A three-dimensional clamping measurement sound field device and a calibration and focal range mapping method thereof

Abstract

The present application relates to the technical field of ultrasonic measurement, in particular to a three-dimensional clamping measurement sound field device and a calibration and focal domain mapping method thereof.The device provided by the present application controls the relative position of a transducer and a hydrophone in three-dimensional space in a water tank through a three-axis motion platform, thereby performing grid scanning and measurement on the sound field.The calibration method provided by the present application realizes fast and accurate positioning of the sound field focal point position through a coarse-to-fine and axis-by-axis progressive automatic scanning process.The system calculates the maximum sound pressure and the corresponding three-dimensional coordinates by processing the data point matrix obtained through two-dimensional grid scanning, thereby determining the sound field focal domain position.The present application draws a focal domain three-dimensional distribution map accurately reflecting the sound field energy concentration region by densely grid sampling the target region, and the waveform verification before scanning ensures the effectiveness of the source of the collected data, thereby providing an intuitive and accurate three-dimensional sound field energy distribution result.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic measurement technology, and more specifically, to a three-dimensional clamping measurement sound field device and its calibration and focal zone mapping method. Background Technology

[0002] Currently, hydrophones (probes) are commonly used to measure the focal region of a sound field. Based on the piezoelectric effect, hydrophones can convert the received sound field signal into an electrical signal, and then use devices such as oscilloscopes to sample the magnitude of this electrical signal, thereby assessing the shape, size, and energy of the focal region.

[0003] However, existing measurement methods have significant drawbacks. Current operations primarily rely on technicians manually pushing and scanning the hydrophone probe by hand, or after simple clamping along a single axis, subjectively determining the focal point and focal range by observing the voltage amplitude on an oscilloscope in real time. This method suffers from several major problems: accuracy is difficult to guarantee; manually pushing the hydrophone probe inevitably introduces human error, making it impossible to accurately calibrate the probe's spatial position, leading to a mismatch between the measured data and the actual position; subjectivity is too strong; the location of the focal point and the judgment of the focal range depend entirely on the operator's visual observation and experience, making it impossible to objectively and quantitatively identify the entire focal range and its maximum sound pressure level; the effectiveness and repeatability of the measurement are poor; due to the lack of precise positioning control and standardized scanning procedures, the consistency of results between different measurements or between different operators is very low, failing to provide stable and reliable quantitative data support for clinical treatment.

[0004] Therefore, there is an urgent need in this field for a three-dimensional clamping measurement sound field device and its calibration and focal zone mapping method that can achieve automated, high-precision and quantitative measurement, in order to overcome the above-mentioned defects in the prior art. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the prior art by providing a three-dimensional clamping sound field measurement device and its calibration and focal zone mapping method. The device provided by this invention uses a three-axis motion platform to control the relative positions of the transducer and hydrophone in three-dimensional space within a water tank, thereby performing gridded scanning and measurement of the sound field. The calibration method provided by this invention achieves rapid and accurate positioning of the sound field focal point through an automated scanning process that progresses from coarse to fine, axis-by-axis. The system processes the data point matrix obtained from the two-dimensional grid scan to calculate the maximum sound pressure level and its corresponding three-dimensional coordinates, thus reliably determining the focal zone position of the sound field. This invention uses dense grid sampling of the target area to create an accurate three-dimensional focal zone distribution map reflecting the concentrated energy area of ​​the sound field. Waveform verification before scanning ensures the validity of the source data. Prioritizing planar scanning that does not involve the X-axis simplifies the operation process, reduces the number of coordinate resets, lowers operational complexity and error risk, thereby providing intuitive and accurate three-dimensional sound field energy distribution results.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A three-dimensional clamping and measuring sound field device includes a three-axis motion platform and a water tank. The three-axis motion platform includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z1-axis moving mechanism, a Z2-axis moving mechanism, and a support. The Y-axis moving mechanism includes two Y-axis guide rails. The support is fixedly connected to the two Y-axis guide rails to form a support structure. The support structure is a rigid spatial cuboid frame. The two Y-axis guide rails are two relatively parallel horizontal edges of the cuboid frame. The sides of the support structure are all open, thus forming a hollow, transparent frame. The water tank... The device is installed inside the support structure through the open space on the side of the support structure; the X-axis moving mechanism moves along the Y-axis guide rail; the Z1-axis moving mechanism moves along the X-axis moving mechanism; an installation rail is installed on the support structure, and two Y-axis guide rails are fixed to both ends of the installation rail respectively; the Z2-axis moving mechanism is installed on the installation rail; a hydrophone clamping mechanism is installed on the Z1-axis moving mechanism, and a transducer clamping mechanism is installed on the Z2-axis moving mechanism; the hydrophone clamping mechanism and the transducer clamping mechanism are arranged opposite to each other.

[0008] Furthermore, the Y-axis moving mechanism also includes two stepper motors and two Y-axis lead screws. The two stepper motors are respectively installed at both ends on the same side of the two Y-axis guide rails, and the two stepper motors respectively drive the two Y-axis lead screws to rotate.

