267 results about "Acoustic array" patented technology

The invention relates to the field of civil engineering structure health monitoring, in particular to a subsea tunnel damage intelligent monitoring and identification method based on acousto-optic collaborative perception. The method sequentially comprises the steps of deploying a three-dimensional acousto-optic sensing network, actively detecting sound waves, reconstructing a local sound velocity distribution cloud picture, identifying a sound velocity abnormal region, performing optical fiber response focusing sampling and establishing an intelligent damage diagnosis model. According to the method, the three-dimensional acoustic array and the distributed optical fiber grid are simultaneously deployed in the subsea tunnel structure, functional complementation is realized between the three-dimensional acoustic array and the distributed optical fiber grid, seamless cooperative sensing of crack coarse positioning and strain fine positioning is further realized, acoustic active detection, trigger type optical fiber high-frequency sampling and a temperature-strain decoupling algorithm are adopted, and the positioning precision of the subsea tunnel structure is improved. Seawater noise and thermal expansion interference are effectively eliminated, 'dry cracks' and'water seepage cracks' are accurately distinguished, real-time monitoring is carried out on a subsea tunnel structure, whole-process identification of micro-damage-expansion-failure is achieved, and an active early warning mechanism is established.

A magnetic-based tracking system for tracking an ultrasound probe. The tracking system can create a three-dimensional visualization. The tracking system can include a reference device including a reference magnet and an ultrasound probe including an ultrasound acoustic transducer or acoustic array that acquires ultrasound images. The reference device can include a magnetometer that detects a magnetic field generated by the reference magnet. The ultrasound probe can couple a first ultrasound image with a first magnetic field strength, wherein both of the first ultrasound image is received and the first magnetic field strength is detected at a first time. The system can include a console including a processor and non-transitory computer-readable medium having stored thereon a plurality of processor executed logic modules that perform operations including receiving and recording a plurality of coupling of ultrasound images and detected magnetic field strengths to generate a 3D visualization from the ultrasound images.

The invention provides an acoustic array adaptive calibration correction system applied to an underwater moving target, which relates to the technical field of marine equipment and comprises a multi-source excitation and environment perception module, an intelligent array perception and diagnosis module, an adaptive position inversion and uncertainty quantification module and a closed-loop calibration execution and self-learning optimization module. The multi-source excitation and environment perception module is responsible for providing reference signals required by calibration and establishing a correlation model of environment and formation distortion, and the intelligent array perception and diagnosis module realizes multi-modal data acquisition, array element health state monitoring and formation geometry self-perception. The adaptive position inversion and uncertainty quantization module completes signal processing, position estimation and error quantization propagation, and the closed-loop calibration execution and self-learning optimization module executes a compensation strategy, verifies a calibration effect and continuously optimizes system performance through online learning; the system solves the problem that a traditional method cannot process environment time varying, multi-sensor conflicts and uncertainty quantization.

Embodiments of the present disclosure relate to the field of acoustic sensing demodulation with high signal-to-noise ratio, real-time demodulation, and high sensitivity, and in particular, to a parallel sensing and demodulation system for acoustic waves based on dual optical frequency combs. The present disclosure introduces dual optical frequency combs as multi-path parallel input light sources, leveraging features of the dual optical frequency combs including narrow linewidth, stable power, high sensitivity, and the capability of precisely converting signals from the optical domain to the radio frequency domain, so the dual optical frequency combs can be used as multi-channel parallel input light sources for acoustic array detection. Besides, some embodiments of the present disclosure employ three-wavelength adaptive demodulation technology to ensure that the detection of acoustic wave signals at every moment has a high signal-to-noise ratio and improved sensitivity for detecting weak signals.

