CN110849976A - Ultrasonic guided wave multi-resolution focused imaging pipeline detection method and device - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及一种超声导波管道检测方法及装置，尤其是一种能实现多分辨率聚焦成像的超声导波管道检测方法及装置，属于无损检测技术领域。The invention relates to an ultrasonic guided wave pipeline detection method and device, in particular to an ultrasonic guided wave pipeline detection method and device capable of realizing multi-resolution focused imaging, and belongs to the technical field of non-destructive testing.
背景技术Background technique
管道是油气资源输送的重要方式，其破损泄漏会造成严重的经济损失和人员伤亡，因此必须定期对管道进行检测以便及时发现潜在的隐患。超声导波检测是管道检测的重要方法，具有检测距离长，效率高，适应性好等特点，近年来在管道检测领域得到了广泛的应用。目前超声导波检测已经从简单的回波检测发展到成像检测，提高了检测的灵敏度，实现了超声导波检测结果的直观显示。Pipelines are an important way to transport oil and gas resources, and their damage and leakage will cause serious economic losses and casualties. Therefore, pipelines must be inspected regularly to discover potential hidden dangers in time. Ultrasonic guided wave inspection is an important method for pipeline inspection. It has the characteristics of long detection distance, high efficiency and good adaptability. In recent years, it has been widely used in the field of pipeline inspection. At present, ultrasonic guided wave detection has developed from simple echo detection to imaging detection, which improves the detection sensitivity and realizes the intuitive display of ultrasonic guided wave detection results.
典型的超声导波成像采用相控阵聚焦成像技术，其基本原理是通过控制超声导波换能器阵列各通道信号的延时发射，使得超声导波波束在被检测结构特定位置聚焦，在此基础上调整各通道权重和延时参数，可以实现超声导波聚焦点的移动，达到超声导波扫描检测的目的，获得被检测结构扫描成像结果。现有的超声导波相控阵聚焦成像技术在扫描成像过程中，采用全域逐点扫描的方法。超声导波聚焦检测时，若采用较低频率，则超声导波在聚焦处的检测范围较大，可以采用较大的聚焦点移动距离，但是超声导波的检测分辨率较低，适合缺陷的粗略定性；若采用较高频率，则超声导波的检测分辨率较高，但是超声导波在聚焦处的检测范围较小，必须采用较小的聚焦点移动距离，适合缺陷的定量表征。采用全域逐点扫描方法实现超声导波聚焦成像时，难以克服超声导波检测分辨率与聚焦点移动距离的矛盾，即超声导波检测分辨率与检测效率的矛盾。Typical ultrasonic guided wave imaging adopts phased array focusing imaging technology. On the basis of adjusting the weight and delay parameters of each channel, the moving of the ultrasonic guided wave focusing point can be realized, the purpose of ultrasonic guided wave scanning detection can be achieved, and the scanning imaging results of the detected structure can be obtained. The existing ultrasonic guided wave phased array focusing imaging technology adopts the method of point-by-point scanning in the whole field during the scanning and imaging process. In the ultrasonic guided wave focusing inspection, if a lower frequency is used, the ultrasonic guided wave has a larger detection range at the focus, and a larger moving distance of the focus point can be used, but the detection resolution of the ultrasonic guided wave is low, which is suitable for defect detection. Roughly qualitative; if a higher frequency is used, the detection resolution of the ultrasonic guided wave is higher, but the detection range of the ultrasonic guided wave at the focus is small, and a small moving distance of the focus point must be used, which is suitable for the quantitative characterization of defects. When using the global point-by-point scanning method to realize ultrasonic guided wave focused imaging, it is difficult to overcome the contradiction between the ultrasonic guided wave detection resolution and the moving distance of the focus point, that is, the contradiction between the ultrasonic guided wave detection resolution and the detection efficiency.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明的目的是提供一种能实现多分辨率聚焦成像的超声导波管道检测方法及装置，用以解决上述现有技术存在的缺陷，能够协调超声导波检测分辨率与检测效率的矛盾。In view of this, the purpose of the present invention is to provide an ultrasonic guided wave pipeline detection method and device that can realize multi-resolution focused imaging, so as to solve the above-mentioned defects in the prior art, and can coordinate the ultrasonic guided wave detection resolution and detection. Efficiency paradox.
本发明通过如下技术方案予以实现：The present invention is achieved through the following technical solutions:
一、一种能实现多分辨率聚焦成像的超声导波管道检测方法，其步骤如下：1. An ultrasonic guided wave pipeline detection method capable of realizing multi-resolution focused imaging, the steps of which are as follows:
(1)计算管道检测所采用超声导波的频散特性(1) Calculate the dispersion characteristics of ultrasonic guided waves used in pipeline inspection
根据管道的内外径等几何尺寸和杨氏模量、泊松比等材料力学参数，通过商用超声导波频散特性计算程序求解SH0模态超声导波的频散特性。According to the geometric dimensions such as the inner and outer diameters of the pipeline and the material mechanical parameters such as Young's modulus and Poisson's ratio, the dispersion characteristics of the SH0 mode ultrasonic guided waves are solved by a commercial ultrasonic guided wave dispersion characteristics calculation program.