[0009] Furthermore, the X-axis moving mechanism includes an X-axis guide rail and an X-axis lead screw. Two X-axis moving seats are respectively connected to both ends of the X-axis guide rail, and the X-axis moving seats move synchronously along the Y-axis guide rail. A stepper motor is installed at one end of the X-axis guide rail, and the stepper motor drives the X-axis lead screw to rotate. The X-axis lead screw is connected to the Z1-axis moving mechanism.

[0010] Furthermore, the Z1-axis moving mechanism includes a Z1-axis guide rail and a Z1-axis lead screw. The Z1-axis guide rail is vertically installed, and one end of the Z1-axis guide rail is connected to a Z1-axis moving seat. The Z1-axis moving seat moves along the X-axis guide rail. A stepper motor is installed at one end of the Z1-axis guide rail, and the stepper motor drives the Z1-axis lead screw to rotate. The Z1-axis lead screw is connected to the hydrophone clamping mechanism.

[0011] Furthermore, the Z2 moving mechanism includes a Z2 axis guide rail and a Z2 axis lead screw. The Z2 axis guide rail is installed vertically, and one end of the Z2 axis guide rail is connected to a Z2 axis mounting base. The Z2 axis mounting base is installed in the middle of the mounting rail. A stepper motor is installed at one end of the Z2 axis guide rail, and the stepper motor drives the Z2 axis lead screw to rotate. The Z2 axis lead screw is connected to the transducer clamping mechanism.

[0012] Furthermore, the hydrophone clamping mechanism includes a hydrophone mounting component and a hydrophone movable base. The hydrophone movable base moves up and down along the Z1 axis screw. The hydrophone movable base is fixed to the hydrophone mounting component. The hydrophone is mounted on one end of the hydrophone mounting component away from the hydrophone movable base and extends into the support structure.

[0013] Furthermore, the transducer clamping mechanism includes a transducer clamping member and a transducer moving base. The transducer moving base moves up and down along the Z2 axis screw. The transducer moving base is fixed to the transducer clamping member. A transducer is installed at one end of the transducer clamping member away from the transducer moving base and extends into the support structure.

[0014] A calibration method for a three-dimensional clamping and measuring sound field device, the calibration method comprising the following steps:

[0015] Within the Y-Z1 plane formed by the Y-axis and Z1 axis, the scanning range and step distance of the Y-axis and Z1 axis are set, and the first two-dimensional grid scan is performed to initially determine the region of maximum sound pressure signal on the Y-Z1 plane.

[0016] Based on the maximum region determined by coarse calibration on the Y-Z1 plane, a second two-dimensional grid scan is performed; the scanning range and step distance of the Y-axis and Z1 axis are set to determine the peak position of the sound pressure signal on the Y-Z1 plane.

[0017] Make the transducer's acoustic beam center axis coincide with the hydrophone's maximum sensitivity axis, and keep the hydrophone's sensitive receiving plane perpendicular to the wavefront to ensure that the hydrophone's tilt angle matches the acoustic reference plane, which is perpendicular to the transducer's acoustic beam center axis and parallel to the acoustic wavefront.

[0018] With the center of the transducer's concave surface as the origin of the coordinate system and the hydrophone located at the initial scanning starting point on the X-axis, the scanning path length and step distance are set, and the X-axis scanning is performed by moving away from the transducer to determine the peak position of the sound pressure signal in the X-axis direction.

[0019] Furthermore, the coordinates of the global sound field focus are determined by using the peak positions of the sound pressure signals obtained in the Y-Z1 plane and the X-axis direction.

[0020] A focal domain mapping method for a three-dimensional clamping sound field measurement device, the focal domain mapping method being based on a three-dimensional clamping sound field measurement device, the focal domain mapping method comprising the following steps:

[0021] Set the test starting point for this area scan, set the scan Y-Z1 plane parameters, set the scan XY plane parameters, perform a single data acquisition, and verify whether the hydrophone signal and system working status are normal based on the acquired waveform; start the automatic scan process, the system controls the hydrophone to automatically move within the Y-Z1 and XY planes with the parameters set, collect the peak-to-peak voltage of all data points according to the preset plane parameters, and generate a three-dimensional visualized sound field energy distribution map to complete the focal zone mapping.

[0022] Furthermore, the method for determining whether the hydrophone signal and system operating status are normal based on the waveform acquired in a single data acquisition includes the following steps: the transducer emits an excitation signal consisting of multiple cycles, and the number of sine cycles in the sound wave waveform received by the hydrophone is equal to the number of cycles set by the excitation signal driving the transducer.

