超声相控阵水下焊缝识别方法分析

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1、哈尔滨工业大学工程硕士论文workwillproducemanybubbles,andtheseawateritselfisalsodifferentfrompurewater.Inthelightofthisspecialenvironment,theinfluenceofseawater,suspendedparticlesandbubblesonsoundpropagationisanalyzed.Keywords:ultrasonicphasedarray,weldseamrecogniti

2、on,spread-spectrumranging,suspendedparticles,bubbles-III-哈尔滨工业大学工程硕士学位论文目录摘要..........................................................................................................................IABSTRACT.............................................

3、...................................................................II第1章绪论...........................................................................................................11.1课题的来源、背景及意义........................................................

4、.................11.2国内外研究现状........................................................................................31.2.1水下焊接机器人的发展现状及趋势........................................................31.2.2超声传感焊缝识别与跟踪国内外研究现状...................................

5、.........41.2.3目前常用的超声测距算法........................................................................51.3本课题主要研究内容................................................................................6第2章超声相控阵的波束形成原理.............................................

6、..........................82.1超声相控阵的发射与接收.........................................................................82.2超声相控阵延迟时间的计算.....................................................................82.2.1聚焦延迟时间.........................................

7、...................................................82.2.2偏转聚焦延迟时间....................................................................................92.3超声相控阵发射声场的计算和仿真.........................................................112.3.1固体、液体介质中的波动方程.......

8、.......................................................112.3.2声束在界面处的透射和反射..................................................................132.3.3瑞利积分法计算发射声场......................................................................142.3.4相