The invention relates to the technical field of cast-in-place pile detection, and discloses a cast-in-place pile integrity detection system based on a multi-mode ultrasonic array, and the system comprises a deformable multi-mode ultrasonic probe which is used for adaptively adjusting the posture through an intelligent material driver; the intelligent coupling injection module is used for automatically cleaning the inner wall of an internal channel of the cast-in-place pile; the multi-source data processing module is used for receiving the original ultrasonic waveform data and the real-time position information of the ultrasonic probe; the deep learning recognition module is used for generating a recognition result including defect categories and preliminary features; the defect positioning and evaluating module is used for constructing a defect model comprising defect space coordinates, geometric dimensions and severity parameters; and the diagnosis decision module is used for providing targeted repair suggestions. The ultrasonic signals are transmitted and received through the integrated longitudinal wave transducer, the transverse wave transducer and the Rayleigh wave transducer, the internal structure information of the pile body is obtained, in this way, the ultrasonic beam coverage range is expanded, and the detection blind area of the area between the sounding pipes in a traditional method is effectively made up.

The invention belongs to the technical field of underwater sound information processing, and relates to a position configuration method of an array calibration sound source of a seabed sound array in a deep sea environment, which comprises the following steps of: constructing a time delay observed quantity model between a calibration sound source and an array element based on a ray sound propagation theory; deriving a relation between an unbiased estimation error lower bound of an array element position and a calibration sound source position, constructing an array calibration performance constraint condition and a calibration source number sparse constraint condition to realize automatic selection of a calibration sound source number, and adopting a positive semidefinite programming technology to solve an optimization configuration problem; compared with a traditional calibration sound source position configuration method, the method adopts the ray acoustic propagation model to model and calibrate the time delay observed quantity between the sound source and the array element, is more in line with the characteristics of the marine environment, and can realize effective compensation of the sound propagation effect.

The utility model discloses an unmanned aerial vehicle-mounted acoustic detection system. The unmanned aerial vehicle-mounted acoustic detection system comprises an acoustic array, a storage battery, a data acquisition box fixed on an unmanned aerial vehicle, and a signal processing module arranged in the data acquisition box, the acoustic array comprises a microphone which is arranged outside the data acquisition box, is connected with the signal processing module and is used for detecting an acoustic signal; the signal processing module is used for processing sound signals detected by the acoustic array; the storage battery is used for supplying power to the signal processing module. According to the unmanned aerial vehicle-mounted acoustic detection system, the acoustic array, the storage battery and the data acquisition box provided with the signal processing module are arranged on the unmanned aerial vehicle, large-area acoustic target monitoring is achieved through flight of the unmanned aerial vehicle, and the problem that a monitoring area is limited due to static arrangement of the acoustic detection system in a target area can be solved.

The invention provides an ultrasonic array full-focusing detection scheme design method and device, and belongs to the field of zirconium alloy welding seam detection. The method comprises the steps that zirconium alloy welding seam microscopic data are obtained, and the correlation between the microscopic data and the anisotropy of the zirconium alloy welding seam is obtained; establishing an ultrasonic propagation simulation model in the zirconium alloy welding seam; establishing a zirconium alloy welding seam simulation test block; determining an ultrasonic detection range; calculating a first incident angle range and configuration parameters of the ultrasonic array; simulating the sound velocity change of the ultrasonic waves of which the incidence angles are distributed in the incidence angle range in the zirconium alloy welding seam simulation test block, and outputting an optimal sound velocity value; calculating the optimal incidence angle of the ultrasonic array in the incidence angle range; constructing an ultrasonic array based on the configuration parameters, and performing full-focusing imaging on the constructed ultrasonic array according to the optimal incident angle; and detecting defects in the zirconium alloy weld joint based on a full-focusing imaging result. The defect type identification precision and the defect position positioning precision can be improved.

The invention relates to the technical field of bag type dust collector filter bag abrasion detection, in particular to a filter bag damage non-contact detection method and system based on acoustic array positioning. The method comprises the following steps: arranging an acoustic sensor array in an air purification chamber of the dust remover, and collecting acoustic signals in real time; after band-pass filtering is carried out on the signals, feature vectors of the signals are extracted and matched with a pre-established acoustic fingerprint database, so that a filter bag damage event is recognized; after identification, based on the time difference of arrival of the signal to at least three sensors in the array, combining the coordinates of the sensors and the sound velocity, and utilizing a TDOA positioning algorithm to calculate the space coordinates of the damaged sound source; and finally, matching the coordinates with a pre-stored filter bag coordinate mapping table, determining the number of a specific damaged filter bag, and performing visual highlight marking on a pattern board plane layout of an application layer terminal. The online, real-time, automatic and accurate positioning of the damaged filter bag is realized, the problem that the prior art can only give an alarm but cannot position is solved, and the operation and maintenance efficiency and safety are improved.

