Inline drum-type ultrasonic scanning self-processing method and system

Abstract

The application relates to a production line level drum type ultrasonic scanning self-processing method and system. The method comprises the following steps: providing a target workpiece, and obtaining workpiece ultrasonic transmission scanning information generated after the target workpiece is subjected to ultrasonic scanning by a drum type ultrasonic scanning device; performing scanning feature extraction on the workpiece ultrasonic transmission scanning information to generate workpiece scanning transmission feature information; when imaging recognition is performed, a transmission time depth feature information is used for rough contour positioning to generate a workpiece rough contour, and then a transmission signal intensity feature information is used for contour fine segmentation on the workpiece rough contour to generate a workpiece scanning area image. The application can effectively improve the automation degree of workpiece drum type ultrasonic scanning detection, and can improve the efficiency, precision and reliability of workpiece imaging recognition processing after ultrasonic scanning.

Description

Technical Field

[0001] This invention relates to a processing method and system, and more particularly to a production line-level roller-type ultrasonic scanning self-processing method and system. Background Technology

[0002] In industrial ultrasonic imaging inspection, especially in ultrasonic scanning devices using roller-type coupling media, ultrasonic inspection of workpieces (such as batteries) typically faces two major challenges: pre-inspection calibration and post-inspection identification. Specifically, pre-inspection calibration generally refers to calibrating the distance between the two rollers before inspection. Currently, calibration is primarily performed manually to ensure the workpiece is clamped and transported stably. This manual adjustment relies on human experience, is inefficient, and cannot guarantee that each adjustment will be at the optimal imaging distance, affecting inspection consistency. Post-inspection identification generally refers to identifying the workpiece's contour and / or identifying the presence of defects within the workpiece. Currently, post-inspection identification often relies on manual interpretation of the generated ultrasonic images or the use of simple image processing algorithms for defect identification. However, this approach cannot stably and completely extract the workpiece's contour in complex backgrounds (such as those caused by roller deformation), and the accuracy in identifying subtle internal defects (such as bubbles or foreign objects) is also low. This means that ultrasonic inspection of workpieces cannot meet the requirements of high-speed production lines for fully automated processes of "automatic calibration-automatic inspection-automatic judgment."

[0003] In summary, when using drum-type ultrasonic scanning to inspect workpieces, how to effectively improve the automation level of ultrasonic scanning inspection and how to improve the accuracy of identification after ultrasonic scanning inspection are the urgent technical challenges that need to be solved. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a production line-level drum ultrasonic scanning self-processing method and system, which can effectively improve the automation level of workpiece detection by drum ultrasonic scanning, and improve the efficiency, accuracy and reliability of workpiece imaging recognition processing after ultrasonic scanning.

[0005] According to the technical solution provided by this invention, a production line-level roller-type ultrasonic scanning self-processing method is provided, wherein the roller-type ultrasonic scanning self-processing method includes at least workpiece imaging and recognition processing, wherein... When performing workpiece imaging and recognition processing, the following are included: Provide the target workpiece and obtain the ultrasonic transmission scanning information of the workpiece generated after the target workpiece is ultrasonically scanned by a drum-type ultrasonic scanning device; The ultrasonic transmission scanning information of the workpiece is used to extract scanning features and generate workpiece scanning transmission feature information for imaging recognition. In the case of background clutter during ultrasonic scanning, the workpiece scanning transmission feature information includes at least transmission time depth feature information and transmission signal intensity feature information. During imaging recognition, the transmission time-depth feature information is used for coarse contour localization to generate a coarse contour of the workpiece. Subsequently, the transmission signal intensity feature information is used to perform fine contour segmentation on the coarse contour of the workpiece to generate a scanned area image of the workpiece.

[0006] When performing coarse contour positioning, the following steps are included: Based on the transmission time-depth feature information, a transmission time-depth feature map is generated. Based on the transmission time depth feature information, a segmentation threshold is established using the transmission time depth statistical features, and the established segmentation threshold is used to perform binary segmentation on the transmission time depth feature map to generate a coarse region of the workpiece. Morphological operations are performed on the generated rough area of ​​the workpiece to generate the rough outline of the workpiece after the morphological operations.

[0007] The statistical characteristics of transmission time depth include the statistical mean and statistical standard deviation of transmission time depth, wherein, When establishing the segmentation threshold, we have:

[0008] in, The segmentation threshold is... This represents the statistical mean of the transmission time depth. The statistical standard deviation of the transmission time depth. For the segmentation weight; When performing binary segmentation, on the transmission time depth feature map, if the transmission time depth feature of a pixel is less than the segmentation threshold, the pixel is marked as a workpiece pixel; otherwise, the pixel is marked as a background pixel. Generate a coarse area for the workpiece based on all workpiece pixels.

[0009] When performing fine contour segmentation, the following is included: Based on the transmitted signal intensity feature information, a transmitted signal intensity feature map is generated; Under the constraint of the workpiece's rough contour, local edge detection is performed on the transmitted signal intensity feature map to obtain a preliminary set of edge pixels. Density-based spatial clustering is performed on the initial set of edge pixels to generate an optimized set of edge pixels after spatial clustering; Based on the optimized edge pixel set, the corresponding minimum bounding rectangle is fitted and generated. The vertex coordinates of the minimum bounding rectangle are restored to the initial image size, and the region of interest containing the target workpiece is cropped from the initial scan image. A workpiece scan area image is generated based on the cropped region of interest, wherein the initial scan image is an image generated based on the ultrasonic transmission scan information of the workpiece.

[0010] During the ultrasonic scanning of the target workpiece, when there is no background clutter, the workpiece scanning transmission characteristic information includes transmission signal intensity characteristic information. When performing image recognition, it includes: Based on the transmitted signal intensity feature information, a transmitted signal intensity feature map is generated; The intensity feature map of the transmitted signal is processed by imaging recognition to generate a scanned area image of the workpiece corresponding to the target workpiece.

[0011] The self-processing method for drum-type ultrasonic scanning further includes a drum spacing calibration process for the drum-type ultrasonic scanning device to determine the target drum spacing between drum pairs within the drum-type ultrasonic scanning device, wherein... Before performing ultrasonic scanning on the target workpiece, the roller spacing calibration process is performed first. After determining the target roller spacing, the spacing of the roller pairs in the roller ultrasonic scanning device is configured as the target roller spacing. Then, the roller ultrasonic scanning device is used to perform ultrasonic scanning on the target workpiece. When performing roller spacing calibration, the following steps are included: A reference workpiece corresponding to the target workpiece is provided, and the reference workpiece is ultrasonically scanned using the roller-type ultrasonic scanning device to obtain calibration scanning information, wherein... Along the ultrasonic scanning direction of the reference workpiece, reference line scan information is acquired sequentially. The roller scanning distances corresponding to different reference line scan information are not exactly the same. The roller scanning distance is the working distance between the roller and the reference workpiece in the ultrasonic scanning process of the roller-type ultrasonic scanning device. Based on all the reference line scan information, calibration scan information is generated. The calibration scan information includes several calibration feature information related to the scanning distance of the roller pair, and each calibration feature information corresponds to a calibration feature. Based on each calibration feature, the corresponding roller pair reference spacing is determined. All roller pairs reference spacings are merged to generate the target roller spacing.

[0012] During the ultrasonic scanning of the reference workpiece, the inner rollers of the drive roller pair move relative to each other to configure the roller pair at a specified roller scanning interval; During calibration, the reference workpiece moves forward under the action of the roller pair, and reference line scan information is acquired at different roller scanning intervals. Within the calibration scan information, when the calibration features corresponding to the calibration feature information include at least pressure calibration features, transmission attenuation features, and transmission intensity features, the reference line scan information includes the extrusion pressure information of the reference workpiece being squeezed by the roller and the reference ultrasonic transmission information, wherein the reference ultrasonic transmission information includes several reference ultrasonic transmission signals. When generating calibration scan information based on all reference line scan information, the following are included: Based on the extrusion pressure information in each reference line scan, generate calibration feature information corresponding to the pressure calibration feature; For each reference line scan, the transmission attenuation coefficient and the corresponding transmission signal intensity of each reference transmission signal within the reference line scan are extracted. Based on the transmission attenuation coefficients of all reference line scan information, calibration feature information corresponding to the transmission attenuation characteristics is generated, and... Based on the transmission signal intensity of all reference line scan information, calibration feature information corresponding to the transmission intensity characteristics is generated.

[0013] When the calibration feature information corresponds to the pressure calibration feature, the determination of the corresponding roller pair reference spacing includes: Based on the extrusion pressure information in the calibration feature information, a safe pressure range is determined, and the roller scanning distance corresponding to the safe pressure range is configured as the roller pair reference distance. When the calibration feature information corresponds to the transmission attenuation feature, the determination of the corresponding roller pair reference spacing includes: Based on the transmission attenuation coefficient within the calibration feature information, an attenuation coefficient curve is constructed. Determine the attenuation coefficient stable range of the attenuation coefficient curve, determine the roller scanning distance corresponding to the attenuation coefficient stable range, and configure the determined roller scanning distance as the roller pair reference distance. When the calibration feature information corresponds to the transmission intensity feature, the determination of the corresponding roller pair reference spacing includes: Based on the transmission signal intensity within the calibration feature information, a transmission intensity curve is constructed; The transmission intensity plateau range of the transmission intensity curve is determined, and the roller scanning distance corresponding to the transmission intensity plateau range is determined. The determined roller scanning distance is then configured as the required roller pair reference distance.