[0023] Furthermore, after a single plane scan is completed, the hydrophone is controlled to return to the test starting point and repeat the scan tasks of other planes until the global scan is completed; plane scans that do not involve X-axis movement are executed first, followed by plane scans that involve X-axis movement.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] The device provided by this invention uses a three-axis motion platform to control the relative positions of transducers and hydrophones in three-dimensional space within a water tank, thereby performing gridded scanning and measurement of the sound field. The calibration method provided by this invention achieves rapid and accurate positioning of the sound field focal point through an automated scanning process that progresses from coarse to fine, axis-by-axis. The system processes the data point matrix obtained from the two-dimensional grid scan to calculate the maximum sound pressure level and its corresponding three-dimensional coordinates, thus reliably determining the focal region position of the sound field. This invention uses dense gridded sampling of the target area to create an accurate three-dimensional distribution map of the focal region reflecting the concentrated energy area of ​​the sound field. Waveform verification before scanning ensures the validity of the source data. Prioritizing planar scanning that does not involve the X-axis simplifies the operation process, reduces the number of coordinate resets, lowers operational complexity and error risk, and thus provides intuitive and accurate three-dimensional sound field energy distribution results. Attached Figure Description

[0026] Figure 1 This is an overall structural diagram of the device of the present invention;

[0027] Figure 2 This is a three-dimensional structural diagram of the three-cycle motion platform of the device of the present invention;

[0028] Figure 3 This is a structural diagram of the installation of the ultrasonic transducer in the device of the present invention;

[0029] Figure 4 This is a diagram showing the installation structure of the hydrophone in the device of the present invention;

[0030] Figure 5 This is a peak diagram of the system calibration interface of the calibration method of the present invention;

[0031] Figure 6 This is a diagram of the system mapping interface for the focal zone mapping method of the present invention;

[0032] Figure 7 This is a schematic waveform diagram showing the waveform determination signal and normal working status of a single data acquisition in the focal zone mapping method of the present invention.

[0033] In the diagram: 1. Water tank; 2. X-axis moving mechanism; 21. Stepper motor one; 22. X-axis guide rail; 23. X-axis lead screw; 3. Y-axis moving mechanism; 31. Stepper motor two; 32. Y-axis guide rail; 33. Y-axis lead screw; 4. Z1-axis moving mechanism; 41. Stepper motor three; 42. Z1-axis guide rail; 43. Z1-axis lead screw; 5. Z2-axis moving mechanism; 51. Stepper motor four; 52. Z2-axis guide rail; 53. Z2-axis lead screw; 54. Mounting rail; 6. Transducer clamping mechanism; 61. Transducer clamping component; 62. Transducer moving base; 7. Hydrophone clamping mechanism; 71. Hydrophone mounting component; 72. Hydrophone moving base; 8. Bracket. Detailed Implementation

[0034] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1:

[0036] Please see Figure 1-4 A three-dimensional clamping and measuring sound field device includes a three-axis motion platform and a water tank 1. The three-axis motion platform includes an X-axis moving mechanism 2, a Y-axis moving mechanism 3, a Z1-axis moving mechanism 4, a Z2-axis moving mechanism, and a support 8. The Y-axis moving mechanism 3 includes two Y-axis guide rails 32. The support 8 is fixedly connected to the two Y-axis guide rails 32 to form a support structure. The support structure is a rigid spatial cuboid frame. The two Y-axis guide rails 32 are two relatively parallel horizontal edges of the cuboid frame. The sides of the support structure are all open, thus forming a hollow and transparent frame. The water tank 1 is installed through the open space on the sides of the support structure. The X-axis moving mechanism 2 is installed inside the support structure; the X-axis moving mechanism 2 moves along the Y-axis guide rail 32 on the Y-axis moving mechanism 3; the Z1-axis moving mechanism 4 is installed on the X-axis moving mechanism 2 and moves along the X-axis moving mechanism 2; the mounting rail 54 is installed on the support structure, and two Y-axis guide rails 32 are fixed to both ends of the mounting rail 54 respectively; the Z2-axis moving mechanism 5 is installed on the mounting rail 54; the hydrophone clamping mechanism 7 is installed on the Z1-axis moving mechanism 6, and the transducer clamping mechanism 6 is installed on the Z2-axis moving mechanism 5. The hydrophone clamping mechanism 7 and the transducer clamping mechanism 6 are arranged opposite to each other.

[0037] A signal receiving unit is installed on the hydrophone clamping mechanism 7, and a sound wave emitting unit is installed on the transducer clamping mechanism 6.

[0038] In this embodiment, the signal receiving unit uses a hydrophone and the sound wave transmitting unit uses a transducer. Both the hydrophone and the transducer are existing technologies and will not be described in detail here.

[0039] The device provided by this invention controls the relative positions of the transducer and hydrophone in three-dimensional space in the water tank 1 through a three-axis motion platform, thereby performing gridded scanning and measurement of the sound field.

[0040] Specifically, the water tank 1 is placed inside a rigid open frame consisting of a bracket 8 and a Y-axis guide rail 22, and water is filled into the water tank 1 as a sound field coupling medium. The transducer is mounted on the transducer clamping mechanism 6, and the hydrophone is mounted on the hydrophone clamping mechanism 7, so that the transducer and the hydrophone are arranged relative to each other in space.

