces in the preset ultrasonic propagation direction.
[0070] In another embodiment, as shown in Figure 9 S103 determining the surface topography information of the target object according to the characteristics of the echo peak signal may further include: S401. Determine the reference reflecting surface among the reflecting surfaces and the reference peak signal corresponding to the reference reflecting surface according to the distances between the detection surface and the reflecting surfaces.
[0071] The reference reflecting surface is the plane reflecting surface of the target object (that is, the reflecting surface 4 in Figure 6 ), taking Figure 10 and Figure 11 as an example, Figure 10This is the third working schematic diagram of the ultrasonic component provided by this application. Figure 11 It is Figure 10 a schematic diagram of the ultrasonic signal received by the ultrasonic component shown in the figure. As Figure 10 and Figure 11 shown, the distance between the detection surface of the topography detection device and the reference reflection surface can be measured in advance. Since the distance between the reference reflection surface and the detection surface of the topography detection device is known, after obtaining the distances between the detection surface of the topography detection device and each reflection surface, the reference peak signal corresponding to the reference reflection surface can be determined.
[0072] S402. Determine the types of other reflection surfaces among the reflection surfaces according to the propagation time of each peak signal and the propagation time of the reference peak signal.
[0073] Then, according to the propagation time of each peak signal and the propagation time of the reference peak signal, the types of other reflection surfaces among the reflection surfaces can be determined. The method for determining the types of other reflection surfaces is that within the effective interval of the ultrasonic signal, if the peak signal of a certain reflection surface is received before the peak signal of the reference reflection surface, then this reflection surface is a protrusion on the target object. The earlier the peak signal of the protrusion reflection surface is received, the higher the corresponding convex reflection surface is, that is, the closer it is to the ultrasonic component; if the peak signal of a certain reflection surface is received after the peak signal of the reference reflection surface, then this reflection surface is a depression on the target object. The later the peak signal of the concave reflection surface is received, the lower the corresponding concave reflection surface is, that is, the farther it is from the ultrasonic component.
[0074] According to Figure 11 it can be known that Figure 10 the target object shown in the figure contains both convex reflection surfaces and concave reflection surfaces. And there are 3 convex reflection surfaces (3 peak signals are before the peak signal of the reference surface), and 2 concave reflection surfaces (2 peak signals are after the peak signal of the reference surface).
[0075] In an embodiment, as Figure 12 shown, the method of this application further includes: S501. Obtain the ambient temperature and / or ambient humidity parameters where the surface topography detection device is located.
[0076] The measurement accuracy of the ultrasonic component will be affected by surrounding environmental factors, among which temperature and humidity are relatively important factors. Therefore, the temperature value and humidity value of the environment where the ultrasonic component is located can be measured in real time through additional temperature sensors and humidity sensors (which can also be modules integrating temperature and humidity measurement functions).
[0077] S502. Calibrate the preset ultrasonic propagation speed according to the ambient temperature and / or ambient humidity parameters.
[0078] The propagation speed of ultrasonic waves in air is related to the ambient temperature and humidity. Generally speaking, the higher the temperature, the faster the propagation speed of ultrasonic waves; the influence of humidity on the propagation speed of ultrasonic waves is relatively small, but it also needs to be considered in high-precision measurements.
[0079] By obtaining the ambient temperature and humidity data, calculate the actual propagation speed of ultrasonic waves in the current environment. Then, adjust the originally preset default propagation speed value of the ultrasonic sensor to the calculated actual propagation speed value. This process is the calibration of the propagation speed of ultrasonic waves. After calibration, when the ultrasonic sensor performs operations such as distance measurement, it can calculate based on the accurate propagation speed, thereby improving the accuracy and reliability of the measurement.
[0080] Optionally, the target object described in the above embodiments of the present application can be formed by splicing multiple sub-object modules, forming multiple uneven ultrasonic reflection surfaces; or it can be composed of one object module, and the object module has multiple uneven ultrasonic reflection surfaces. The reflection surface can be a solid reflection surface or a liquid reflection surface.
[0081] The surface topography of the target object can be gradual, irregular, or abrupt. For example Figure 13 As shown, the surface of the target object is abrupt. The surface topography of the target object can only include convex reflection surfaces, as shown in Figure 14(a), or only include concave reflection surfaces, as shown in Figure 14(b).
[0082] Optionally, as Figure 15 、 Figure 16 shown, that is, the height difference between one or more reflection surfaces of the target object is relatively small. In this case, each peak signal will overlap. The smaller the height difference, the higher the degree of overlap of the peak signals and the more difficult it is to distinguish, thus leading to the minimum resolution of the height difference of the concave and convex topography of the object surface. In response to this situation, the present application adjusts the minimum resolution of measuring the height difference of the surface topography of the target object by changing the ultrasonic component design, the distance between the ultrasonic component and the target object, and the parameters of the emitted ultrasonic waves (such as the number of ultrasonic pulses, the frequency of ultrasonic waves, etc.).
[0083] For example, the design of ultrasonic components involves multiple aspects, such as the shape, size, material, etc. of the ultrasonic sensor. A smaller-sized ultrasonic sensor can generate a more concentrated ultrasonic beam, which is beneficial to improving the resolution because it can focus more precisely on a specific area of the target object. The material of the ultrasonic sensor determines the efficiency of converting electrical energy into mechanical energy and its response characteristics to ultrasonic waves of different frequencies. Selecting the appropriate material can optimize the generation and reception effects of ultrasonic waves, thereby improving the minimum resolution of measuring the height difference of the surface topography of the target object.