[0014] When obtaining the extrusion pressure information within the reference line scan information, the following is included: The torque of the roller drive motor is obtained, and the extrusion pressure information of the reference workpiece under the extrusion of the roller pair is determined based on the obtained torque. The roller pair is driven to move by the roller drive motor to adjust the roller scanning distance of the roller pair. When determining the safe pressure range, the minimum extrusion pressure information of the reference workpiece subjected to the extrusion of the roller is used as the lower limit of the safe pressure distance, and the extrusion pressure information corresponding to the roller scanning distance reaching the preset scanning distance is used as the upper limit of the safe pressure distance.

[0015] When constructing the transmission intensity curve, the following should be included: For each reference line scan, calculate the transmission statistical intensity of the corresponding transmission signal intensity of all reference ultrasound transmission signals. Based on the transmission statistical intensity of all reference line scan information and the time corresponding to each transmission statistical intensity, a transmission intensity curve is constructed, wherein... In the constructed transmission intensity curve, the horizontal axis represents time, and the vertical axis represents the transmission statistical intensity.

[0016] When constructing the attenuation coefficient curve, the following should be included: For each reference line scan, calculate the attenuation statistical coefficient of the corresponding transmission attenuation coefficient for all reference ultrasound transmission signals. Based on the attenuation statistics of all reference line scan information and the time corresponding to each attenuation statistics, an attenuation coefficient curve is constructed, where... In the constructed attenuation coefficient curve, the horizontal axis represents time, and the vertical axis represents the attenuation statistical coefficient.

[0017] When merging all roller reference spacings, the following applies: The roller pair reference spacing corresponding to the pressure calibration feature is configured as the reference spacing. Then, the roller pair reference spacing corresponding to the transmission attenuation feature or transmission intensity feature is initially intersected with the reference spacing to form an initial screening spacing. The initial screening spacing is intersected with the reference spacing of the rollers that did not participate in the initial intersection calculation to form the target roller spacing.

[0018] A production line-level roller-type ultrasonic scanning self-processing system includes a roller-type ultrasonic scanning device and an ultrasonic scanning controller electrically connected to the roller-type ultrasonic scanning device. When performing ultrasonic scanning using a drum-type ultrasonic scanning device, the ultrasonic scanning controller uses the processing method described above.

[0019] The advantages of this invention are as follows: The target roller spacing can be determined through roller spacing calibration, and this target roller spacing is configured as the distance between the roller pairs during normal ultrasonic scanning, thereby improving the consistency and detection accuracy of ultrasonic scanning. When performing ultrasonic scanning on a target workpiece, the corresponding workpiece scanning transmission characteristic information can be determined based on whether background clutter occurs, enabling workpiece imaging and recognition processing. While ensuring the accuracy of workpiece imaging and recognition, the efficiency, accuracy, and reliability of workpiece imaging and recognition can be effectively improved. Attached Figure Description

[0020] Figure 1 This is a schematic flowchart of one embodiment of the workpiece imaging recognition processing of the present invention.

[0021] Figure 2 This is a schematic diagram of an embodiment of the present invention for generating an initial scan image under conditions where there is no background clutter.

[0022] Figure 3 This is a schematic diagram of one embodiment of the present invention under chaotic working conditions.

[0023] Figure 4 This is a schematic diagram of an embodiment for generating an initial scan image under chaotic working conditions in which the present invention occurs.

[0024] Figure 5 This is a schematic diagram of one embodiment of the present invention for generating a calibration scan transmission intensity map during the roller spacing calibration process.

[0025] Figure 6 This is a schematic diagram of an embodiment of the pressure value curve generated during the roller spacing calibration process of the present invention.

[0026] Figure 7 This is a schematic diagram of an embodiment of the transmission attenuation coefficient curve generated during the roller spacing calibration process of the present invention.

[0027] Figure 8 This is a schematic diagram of an embodiment of the transmission intensity curve generated during the roller spacing calibration process of the present invention. Detailed Implementation

[0028] The present invention will be further described below with reference to specific accompanying drawings and embodiments.

[0029] To improve the efficiency, accuracy, and reliability of workpiece image recognition processing after ultrasonic scanning, this invention provides a production line-level drum-type ultrasonic scanning self-processing method. Specifically, the drum-type ultrasonic scanning self-processing method includes at least workpiece image recognition processing, wherein... When performing workpiece imaging and recognition processing, the following are included: Provide the target workpiece and obtain the ultrasonic transmission scanning information of the workpiece generated after the target workpiece is ultrasonically scanned by a drum-type ultrasonic scanning device; The ultrasonic transmission scanning information of the workpiece is used to extract scanning features and generate workpiece scanning transmission feature information for imaging recognition. In the case of background clutter during ultrasonic scanning, the workpiece scanning transmission feature information includes at least transmission time depth feature information and transmission signal intensity feature information. During imaging recognition, the transmission time-depth feature information is used for coarse contour localization to generate a coarse contour of the workpiece. Subsequently, the transmission signal intensity feature information is used to perform fine contour segmentation on the coarse contour of the workpiece to generate a scanned area image of the workpiece.

[0030] It should be noted that the production line-level roller ultrasonic scanning of the present invention specifically refers to the automated ultrasonic scanning of workpieces using a roller ultrasonic scanning device. The roller ultrasonic scanning device can adopt a commonly used form. Generally, the roller ultrasonic scanning device should include two rollers, which form a roller pair. The rollers in the roller pair are placed opposite each other. An ultrasonic transmitting array transducer is installed in one roller, and an ultrasonic receiving array transducer is installed in the other roller. The ultrasonic transmitting array transducer includes a plurality of transmitting transducer elements, which are arranged sequentially along the axial direction of the roller. Similarly, the ultrasonic receiving array transducer includes several receiving transducer elements. The receiving transducer elements in the ultrasonic receiving array transducer are arranged sequentially along the axis of the drum. During operation, the ultrasonic transmitting array transducer and the ultrasonic receiving array transducer remain fixed inside the drum. The drum movement mode and assembly details of the drum-type ultrasonic scanning device should meet the requirements for using the drum-type ultrasonic scanning device to perform drum-type ultrasonic scanning on the target workpiece. For example, the assembly method disclosed in CN223796503U can be referred to. The specific assembly settings will not be elaborated here.

[0031] To meet the needs of automated inspection, the ultrasonic scanning self-processing of the present invention includes at least automated data processing after ultrasonic scanning of the target workpiece using a drum-type ultrasonic scanning device. Furthermore, to meet the requirements for ultrasonic scanning inspection of the target workpiece, the ultrasonic scanning self-processing may include workpiece image recognition processing. This workpiece image recognition processing extracts the workpiece scanning area image, which is the image corresponding to the target workpiece formed after ultrasonic scanning. Therefore, the workpiece image recognition processing mainly extracts the image formed after ultrasonic scanning of the target workpiece, and the workpiece scanning area image is generally at least an image of the area defined by the workpiece contour.

[0032] Figure 1 The diagram shows a flowchart of an embodiment of the present invention for workpiece imaging recognition processing, which is... Figure 1As can be seen, when performing workpiece imaging and recognition processing, a target workpiece should be provided. The target workpiece is the object of ultrasonic scanning inspection. The target workpiece should be of a type suitable for ultrasonic scanning using a drum-type ultrasonic scanning device; for example, a battery could be a target workpiece. The types of target workpieces will not be listed here. After providing the target workpiece, it should be ultrasonically scanned using a drum-type ultrasonic scanning device. The method of ultrasonic scanning using a drum-type ultrasonic scanning device can be consistent with existing phased array ultrasonic testing technology. After ultrasonic scanning, ultrasonic transmission scanning information of the workpiece can be obtained.

[0033] Depend on Figure 1 It is known that when performing workpiece imaging recognition processing, scanning feature extraction should be performed on the ultrasonic transmission scanning information of the workpiece. After scanning feature extraction, the workpiece scanning transmission feature information can be obtained. Subsequently, imaging recognition can be performed based on the workpiece scanning transmission feature information to obtain an image of the workpiece scanning area after imaging recognition. In order to improve the efficiency and accuracy of imaging recognition, in one embodiment of the present invention, the scanning feature extraction should be related to the working conditions of the target workpiece during the ultrasonic scanning process. For example, when a cluttered background occurs during the ultrasonic scanning of the target workpiece, the workpiece scanning transmission feature information should include transmission time depth feature information and transmission signal intensity feature information, wherein... The transmission time-depth feature information includes several transmission time-depth features, which characterize the time-depth characteristics of the received transmitted ultrasonic waves. These features can be the TOF features of the received transmitted ultrasonic waves, or other feature types that can characterize the transmission time-depth. Examples will not be provided here. The transmission signal intensity feature information includes several transmission signal intensity features, which characterize the intensity of the received transmitted ultrasonic waves. These features can be the PPV features, envelope features, amplitude features, and other feature types that characterize the signal intensity. Examples will not be provided here.

[0034] When the workpiece scanning transmission feature information includes both transmission time-depth feature information and transmission signal intensity feature information, then during imaging recognition, the transmission time-depth feature information should be used first for coarse contour localization to generate a coarse workpiece contour after the coarse contour localization. It should be noted that the transmission time-depth feature is generally only related to the sound velocity of the propagation medium. Since the sound velocity of the target workpiece is generally significantly higher than that of the roller material, the transmission time-depth feature of ultrasonic waves penetrating the target workpiece will be less than that of ultrasonic waves penetrating a pure roller. Here, the area formed after penetrating the pure roller is the background area in the image, such as... Figure 2 and Figure 4 As shown.