(2)确定超声导波聚焦成像的检测区域(2) Determine the detection area of ultrasonic guided wave focusing imaging
检测人员根据管道工作状况，预判可能存在缺陷的管道区域，确定超声导波聚焦成像的检测区域。According to the working conditions of the pipeline, the inspector predicts the pipeline area that may have defects, and determines the inspection area of the ultrasonic guided wave focusing imaging.
(3)低频超声导波快速扫查检测区域(3) Quickly scan the detection area with low-frequency ultrasonic guided waves
低频快速扫查时，矩阵开关配置成低频快速扫查模式，同时将管道检测区域按照扫查偏移量划分网格并计算网格对应的换能器阵列各通道的延时。带有延时的正弦脉冲信号经过功率放大后加载到换能器阵列激励SH0模态超声导波。超声导波在网格聚焦检测后，检测装置处理换能器阵列感应的回波，可以获得该网格的超声导波聚焦检测信号。遍历扫查区域所有网格，可以获得低频超声导波快速扫查图像。During low-frequency fast scanning, the matrix switch is configured in low-frequency fast scanning mode, and at the same time, the pipeline detection area is divided into grids according to the scanning offset, and the delay of each channel of the transducer array corresponding to the grid is calculated. The sinusoidal pulse signal with time delay is amplified by power and loaded into the transducer array to excite the SH0 mode ultrasonic guided wave. After the ultrasonic guided wave is detected by focusing on the grid, the detection device processes the echoes induced by the transducer array, and can obtain the ultrasonic guided wave focusing detection signal of the grid. By traversing all grids in the scanning area, fast scanning images of low-frequency ultrasonic guided waves can be obtained.
(4)分析低频超声导波快速扫查结果，确定高频超声导波精细详查区域(4) Analyze the fast scanning results of the low-frequency ultrasonic guided wave, and determine the fine and detailed inspection area of the high-frequency ultrasonic guided wave
以图像信号最大值下降-6dB为阈值，检索幅值大于阈值的网格，作为高频超声导波精细详查区域。Taking the maximum drop of the image signal by -6dB as the threshold value, the grids with the amplitude greater than the threshold value are retrieved as the high-frequency ultrasonic guided wave fine and detailed inspection area.
(5)高频超声导波精细详查缺陷附近区域(5) High-frequency ultrasonic guided wave finely inspects the area near the defect
高频精细详查时，矩阵开关配置成高频精细详查模式，同时将管道高频超声导波精细详查区域按照详查偏移量划分网格并计算网格对应的换能器阵列各通道的延时。带有延时的正弦脉冲信号经过功率放大后加载到换能器阵列激励SH0模态超声导波。超声导波在网格聚焦检测后，检测装置处理换能器阵列感应的回波，可以获得该网格的超声导波聚焦检测信号。遍历高频超声导波精细详查区域所有网格，可以获得高频超声导波精细详查图像。During high-frequency fine and detailed inspection, the matrix switch is configured in the high-frequency fine and detailed inspection mode, and at the same time, the high-frequency ultrasonic guided wave fine and detailed inspection area of the pipeline is divided into grids according to the detailed inspection offset, and the transducer array corresponding to the grid is calculated. delay of the channel. The sinusoidal pulse signal with time delay is amplified by power and loaded into the transducer array to excite the SH0 mode ultrasonic guided wave. After the ultrasonic guided wave is detected by focusing on the grid, the detection device processes the echoes induced by the transducer array, and can obtain the ultrasonic guided wave focusing detection signal of the grid. By traversing all grids in the high-frequency guided wave fine and detailed inspection area, the high-frequency guided wave fine and detailed inspection image can be obtained.
(6)合成超声导波多分辨率聚焦图像(6) Synthesized ultrasonic guided wave multi-resolution focused images
计算机将缺陷附近区域的高频超声导波精细详查图像叠加到低频超声导波扫查图像对应的网格区域，生成超声导波多分辨率聚焦图像。The computer superimposes the high-frequency ultrasonic guided wave fine and detailed inspection image of the area near the defect to the grid area corresponding to the low-frequency ultrasonic guided wave scanning image to generate an ultrasonic guided wave multi-resolution focused image.
二、一种能实现多分辨率聚焦成像的超声导波管道检测装置2. An ultrasonic guided wave pipeline inspection device that can realize multi-resolution focused imaging
包括计算机软硬件部分、超声导波激励部分、超声导波接收部分和可配置的超声导波换能器阵列。It includes computer software and hardware part, ultrasonic guided wave excitation part, ultrasonic guided wave receiving part and configurable ultrasonic guided wave transducer array.