[0041] When the hydrophone clamping mechanism 7 moves along the Y-axis, the X-axis moving mechanism 2 moves along the two Y-axis guide rails 32 in the Y-axis direction. When the hydrophone clamping mechanism 7 moves along the X-axis, the X-axis moving mechanism 2 mounted on the Y-axis moving mechanism 3 drives the Z1-axis moving mechanism 4 on the X-axis moving mechanism 2 and the hydrophone clamping mechanism 7 to move in the X-axis direction. When the hydrophone clamping mechanism 7 moves along the Z-axis, the Z1-axis moving mechanism 4 controls the hydrophone clamping mechanism 7 to move up and down in the Z-axis direction (i.e., the vertical direction).

[0042] The transducer clamping mechanism 6 moves along the Z-axis independently of the hydrophone's kinematic chain. The mounting track 54 is fixed at both ends to the support structure. The Z2 axis moving mechanism 5 independently controls the transducer clamping mechanism 6 to move up and down in the Z-axis direction (i.e., the vertical direction).

[0043] The computer-controlled three-axis motion platform drives the hydrophone and transducer to move to the preset measurement point. During the measurement, the transducer is kept stationary, and the hydrophone is controlled to move in a gridded manner in the XY plane. Sound field data is collected at each point, and then the Z1 axis moving mechanism 4 completes the sound field scanning at different depth levels, and finally obtains the sound field distribution information in the entire target three-dimensional space.

[0044] The device provided by this invention uses a three-axis motion platform to position the hydrophone at any point in three-dimensional space, enabling refined and gridded measurements of complex sound fields, thereby generating a high-resolution sound field distribution map. The Z-axis motion of the hydrophone and transducer is designed to be independent of each other; the Z1 axis moves with the XY platform, while the Z2 axis is fixed to the support frame. This ensures that the Z-axis motions of the hydrophone and transducer do not interfere with each other, thus avoiding mutual influence caused by a single motion chain.

[0045] All sides of the support structure are designed to be open, allowing the water tank 1 to be placed in or removed without obstruction, which greatly facilitates the preparation and maintenance of the experiment. At the same time, placing the water tank 1 inside the support structure achieves a compact layout of the equipment space.

[0046] The Y-axis moving mechanism 3 also includes two stepper motors 31 and two Y-axis lead screws 33. The two stepper motors 31 are respectively installed at both ends of the same side of the two Y-axis guide rails 32. The two stepper motors 31 drive the two Y-axis lead screws 33 to rotate. The two Y-axis lead screws 33 are respectively installed parallel to the two Y-axis guide rails 32. The X-axis moving mechanism 2 includes an X-axis guide rail 22 and an X-axis lead screw 23. The two ends of the X-axis guide rail 22 are respectively connected to two X-axis moving seats. The X-axis moving seats move synchronously along the Y-axis guide rail 32 through the Y-axis lead screw 33. A stepper motor 21 is installed at one end of the X-axis guide rail 22. The stepper motor 21 drives the X-axis lead screw 23 to rotate. The X-axis lead screw 23 is installed parallel to the X-axis guide rail 22. The X-axis lead screw 23 is connected to the Z1-axis moving mechanism 4. The Z1-axis moving mechanism 4 moves along the X-axis guide rail 22 through the X-axis lead screw 23.

[0047] Specifically, when the hydrophone moves along the Y-axis, since the two stepper motors 31 are respectively installed at both ends of the two Y-axis guide rails 32 on the same side, each stepper motor 31 independently drives the Y-axis lead screw 33 connected to it. The two Y-axis lead screws 33 rotate synchronously, driving the two X-axis moving seats respectively installed on the two Y-axis lead screws 33. The two X-axis moving seats move synchronously in a straight line along the two Y-axis guide rails 32.

[0048] When the hydrophone moves along the X-axis, the stepper motor 21 is mounted on one end of the X-axis guide rail 22. The stepper motor 21 drives the X-axis lead screw 23 to rotate, thereby causing the Z1 axis moving mechanism to move along the X-axis guide rail 22 through the X-axis lead screw 23.

[0049] The Z1 axis moving mechanism 4 includes a Z1 axis guide rail 42 and a Z1 axis lead screw 43. The Z1 axis guide rail 42 is vertically installed, and one end of the Z1 axis guide rail 42 is connected to the Z1 axis moving seat. The Z1 axis moving seat moves along the X-axis guide rail 22 via the X-axis lead screw 23. A stepper motor 3 41 is installed at one end of the Z1 axis guide rail 42. The stepper motor 3 41 drives the Z1 axis lead screw 43 to rotate. The Z1 axis lead screw 43 is installed parallel to the Z1 axis guide rail 42. The Z1 axis lead screw 43 is connected to the hydrophone clamping mechanism 7. The hydrophone clamping mechanism 7 moves along the Z1 axis guide rail 42 via the Z1 axis lead screw 43.

[0050] Specifically, when the hydrophone moves along the Z-axis, since the stepper motor 3 41 is installed at one end of the Z1 axis guide rail 42, the stepper motor 3 41 drives the Z1 axis lead screw 43 to rotate, and the hydrophone clamping mechanism 7 connected to the Z1 axis lead screw 43 moves vertically along the Z1 axis guide rail 42.