[0035] It should be noted that, Figure 2 and Figure 4 In the image, besides the background area, a workpiece area containing the target workpiece is also shown. The background area is the image region formed by ultrasonic scanning not targeting the target workpiece, while the workpiece area is the image region formed by ultrasonic scanning targeting the target workpiece. The meanings of the background area and the workpiece area are consistent with existing technologies. Therefore, as explained above, by analyzing the two-dimensional distribution of transmission time-depth feature information, the area containing the target workpiece and the background area can be effectively distinguished, thereby achieving coarse contour positioning of the target workpiece.

[0036] Depend on Figure 1 As can be seen, after coarse contour positioning, a coarse contour of the workpiece can be obtained. Subsequently, the transmission signal intensity feature information can be used to perform fine contour segmentation on the coarse contour of the workpiece, thereby generating a scanned image of the workpiece area. Therefore, when a cluttered background occurs, the workpiece imaging and recognition processing of this invention can effectively reduce the impact of background clutter on imaging and recognition, thus adapting to imaging and recognition under more complex working conditions and improving the accuracy of generating a scanned image of the workpiece area.

[0037] In one embodiment of the present invention, coarse contour positioning includes: Based on the transmission time-depth feature information, a transmission time-depth feature map is generated. Based on the transmission time depth feature information, a segmentation threshold is established using the transmission time depth statistical features, and the established segmentation threshold is used to perform binary segmentation on the transmission time depth feature map to generate a coarse region of the workpiece. Morphological operations are performed on the generated rough area of ​​the workpiece to generate the rough outline of the workpiece after the morphological operations.

[0038] Similar to existing technologies, when using a roller-type ultrasonic scanning device to perform ultrasonic scanning on a target workpiece, the target workpiece forms rolling contact with the inner rollers of the roller pair, and the target workpiece also moves linearly during the ultrasonic scanning process. This allows different parts of the target workpiece to correspond with the ultrasonic transmitting array transducers and ultrasonic receiving array transducers inside the roller pair, thus enabling ultrasonic scanning of different areas of the target workpiece. Of course, during the ultrasonic scanning process, there may be situations where the target workpiece does not correspond with the ultrasonic transmitting array transducers and ultrasonic receiving array transducers. In this case, the ultrasonic transmitting array transducers and ultrasonic receiving array transducers still perform normal ultrasonic wave transmission and ultrasonic wave transmission signal reception. It should be understood that the ultrasonic wave transmission signal received at this time forms the background area.

[0039] As can be seen from the above description, during the movement of the target workpiece, regardless of whether the target workpiece is located within the corresponding ultrasonic scanning area of ​​the ultrasonic transmitting array transducer or the ultrasonic receiving array transducer, ultrasonic waves are emitted and received, which means normal ultrasonic scanning will occur. In addition, after each ultrasonic scan, a workpiece ultrasonic transmission line scan information can be generated. After the ultrasonic scan is completed, workpiece ultrasonic transmission scan information can be generated based on all workpiece ultrasonic transmission line scan information.

[0040] Generally, each workpiece ultrasonic transmission line scan information includes multiple workpiece ultrasonic transmission line scan signals. The number of workpiece ultrasonic transmission signals in each workpiece ultrasonic transmission line scan information is generally consistent with the number of ultrasonic receiving elements in the ultrasonic receiving array transducer. For example, if the ultrasonic receiving array transducer includes 128 ultrasonic receiving elements, then each workpiece ultrasonic transmission line scan information includes 128 workpiece ultrasonic transmission line scan signals. It should be understood that the number of workpiece ultrasonic transmission line scan signals in the workpiece ultrasonic transmission scan information is generally related to the scanning frequency and scanning time of the target workpiece. When performing scanning feature extraction, feature extraction should be performed separately for each workpiece ultrasonic transmission line scan signal. Therefore, the transmission time-depth feature information obtained after scanning feature extraction should include the transmission time-depth features corresponding to all workpiece ultrasonic line scan signals.

[0041] After obtaining the transmission time-depth feature information using the above method, existing techniques can be used to generate an image and obtain a transmission time-depth feature map. In this map, the pixel value of each pixel corresponds to the transmission time-depth feature. Therefore, a segmentation threshold can be constructed for all transmission time-depth features. This threshold can then be used to perform binary segmentation on the transmission time-depth feature map, resulting in a coarse workpiece region. Subsequently, morphological operations can be performed on this coarse workpiece region to generate a rough workpiece outline. This morphological operation can be an opening operation, or other desired operations can be selected; these will not be elaborated upon here.

[0042] In one embodiment of the present invention, the statistical characteristics of transmission time depth include the statistical mean and statistical standard deviation of transmission time depth, wherein, When establishing the segmentation threshold, we have:

[0043] in, The segmentation threshold is... This represents the statistical mean of the transmission time depth. The statistical standard deviation of the transmission time depth. For the segmentation weight; When performing binary segmentation, on the transmission time depth feature map, if the transmission time depth feature of a pixel is less than the segmentation threshold, the pixel is marked as a workpiece pixel; otherwise, the pixel is marked as a background pixel. Generate a coarse area for the workpiece based on all workpiece pixels.

[0044] As explained above, the transmission time-depth characteristics of the ultrasonic transmission line scan signal for each workpiece can be obtained through the scanning feature extraction process. Therefore, the statistical mean can be calculated using commonly used statistical methods. and statistical standard deviation Segmentation weight Generally, the value can be determined based on experience; for example, the value of the splitting weight can be 1.

[0045] During binary segmentation, the transmission time-depth feature of each pixel in the transmission time-depth feature map is compared with a segmentation threshold. Generally, when the transmission time-depth feature of a pixel is less than the segmentation threshold, the current pixel is considered a workpiece pixel, meaning it was formed by ultrasonic scanning of the target workpiece. Conversely, if a pixel is a background pixel, it means it was not formed by ultrasonic scanning of the target workpiece. In practice, a coarse workpiece region can be formed based on all workpiece pixels, thereby achieving separation between the workpiece region and the background region using the transmission time-depth feature information.

[0046] It should be noted that in cluttered background conditions, the background of the image formed based on the ultrasonic transmission scanning information of the workpiece is also relatively cluttered, such as... Figure 4 As shown, by using coarse contour positioning, the workpiece area can be extracted from a cluttered background image, thereby improving the accuracy and reliability of generating workpiece scan area images.

[0047] In one embodiment of the present invention, when performing fine contour segmentation, the method includes: Based on the transmitted signal intensity feature information, a transmitted signal intensity feature map is generated; Under the constraint of the workpiece's rough contour, local edge detection is performed on the transmitted signal intensity feature map to obtain a preliminary set of edge pixels. Density-based spatial clustering is performed on the initial set of edge pixels to generate an optimized set of edge pixels after spatial clustering; Based on the optimized edge pixel set, the corresponding minimum bounding rectangle is fitted and generated. The vertex coordinates of the minimum bounding rectangle are restored to the initial image size, and the region of interest containing the target workpiece is cropped from the initial scan image. A workpiece scan area image is generated based on the cropped region of interest, wherein the initial scan image is an image generated based on the ultrasonic transmission scan information of the workpiece.

[0048] In practical implementation, the transmission signal intensity feature information can be referenced in the corresponding description of the transmission time depth feature above. It can be understood that a transmission signal intensity feature map can be generated based on the transmission signal intensity feature information. As explained above, the generated transmission signal intensity feature map specifically includes the transmission signal intensity features of the ultrasonic transmission line scan signals of all workpieces throughout the entire ultrasonic scanning process. That is, the transmission signal intensity feature map includes the transmission signal intensity features of the background region and the corresponding ultrasonic transmission line scan signals of the workpiece region. Under the constraint of the workpiece's coarse contour, i.e., when performing local edge detection, local edge detection should be performed on the image region within the transmission signal intensity feature map that corresponds to the workpiece's coarse contour, so that a preliminary edge pixel set can be obtained after local edge detection.

[0049] As explained above, after generating the transmission signal intensity feature map, every pixel within the transmission signal intensity feature map has a corresponding pixel within the transmission time-depth feature map. Therefore, after obtaining the workpiece's rough contour, the region for local edge detection can be determined within the transmission signal intensity feature map. This allows for local edge detection under the constraint of the workpiece's rough contour, where the workpiece's rough contour acts as a mask. The method for performing local edge detection can be consistent with existing technologies; one feasible approach is as follows: Within the transmitted signal intensity feature map, the corresponding gradient magnitude within the local edge detection region is calculated. For example, a gradient operator can be used to calculate the gradient magnitude. After obtaining the corresponding gradient magnitude, K-means clustering is used to cluster all gradient magnitudes. The number of clusters is set to 2 so that the edge gradient and background gradient can be obtained after clustering. Subsequently, the pixels corresponding to the edge gradient are configured as preliminary edge pixels. Based on all the preliminary edge pixels, a preliminary edge pixel set can be formed to eliminate the interference of surrounding background pixels.

[0050] The initial edge pixel set should generally contain a large number of initial edge pixels. For further filtering, density-based spatial clustering should be performed on the initial edge pixel set. Specifically, density-based spatial clustering refers to DBSCAN clustering on the initial edge pixel set. DBSCAN clustering can remove isolated noise points to obtain an optimized edge pixel set. It should be noted that the method and process of DBSCAN clustering can be consistent with existing techniques and will not be elaborated here. After obtaining the optimized edge pixel set, based on the distribution positions of the optimized edge pixels within the optimized edge pixel set, the corresponding minimum bounding rectangle can be generated using commonly used image set fitting methods. The method for generating the minimum bounding rectangle can be consistent with existing techniques and will not be elaborated here.