所述计算机软硬件部分，实现计算超声导波频散特性，控制各通道超声导波信号产生与接收，配置超声导波换能器阵列各通道工作模式，处理超声导波多分辨率聚焦图像等功能。The computer software and hardware part realizes the functions of calculating the dispersion characteristics of ultrasonic guided waves, controlling the generation and reception of ultrasonic guided wave signals of each channel, configuring the working mode of each channel of the ultrasonic guided wave transducer array, and processing ultrasonic guided wave multi-resolution focusing images. .
所述超声导波激励部分，包括信号发生模块和功率放大模块。信号发生模块在计算机控制下产生正弦脉冲信号，经过功率放大模块放大成可以施加到超声导波换能器的功率信号。The ultrasonic guided wave excitation part includes a signal generating module and a power amplifying module. The signal generating module generates a sinusoidal pulse signal under the control of the computer, and is amplified by the power amplifying module into a power signal that can be applied to the ultrasonic guided wave transducer.
所述超声导波接收部分，包括信号放大模块和信号采集模块。信号放大模块将各通道超声导波换能器接收的微弱信号调理成适合信号采集模块的信号，信号采集模块将信号放大模块调理后的模拟信号转换成数字信号传输到计算机。The ultrasonic guided wave receiving part includes a signal amplification module and a signal acquisition module. The signal amplification module adjusts the weak signals received by the ultrasonic guided wave transducers of each channel into signals suitable for the signal acquisition module, and the signal acquisition module converts the analog signals conditioned by the signal amplification module into digital signals and transmits them to the computer.
所述可配置的超声导波换能器阵列，包括矩阵开关和超声导波换能器阵列，通过计算机配置矩阵开关，可以将超声导波换能器阵列配置成低频快速扫查模式和高频精细详查模式。The configurable ultrasonic guided wave transducer array includes a matrix switch and an ultrasonic guided wave transducer array. By configuring the matrix switch with a computer, the ultrasonic guided wave transducer array can be configured into a low-frequency fast scanning mode and a high-frequency guided wave transducer array. Fine detail mode.
本发明的主要有益效果有：The main beneficial effects of the present invention are:
本发明通过全域快速低频扫查大致定位缺陷，在缺陷区域高频精细详查，融合低频快速扫查和高频精细详查信息生成超声导波多分辨率聚焦图像的方法，解决了超声导波检测分辨率与检测效率之间的矛盾，为管道进行高效率的超声导波聚焦成像检测奠定了基础。The present invention roughly locates defects through global fast and low-frequency scanning, performs high-frequency fine and detailed inspection in the defect area, and integrates low-frequency fast scanning and high-frequency fine detailed inspection information to generate ultrasonic guided wave multi-resolution focused images, which solves the problem of ultrasonic guided wave detection. The contradiction between resolution and detection efficiency lays the foundation for efficient ultrasonic guided wave focused imaging detection of pipelines.
附图说明Description of drawings
图1是本发明的检测方法流程图；Fig. 1 is the detection method flow chart of the present invention;
图2是本发明低频超声导波快速扫查示意图；Fig. 2 is the schematic diagram of the low-frequency ultrasonic guided wave fast scanning of the present invention;
图3是本发明高频超声导波精细详查示意图；Fig. 3 is the schematic diagram of the high-frequency ultrasonic guided wave fine detailed inspection of the present invention;
图4是本发明多分辨率超声导波聚焦成像检测装置示意图；4 is a schematic diagram of the multi-resolution ultrasonic guided wave focusing imaging detection device of the present invention;
图5是本发明超声导波磁致伸缩换能器示意图；5 is a schematic diagram of an ultrasonic guided wave magnetostrictive transducer of the present invention;
图6是本发明超声导波换能器工作模式配置示意图；6 is a schematic diagram of the configuration of the working mode of the ultrasonic guided wave transducer of the present invention;
图7是本发明低频超声导波快速扫查图像；Fig. 7 is the low-frequency ultrasonic guided wave fast scanning image of the present invention;
图8是本发明超声导波多分辨率聚焦图像。FIG. 8 is a multi-resolution focused image of the ultrasonic guided wave of the present invention.
具体实施方式：Detailed ways:
下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below with reference to the accompanying drawings and embodiments.
如附图1所示，本发明所提供的一种能实现多分辨率聚焦成像的超声导波管道检测方法，其步骤如下：As shown in FIG. 1, the present invention provides an ultrasonic guided wave pipeline detection method capable of realizing multi-resolution focused imaging. The steps are as follows:
(1)计算管道检测所采用超声导波的频散特性(1) Calculate the dispersion characteristics of ultrasonic guided waves used in pipeline inspection
根据管道的内外径等几何尺寸和杨氏模量、泊松比等材料力学参数，通过商用超声导波频散特性计算程序求解SH0模态超声导波的频散特性。According to the geometric dimensions such as the inner and outer diameters of the pipeline and the material mechanical parameters such as Young's modulus and Poisson's ratio, the dispersion characteristics of the SH0 mode ultrasonic guided waves are solved by a commercial ultrasonic guided wave dispersion characteristics calculation program.