The invention provides a karst cave group detection method and device in shield construction, and the method achieves the comprehensive detection of karst caves through a transient electromagnetic and sound wave array composite wave field detection mode, and improves the detection accuracy and detection efficiency of the karst cave group. And feature extraction is performed on the composite wave field detection data through a cross-physical coupling model, a karst cave probability model is established, and quantitative evaluation of a karst cave detection result is realized. When the karst cave possibly exists in the construction direction of the shield tunneling machine, the distribution prediction direction of the karst cave is further determined, and the shield tunneling machine is prevented from entering the karst cave area blindly in the tunneling process. Through the multi-source sensing array carried on the shield tunneling machine, equipment parameters during operation of the shield tunneling machine are collected in real time, potential construction anomalies can be found easily, and the accuracy and timeliness of karst cave detection are improved. Combined analysis is carried out on the composite wave field detection data and the operation parameters of the shield tunneling machine through the risk assessment model, a karst cave risk prediction value is determined, and the accuracy of karst cave risk assessment is improved.

The invention discloses a method and a device for realizing sound source localization by using a microphone array carried by an unmanned aerial vehicle. The method comprises the following steps: S1, acquiring a multi-channel audio signal which is measured by the microphone array carried by the unmanned aerial vehicle and contains flight noise of the unmanned aerial vehicle; s2, extracting a beam forming diagram of the multi-channel audio signal by using a conventional beam forming technology; and S3, inputting the beam forming diagram into the trained neural network model to obtain a predicted sound source position and sound source intensity. The invention aims to overcome harsh sound array conditions (limited array aperture and relatively small array element spacing) and complex acoustic environment (extremely low signal-to-noise ratio and unmanned aerial vehicle self-noise non-stationary characteristics) on the unmanned aerial vehicle, and realizes efficient and real-time sound source localization of a high-frequency sound source by the microphone array carried by the unmanned aerial vehicle.

A directed energy firefighting device is disclosed to extinguish fires with light, comprising a structured light generator and a directed energy controller for detecting and extinguishing fires remotely and at the speed of light. The device employs structured directed light energy capable of inducing atmospheric avalanche breakdown, generating at least one of sound waves and shockwaves, and dynamically forming space-time acoustic arrays for precise fire suppression. The system may integrate one or more energy sources, including gyrotrons, traveling wave tubes, klystrons, free electron lasers, and others, to produce diffraction-resistant and dynamically structured beams that penetrate through the atmospheric and non-metalic solid physical obstructions. Key features also may include safety mechanisms and artificial intelligence for real-time optimization. Other applications include power beaming, environmental monitoring, medicine, disaster response, and orbital debris clearing are also discussed. A key feature is the ability for arbitrary manipulation of light over large areas.

The invention discloses an automatic charging processing method and device for a charging robot, and relates to the technical field of robot energy management, and the method comprises the following steps: constructing an acoustic array, collecting high-frequency background sound wave signals in a working area of the charging robot in real time, and extracting sound spectrum energy distribution; and identifying an interference frequency band coinciding with the working frequency of the ultrasonic sensor, and calculating the intensity level of the interference frequency band according to the sound spectrum energy intensity and the duration time in the interference frequency band. According to the method, a closed-loop system of interference perception-risk assessment-control response is constructed, and dynamic adjustment of perception confidence and output of blindness risk indexes are realized through multi-modal identification consistency analysis and historical deviation tracking. Once the threshold value is exceeded, the system executes frequency hopping and strategy optimization, frequency band shielding is effectively avoided, the sensing stability, path accuracy and operation safety of the charging robot in the sound interference environment are improved, and good application prospects are achieved.