[0051] It is understood that the aforementioned minimum bounding rectangle is the outline formed within the transmission signal intensity feature map. Therefore, in order to obtain the workpiece scanning area image, the corresponding vertex coordinates of the minimum bounding rectangle should be restored to the initial image size, and the region of interest containing the target workpiece should be cropped from the initial scan image. The workpiece scanning area image is then generated based on the cropped region of interest. The initial scan image is an image generated based on the ultrasonic transmission scan information of the workpiece. As explained above, the initial scan image is an image generated based on the transmission signal. Since each workpiece ultrasonic transmission line scan signal corresponds to each transmission time depth feature and transmission signal intensity feature, the coordinate position within the initial scan image can be determined based on the vertex coordinates of the minimum bounding rectangle. The cropping area can be determined based on the position of all vertex coordinates of the minimum bounding rectangle within the initial scan image, and then the workpiece scanning area image can be obtained by cropping.

[0052] In one embodiment of the present invention, during the ultrasonic scanning of the target workpiece, when there is no background clutter, the workpiece scanning transmission characteristic information includes transmission signal intensity characteristic information. When performing image recognition, it includes: Based on the transmitted signal intensity feature information, a transmitted signal intensity feature map is generated; The intensity feature map of the transmitted signal is processed by imaging recognition to generate a scanned area image of the workpiece corresponding to the target workpiece.

[0053] Figure 2 The image shows an embodiment of generating an initial scan image when no background clutter occurs. Figure 4 The image shows an embodiment of generating an initial scan image when a cluttered background occurs. Figure 2 It can be seen that when there is no background clutter, the background area in the initial scan image is stable, and at this time, there is a significant difference between the background and the workpiece. Figure 4 As can be seen, when a cluttered background occurs, the background area in the initial scan image is relatively cluttered. Therefore, when a cluttered background does not occur, in order to simplify the processing steps and improve the processing efficiency, unlike when a cluttered background occurs, the workpiece scanning transmission feature information of the present invention may only include transmission signal intensity feature information. The transmission signal intensity feature information can be referred to the corresponding description above, and will not be repeated here.

[0054] When the workpiece scanning transmission feature information only includes transmission signal intensity feature information, during imaging recognition, a transmission signal intensity feature map is first generated. Then, imaging recognition processing is performed on the transmission signal intensity feature map, thereby obtaining the workpiece scanning area image. The following is a detailed explanation of the method and process of imaging recognition processing of the transmission signal intensity feature map.

[0055] In one embodiment of the present invention, the imaging recognition processing of the transmission signal intensity feature map includes: The transmission signal intensity feature map is preprocessed to generate a transmission intensity preprocessed map; The transmission intensity preprocessing map is subjected to region segmentation and candidate point screening to generate a candidate contour point set; Contour optimization is performed on the candidate contour point set to generate the desired contour point set. During contour optimization, at least the candidate contour point set is subjected to optimized clustering to remove noise and merge regions.

[0056] In specific implementation, during imaging recognition processing, the transmission signal intensity feature map is first preprocessed. This preprocessing may include downsampling, gradient calculation, and normalization. Preprocessing improves subsequent processing efficiency and enhances edge information. The downsampling, gradient calculation, and normalization within the preprocessing can all employ methods commonly used in existing technologies. For example, during downsampling, bilinear interpolation can be used to proportionally reduce the size of the transmission signal intensity feature map, thereby reducing subsequent computational complexity. During gradient calculation, the Sobel operator or other gradient operators can be used to calculate the gradient magnitude of the image, enhancing the edge information between the workpiece region and the background region. During normalization, a 3x3 or other size mean filter can be used to smooth the magnitude gradient, obtaining a gradient-smoothed image. Subsequently, normalization calculation is performed on the gradient-smoothed image. The methods for smoothing and normalization calculation can be consistent with existing technologies and will not be elaborated here.

[0057] Specifically, after obtaining the preprocessed transmission intensity map, the preprocessed transmission intensity map should be subjected to region segmentation candidate point screening processing. In one embodiment of the present invention, the region segmentation candidate point screening processing includes: Cluster the gray values ​​of all pixels in the transmission intensity preprocessing image, and after reaching the target clustering state, configure the pixel that belongs to the cluster center with the highest gray value as the candidate contour point. A candidate contour point set is generated based on all candidate contour points.

[0058] In specific implementation, when clustering the grayscale values ​​of all pixels within the transmission intensity preprocessing, the clustering method can be K-means clustering or other clustering methods. When using K-means clustering, the number of clusters can be set to 2, and the specific clustering method can be consistent with existing technologies. For example, during the clustering iteration process, the pixel's category label is updated by calculating the distance (e.g., absolute difference) from each pixel to each cluster center, and the cluster centers are recalculated until the change in the center point is less than a set threshold or the maximum number of iterations is reached. At this point, the target clustering state can be considered to have been achieved.

[0059] After achieving the target clustering state, the pixels are sorted according to the gray values ​​of each cluster center. Specifically, all pixels belonging to the cluster center with the highest gray value are initially selected as candidate contour points, thus forming a candidate contour point set. It should be understood that the candidate contour points in the candidate contour point set should be located in the most prominent edge regions of the transmission intensity preprocessed image.

[0060] After obtaining the candidate contour point set, contour optimization processing should be performed on the candidate contour point set. In one embodiment of the present invention, the optimization clustering processing of the candidate contour point set includes: The two-dimensional coordinates of each candidate contour point in the candidate contour point set are used as optimization features. Then, density-based spatial clustering is performed on all optimization features to generate the desired contour point set after spatial clustering.

[0061] It should be noted that density-based spatial clustering here specifically refers to using the same DBSCAN clustering method described above. When using the same DBSCAN clustering method, the clustering approach and process are identical. Specifically, when clustering for optimized features, the two-dimensional coordinates of each candidate contour point are used as the optimized feature, i.e., as the clustering object. Through density-based spatial clustering, noise points can be effectively removed and neighboring regions can be merged, thereby obtaining the desired contour point set. For details on the specific clustering method and process when using DBSCAN clustering, please refer to the explanation here.

[0062] In practice, after obtaining the desired contour point set, the minimum bounding rectangle can be constructed in the manner described above, and the workpiece scanning area image can be obtained by vertex coordinate restoration and clipping. For the specific methods of vertex coordinate restoration and clipping to obtain the workpiece scanning area image, please refer to the corresponding descriptions above, which will not be repeated here.

[0063] As can be seen from the above description, in the prior art, when using a roller-type ultrasonic scanning device to perform ultrasonic scanning on a target workpiece, it is generally necessary to adjust the distance between the roller pairs manually to adapt to the requirements of ultrasonic scanning on different target workpieces. Since it is necessary to manually adjust the distance between the roller pairs multiple times, this adjustment method has the problems of low efficiency and poor consistency of ultrasonic scanning detection.

[0064] To improve the efficiency of roller pair distance adjustment and ensure the consistency of ultrasonic scanning detection, in one embodiment of the present invention, the roller-type ultrasonic scanning self-processing method further includes roller spacing calibration processing for the roller-type ultrasonic scanning device to determine the target roller spacing between roller pairs within the roller-type ultrasonic scanning device, wherein... Before performing ultrasonic scanning on the target workpiece, the roller spacing calibration process is performed first. After determining the target roller spacing, the spacing of the roller pairs in the roller ultrasonic scanning device is configured as the target roller spacing. Then, the roller ultrasonic scanning device is used to perform ultrasonic scanning on the target workpiece. When performing roller spacing calibration, the following steps are included: A reference workpiece corresponding to the target workpiece is provided, and the reference workpiece is ultrasonically scanned using the roller-type ultrasonic scanning device to obtain calibration scanning information, wherein... Along the ultrasonic scanning direction of the reference workpiece, reference line scan information is acquired sequentially. The roller scanning distances corresponding to different reference line scan information are not exactly the same. The roller scanning distance is the working distance between the roller and the reference workpiece in the ultrasonic scanning process of the roller-type ultrasonic scanning device. Based on all the reference line scan information, calibration scan information is generated. The calibration scan information includes several calibration feature information related to the scanning distance of the roller pair, and each calibration feature information corresponds to a calibration feature. Based on each calibration feature, the corresponding roller pair reference spacing is determined. All roller pairs reference spacings are merged to generate the target roller spacing.

[0065] It should be noted that the target roller spacing specifically refers to the optimal spacing maintained between the rollers within the roller ultrasonic scanner during ultrasonic scanning of the target workpiece. This spacing specifically refers to the distance between the corresponding axes of the two rollers within a roller pair. Since the roller spacing is related to the ultrasonic scanning effect, a roller spacing calibration process should be performed before ultrasonic scanning of the target workpiece using the roller ultrasonic scanner. This calibration configures the roller pair spacing to the target roller spacing before ultrasonic scanning of the target workpiece can proceed. In other words, the purpose of the roller spacing calibration process is primarily to determine the target roller spacing, thereby improving the consistency of subsequent ultrasonic scanning detection.

[0066] Specifically, when performing roller spacing calibration, a reference workpiece corresponding to the target workpiece should be provided. Here, "corresponding to the target workpiece" means that the reference workpiece and the target workpiece should belong to the same type of workpiece, and the reference workpiece and the target workpiece should also have the same workpiece characteristics, such as having the same thickness and external dimensions. If the target workpiece can be a battery, then the reference workpiece should generally also be a battery with the same thickness and external dimensions, and the reference workpiece and the target workpiece should belong to the same batch or type of battery.