(2)确定超声导波聚焦成像的检测区域(2) Determine the detection area of ultrasonic guided wave focusing imaging
检测人员根据管道工作状况，预判可能存在缺陷的管道区域，确定超声导波聚焦成像的检测区域。检测区域实际上是检测人员关注的需要通过检测确定管道结构健康状况的区域。According to the working conditions of the pipeline, the inspector predicts the pipeline area that may have defects, and determines the inspection area of the ultrasonic guided wave focusing imaging. The inspection area is actually the area that inspectors pay attention to and need to determine the health of the pipeline structure through inspection.
(3)低频超声导波快速扫查检测区域(3) Quickly scan the detection area with low-frequency ultrasonic guided waves
确定管道检测区域后，计算机将矩阵开关配置到低频快速扫查模式，同时将管道检测区域按照扫查偏移量划分网格并计算网格对应的换能器阵列各通道的延时。低频快速扫查过程中，计算机控制信号发生模块产生带有延时的正弦脉冲信号，经过功率放大后加载到换能器阵列激励SH0模态超声导波。超声导波在网格聚焦检测后，由换能器阵列感应回波，调理、采样后的形成的各通道数字信号经过计算机延时处理，可以获得该网格的超声导波聚焦检测信号。遍历扫查区域所有网格，可以获得低频超声导波快速扫查图像。After the pipeline detection area is determined, the computer configures the matrix switch to the low-frequency fast scan mode, divides the pipeline detection area into grids according to the scan offset, and calculates the delay of each channel of the transducer array corresponding to the grid. In the process of low-frequency fast scanning, the computer-controlled signal generation module generates a sinusoidal pulse signal with a delay, which is loaded into the transducer array after power amplification to excite the SH0 modal ultrasonic guided wave. After the ultrasonic guided wave is detected by the grid focusing, the echoes are induced by the transducer array, and the digital signals of each channel formed after conditioning and sampling are processed by computer delay, and the ultrasonic guided wave focusing detection signal of the grid can be obtained. By traversing all grids in the scanning area, fast scanning images of low-frequency ultrasonic guided waves can be obtained.
(4)分析低频超声导波快速扫查结果，确定高频超声导波精细详查区域(4) Analyze the fast scanning results of the low-frequency ultrasonic guided wave, and determine the fine and detailed inspection area of the high-frequency ultrasonic guided wave
低频超声导波快速扫查图像通常是稀疏图像，即含有缺陷的网格处集中了较大能量的回波信号。以图像信号最大值下降-6dB为阈值，检索幅值大于阈值的网格，作为高频超声导波精细详查区域。The fast scanning images of low-frequency guided waves are usually sparse images, that is, the echo signals with larger energy are concentrated at the grids containing defects. Taking the maximum drop of the image signal by -6dB as the threshold value, the grids with the amplitude greater than the threshold value are retrieved as the high-frequency ultrasonic guided wave fine and detailed inspection area.
(5)高频超声导波精细详查缺陷附近区域(5) High-frequency ultrasonic guided wave finely inspects the area near the defect
确定管道高频超声导波精细详查区域后，计算机将矩阵开关配置到高频精细详查模式，同时将管道高频超声导波精细详查区域按照详查偏移量划分网格并计算网格对应的换能器阵列各通道的延时。高频超声导波精细详查过程中，计算机控制信号发生模块产生带有延时的正弦脉冲信号，经过功率放大后加载到换能器阵列激励SH0模态超声导波。超声导波在网格聚焦检测后，由换能器阵列感应回波，调理、采样后的形成的各通道数字信号经过计算机延时处理，可以获得该网格的超声导波聚焦检测信号。遍历高频超声导波精细详查区域所有网格，可以获得高频超声导波精细详查图像。After determining the high-frequency ultrasonic guided wave fine and detailed investigation area of the pipeline, the computer configures the matrix switch to the high-frequency fine detailed investigation mode, and at the same time divides the pipeline high-frequency ultrasonic guided wave fine and detailed investigation area into grids according to the detailed investigation offset and calculates the grid. The delay of each channel of the transducer array corresponding to the grid. During the detailed investigation of high-frequency ultrasonic guided waves, the computer-controlled signal generation module generates a sinusoidal pulse signal with a delay, and after power amplification, it is loaded into the transducer array to excite the SH0 modal ultrasonic guided wave. After the ultrasonic guided wave is detected by the grid focusing, the echoes are induced by the transducer array, and the digital signals of each channel formed after conditioning and sampling are processed by computer delay, and the ultrasonic guided wave focusing detection signal of the grid can be obtained. By traversing all grids in the high-frequency guided wave fine and detailed inspection area, the high-frequency guided wave fine and detailed inspection image can be obtained.
