The Research Of Key Technologys Of Cone Beam CT Detection System Based On Manipulator

With the rapid development of manufacturing industry,people pay more and more attention to the reliability of the products in mass production.As an important mean of non-destructive testing of industrial products,industrial CT has been widely concerned by the society since its invention.Cone beam CT(Computer Tomography Cone-beam)has been widely used in nondestructive testing of industrial products because of its high efficiency and high scanning speed.However in the actual application process,in order to meet the fast automated detection of more species and the size of the workpiece,moving in other coordinate direction and space rotation are also necessary in addition to complete the basic rotation scanning.So the paper propose to build cone beam CT detection system,did further research on the key technology and finished the 3D image reconstruction of the workpiece to be detected with the multi axis control manipulator instead of conventional CT turntable.This paper includes the following four aspects:Firstly,based on the introduction of the basic principle of X-ray imaging,the X-ray attenuation theory,the paper describes the design project of the CT detection system of the mechanical hand cone beam.On the other hand,on the basis of the description of the position and pose of machinery,this paper focuses on the construction of the control system and the basic circuit connection,that multi axis motion control card(programmable Multi-axes controller)is the core controller of industrial six degrees of freedom of motoman-sv3 x types of manipulator control system.Second,in this paper,we deeply analyze the image acquisition principle,working mode and the factors that affect the quality of the SIX-650HD-E model flat panel detector.And based on the Six and eBus software development kit(SDK),we have achieved the acquisition of X-ray projection image,real-time display and image calibration,and introduced the basic ideas of the corresponding software development.Third,synchronous and coordinated control is an important technology of CT system.In this paper,we analysis the control principle and design the program of the control unit in bottom for the mechanical scanning system,high energy X-ray system and data acquisition system in this detecting system.At the same time,the hardware circuits between the physical transport layer of each controller are achieved in order to complete the construction of the bottom control system.On the other hand,designing of the control program of the upper computer is completed besed on analysis and description of the upper and lower computer communication.The Fourth,in this paper,we firstly introduce the basic calculation principle of cone beam CT image reconstruction algorithm which is FDK algorithm,and we have completed preliminary measurements of several important geometrical parameters of the whole detection system based on the VGstudio software and mechanical hand scanning system,so as to further complete the three-dimensional image reconstruction of the workpiece to be detected.Finally,summarized the key technologies of the system,and put forward the prospect of the system in the paper.