The invention relates to the field of underwater sound signal processing, in particular to an underwater DOA (direction of arrival) estimation method based on graph nerves and a convolutional neural network, which comprises the following steps: 1, establishing a linear array, and enabling narrow-band signals to simultaneously reach an underwater sound array; 2, performing signal preprocessing to obtain a signal covariance matrix, and performing normalization processing; 3, extracting correlation between array elements and spatial features of array signals, and performing data supplementation on sparse linear array information; 4, forming a double-branch structure, enhancing the information aggregation capability, and extracting features from a space path and a time domain path; and 5, constructing an adjacent matrix, filling node features of damaged array elements, adopting a double-branch structure, extracting spatial features and time domain features, carrying out feature integration, and outputting a DOA estimation result. The spatial correlation between array elements is extracted and the array sparsity problem is processed by using the graph neural network, and the time domain features of the signals are extracted in combination with the convolutional neural network, so that more accurate and more robust DOA estimation can be realized under the conditions of low signal-to-noise ratio and array sparsity.

The invention provides double-frequency double-sided rotary scanning fish finder equipment. The double-frequency double-sided rotary scanning fish finder equipment comprises a high-frequency double-sided transmitting and receiving acoustic array and a low-frequency double-sided transmitting and receiving acoustic array, the high-frequency double-sided transmitting and receiving acoustic array and the low-frequency double-sided receiving acoustic array are distributed up and down in a crossed manner, and an included angle is formed between a radiating surface normal of the high-frequency double-sided transmitting and receiving acoustic array and a radiating surface normal of the low-frequency double-sided receiving acoustic array. According to the underwater acoustic transducer, the information acquisition rate can be increased, data acquisition errors caused by the sampling rate problem are reduced and avoided, information acquisition content is enriched, and it is ensured that excellent emission sound response and receiving sensitivity are obtained.

The invention relates to the technical field of intelligent control of double-drum washing machines, and discloses an intelligent control system of an energy-saving double-drum washing machine, which comprises a hardware execution unit used for providing multi-mode sensing, accurate liquid management, mechanical execution and energy recovery functions; the control processing unit is used for processing the received data, operating an algorithm and coordinating the operation of each component of the system; the cooperative control software module runs on the main control board and comprises an acoustic fingerprint identification and fault diagnosis module and an intelligent fluid precise counterweight and cooling module; an AI-driven collaborative decision and adaptive optimization module; the invention discloses a micro heat pump energy recovery and precise temperature control linkage module. By means of the high-sensitivity acoustic array sensor and the acoustic fingerprint recognition and fault diagnosis module, clothes imbalance is recognized, point-to-point liquid balance weight is achieved by means of the micro-fluidic spraying valve array, the optimal dehydration cooperative scheduling strategy is generated, water and electricity resources are greatly saved, and the dehydration efficiency is improved.

The invention provides a boiler heating surface pipe wall leakage detection method, and belongs to the technical field of industrial intelligent detection based on machine learning. According to the method, a heterogeneous sensing architecture combining adaptive signal decomposition optimized by an improved sparrow search algorithm and acoustic array positioning corrected by a physical field is adopted, and complementary features are extracted from time domain statistical features and a frequency domain energy spectrum through a specially designed double-flow space-time attention fusion neural network; therefore, the weak leakage signals in the strong noise environment can be captured and identified. Based on an identification result, a hearth three-dimensional temperature field distribution model is used for carrying out gridding correction on a sound wave propagation path, a nonlinear positioning equation set is constructed, and three-dimensional space sub-m-level accurate positioning of a leakage sound source is realized without manual intervention; the problems of false alarm and missing alarm caused by background noise interference and positioning deviation caused by temperature gradient in traditional acoustic monitoring are thoroughly solved.