[0051] The Z1 axis moving mechanism 4 is mounted as a whole on the X-axis motion mechanism 2, thereby realizing the movement of the hydrophone in three-dimensional space.

[0052] The Z2 moving mechanism 5 includes a Z2 axis guide rail 52 and a Z2 axis lead screw 53. The Z2 axis guide rail 52 is vertically installed, and one end of the Z2 axis guide rail 52 is connected to a Z2 axis mounting base, which is installed in the middle of the mounting rail 54. A stepper motor 4 51 is installed at one end of the Z2 axis guide rail 52, and the stepper motor 4 51 drives the Z2 axis lead screw 53 to rotate. The Z2 axis lead screw 53 is installed parallel to the Z2 axis guide rail 52, and the Z2 axis lead screw 53 is connected to a transducer clamping mechanism 6. The transducer clamping mechanism 6 moves along the Z2 axis guide rail 52 via the Z2 axis lead screw 53.

[0053] Specifically, the Z2-axis moving mechanism 5 is fixed to the mounting rail 54 spanning the support structure via the Z2-axis mounting base, thus mechanically separating the entire Z2-axis moving mechanism 5 from the kinematic chain of the hydrophone. When the transducer moves along the Z-axis, the stepper motor 4 51 drives the Z2-axis lead screw 53 to rotate, thereby causing the transducer clamping mechanism 6 to perform independent vertical lifting and lowering movements along the Z2-axis guide rail 52.

[0054] During sound field scanning, the transducer is stopped at the set depth of the Z2 axis guide rail 52, and the hydrophone is controlled to move and scan point by point in the target three-dimensional water space to collect sound field data at each spatial point.

[0055] The hydrophone clamping mechanism 7 includes a hydrophone mounting component 71 and a hydrophone movable base 72. The hydrophone movable base 72 moves up and down along the Z1 axis lead screw 43. The hydrophone movable base 72 is fixedly connected to the hydrophone mounting component 71. The hydrophone is installed at the end of the hydrophone mounting component 71 away from the hydrophone movable base 72 and extends into the support structure.

[0056] The transducer clamping mechanism 6 includes a transducer clamping member 61 and a transducer moving base 62. The transducer moving base 62 moves up and down along the Z2 axis lead screw 53. The transducer clamping member 61 is fixedly connected to the transducer moving base 62. A transducer is installed at the end of the transducer clamping member 61 away from the transducer moving base 62 and extends into the support structure.

[0057] The device provided by this invention mounts the hydrophone and transducer on two independently moving mechanisms, enabling the hydrophone clamping mechanism 7 to perform full-range scanning in three-dimensional space along with the three-axis spatial system constructed by XY-Z1, while the transducer clamping mechanism 6 has its depth controlled by an independent Z2-axis moving mechanism 5. Both the hydrophone mounting part 71 and the transducer clamping part 61, which extend into the water tank 1, respectively, position the hydrophone and transducer in the measurement area of ​​the water tank 1 located within the support frame, thereby isolating interference between moving parts and keeping the sound source extremely stable, so that the measured data has extremely high accuracy, repeatability and reliability.

[0058] Example 2:

[0059] Please see Figure 1-5A calibration method for a three-dimensional clamping and measuring sound field device, according to Embodiment 1, includes the following steps:

[0060] S1 and Y-Z1 plane coarse calibration: Perform the first two-dimensional grid scan in the plane formed by the Y-axis and Z1 axis (Y-Z1 plane); set the scanning range of the Y-axis and Z1 axis to 20mm and the step distance to 0.5mm, so as to initially determine the area of ​​maximum sound pressure signal on the Y-Z1 plane.

[0061] S2 and Y-Z1 plane fine calibration: Based on the maximum value region determined in S2 coarse calibration, a second two-dimensional grid scan is performed in the plane formed by the Y-axis and Z1 axis (Y-Z1 plane); the scanning range of the Y-axis and Z1 axis is set to 4mm and the step distance is 0.1mm, so as to determine the peak position of the sound pressure signal on the Y-Z1 plane.

[0062] S3. Acoustic reference plane calibration: Keep the transducer's acoustic beam center axis coincident with the hydrophone's maximum sensitivity axis, and keep the hydrophone's sensitive receiving plane perpendicular to the wavefront. Align the transducer and hydrophone. At this time, the plane that is perpendicular to the transducer's acoustic beam center axis and parallel to the acoustic wavefront is the acoustic reference plane.

[0063] S4, X-axis calibration: With the center of the transducer concave surface as the origin of the coordinate system, in the X-axis direction, place the hydrophone at the initial scan starting point and move it away from the transducer to perform an X-axis scan; set the scan path length to 20mm and the step distance to 0.5mm to determine the peak position of the sound pressure signal in the X-axis direction.

[0064] S5. If no valid sound pressure signal peak is identified in the X-axis direction, repeat steps S2 to S4 based on the recorded peak-to-peak voltage (Vpp) data until the sound pressure signal peak in the X-axis direction is successfully located.