[0067] It is understandable that by using a reference workpiece to perform roller spacing calibration and setting the roller pair spacing to the target roller spacing, consistency in ultrasonic scanning inspection of the target workpiece can be guaranteed. When the type of the target workpiece changes, the roller spacing calibration process should be performed again in the same manner to determine the corresponding target roller spacing before ultrasonic scanning inspection can be performed.

[0068] When performing roller spacing calibration, a roller-type ultrasonic scanning device should be used to ultrasonically scan the reference workpiece. It can be understood that the roller-type ultrasonic scanning device used to ultrasonically scan the reference workpiece is the object of this roller spacing calibration process. The method of ultrasonically scanning the reference workpiece using a roller-type ultrasonic scanning device can be referenced in the above description of ultrasonic scanning of the target workpiece. During the ultrasonic scanning process, in addition to roller contact, the reference workpiece will also undergo linear motion. During this process, several reference line scan operations will be performed. During each reference line scan operation, the ultrasonic transmitting array transducer emits ultrasonic waves, and the ultrasonic receiving array transducer receives the ultrasonic waves, thus forming a reference line scan information. The details of the reference line scan information can be referred to in the corresponding description of the workpiece ultrasonic transmission line scan information above.

[0069] After the reference workpiece has undergone ultrasonic scanning, calibration scan information can be generated based on all reference line scan information. Ultrasonic scanning is generally complete when the reference workpiece is no longer in contact with the roller pair. The specific conditions for completing an ultrasonic scan are consistent with those for ultrasonic scanning the target workpiece, and will not be elaborated here. To select a better target roller spacing, unlike ultrasonic scanning of the target workpiece, the roller spacing of the roller pair in the roller-type ultrasonic scanning device should be varied when ultrasonically scanning the reference workpiece, while the roller spacing within the roller-type ultrasonic scanning device should be maintained at the target roller spacing when ultrasonically scanning the target workpiece. When the roller spacing varies, the roller scanning spacing corresponding to different reference line scan information will not be exactly the same. By adjusting the different roller scanning spacings, the roller scanning spacing can be filtered to obtain the target roller spacing.

[0070] It is understandable that when adjusting the roller scanning distance, the inner rollers of the roller pair should be driven to move relative to each other. The way to drive the inner rollers to move relative to each other can be consistent with existing technology. For example, a roller drive motor can be installed on the support of the rollers. The relative movement of the roller pair can be adjusted by driving the support of the roller drive motor, thereby adjusting the distance between the inner rollers of the roller pair, and thus realizing the adjustment of the roller scanning distance. In other words, the roller scanning distance can be adjusted automatically.

[0071] The generated calibration scan information typically includes calibration feature information related to the scanning spacing of several roller pairs. The method for generating the calibration scan information will be explained in detail below. The calibration feature information within the calibration scan information can be selected. Generally, one calibration feature information can characterize one calibration feature, but the corresponding calibration feature should be related to the roller scanning spacing. Therefore, through each calibration feature information, a corresponding roller pair reference spacing can be determined. Subsequently, all roller pair reference spacings are fused. After fusion processing, the target roller spacing can be generated. The fusion processing method will be explained in detail below in conjunction with the calibration features.

[0072] In one embodiment of the present invention, during the ultrasonic scanning of a reference workpiece, the rollers within the drive roller pair move relative to each other to configure the roller pair at a specified roller scanning interval. During calibration, the reference workpiece moves forward under the action of the roller pair, and reference line scan information is acquired at different roller scanning intervals. Within the calibration scan information, when the calibration features corresponding to the calibration feature information include at least pressure calibration features, transmission attenuation features, and transmission intensity features, the reference line scan information includes the extrusion pressure information of the reference workpiece being squeezed by the roller and the reference ultrasonic transmission information, wherein the reference ultrasonic transmission information includes several reference ultrasonic transmission signals. When generating calibration scan information based on all reference line scan information, the following are included: Based on the extrusion pressure information in each reference line scan, generate calibration feature information corresponding to the pressure calibration feature; For each reference line scan information, extract the transmission attenuation coefficient and the corresponding transmission signal intensity of each reference transmission signal within the reference line scan information; Based on the transmission attenuation coefficients of all reference line scan information, calibration feature information corresponding to the transmission attenuation characteristics is generated, and... Based on the transmission signal intensity of all reference line scan information, calibration feature information corresponding to the transmission intensity characteristics is generated.

[0073] As explained above, in order to achieve ultrasonic scanning of the reference workpiece under different roller scanning distances, the rollers within the roller pair should be driven to move relative to each other. Specifically, when driving the roller pair to move, the roller scanning distance can be gradually reduced initially. Once the roller scanning distance reaches the preset scanning distance, the roller scanning distance of the roller pair is then gradually increased from the preset scanning distance. Initially, the roller scanning distance is relatively large. Then, by gradually bringing the rollers within the roller pair closer together, the roller scanning distance can be gradually reduced. As the roller scanning distance decreases, the pressure exerted by the roller pair on the reference workpiece gradually increases. Generally, the preset scanning distance refers to the distance at which the pressure exerted on the reference workpiece is at its limit. If the roller scanning distance decreases further, it may cause deformation of the reference workpiece and / or the rollers. Therefore, the preset scanning distance can be determined using existing technologies based on the characteristics of the reference workpiece and the roller pair.

[0074] Furthermore, during ultrasonic scanning of the reference workpiece, the roller pair's scanning distance can be configured to initially be at a preset scanning distance, and then gradually increased, or gradually decreased to the preset scanning distance. It is understandable that when the roller scanning distance is set and varied in this way, there may be situations where the roller scanning distance is the same when scanning different reference lines. Of course, it is advisable to ensure that there are multiple different roller scanning distances to obtain reference line scanning information under different roller scanning distances, thereby improving the accuracy and reliability of determining the target roller distance.

[0075] In practical implementation, the calibration features within the calibration feature information can be pressure calibration features, transmission attenuation features, and transmission intensity features. Therefore, in order to obtain the corresponding calibration feature information, the reference line scan information should include the compression pressure information of the reference workpiece under the pressure of the roller pair and the reference ultrasonic transmission information. The compression pressure information can be determined using existing commonly used methods, such as by the torque change of the roller drive motor driving the roller pair. Specifically, the torque of the roller drive motor is obtained, and the compression pressure information of the reference workpiece under the current pressure of the roller pair is determined based on the obtained torque magnitude. Thus, it can be seen that while driving the roller pair to move by the roller drive motor to adjust the roller scanning distance of the roller pair, the corresponding compression pressure information can be determined by the magnitude of the torque. Of course, it can also be measured by pressure sensors set on the roller pair and / or the reference workpiece. The methods for determining the compression pressure information will not be illustrated here.

[0076] Specifically, the reference ultrasonic transmission information refers to the ultrasonic information generated in a single ultrasonic scan using an ultrasonic transmitting array transducer and an ultrasonic receiving array transducer. The reference ultrasonic transmission information may include multiple reference ultrasonic transmission signals, and the reference ultrasonic transmission signals can be referred to the corresponding descriptions of the above-mentioned workpiece ultrasonic transmission line scan signals.

[0077] For the aforementioned reference line scan information, when generating calibration scan information, calibration feature information corresponding to the pressure calibration feature can be generated based on all the extrusion pressure information. When the calibration feature is a transmission attenuation feature, the transmission attenuation coefficient and corresponding transmission signal intensity of each reference transmission signal in each reference line scan information should be determined first. The method for extracting the transmission attenuation coefficient and transmission signal intensity of each reference transmission signal will be explained in detail below. In addition, the type of transmission signal intensity here is preferably the same as the transmission signal intensity used in the transmission signal intensity feature information, such as using the PPV value of each transmission signal as the transmission signal intensity. Of course, other types can also be used, which will not be illustrated here.

[0078] As explained above, each reference line scan information includes multiple reference transmission signals. Therefore, for each reference line scan information, the transmission attenuation coefficients and transmission signal intensities of multiple reference transmission signals can be extracted. Since there are multiple reference line scan information, calibration feature information corresponding to the transmission attenuation characteristics can be generated based on the transmission attenuation coefficients of all reference line scan information. Similarly, calibration feature information corresponding to the transmission intensity characteristics can be generated based on the transmission signal intensities of all reference line scan information. Specifically, the transmission attenuation coefficients based on all reference line scan information refer to all transmission attenuation coefficients within all reference line scan information. Similarly, the meaning represented by the transmission signal intensities based on all reference line scan information can be determined.

[0079] In one embodiment of the present invention, when the calibration feature information corresponds to the pressure calibration feature, determining the corresponding roller pair reference spacing includes: Based on the extrusion pressure information in the calibration feature information, a safe pressure range is determined, and the roller scanning distance corresponding to the safe pressure range is configured as the roller pair reference distance. When the calibration feature information corresponds to the transmission attenuation feature, the determination of the corresponding roller pair reference spacing includes: Based on the transmission attenuation coefficient within the calibration feature information, an attenuation coefficient curve is constructed. Determine the attenuation coefficient stable range of the attenuation coefficient curve, determine the roller scanning distance corresponding to the attenuation coefficient stable range, and configure the determined roller scanning distance as the roller pair reference distance. When the calibration feature information corresponds to the transmission intensity feature, the determination of the corresponding roller pair reference spacing includes: Based on the transmission signal intensity within the calibration feature information, a transmission intensity curve is constructed; The transmission intensity plateau range of the transmission intensity curve is determined, and the roller scanning distance corresponding to the transmission intensity plateau range is determined. The determined roller scanning distance is then configured as the required roller pair reference distance.