(6)合成超声导波多分辨率聚焦图像(6) Synthesized ultrasonic guided wave multi-resolution focused images
计算机将缺陷附近区域的高频超声导波精细详查图像叠加到低频超声导波扫查图像对应的网格区域，生成超声导波多分辨率聚焦图像。The computer superimposes the high-frequency ultrasonic guided wave fine and detailed inspection image of the area near the defect to the grid area corresponding to the low-frequency ultrasonic guided wave scanning image to generate an ultrasonic guided wave multi-resolution focused image.
如附图2所示，本发明所涉及的低频超声导波快速扫查模式，利用超声导波在较低频率时，在聚焦处具有较大检测范围的特点，减少检测扫描网格数，提高超声导波检测效率。低频超声导波快速扫查时，计算机将矩阵开关配置到低频快速扫查模式，并将管道检测区域按照扫查偏移量划分网格。扫查偏移量根据所采用的超声导波的半波长确定。计算机根据网格中心与均布在管道圆周的换能器阵列各通道的距离计算各通道的延时，信号发生模块各通道按照计算的延时结果产生带有延时的频率为f低的正弦脉冲信号，经功率放大模块放大后加载到换能器阵列激励SH0模态超声导波。超声导波在网格聚焦检测后，其回波由换能器阵列感应并依次通过信号放大模块、信号采集模块形成数字信号，经过计算机对各通道信号延时处理，可以获得该网格的超声导波聚焦检测信号。遍历所有网格，可以获得低频超声导波快速扫查图像。As shown in FIG. 2, the low-frequency ultrasonic guided wave fast scanning mode involved in the present invention utilizes the feature that the ultrasonic guided wave has a larger detection range at the focus at a lower frequency, thereby reducing the number of detection scanning grids and improving the Ultrasonic guided wave detection efficiency. During the fast scanning of low-frequency ultrasonic guided waves, the computer configures the matrix switch to the low-frequency fast scanning mode, and divides the pipeline detection area into grids according to the scanning offset. The scan offset is determined according to the half wavelength of the ultrasonic guided wave used. The computer calculates the delay of each channel according to the distance between the center of the grid and each channel of the transducer array evenly distributed on the circumference of the pipeline, and each channel of the signal generation module generates a sine with a delay with a low frequency f according to the calculated delay result. The pulse signal is amplified by the power amplifier module and then loaded into the transducer array to excite the SH0 mode ultrasonic guided wave. After the ultrasonic guided wave is focused and detected on the grid, its echoes are sensed by the transducer array and then pass through the signal amplification module and the signal acquisition module to form digital signals. Guided wave focus detection signal. By traversing all grids, fast scanning images of low-frequency ultrasonic guided waves can be obtained.
所述的换能器阵列第n通道延时Δtn低，可以通过以下公式计算：The delay Δt n of the nth channel of the transducer array is low , which can be calculated by the following formula:
其中，ln低代表低频超声导波快速扫查时第n通道换能器和网格中心在管道表面的距离，l低代表低频超声导波快速扫查时换能器阵列与网格中心轴向距离，cg低代表低频超声导波快速扫查时超声导波频散特性计算程序求解获得的SH0模态超声导波在频率为f低时的群速度。Among them, ln low represents the distance between the nth channel transducer and the grid center on the surface of the pipeline during the low-frequency ultrasonic guided wave fast scan, and l low represents the transducer array and the grid center axis during the low-frequency ultrasonic guided wave fast scan The direction distance, c g low represents the group velocity of the SH0 mode ultrasonic guided wave obtained by the calculation program of the ultrasonic guided wave dispersion characteristics when the low frequency ultrasonic guided wave scans quickly when the frequency is low.
激励超声导波时，第n通道延时Δtn低计算公式取负号，表示该通道基于参考时刻的提前量；接收超声导波时，第n通道延时Δtn低计算公式取正号，表示该通道基于参考时刻的滞后量。When the ultrasonic guided wave is excited, the calculation formula for the delay Δt n low of the nth channel takes a negative sign, indicating that the channel is advanced based on the reference time; when receiving the ultrasonic guided wave, the calculation formula for the delay Δt n low of the nth channel takes a positive sign, Indicates the hysteresis of the channel based on the reference time.