Disclosed in the present invention are a wide-angle scanning imaging device, method and system. The device comprises a sonar probe and a device body. The sonar probe comprises an acoustic array and a transceiving processing module. The acoustic array comprises a transmitting array and a receiving array. The transmitting array comprises a group of transmitting transducers. Maximum response axes of the transmitting transducers are distributed in the vertical direction according to preset tilt angles, and a plurality of transmitted beams of the transmitting transducers form wide-angle coverage in the vertical direction. The receiving array performs resolution in the horizontal direction by means of beamforming, and vertical orientations of echoes are estimated by means of double-array output phase differences. The acoustic array performs rotational motion along the central axis of the device body. The transmitting array transmits broadband orthogonal pulses according to a preset period, the receiving array receives echo signals, and the transceiving processing module processes the echo signals according to the central frequency of the transmitted pulses of the transmitting array to obtain an underwater target imaging result. The present invention reduces the impact of underwater multipath interference and the like on phase estimation and improves the 3D imaging quality.

The invention discloses an audio-visual fusion unmanned aerial vehicle detection and positioning method, and belongs to the technical field of unmanned aerial vehicle detection and positioning, and the method comprises the steps: collecting sound signals of a detection region through a sound array, obtaining the local strongest direction of the sound signals, and forming an unmanned aerial vehicle candidate direction set; signals of candidate orientations of all unmanned aerial vehicles are directionally received, whether the unmanned aerial vehicles exist in the candidate orientations or not is judged through the unmanned aerial vehicle sound signal anomaly detector based on deep learning and the unmanned aerial vehicle image target detector based on deep learning, and an unmanned aerial vehicle orientation set is obtained; acquiring an image of a detection area through a binocular camera to obtain a depth image of a reference camera visual angle; uniquely corresponding the orientation of the unmanned aerial vehicle to the determined position of the depth image, and taking the depth value of the position as the distance of the unmanned aerial vehicle; and combining the unmanned aerial vehicle azimuth and the unmanned aerial vehicle distance to obtain three-dimensional coordinates of the unmanned aerial vehicle. The unmanned aerial vehicle can be identified and positioned by adopting an audio-visual fusion method.

The invention discloses a phase shift migration-based ultrasonic array imaging method for defects in a steel ingot, which comprises the following steps of: performing two-dimensional Fourier transform on full-matrix time domain data obtained by ultrasonic array detection of the steel ingot to obtain a two-dimensional frequency spectrum of the full-matrix data, and establishing a relationship between a transmitting sound field and a receiving sound field; and gradually extrapolating the sound field through a phase shift factor in the depth direction, recovering a time domain sound field signal through two-dimensional inverse Fourier transform, and obtaining a focusing imaging result in the steel ingot according to the correlation between the transmitted sound field and the received sound field. The method has the characteristics that the image resolution is improved, the method adapts to sound velocity change in a complex medium, complex calculation is not needed, and the calculation efficiency is high.

The invention belongs to the technical field of geophysical logging, and relates to a dipole shear wave velocity extraction method and system, and the method comprises the steps: processing obtained sound wave array waveform data of a target well section, and obtaining a frequency dispersion energy spectrum; frequency dispersion points in the frequency dispersion energy spectrum are extracted, clustered and screened to obtain a frequency dispersion point set; extracting an area of which the energy value is greater than a set energy threshold value in the frequency dispersion energy spectrum and processing the area into a frequency dispersion spectrum weight matrix; inputting the determined stratum and well hole parameters to be inverted into a pre-constructed frequency dispersion curve forward model to obtain a theoretical frequency dispersion curve; for each depth point, a joint error function is calculated based on the frequency dispersion point set, the frequency dispersion spectrum weight matrix and the theoretical frequency dispersion curve, and the shear wave speed contained in the stratum with the minimum joint error function and the well hole parameters serves as the shear wave speed of the current depth point; and arranging the shear wave velocity corresponding to each depth point of the target logging well section according to the depth to obtain a continuous stratum shear wave velocity profile. According to the invention, the dipole shear wave velocity can be rapidly and accurately obtained.