[0065] By setting the scanning range on the X, Y, and Z axes, the sound pressure values ​​obtained during the hydrophone scanning process are recorded, and the maximum value is taken. The intersection of the coordinates where the maximum value of each axis is located is the focal zone position.

[0066] That is, the hydrophone records multiple sound pressure values ​​P during the scanning process. i (Where i = 1, 2, ..., N, N is the number of sampling points, and Pi is the i-th sound pressure value):

[0067] P1, P2, ..., P N ;

[0068] Then scan the maximum value P max for:

[0069] P max =max(P1, P2, ..., PN ).

[0070] When the hydrophone performs a two-dimensional grid scan in a biaxial plane, each grid receives a sound pressure value P(x) with coordinates. m y n ), where x m Represents the m-th sampling point on the x-axis, y n This represents the nth sampling point on the y-axis;

[0071] Simultaneously, the maximum value among a set of sound pressure values ​​is P. max : ;

[0072] The maximum value of the three axes is the intersection point P where the maximum value of each axis is located. max : , where z k This represents the k-th sampling point on the z-axis.

[0073] Preferably, in step S1, the hydrophone remains stationary along the Z1 axis and moves along the Y axis in 0.5mm increments, from 0mm to 20mm. Each 0.5mm increment stops the movement and records the peak-to-peak voltage (Vpp) value. After this stepping, the system obtains 41 data points on the Y axis. The hydrophone then returns to its starting point along the Y axis and moves along the Z1 axis in 0.5mm increments, from 0mm to 20mm. Each 0.5mm increment stops the movement and records the peak-to-peak voltage (Vpp) value. After this stepping, the system obtains 41 data points on the Z1 axis, thus creating a 20mm × 20mm data measurement point grid.

[0074] Preferably, in S2, based on the 20mm×20mm data measurement point grid measured in S1, the system compares the peak-to-peak voltage (Vpp) values ​​of all data points in the data measurement point grid, identifies the data point with the largest peak-to-peak voltage (Vpp) value, and defines the coordinates of this data point as the coarse calibration maximum point. Centered on this coarse calibration maximum point, a region with a side length of 4mm is defined in the plane formed by the Y-axis and Z1 axis as the maximum region for fine calibration scanning in S2.

[0075] Preferably, in step S2, the hydrophone is located at the scanning starting point of the maximum value region, remains stationary in the Z1 axis direction, and moves along the Y axis direction in 0.1mm increments, from 0mm to 4mm. Every 0.1mm of movement, the system stops and measures and records the peak-to-peak voltage (Vpp) value. After the stepping is completed, the system obtains 41 data points on the Y axis. The hydrophone returns to the starting point in the Y axis direction and moves along the Z1 axis in 0.1mm increments, from 0mm to 4mm. Every 0.1mm of movement, the system stops and measures and records the peak-to-peak voltage (Vpp) value. After the stepping is completed, the system obtains 41 data points on the Z1 axis, thus obtaining a 4mm × 4mm data measurement point grid.

[0076] Preferably, in S4, the hydrophone is located at the scanning starting point in the X-axis direction and moves along the X-axis in steps of 0.5mm, from 0mm to 20mm. Every time it moves 0.5mm, it stops and measures and records the peak-to-peak voltage (Vpp) value. After the step is completed, the system obtains 41 data points on the X-axis. By comparing the peak-to-peak voltage (Vpp) values ​​of all data points on the X-axis, the global sound field focus coordinates can be determined.

[0077] It should be noted that the data information for the data points is the coordinate point and the peak-to-peak voltage (Vpp) value of the corresponding coordinate point.

[0078] The calibration method provided by this invention achieves rapid, accurate, and reliable positioning of the sound field focal point through an automated scanning process that progresses from coarse to fine, axis by axis. This invention employs a hierarchical positioning strategy: first, a large-scale coarse scan is performed in the Y-Z1 plane to quickly determine the focal region; then, a small-scale fine scan is performed within the focal region, effectively balancing calibration efficiency and final positioning accuracy. By establishing a sound acoustic reference plane, the transducer and hydrophone are ensured to be in optimal alignment. Subsequently, based on the calibrated Y-Z1 plane, an X-axis scan is performed. The system processes the data point matrix obtained from the two-dimensional grid scan to calculate the maximum sound pressure level and its corresponding three-dimensional coordinates, thereby determining the focal region position of the sound field.

[0079] Example 3:

[0080] Please see Figure 1-7 A focal domain mapping method for a three-dimensional clamping and measuring sound field device, according to Embodiment 2, the focal domain mapping method includes the following steps:

[0081] S100. Set the test starting point for this area scan, and set the scan Y-Z1 plane parameters. The Y-Z1 plane parameters include the acquisition interval (unit: ms), as well as the scan length, step distance, and scan speed of the Y-axis. The Y-Z1 plane parameters also include the scan length, step distance, and scan speed of the Z1 axis.