如附图3所示，本发明所涉及的高频超声导波精细详查模式，利用超声导波在较高频率时，超声导波的检测分辨率较高的特点，在管道存在缺陷的区域进行高频超声导波精细详查。确定管道高频超声导波精细详查区域后，计算机将矩阵开关配置到高频精细详查模式，并将管道检测区域按照详查偏移量划分网格。详查偏移量根据所采用的超声导波的半波长确定。计算机根据网格中心与换能器阵列各通道的距离计算各通道的延时，信号发生模块各通道按照计算的延时结果产生带有延时的频率为f高的正弦脉冲信号，经功率放大模块放大后加载到换能器阵列激励SH0模态超声导波。超声导波在网格聚焦检测后，其回波由换能器阵列感知并依次通过信号放大模块、信号采集模块形成数字信号，经过计算机对各通道信号延时处理，可以获得该网格的超声导波聚焦检测信号。遍历所有网格，可以获得高频超声导波详查图像。As shown in FIG. 3 , the high-frequency ultrasonic guided wave fine and detailed inspection mode involved in the present invention utilizes the characteristics of high detection resolution of ultrasonic guided waves when the ultrasonic guided wave is at a higher frequency. Perform high-frequency ultrasonic guided wave detailed inspection. After determining the high-frequency ultrasonic guided wave fine and detailed inspection area of the pipeline, the computer configures the matrix switch to the high-frequency fine detailed inspection mode, and divides the pipeline inspection area into grids according to the detailed inspection offset. The scrutiny offset is determined according to the half wavelength of the ultrasonic guided wave used. The computer calculates the delay of each channel according to the distance between the grid center and each channel of the transducer array, and each channel of the signal generation module generates a sinusoidal pulse signal with a delay frequency of high f according to the calculated delay result, and is amplified by power. After the module is amplified, it is loaded into the transducer array to excite the SH0 mode ultrasonic guided wave. After the ultrasonic guided wave is focused on the grid, its echoes are sensed by the transducer array and then pass through the signal amplification module and signal acquisition module to form a digital signal. Guided wave focus detection signal. By traversing all grids, a high-frequency ultrasonic guided wave detailed image can be obtained.
所述的换能器阵列第n通道延时Δtn高，可以通过以下公式计算：The delay Δt n of the nth channel of the transducer array is high , which can be calculated by the following formula:
其中，ln高代表高频超声导波精细详查时第n通道换能器和网格中心在管道表面的距离，l高代表高频超声导波精细详查时换能器阵列与网格中心轴向距离，cg高代表超声导波频散特性计算程序求解获得的SH0模态超声导波在频率为f高时的群速度。Among them, the height of l n represents the distance between the n-th channel transducer and the center of the grid on the surface of the pipe during the high-frequency ultrasonic guided wave fine and detailed inspection, and the height of l represents the transducer array and the grid during the fine and detailed inspection of the high-frequency ultrasonic guided wave. The distance from the center to the axial direction, and the height of c g represents the group velocity of the SH0 mode ultrasonic guided wave obtained by the calculation program of the dispersion characteristics of the ultrasonic guided wave when the frequency is high .
激励超声导波时，第n通道延时Δtn高计算公式取负号，表示该通道基于参考时刻的提前量；接收超声导波时，第n通道延时Δtn高计算公式取正号，表示该通道基于参考时刻的滞后量。When the ultrasonic guided wave is excited, the calculation formula of the delay Δt n height of the nth channel takes the negative sign, which means the advance of the channel based on the reference time; when receiving the ultrasonic guided wave, the calculation formula of the delay Δt n height of the nth channel takes the positive sign, Indicates the hysteresis of the channel based on the reference time.
如附图4所示，本发明所提供的一种能实现多分辨率聚焦成像的超声导波管道检测装置，包括计算机软硬件部分、超声导波激励部分、超声导波接收部分和可配置的超声导波换能器阵列。As shown in FIG. 4 , an ultrasonic guided wave pipeline detection device capable of realizing multi-resolution focused imaging provided by the present invention includes a computer software and hardware part, an ultrasonic guided wave excitation part, an ultrasonic guided wave receiving part and a configurable ultrasonic guided wave receiving part. Ultrasonic guided wave transducer array.
所述计算机软硬件部分，实现计算超声导波频散特性，控制各通道超声导波信号产生与接收，配置超声导波换能器阵列各通道工作模式，处理超声导波多分辨率聚焦图像等功能。The computer software and hardware part realizes the functions of calculating the dispersion characteristics of ultrasonic guided waves, controlling the generation and reception of ultrasonic guided wave signals of each channel, configuring the working mode of each channel of the ultrasonic guided wave transducer array, and processing ultrasonic guided wave multi-resolution focusing images. .
所述超声导波激励部分，包括信号发生模块和功率放大模块。信号发生模块在计算机控制下产生正弦脉冲信号，经过功率放大模块放大成可以施加到超声导波换能器的功率信号。The ultrasonic guided wave excitation part includes a signal generating module and a power amplifying module. The signal generating module generates a sinusoidal pulse signal under the control of the computer, and is amplified by the power amplifying module into a power signal that can be applied to the ultrasonic guided wave transducer.