[0080] For pressure calibration features, when determining the corresponding roller pair reference distance, the safe pressure range should be determined first. Specifically, when determining the safe pressure range, the minimum compression pressure information of the reference workpiece under the pressure of the roller pair is taken as the lower limit of the safe pressure distance, and the compression pressure information corresponding to the roller scanning distance reaching the preset scanning distance is taken as the upper limit of the safe pressure distance. It should be noted that when the roller scanning distance of the roller pair gradually changes from large to small, the compression pressure information corresponding to the initial compression of the reference workpiece is the minimum compression pressure, and the corresponding lower limit of the safe pressure distance can be determined at this time. When the roller scanning distance of the roller pair gradually changes from small to large, the compression pressure information corresponding to the reference workpiece before it leaves the roller pair can generally be taken as the minimum compression pressure. In this case, the compression pressure on the reference workpiece gradually decreases, thereby determining the corresponding lower limit of the safe pressure distance.

[0081] Figure 6 The figure shows a schematic diagram of one embodiment for constructing an extrusion pressure curve. In the figure, the horizontal axis represents time, and the vertical axis represents the extrusion pressure value of the reference workpiece subjected to the roller pair. Figure 6 When calculating the corresponding extrusion pressure curve, the scanning distance of the roller pair should be gradually changed from large to small. Figure 6 In the middle, t A At time t, the roller begins to extrude the reference workpiece, and N0 is the extrusion pressure corresponding to when the roller scanning distance reaches the preset scanning distance; from t B Starting at a certain moment, the roller scanning distance between the roller pairs gradually increases from the preset roller scanning distance, t C At a certain moment, the rollers stop pressing on the reference workpiece. At this time, t can be... A The compression pressure information corresponding to each moment is used as the lower limit of the safe pressure gap, which can be used to measure t. B The compression pressure information at any given time serves as the upper limit of the safe pressure gap.

[0082] As explained above regarding the preset scanning interval, when the preset scanning interval is reached, the corresponding extrusion pressure information should be the maximum extrusion pressure. This allows us to determine the upper limit of the corresponding safe pressure interval. Since each extrusion pressure information corresponds one-to-one with the roller scanning interval, after determining the safe pressure range, we can determine the range of values ​​for the corresponding roller scanning interval, and thus determine the corresponding roller pair reference interval.

[0083] Regarding transmission attenuation characteristics, when determining the corresponding roller pair reference distance, an attenuation coefficient curve should first be constructed, and the stable attenuation coefficient range within the attenuation coefficient curve should be determined. In one embodiment of the present invention, constructing the attenuation coefficient curve includes: For each reference line scan, calculate the attenuation statistical coefficient of the corresponding transmission attenuation coefficient for all reference ultrasound transmission signals. Based on the attenuation statistics of all reference line scan information and the time corresponding to each attenuation statistics, an attenuation coefficient curve is constructed, where... In the constructed attenuation coefficient curve, the horizontal axis represents time, and the vertical axis represents the attenuation statistical coefficient.

[0084] Specifically, when constructing the attenuation coefficient curve, an attenuation statistical coefficient should be calculated for each reference line scan information. This calculation involves first calculating the transmission attenuation coefficient of each reference line scan signal within the reference line scan information. Then, the arithmetic mean of all transmission attenuation coefficients is calculated, and this result is used as the attenuation statistical coefficient. Alternatively, the median of all transmission attenuation coefficients can be used; the specific method should be chosen based on the statistical characteristics that best represent the transmission attenuation coefficient. It should be noted that the method for calculating the transmission attenuation coefficient of each reference line scan signal can be consistent with existing techniques and will not be elaborated upon here.

[0085] As explained above, since each reference line scan is time-dependent on the ultrasonic scan of the reference workpiece, the attenuation statistical coefficient corresponding to each reference line scan also exhibits temporal characteristics. Therefore, an attenuation coefficient curve can be constructed based on these temporal characteristics. Figure 7 The figure shows a schematic diagram of an embodiment for constructing the attenuation coefficient curve. The horizontal axis represents the time for each attenuation statistical coefficient, and the vertical axis represents the attenuation statistical coefficient. The unit of measurement is dB / cm / MHz. In the figure, the attenuation statistical coefficient is relatively large in the initial case. At this time, the reference workpiece has not yet entered the ultrasonic scanning area. That is, the transmission attenuation at this time is mainly caused by the roller pair. When the attenuation statistical coefficient gradually decreases and stabilizes, it represents the ultrasonic scanning performed on the reference workpiece. The attenuation statistical coefficient corresponding to this stage is the attenuation coefficient stable stage.

[0086] It should be noted that, Figure 7 In the attenuation coefficient curve, the trend of the roller scanning distance between the roller pair is as follows: it gradually decreases until the preset scanning distance is reached, and then gradually increases from the preset scanning distance until the ultrasonic scanning of the reference workpiece is completed. When other settings are used for the roller scanning distance of the roller pair, reference can be made. Figure 7 The above-mentioned explanations determine the stable range of the attenuation coefficient, and the specific determination methods will not be illustrated here. Figure 7 In the middle, t DThe timing rollers begin clamping the reference workpiece, from t D Time to t E At time t, the decay statistical coefficient gradually decreases. E Time and t F If the corresponding attenuation statistical coefficient remains stable at a given time, then the attenuation coefficient can be identified as being in a stable range. Figure 7 In the middle, S J The corresponding attenuation statistical coefficient is the attenuation coefficient base value, which is the statistical value of the attenuation coefficient formed by the attenuation of ultrasonic waves by the reference workpiece. Figure 7 It can be seen that the statistical coefficient of attenuation corresponding to the stable range of attenuation coefficient should be lower than the base value of attenuation coefficient.

[0087] Once the attenuation coefficient stable range is determined, the endpoints of each corresponding range can be determined. Then, the roller scanning distance corresponding to each range endpoint can be determined. Based on the roller scanning distances corresponding to the two range endpoints, the corresponding roller pair reference distance can be determined.

[0088] Regarding the transmission intensity characteristics, when determining the corresponding roller pair reference distance, a transmission intensity curve should be constructed. In one embodiment of the present invention, constructing the transmission intensity curve includes: For each reference line scan, calculate the transmission statistical intensity of the corresponding transmission signal intensity of all reference ultrasound transmission signals. Based on the transmission statistical intensity of all reference line scan information and the time corresponding to each transmission statistical intensity, a transmission intensity curve is constructed, wherein... In the constructed transmission intensity curve, the horizontal axis represents time, and the vertical axis represents the transmission statistical intensity.

[0089] It should be noted that the specific construction method for the transmission intensity curve is consistent with the method for constructing the attenuation coefficient curve described above. The difference is that when constructing the transmission intensity curve, the transmission intensity characteristics of each reference transmission signal are mainly utilized. The specific construction method and process can be referred to the above description, and will not be repeated here. Figure 8 The diagram illustrates one embodiment of constructing a transmission intensity curve, wherein the transmission intensity feature is the PPV value of a reference transmission signal, and therefore, the unit of measurement for the vertical axis of the transmission intensity curve is the unit corresponding to PPV.

[0090] In addition, building Figure 8 When constructing the transmission intensity curve, the roller scanning distance is different from that of the building. Figure 7 The situation is consistent with that of the attenuation coefficient curve. The method for determining the stable transmission intensity range within the transmission intensity curve can refer to the corresponding explanation of the stable attenuation coefficient range for the attenuation coefficient curve mentioned above, such as... Figure 8 In the middle, t H At any given moment, the rollers begin clamping the reference workpiece, t J Time and tK The specified time can be considered the stable transmission intensity range within the transmission intensity curve. In practical implementation, the method for determining the corresponding roller reference distance based on the stable transmission intensity range can also refer to the above-mentioned approach for... Figure 7 The corresponding explanations are omitted here.

[0091] In one embodiment of the present invention, the process of merging all roller reference spacings includes: The roller pair reference spacing corresponding to the pressure calibration feature is configured as the reference spacing. Then, the roller pair reference spacing corresponding to the transmission attenuation feature or transmission intensity feature is initially intersected with the reference spacing to form an initial screening spacing. The initial screening spacing is intersected with the reference spacing of the rollers that did not participate in the initial intersection calculation to form the target roller spacing.

[0092] It should be noted that the fusion process specifically refers to determining a final scanning roller distance under the constraints of the three roller reference distances obtained above, and using the determined roller scanning distance as the target roller spacing. Specifically, to avoid damage to the target workpiece and the roller pairs, the roller pair reference spacing corresponding to the pressure calibration feature should be used as the baseline reference spacing. Subsequently, a preliminary intersection calculation is performed between the roller pair reference spacing corresponding to the transmission attenuation feature or transmission intensity feature and the baseline reference spacing. For example, a preliminary intersection calculation can be performed between the roller pair reference spacing corresponding to the transmission attenuation feature and the baseline reference spacing to obtain the preliminary screening distance. The preliminary intersection calculation mainly determines the intersection between the baseline reference spacing and the corresponding roller pair reference spacing, which can narrow down the corresponding reference distance range.

[0093] After establishing the initial screening spacing using the above method, a secondary intersection operation should be performed between the initial screening spacing and the reference spacing of the rollers corresponding to the transmission intensity characteristics. The method for this secondary intersection operation can be found in the explanation of the initial intersection operation described above. It is understood that the secondary intersection operation can further narrow down the distance range of the initial screening spacing, forming a secondary screening spacing, from which the target roller spacing can be determined.