[0082] S200. Set the XY plane parameters for scanning. The XY plane parameters include the acquisition interval (unit: ms), as well as the scanning length, step distance, and scanning speed of the X-axis. The XY plane parameters also include the scanning length, step distance, and scanning speed of the Y-axis. After setting, move the X-axis forward by 20mm.

[0083] S300: Perform a single data acquisition and verify whether the hydrophone signal and system operating status are normal based on the acquired waveform.

[0084] After the S400 waveform verification is passed, the automatic scanning process is started. The system controls the hydrophone to move automatically in the Y-Z1 plane and XY plane with the parameters set, collect the peak-to-peak voltage of all data points according to the preset plane parameters, and generate a three-dimensional visualized sound field energy distribution map to complete the focal zone mapping.

[0085] Preferably, in S100, the Y-Z1 plane parameters further include a positive soft limit, and the XY plane parameters further include a negative soft limit; in S200, the XY plane parameters further include a positive soft limit on the X-axis and a negative soft limit on the Y-axis.

[0086] It should be noted that the positive and negative soft limits are set so that once the current position of the hydrophone is detected to have reached or is about to reach the preset positive or negative soft limit coordinates, the system will immediately issue a stop command, thereby causing the motor to stop smoothly and displaying a warning message on the operation interface.

[0087] Preferably, in S300, the method for determining whether the hydrophone signal and the system working status are normal based on the waveform acquired in a single data acquisition includes the following steps: the transducer emits an excitation signal consisting of multiple cycles, and the number of sine cycles in the sound wave waveform received by the hydrophone is equal to the number of cycles set by the excitation signal driving the transducer.

[0088] Specifically, the transducer emits an excitation signal consisting of 13 cycles, and the waveform received by the hydrophone is as follows: Figure 7 The sine wave shown has 13 sine cycles. When calculating the number of sine cycles, the small amplitude residual oscillations on both sides are ignored.

[0089] Preferably, in S400, after the scan is completed, the data point data is saved according to the predefined naming rules. The naming rules include the ultrasonic frequency, transducer model, scan plane information and serial number. Specifically, according to the naming rules, it is named 1MHz Shanghai ring array probe No. 1 ring XY-1.

[0090] It should be noted that if the scanning plane involves the X-axis direction, after returning to the test starting point, the hydrophone needs to be jogged back to the focal coordinates, and then the test starting point needs to be reset to ensure the consistency of the coordinate system for subsequent scanning of different planes; the focal coordinates are the global sound field focal coordinates in Example 2.

[0091] Preferably, after a single plane scan is completed, the hydrophone is controlled to return to the test starting point and the scan tasks of other planes in S400 are repeated until the global scan is completed.

[0092] Preferably, planar scans that do not involve X-axis movement are performed first, followed by planar scans that do involve the X-axis, in order to simplify operations and reduce the risk of errors.

[0093] The focal zone mapping method provided by this invention decomposes three-dimensional spatial scanning into sequential scanning of two orthogonal planes (Y-Z1 plane and XY plane). By performing single data acquisition and waveform verification, the system is ensured to be in normal condition, avoiding invalid scans. After successful verification, the system drives the hydrophone to move point by point along the planned path according to preset parameters. At each point, the system synchronously acquires the sound pressure signal and records its peak-to-peak voltage (Vpp), which directly corresponds to the sound field energy intensity at that point. By setting the focal coordinates and the test starting point, data obtained from different planes and different batches of scans can be accurately aligned and integrated based on a unified spatial coordinate system, ultimately generating a complete and consistent three-dimensional sound field energy distribution map.

[0094] This invention uses dense grid sampling of the target area to create a three-dimensional focal zone distribution map that accurately reflects the concentrated area of ​​sound field energy. Waveform verification before scanning ensures the validity of the source data. Prioritizing planar scanning that does not involve the X-axis simplifies the operation process, reduces the number of coordinate resets, and lowers the complexity and risk of errors, thereby providing intuitive and accurate three-dimensional sound field energy distribution results.

[0095] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional clamping and measuring sound field device, characterized in that: The system includes a three-axis motion platform and a water tank. The three-axis motion platform comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z1-axis moving mechanism, a Z2-axis moving mechanism, and a support frame. The Y-axis moving mechanism includes two Y-axis guide rails. The support frame is fixedly connected to the two Y-axis guide rails to form a support structure. The support structure is a rigid spatial cuboid frame. The two Y-axis guide rails are two relatively parallel horizontal edges of the cuboid frame. The sides of the support structure are all open, thus forming a hollow, transparent frame. The water tank is connected to the support structure. The open space on the side of the structure is installed inside the support structure; the X-axis moving mechanism moves along the Y-axis guide rail; the Z1-axis moving mechanism moves along the X-axis moving mechanism; an installation rail is installed on the support structure, and two Y-axis guide rails are fixed to both ends of the installation rail respectively; the Z2-axis moving mechanism is installed on the installation rail; a hydrophone clamping mechanism is installed on the Z1-axis moving mechanism, and a transducer clamping mechanism is installed on the Z2-axis moving mechanism; the hydrophone clamping mechanism and the transducer clamping mechanism are arranged opposite to each other.