所述超声导波接收部分，包括信号放大模块和信号采集模块。信号放大模块将各通道超声导波换能器接收的微弱信号调理成适合信号采集模块的信号，信号采集模块将信号放大模块调理后的模拟信号转换成数字信号传输到计算机。The ultrasonic guided wave receiving part includes a signal amplification module and a signal acquisition module. The signal amplification module adjusts the weak signals received by the ultrasonic guided wave transducers of each channel into signals suitable for the signal acquisition module, and the signal acquisition module converts the analog signals conditioned by the signal amplification module into digital signals and transmits them to the computer.
所述可配置的超声导波换能器阵列，包括矩阵开关和超声导波换能器阵列，通过计算机配置矩阵开关，可以将超声导波换能器阵列配置成低频快速扫查模式和高频精细详查模式。The configurable ultrasonic guided wave transducer array includes a matrix switch and an ultrasonic guided wave transducer array. By configuring the matrix switch with a computer, the ultrasonic guided wave transducer array can be configured into a low-frequency fast scanning mode and a high-frequency guided wave transducer array. Fine detail mode.
如附图5所示，本发明所涉及的超声导波换能器基于磁致伸缩原理，结构由外而内，依次是线圈层、磁致伸缩换能片层和环氧树脂耦合层。线圈层产生的激励磁场和磁致伸缩换能片层的预磁化磁场正交，由魏德曼效应在磁致伸缩换能片层形成SH0模态超声导波，经环氧树脂耦合层耦合到管道。超声导波换能器均布于管道圆周，构成超声导波换能器阵列。As shown in FIG. 5 , the ultrasonic guided wave transducer involved in the present invention is based on the principle of magnetostriction, and the structure is from the outside to the inside, followed by a coil layer, a magnetostrictive transducer layer and an epoxy resin coupling layer. The excitation magnetic field generated by the coil layer is orthogonal to the pre-magnetization magnetic field of the magnetostrictive transducer layer, and the SH0 mode ultrasonic guided wave is formed in the magnetostrictive transducer layer by the Weidmann effect, which is coupled to the magnetostrictive transducer layer through the epoxy resin coupling layer. pipeline. The ultrasonic guided wave transducers are evenly distributed on the circumference of the pipeline to form an ultrasonic guided wave transducer array.
如附图6所示，本发明所涉及的超声导波换能器线圈层，通过配置矩阵开关实现低频快速扫查模式和高频精细详查模式的切换。超声导波换能器的基本换能单元宽度固定为四分之一波长，由于SH0模态超声导波波速不随频率发生变化，如果低频快速扫查频率是高频精细详查频率的一半，那么低频快速扫查模式选用的基本换能单元宽度是高频精细详查模式选用的基本换能单元宽度的两倍。矩阵开关配置成低频快速扫查模式时，单元1和单元2的线圈串联成一个基本换能单元线圈，单元3和单元4的线圈串联成一个基本换能单元线圈，同时单元1和单元2串联而成的基本换能单元线圈信号相对单元3和单元4串联而成的基本换能单元线圈信号延时四分之一周期。矩阵开关配置成高频精细详查模式时，单元1、单元2、单元3和单元4线圈分别构成基本换能单元线圈，同时单元1、单元2和单元3线圈的信号分别相对单元4线圈信号延时四分之三周期、二分之一周期和四分之一周期。As shown in FIG. 6 , the coil layer of the ultrasonic guided wave transducer involved in the present invention realizes switching between the low-frequency fast scanning mode and the high-frequency fine detailed scanning mode by configuring a matrix switch. The width of the basic transducer unit of the ultrasonic guided wave transducer is fixed at a quarter wavelength. Since the SH0 mode ultrasonic guided wave speed does not change with frequency, if the low frequency fast scanning frequency is half of the high frequency fine detailed scanning frequency, then The width of the basic transducer unit selected in the low-frequency fast scanning mode is twice the width of the basic transducer unit selected in the high-frequency fine detailed inspection mode. When the matrix switch is configured in low frequency fast scan mode, the coils of unit 1 and unit 2 are connected in series to form a basic transducer unit coil, the coils of
如附图7所示，采用本发明方法及装置对外径为273mm，壁厚为8mm的管道中一直径为10mm，深度为4mm的人工缺陷在其附近区域进行低频快速扫查获得成像图。低频快速扫查频率为64kHz，扫查区域为以人工缺陷为中心的30mm×30mm区域，扫查区域划分成24×24网格，超声导波在每个网格中心处聚焦。低频超声导波快速扫查图像可以大致确定人工缺陷的位置，但是其边缘特征较为模糊。As shown in FIG. 7 , an artificial defect with a diameter of 10 mm and a depth of 4 mm in a pipeline with an outer diameter of 273 mm and a wall thickness of 8 mm using the method and device of the present invention is subjected to a low-frequency rapid scan in its vicinity to obtain an imaging image. The low-frequency fast scanning frequency is 64kHz, and the scanning area is a 30mm×30mm area centered on the artificial defect. The scanning area is divided into 24×24 grids, and the ultrasonic guided wave is focused at the center of each grid. The low-frequency ultrasonic guided wave rapid scanning image can roughly determine the location of artificial defects, but its edge features are relatively vague.