[0094] When the roller pair reference spacing corresponding to the transmission intensity feature participates in the secondary intersection operation, a feasible method for determining the target roller spacing from the secondary screening spacing is as follows: select the maximum value of the transmission intensity feature within the secondary screening roller, and take the roller scanning distance corresponding to the selected maximum value of the transmission intensity feature as the target roller distance. At this target roller distance, the imaging conditions with the strongest ultrasonic transmission signal can be achieved. Alternatively, if the curve corresponding to the secondary screening distance is relatively flat and has no obvious peaks, the midpoint of the secondary screening distance interval can be taken as the target transmission intensity feature, and the roller scanning distance corresponding to the target transmission intensity feature can be taken as the target roller distance. This ensures a certain tolerance and stability. The specific method for forming the target roller spacing can be selected as needed, and will not be elaborated here.

[0095] Furthermore, when the roller pair reference distance corresponding to the transmission attenuation characteristics participates in the secondary intersection operation, the specific method for determining the target roller spacing can be found in the corresponding descriptions above, and will not be repeated here.

[0096] In one embodiment of the present invention, when the thickness of the target workpiece is less than a preset workpiece thickness threshold and there is a cluttered background area on the image generated based on the ultrasonic transmission scanning information of the workpiece, it is determined that a cluttered background condition has occurred; otherwise, it is considered that no cluttered background condition has occurred.

[0097] To improve the reliability of ultrasonic scanning self-processing, drum-type ultrasonic scanning devices generally include a workpiece screening mechanism. This mechanism filters the target workpiece, preventing workpieces with significant differences from the target workpiece from entering the drum-type ultrasonic scanning device and causing damage. It also avoids large errors in the ultrasonic scanning inspection of the workpiece. In practice, the workpiece screening mechanism can at least screen based on the thickness of the target workpiece. Workpieces exceeding the thickness of the target / reference workpiece cannot pass through the screening mechanism, and therefore cannot be ultrasonically scanned using the drum-type ultrasonic scanning device.

[0098] It should be noted that even when the thickness of the target workpiece is consistent with that of the reference workpiece, a cluttered background may still occur. The main reason for this is that the target workpiece is relatively thin. Specifically, after obtaining the target roller distance mentioned above, the optimal deformation of each inner roller can be calculated, resulting in: D_opt = (Undeformed roller diameter + Target workpiece thickness - D_final) / 2 Where D_opt is the optimal deformation for each roller, and D_final is the target roller distance.

[0099] In practice, when D_opt*2 < the thickness of the target workpiece, the thickness of the target workpiece can be considered normal, that is, the target workpiece is not a thinner workpiece type; while when D_opt*2 > the thickness of the target workpiece, the target workpiece can be considered a thinner workpiece type.

[0100] When using a drum scanner for ultrasonic scanning, the aforementioned drum spacing calibration process is required. Therefore, the thickness of each target workpiece can be determined, and its thickness type can be identified based on this thickness. For example, it can be determined whether the target workpiece is thin or of normal thickness. When a target workpiece is determined to be thin, a cluttered background condition can be directly identified. Since workpieces exceeding the target workpiece thickness cannot enter for subsequent ultrasonic scanning, it is unnecessary to detect the presence of cluttered background areas in the image. Of course, to improve the accuracy of the generated workpiece scanning area image, the distribution of the background in the initial scan image can be detected using existing commonly used techniques. The specific detection method can be selected as needed and will not be elaborated here.

[0101] It should be noted that the aforementioned preset workpiece thickness threshold specifically refers to a thickness threshold set based on the thickness of a reference workpiece, or a thickness value set based on the thickness of the reference workpiece. It is understandable that when the thickness of the target workpiece is less than the thickness of the reference workpiece, the aforementioned workpiece screening mechanism cannot prevent the target workpiece from entering. That is, the drum-type ultrasonic scanning device will perform normal ultrasonic scanning on the entering target workpiece, and the resulting initial scan image will inevitably have a cluttered background.

[0102] The following sections will explain the cases where the target workpiece is smaller than the preset workpiece thickness threshold. Specifically, When the thickness of the target workpiece is less than the preset workpiece thickness threshold, and the target workpiece cannot form effective contact with the surface of the roller pair (i.e., cannot effectively form a solid coupling state), there is an air layer between the target workpiece and the roller, and the ultrasonic signal cannot effectively penetrate. At this time, no effective initial scanning image will be formed, and invalid detection can be determined. The above imaging recognition process will be stopped, and a prompt should be output to perform roller spacing calibration. Figure 3 The figure shows an embodiment in which an effective solid-state coupling state cannot be formed, corresponding to an initial scan image. As can be seen from the figure, the initial scan image is relatively cluttered, that is, it is not an effective initial scan image.

[0103] Furthermore, during the ultrasonic scanning process, the attenuation coefficient and PPV value of each workpiece's ultrasonic transmission signal in the ultrasonic transmission scanning information obtained by ultrasonic detection can be compared with the corresponding attenuation coefficient and PPV value at the target roller distance. When there is a large deviation, it can be considered that there is a large difference between the current target workpiece and the reference workpiece, and the above imaging recognition processing is stopped, and a prompt to perform roller spacing calibration processing is output.

[0104] In one embodiment of the present invention, the roller spacing calibration process further includes a calibration self-test process for a reference sample and / or roller pair, wherein... When performing calibration self-test on a reference workpiece, at least based on calibration feature information, it is determined whether there are defects in the reference workpiece. If a defect is found in the reference workpiece, the reference workpiece is prompted to be replaced. When performing a calibration self-test on a roller pair, reference ultrasonic reflection information of at least two reference surfaces of the reference workpiece is acquired, and reference ultrasonic reflection images of each reference surface are generated based on the reference ultrasonic reflection information of each reference surface. The reference surface of the reference workpiece is the surface of the reference workpiece that is in rolling contact with the roller; If there is significant grayscale unevenness in the ultrasonic reflection image of any reference surface, it is determined that there is a defect in the reference workpiece or roller pair, and it is suggested to replace the reference workpiece and / or roller pair.

[0105] It is understandable that during the roller spacing calibration process, there may be instances of damage to the reference workpiece or roller pair. Therefore, a calibration self-check should be performed to self-check the reference workpiece and roller pair during roller spacing calibration, thereby determining whether the reference workpiece or roller pair has been damaged, and avoiding affecting the reliability and accuracy of the target roller spacing generated after roller spacing calibration.

[0106] As explained above, during calibration self-testing of a reference workpiece, calibration scan information can be obtained after completing the ultrasonic scan of the reference workpiece. Subsequently, transmission intensity features can be extracted from each reference line scan signal, and a calibration scan transmission intensity feature image can be generated, such as a calibration scan transmission PPV image. For the generated calibration scan transmission intensity feature image, if there are obvious non-uniform stripes or local dark areas along the ultrasonic scanning direction, it can be determined that there are defects within the reference workpiece. For example, if the reference workpiece is a battery, it indicates defects such as poor wetting within the battery, and replacement of the reference workpiece should be indicated.

[0107] As explained above, when performing a calibration self-test on a reference workpiece, calibration scan information corresponding to the transmitted ultrasonic waves should be obtained. Unlike the calibration self-test performed on a reference workpiece, when performing a calibration self-test on a roller pair, reference ultrasonic reflection information from the two surfaces of the reference workpiece should be obtained. Specifically, the two surfaces of the reference workpiece refer to the surfaces of the reference workpiece in rolling contact with the roller pair. To obtain the reflection signals, after the ultrasonic transmitting array transducer emits an ultrasonic signal, the ultrasonic receiving array transducer receives the reflected ultrasonic signal. This allows the acquisition of reference ultrasonic reflection information corresponding to the two reference surfaces. The method for obtaining the reference ultrasonic reflection information is consistent with existing technologies and will not be elaborated upon here.

[0108] Understandably, based on each reference ultrasonic reflection information, a corresponding reference surface ultrasonic reflection image can be generated. Based on the generation principle of reflection images, after the image is generated, commonly used techniques can be used to determine whether there is gray-scale unevenness. If there is obvious gray-scale unevenness in the ultrasonic reflection image of any reference surface, it indicates that the surface of the reference workpiece may be uneven, or that the surface of any roller in the roller pair has abnormalities such as wear or contamination. In this case, it should be suggested to replace the reference workpiece and / or the roller pair. Figure 5 The image shows an example of uniform grayscale.

[0109] Based on the above description, the present invention can also provide a production line-level drum-type ultrasonic scanning self-processing system, specifically including a drum-type ultrasonic scanning device and an ultrasonic scanning controller adapted and electrically connected to the drum-type ultrasonic scanning device, wherein... When performing ultrasonic scanning using a drum-type ultrasonic scanning device, the ultrasonic scanning controller uses the processing method described above.

[0110] Specifically, the roller-type ultrasonic scanning device can adopt a commonly used form, such as the roller-type ultrasonic scanning device determined by referring to the corresponding description above. The ultrasonic scanning controller can adopt a commonly used type of controller, specifically based on meeting the requirements of ultrasonic scanning processing. The above processing methods can include the above-mentioned imaging recognition processing and roller spacing calibration processing. The specific methods and processes for implementing the above methods can refer to the corresponding processing described above, and will not be repeated here.