2. The three-dimensional clamping and measuring sound field device according to claim 1, characterized in that: The Y-axis moving mechanism also includes two stepper motors and two Y-axis lead screws. The two stepper motors are respectively installed at both ends of the same side of the two Y-axis guide rails, and the two stepper motors respectively drive the two Y-axis lead screws to rotate.

3. The three-dimensional clamping and measuring sound field device according to claim 2, characterized in that: The X-axis moving mechanism includes an X-axis guide rail and an X-axis lead screw. Two X-axis moving seats are connected to both ends of the X-axis guide rail, and the X-axis moving seats move synchronously along the Y-axis guide rail. A stepper motor is installed at one end of the X-axis guide rail, and the stepper motor drives the X-axis lead screw to rotate. The X-axis lead screw is connected to the Z1-axis moving mechanism.

4. The three-dimensional clamping and measuring sound field device according to claim 3, characterized in that: The Z1 axis moving mechanism includes a Z1 axis guide rail and a Z1 axis lead screw. The Z1 axis guide rail is installed vertically, and one end of the Z1 axis guide rail is connected to a Z1 axis moving seat. The Z1 axis moving seat moves along the X-axis guide rail. A stepper motor is installed at one end of the Z1 axis guide rail, and the stepper motor drives the Z1 axis lead screw to rotate. The Z1 axis lead screw is connected to the hydrophone clamping mechanism.

5. A three-dimensional clamping and measuring sound field device according to claim 1, characterized in that: The Z2 moving mechanism includes a Z2 axis guide rail and a Z2 axis lead screw. The Z2 axis guide rail is installed vertically, and one end of the Z2 axis guide rail is connected to a Z2 axis mounting base. The Z2 axis mounting base is installed in the middle of the mounting rail. A stepper motor is installed at one end of the Z2 axis guide rail, and the stepper motor drives the Z2 axis lead screw to rotate. The Z2 axis lead screw is connected to the transducer clamping mechanism.

6. A calibration method for a three-dimensional clamping and measuring sound field device, characterized in that: The calibration method is based on a three-dimensional clamping measurement sound field device as described in any one of claims 1-5, and the calibration method includes the following steps: Within the Y-Z1 plane formed by the Y-axis and Z1 axis, the scanning range and step distance of the Y-axis and Z1 axis are set, and the first two-dimensional grid scan is performed to initially determine the region of maximum sound pressure signal on the Y-Z1 plane. Based on the maximum region determined by coarse calibration on the Y-Z1 plane, a second two-dimensional grid scan is performed; the scanning range and step distance of the Y-axis and Z1 axis are set to determine the peak position of the sound pressure signal on the Y-Z1 plane; Make the transducer's acoustic beam center axis coincide with the hydrophone's maximum sensitivity axis, and keep the hydrophone's sensitive receiving plane perpendicular to the wavefront to ensure that the hydrophone's tilt angle matches the acoustic reference plane, which is perpendicular to the transducer's acoustic beam center axis and parallel to the acoustic wavefront. With the center of the transducer's concave surface as the origin of the coordinate system and the hydrophone located at the initial scanning starting point on the X-axis, the scanning path length and step distance are set, and the X-axis scanning is performed by moving away from the transducer to determine the peak position of the sound pressure signal in the X-axis direction.

7. The calibration method for a three-dimensional clamping and measuring sound field device according to claim 6, characterized in that: The coordinates of the global sound field focus are determined by the peak positions of the sound pressure signals obtained in the Y-Z1 plane and the X-axis direction.

8. A method for focal domain mapping of a three-dimensional clamping and measuring acoustic field device, characterized in that: The focal zone mapping method is based on a three-dimensional clamping and measuring acoustic field device as described in any one of claims 1-5, and the focal zone mapping method includes the following steps: Set the test starting point for this area scan, set the scan Y-Z1 plane parameters, set the scan XY plane parameters, perform a single data acquisition, and verify whether the hydrophone signal and system working status are normal based on the acquired waveform; start the automatic scan process, the system controls the hydrophone to automatically move within the Y-Z1 and XY planes with the parameters set, collect the peak-to-peak voltage of all data points according to the preset plane parameters, and generate a three-dimensional visualized sound field energy distribution map to complete the focal zone mapping.

9. The focal domain mapping method for a three-dimensional clamping and measuring acoustic field device according to claim 8, characterized in that: The method for determining whether the hydrophone signal and system operating status are normal based on the waveform acquired in a single data acquisition includes the following steps: the transducer emits an excitation signal consisting of multiple cycles, and the number of sine cycles in the sound wave waveform received by the hydrophone is equal to the number of cycles set by the excitation signal driving the transducer.

10. The focal domain mapping method for a three-dimensional clamping and measuring acoustic field device according to claim 8, characterized in that: After a single plane scan is completed, the hydrophone is controlled to return to the test starting point and the scan tasks of other planes are repeated until the global scan is completed. Plane scans that do not involve X-axis movement are executed first, followed by plane scans that involve X-axis movement.

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