如附图8所示，以低频快速扫查图像信号最大值下降-6dB为阈值，检索低频快速扫查图像信号中幅值大于阈值的网格进行高频精细详查，将高频超声导波精细详查结果叠加到低频超声导波快速扫查图像对应的网格区域，生成超声导波多分辨率聚焦图像。高频精细详查频率为128kHz，高频精细详查区域的每个网格细化成4×4网格，超声导波在每个细化后的网格中心处聚焦。高频超声导波精细详查图像相对低频超声导波快速扫查图像，缺陷边缘的表征能力显著提升。As shown in FIG. 8 , the maximum value of the low-frequency fast-scanning image signal is reduced by -6dB as the threshold, and the grids with the amplitude greater than the threshold in the low-frequency fast-scanning image signal are retrieved to perform high-frequency detailed inspection, and the high-frequency ultrasonic guided wave The fine and detailed inspection results are superimposed on the grid area corresponding to the low-frequency ultrasonic guided wave fast scanning image to generate an ultrasonic guided wave multi-resolution focused image. The frequency of the high-frequency fine detailed investigation is 128 kHz, each grid of the high-frequency fine detailed investigation area is refined into a 4×4 grid, and the ultrasonic guided wave is focused at the center of each refined grid. Compared with the fast scanning images of low-frequency guided waves, the fine and detailed inspection images of high-frequency guided waves have significantly improved the ability to characterize defect edges.
由此可见，本发明通过全域快速低频扫查大致定位缺陷，在缺陷区域高频精细详查，融合低频快速扫查和高频精细详查信息生成超声导波多分辨率聚焦图像的方法，解决了超声导波检测分辨率与检测效率之间的矛盾，具有突出显著的技术效果。It can be seen that the present invention roughly locates defects through global fast low-frequency scanning, high-frequency detailed inspection in defect areas, and generates ultrasonic guided wave multi-resolution focused images by integrating low-frequency fast scanning and high-frequency fine detailed inspection information. The contradiction between ultrasonic guided wave detection resolution and detection efficiency has outstanding technical effects.
上述具体实施方式仅用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明做出的任何修改和改变，都落入本发明的保护范围。The above-mentioned specific embodiments are only used to explain the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modifications and changes made to the present invention fall into the protection scope of the present invention. .
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| CN112686846A (en) * | 2020-12-23 | 2021-04-20 | 北京航天特种设备检测研究发展有限公司 | Imaging processing method, equipment and computer readable storage medium |
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| CN112666561A (en) * | 2020-12-01 | 2021-04-16 | 飞依诺科技(苏州)有限公司 | Ultrasonic scanning system, equipment, method and terminal |
| CN112666561B (en) * | 2020-12-01 | 2023-09-22 | 飞依诺科技股份有限公司 | Ultrasonic scanning system, device, method and terminal |
| CN112686846A (en) * | 2020-12-23 | 2021-04-20 | 北京航天特种设备检测研究发展有限公司 | Imaging processing method, equipment and computer readable storage medium |
| CN112686846B (en) * | 2020-12-23 | 2024-05-28 | 北京航天特种设备检测研究发展有限公司 | Imaging processing method, device and computer readable storage medium |
| CN113358751A (en) * | 2021-06-01 | 2021-09-07 | 中车青岛四方机车车辆股份有限公司 | Workpiece defect detection method, device and system |
| CN113686969A (en) * | 2021-09-08 | 2021-11-23 | 东南大学 | On-line monitoring system and monitoring method for structural health of vehicle-mounted hydrogen storage cylinder |
| CN113686969B (en) * | 2021-09-08 | 2022-11-08 | 东南大学 | On-line monitoring system and monitoring method for structural health of vehicle-mounted hydrogen storage cylinder |
| CN114813945A (en) * | 2022-04-22 | 2022-07-29 | 国网湖北省电力有限公司十堰供电公司 | Cable shaft fireproof plugging defect detection and signal processing method based on ultrasonic guided waves |
| CN114813945B (en) * | 2022-04-22 | 2024-02-23 | 国网湖北省电力有限公司十堰供电公司 | Cable shaft fireproof blocking defect detection method based on ultrasonic guided waves |
| CN115032269A (en) * | 2022-05-30 | 2022-09-09 | 西南石油大学 | Method for detecting deposited sulfur in high-sulfur natural gas conveying pipeline based on ultrasonic guided waves |
| CN116363038A (en) * | 2023-06-02 | 2023-06-30 | 深圳英美达医疗技术有限公司 | Ultrasonic image fusion method, device, computer equipment and storage medium |
| CN116363038B (en) * | 2023-06-02 | 2024-06-07 | 深圳英美达医疗技术有限公司 | Ultrasonic image fusion method, device, computer equipment and storage medium |
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