The invention relates to the technical field of ocean engineering monitoring and underwater acoustic sensing, in particular to an underwater engineering structure anomaly detection and positioning method based on a subsurface buoy acoustic array. Comprising the following steps: establishing an equivalent coupling sound propagation model; a subsurface buoy system is arranged in a water body area above an underwater engineering structure, an acoustic receiving array is fixedly arranged on the subsurface buoy system, and time synchronization, array element space position calibration and channel gain calibration are carried out on the acoustic receiving array; when an abnormal acoustic event with a spatial consistent propagation characteristic is detected, the acoustic receiving array enters an enhanced working mode and outputs a multi-channel enhanced acoustic signal; and in the enhanced working mode, outputting a judgment result of whether an abnormal acoustic event occurs or not, and solving to obtain a position estimation value of the abnormal event in the axial direction of the structure and a corresponding positioning confidence interval. The method is suitable for online anomaly monitoring and accurate positioning of an underwater linear engineering structure with a known space trend in a complex marine environment.

The invention provides a far and near field wallboard leakage source full-field positioning method based on a linear acoustic array, belongs to the field of high-precision positioning, and solves the problems that a wallboard structure leakage source positioning scheme needs more sensor arrays and is inconvenient to use actually, and the calculation amount required for ensuring the precision of a positioning algorithm is large and is not beneficial to real-time monitoring. Comprising the following steps: step 1, determining a frequency dispersion curve according to a structure and a material of a detected wallboard, extracting a signal main frequency, and determining an angle threshold value according to an array structure and two selected sub-arrays; 2, calculating a positioning result difference value of the two sub-arrays, and comparing the positioning result difference value with a threshold value; 3, if the positioning result difference value is not larger than the threshold value, far-field positioning is carried out, far-field positioning is completed through the full array, and a far-field positioning result is output; 4, if the positioning result difference value is smaller than the threshold value, near-field positioning is carried out, and an improved 2Dmuic algorithm is adopted to process the full-array signals to obtain a near-field positioning result.

The invention discloses a small surveying and mapping blind area double-frequency synthetic aperture underwater acoustic imaging system and method, and the system comprises a double-frequency acoustic array, a multi-channel transmitting and receiving machine, a double-frequency synthetic aperture imaging signal processing module, a double-frequency image fusion imaging module, and a high-frequency acoustic array and a low-frequency acoustic array for synchronous transmission. The high-frequency acoustic array transmits and receives high-frequency chirp signals to detect a short-range to medium-range area of a target area, the low-frequency acoustic array transmits and receives low-frequency chirp signals to detect a medium-range to remote area of the target area, and the beam opening angle of the high-frequency acoustic array is larger than that of the low-frequency acoustic array; and an overlapping region exists between the detection regions of the high-frequency acoustic array and the low-frequency acoustic array. According to the invention, the dual-frequency wave beams emitted by the dual-frequency acoustic array are used for cooperative detection to cover a larger surveying and mapping range, and the structural parameter optimization of the acoustic array is combined, so that the blind area is controlled within the minimum range acceptable by engineering on the premise of ensuring the remote high resolution, and the balance between the detection efficiency and the technical feasibility is realized.

The invention provides a gas leakage false alarm prevention method based on sound source localization and visual identification, which comprises the following steps of: acquiring multi-channel sound detection data acquired by an acoustic array, and acquiring image data acquired by an image sensor arranged at the center of the acoustic array; processing the multi-channel sound detection data based on a sound source positioning method by taking the predetermined area as a scanning plane to obtain at least one sound source position I; acquiring an audio information characteristic value for each sound source position I, and judging whether the audio information characteristic value accords with a gas leakage characteristic or not; if not, determining that the sound source position I is a false alarm point; if yes, intercepting a specified area image in the image data based on the sound source position I and a preset pixel range, identifying whether an object type in the specified area image is a target type or not based on a visual identification algorithm, and if not, judging that the sound source position I is a false alarm point; and if the type is the target type, determining that the sound source position I is a leakage point.

An underwater tightly-coupled navigation method for SINS / DVL / USBL based on centralized filtering, the method comprising the following steps: (1) Select the state variables of the SINS / DVL / USBL navigation algorithm and construct the state equation of centralized filtering; (2) Convert and calculate the original beam frequency shift information in the DVL coordinate system according to the carrier velocity information output by the SINS, and convert and calculate the angle measurement information and slant range information in the USBL acoustic array coordinate system according to the carrier position information and the position information of the transponder; (3) Construct the SINS / DVL tightly-coupled measurement equation based on frequency shift measurement and the SINS / USBL tightly-coupled measurement equation based on relative measurement information; (4) Design the DVL and USBL fault detection and processing mechanisms, and design to isolate the DVL and USBL fault data. The present invention provides an underwater navigation algorithm for SINS / DVL / USBL based on centralized filtering, which can effectively solve the accuracy loss caused by the failure of DVL or USBL data during the navigation and positioning process, and improve the underwater positioning accuracy.