Claims

1. A production line-level roller-type ultrasonic scanning self-processing method, characterized in that, The drum-type ultrasonic scanning self-processing method includes at least workpiece imaging and recognition processing, wherein... When performing workpiece imaging and recognition processing, the following are included: Provide the target workpiece and obtain the ultrasonic transmission scanning information of the workpiece generated after the target workpiece is ultrasonically scanned by a drum-type ultrasonic scanning device; The ultrasonic transmission scanning information of the workpiece is used to extract scanning features and generate workpiece scanning transmission feature information for imaging recognition. In the case of background clutter during ultrasonic scanning, the workpiece scanning transmission feature information includes at least transmission time depth feature information and transmission signal intensity feature information. During imaging recognition, the transmission time-depth feature information is used for coarse contour localization to generate a coarse contour of the workpiece. Then, the transmission signal intensity feature information is used to perform fine contour segmentation on the coarse contour of the workpiece to generate a scanned area image of the workpiece. The self-processing method for drum-type ultrasonic scanning further includes a drum spacing calibration process for the drum-type ultrasonic scanning device to determine the target drum spacing between drum pairs within the drum-type ultrasonic scanning device, wherein... Before performing ultrasonic scanning on the target workpiece, the roller spacing calibration process is performed first. After determining the target roller spacing, the spacing of the roller pairs in the roller ultrasonic scanning device is configured as the target roller spacing. Then, the roller ultrasonic scanning device is used to perform ultrasonic scanning on the target workpiece. When performing roller spacing calibration, the following steps are included: A reference workpiece corresponding to the target workpiece is provided, and the reference workpiece is ultrasonically scanned using the roller-type ultrasonic scanning device to obtain calibration scanning information, wherein... Along the ultrasonic scanning direction of the reference workpiece, reference line scan information is acquired sequentially. The roller scanning distances corresponding to different reference line scan information are not exactly the same. The roller scanning distance is the working distance between the roller and the reference workpiece in the ultrasonic scanning process of the roller-type ultrasonic scanning device. Based on all the reference line scan information, calibration scan information is generated. The calibration scan information includes several calibration feature information related to the scanning distance of the roller pair, and each calibration feature information corresponds to a calibration feature. Based on each calibration feature, the corresponding roller pair reference spacing is determined. All roller pairs reference spacings are merged to generate the target roller spacing.

2. The production line-level drum-type ultrasonic scanning self-processing method according to claim 1, characterized in that, When performing coarse contour positioning, the following steps are included: Based on the transmission time-depth feature information, a transmission time-depth feature map is generated. Based on the transmission time depth feature information, a segmentation threshold is established using the transmission time depth statistical features, and the established segmentation threshold is used to perform binary segmentation on the transmission time depth feature map to generate a coarse region of the workpiece. Morphological operations are performed on the generated rough area of ​​the workpiece to generate the rough outline of the workpiece after the morphological operations.

3. The production line-level drum-type ultrasonic scanning self-processing method according to claim 2, characterized in that, The statistical characteristics of transmission time depth include the statistical mean and statistical standard deviation of transmission time depth, wherein, When establishing the segmentation threshold, we have: in, The segmentation threshold is... This represents the statistical mean of the transmission time depth. is the statistical standard deviation of the transmission time depth. For the segmentation weight; When performing binary segmentation, on the transmission time depth feature map, if the transmission time depth feature of a pixel is less than the segmentation threshold, the pixel is marked as a workpiece pixel; otherwise, the pixel is marked as a background pixel. Generate a coarse area for the workpiece based on all workpiece pixels.

4. The production line-level drum-type ultrasonic scanning self-processing method according to claim 1, characterized in that, When performing fine contour segmentation, the following is included: Based on the transmitted signal intensity feature information, a transmitted signal intensity feature map is generated; Under the constraint of the workpiece's rough contour, local edge detection is performed on the transmitted signal intensity feature map to obtain a preliminary set of edge pixels. Density-based spatial clustering is performed on the initial set of edge pixels to generate an optimized set of edge pixels after spatial clustering; Based on the optimized edge pixel set, the corresponding minimum bounding rectangle is fitted and generated. The vertex coordinates of the minimum bounding rectangle are restored to the initial image size, and the region of interest containing the target workpiece is cropped from the initial scan image. A workpiece scan area image is generated based on the cropped region of interest, wherein the initial scan image is an image generated based on the ultrasonic transmission scan information of the workpiece.

5. The production line-level drum-type ultrasonic scanning self-processing method according to claim 1, characterized in that: During the ultrasonic scanning of the target workpiece, when there is no background clutter, the workpiece scanning transmission characteristic information includes transmission signal intensity characteristic information. When performing image recognition, it includes: Based on the transmitted signal intensity feature information, a transmitted signal intensity feature map is generated; The intensity feature map of the transmitted signal is processed by imaging recognition to generate a scanned area image of the workpiece corresponding to the target workpiece.

6. The production line-level drum-type ultrasonic scanning self-processing method according to claim 1, characterized in that, During the ultrasonic scanning of the reference workpiece, the inner rollers of the drive roller pair move relative to each other to configure the roller pair at a specified roller scanning interval; During calibration, the reference workpiece moves forward under the action of the roller pair, and reference line scan information is acquired at different roller scanning intervals. Within the calibration scan information, when the calibration features corresponding to the calibration feature information include at least pressure calibration features, transmission attenuation features, and transmission intensity features, the reference line scan information includes the extrusion pressure information of the reference workpiece being squeezed by the roller and the reference ultrasonic transmission information, wherein the reference ultrasonic transmission information includes several reference ultrasonic transmission signals. When generating calibration scan information based on all reference line scan information, the following are included: Based on the extrusion pressure information in each reference line scan, generate calibration feature information corresponding to the pressure calibration feature; For each reference line scan, the transmission attenuation coefficient and the corresponding transmission signal intensity of each reference transmission signal within the reference line scan are extracted. Based on the transmission attenuation coefficients of all reference line scan information, calibration feature information corresponding to the transmission attenuation characteristics is generated, and... Based on the transmission signal intensity of all reference line scan information, calibration feature information corresponding to the transmission intensity characteristics is generated.

7. The production line-level drum-type ultrasonic scanning self-processing method according to claim 6, characterized in that, When the calibration feature information corresponds to the pressure calibration feature, the determination of the corresponding roller pair reference spacing includes: Based on the extrusion pressure information in the calibration feature information, a safe pressure range is determined, and the roller scanning distance corresponding to the safe pressure range is configured as the roller pair reference distance. When the calibration feature information corresponds to the transmission attenuation feature, the determination of the corresponding roller pair reference spacing includes: Based on the transmission attenuation coefficient within the calibration feature information, an attenuation coefficient curve is constructed. Determine the attenuation coefficient stable range of the attenuation coefficient curve, determine the roller scanning distance corresponding to the attenuation coefficient stable range, and configure the determined roller scanning distance as the roller pair reference distance. When the calibration feature information corresponds to the transmission intensity feature, the determination of the corresponding roller pair reference spacing includes: Based on the transmission signal intensity within the calibration feature information, a transmission intensity curve is constructed; The transmission intensity plateau range of the transmission intensity curve is determined, and the roller scanning distance corresponding to the transmission intensity plateau range is determined. The determined roller scanning distance is then configured as the required roller pair reference distance.

8. The production line-level drum-type ultrasonic scanning self-processing method according to claim 7, characterized in that, When obtaining the extrusion pressure information within the reference line scan information, the following is included: The torque of the roller drive motor is obtained, and the extrusion pressure information of the reference workpiece under the extrusion of the roller pair is determined based on the obtained torque. The roller pair is driven to move by the roller drive motor to adjust the roller scanning distance of the roller pair. When determining the safe pressure range, the minimum extrusion pressure information of the reference workpiece subjected to the extrusion of the roller is used as the lower limit of the safe pressure distance, and the extrusion pressure information corresponding to the roller scanning distance reaching the preset scanning distance is used as the upper limit of the safe pressure distance.

9. The production line-level drum-type ultrasonic scanning self-processing method according to claim 7, characterized in that, When constructing the transmission intensity curve, the following should be included: For each reference line scan, calculate the transmission statistical intensity of the corresponding transmission signal intensity of all reference ultrasound transmission signals. Based on the transmission statistical intensity of all reference line scan information and the time corresponding to each transmission statistical intensity, a transmission intensity curve is constructed, wherein... In the constructed transmission intensity curve, the horizontal axis represents time, and the vertical axis represents the transmission statistical intensity.

10. The production line-level drum-type ultrasonic scanning self-processing method according to claim 7, characterized in that, When constructing the attenuation coefficient curve, the following should be included: For each reference line scan, calculate the attenuation statistical coefficient of the corresponding transmission attenuation coefficient for all reference ultrasound transmission signals. Based on the attenuation statistics of all reference line scan information and the time corresponding to each attenuation statistics, an attenuation coefficient curve is constructed, where... In the constructed attenuation coefficient curve, the horizontal axis represents time, and the vertical axis represents the attenuation statistical coefficient.

11. The production line-level drum-type ultrasonic scanning self-processing method according to claim 6, characterized in that, When merging all roller reference spacings, the following applies: The roller pair reference spacing corresponding to the pressure calibration feature is configured as the reference spacing. Then, the roller pair reference spacing corresponding to the transmission attenuation feature or transmission intensity feature is initially intersected with the reference spacing to form an initial screening spacing. The initial screening spacing is intersected with the reference spacing of the rollers that did not participate in the initial intersection calculation to form the target roller spacing.

12. A production line-grade drum-type ultrasonic scanning self-processing system, characterized in that: It includes a drum-type ultrasonic scanning device and an ultrasonic scanning controller that is electrically connected to the drum-type ultrasonic scanning device, wherein, When performing ultrasonic scanning using a drum-type ultrasonic scanning device, the ultrasonic scanning controller performs the processing according to any one of claims 1 to 11.

Images