[0084] The distance between the ultrasonic component and the target object also has an important impact on the measurement resolution. When the distance is relatively short, the attenuation of ultrasonic waves during propagation is relatively small, and the reflected waves can more accurately reflect the detailed information on the surface of the target object. In addition, a shorter distance can also reduce the divergence degree of the ultrasonic beam, making the measurement more accurate. Reasonably adjusting the distance between the ultrasonic component and the target object can find an optimal measurement range, thereby improving the minimum resolution of the measurement.
[0085] Increasing the number of ultrasonic pulses can also improve the measurement accuracy and resolution. Each ultrasonic pulse carries information about the surface of the target object. More pulses mean that more abundant details can be obtained. For example, when multiple pulses are emitted, the system can analyze and process the signals of multiple reflections. By comparing the reflection situations of different pulses, the height changes on the surface of the target object can be determined more accurately, thereby distinguishing smaller height differences. High-frequency ultrasonic waves can also generate more wave crests and wave troughs within a shorter distance, thus more finely depicting the topography of the surface of the target object, which helps to improve the minimum resolution of measuring the height difference.
[0086] The above are only the specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims
1. A surface topography detection method, characterized in that, A processing module applied to a surface topography detection device, the method comprising: Obtaining an ultrasonic echo signal reflected by a target object received by an ultrasonic component in the surface topography detection device; the ultrasonic echo signal is an echo signal after the ultrasonic signal emitted by the ultrasonic component is reflected by the surface of the target object; Obtaining echo peak signal characteristics according to the ultrasonic echo signal; Determining the surface topography information of the target object according to the echo peak signal characteristics.
2. The method according to claim 1, wherein The obtaining echo peak signal characteristics according to the ultrasonic echo signal includes: Preprocessing the ultrasonic signal to obtain the ultrasonic signal within the effective signal interval; Performing peak detection on the ultrasonic echo signal within the effective signal interval to obtain the number of peak signals in the ultrasonic echo signal and the arrival time of each peak signal; Determining the propagation time of each peak signal according to the emission time of the ultrasonic signal and the arrival time of each peak signal; Determining the time difference between every two peak signals according to the propagation time of each peak signal; the echo peak signal characteristics include: the number of peak signals, the propagation time of each peak signal, and the time difference between every two peak signals.
3. The method according to claim 2, wherein The determining the surface topography information of the target object according to the echo peak signal characteristics includes: Determining the number of reflection surfaces on the surface of the target object according to the number of peak signals; Determining the distance between the detection surface of the surface topography detection device and each reflection surface according to the propagation time of each peak signal and a preset ultrasonic propagation speed; Determining the distance difference between every two reflection surfaces in the preset ultrasonic propagation direction among each reflection surface according to the time difference between every two peak signals and the preset ultrasonic propagation speed; the surface topography information includes: the number of reflection surfaces, the distance between the detection surface and each reflection surface, and the distance difference between every two reflection surfaces in the preset ultrasonic propagation direction.
4. The method according to claim 3, characterized in that, The determining the surface topography information of the target object according to the echo peak signal characteristics further includes: Determining a reference reflection surface among each reflection surface and a reference peak signal corresponding to the reference reflection surface according to the distance between the detection surface and each reflection surface; Determining the types of other reflection surfaces among each reflection surface according to the propagation time of each peak signal and the propagation time of the reference peak signal, and the surface topography information further includes: the types of the other reflection surfaces.
5. The method according to claim 3, wherein The method further includes: Obtaining the environmental temperature and / or environmental humidity parameter where the surface topography detection device is located; Calibrating the preset ultrasonic propagation speed according to the environmental temperature and / or environmental humidity parameter.
6. A surface topography detection device, characterized in that, Including: An ultrasonic component, a control module, and a processing module; The control module is connected to the ultrasonic component and is configured to control the ultrasonic component to emit an ultrasonic signal to the target object, so that the ultrasonic component receives the ultrasonic echo signal reflected by the surface of the target object; The processing module is connected to the ultrasonic component and is configured to obtain the ultrasonic echo signal and execute the surface topography detection method according to any one of claims 1-5 based on the ultrasonic echo signal.
7. The device according to claim 6, wherein The ultrasonic component includes: an ultrasonic sensor, and the ultrasonic sensor is configured to transmit an ultrasonic signal and receive an ultrasonic echo signal.
8. The device according to claim 6, characterized in that, The ultrasonic component includes: a plurality of ultrasonic sensors, wherein at least one ultrasonic sensor is configured to transmit an ultrasonic signal, and at least one other ultrasonic sensor is configured to receive an ultrasonic echo signal.
9. The device according to claim 6, characterized in that The ultrasonic component is configured to: adjust the ultrasonic transmission sound field angle and / or the ultrasonic reception sound field angle to adjust the size of the area to be detected on the surface of the target object.
10. The device according to claim 6, characterized in that, The surface topography detection device further includes: a temperature sensor and / or a humidity sensor; The temperature sensor is configured to collect the ambient temperature where the surface topography detection device is located, and the humidity sensor is configured to collect the ambient humidity where the surface topography detection device is located; the temperature sensor and / or the humidity sensor is connected to the processing module so that the processing module calibrates a preset ultrasonic propagation speed based on the ambient temperature and / or the ambient humidity.