The invention discloses a mural hollowing area intelligent detection method based on a sound wave array. The method comprises the following steps that the sound wave array is arranged to emit set sound waves, and signals are collected, calibrated and preprocessed; inputting a multi-branch convolution unit of the improved ConvTransform, and executing multi-scale convolution extraction and feature fusion; inputting a residual error convolution unit, and executing convolution transformation, residual error connection and channel weighting processing; inputting a time sequence perception self-attention module, and executing multi-head time sequence attention modeling under causal constraints; inputting the data into a multi-layer nonlinear mapping module, and executing full-connection operation, nonlinear mapping and normalization processing; calculating a classification probability, and determining a category index; and generating a spatial distribution diagram and outputting the spatial distribution diagram to a detection terminal by combining an array layout information mapping judgment result. The mural hollowing detection is realized by using the sound wave array and the improved ConvTransform, and the mural hollowing detection method has the advantages of high precision, accurate positioning and visual result.

An attachable endoscope assembly is disclosed herein. The attachable endoscope assembly can include an attachment component, an ultrasound assembly housing configured to selectively couple an ultrasound array to the attachable endoscope assembly, and a neck coupling the attachment component to the ultrasound assembly housing. The neck can include a guide configured to receive an instrument as it traverses out of an lumen of the endoscope and direct the instrument into a field-of-view of the ultrasound array when coupled to the ultrasound assembly housing, and a first pivot point including a first modulus of elasticity configured to move the ultrasound assembly housing between a relaxed position and a stressed position in response to a resultant force applied by the instrument when the instrument is received by the guide.

The invention relates to the technical field of ultrasound, in particular to an ultrasonic phased array sparse arraying method. Comprising the following steps: firstly, constructing a planar rectangular ultrasonic array model and determining basic parameters; setting a fitness function by taking a minimum maximum sidelobe level (MSLL) as an optimization criterion; secondly, introducing a tent chaotic mapping-good point set mixing method to obtain a classical solution population; a quantum bit coding strategy is introduced in the coding stage, individuals in the population are expressed as quantum bits, a standard NOA strategy is executed on the classical solution population to update the population, then the update quantity is synchronized to the quantum bits, and finally a new generation of classical solution population is generated through quantum rotation and collapse operation and the fitness is evaluated; integrating a covariance matrix adaptive evolution strategy (CMA-ES) in the optimization iteration process, and dynamically adjusting the shape, direction and step length of search distribution; and finally updating the global optimum. According to the method, the array element distribution of the sparse array is optimized through the multi-strategy fusion ENOA algorithm, the peak side lobe level of the array can be remarkably reduced, the anti-interference capability and precision of target detection are improved, and meanwhile, the hardware cost of the array is reduced.

The invention proposes a novel steam pipeline leakage detection method based on the fusion of an acoustic array and a temperature measurement camera, and the method comprises the following steps: synchronously collecting an acoustic signal, a temperature image and a visible light image, carrying out the preprocessing and wave beam forming of the acoustic signal, obtaining an acoustic energy diagram, carrying out the thermal anomaly detection of the temperature image, and obtaining a detection result. Geometric registration is carried out on the acoustic energy diagram and the temperature image; beam forming is restrained by using the thermal anomaly mask; a sidelobe-restrained acoustic energy diagram is generated; multi-source evidence fusion is carried out on the sidelobe-restrained acoustic energy diagram and the thermal anomaly mask to obtain a leakage probability diagram; and finally, displaying a superposition result and receiving user interaction. According to the invention, through fusion of multiple devices such as the acoustic array and the temperature measurement camera, accurate detection and stable tracking of steam pipeline leakage are realized, and the method has important application prospects and technical significance.