CN103575808A - High-real-time quantitative ultrasonic detection method based on multi-angle stereo matching - Google Patents
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Abstract
The invention discloses a high-real-time quantitative ultrasonic detection method based on multi-angle stereo matching. Aiming at a serious restriction bottleneck between the fine quantitative representation capacity and detection instantaneity of defects of existing ultrasonic detection devices, a basic idea of a finite element is firstly introduced to rasterize a to-be-detected test piece, a plurality of ultrasonic transducers distributed in different directions of a space are utilized for sequentially irradiating grid cells, and a shifting relation between the fine quantitative representation capacity of the flexible coordinating defects and the detection instantaneity is realized by utilizing the wavelet-transform-based multi-resolution stereo matching correlation based on the acquisition of multichannel ultrasonic reflection echo signals. By collecting the multi-angle ultrasonic reflection echo signals, the high-real-time quantitative ultrasonic detection method has the advantage of complete carried information amount and is more beneficial to realization of the quantitative detection; by utilizing a basic theory of wavelet transform, the method has multi-resolution and time-frequency domain conjoint analysis capacities and is particularly suitable for time frequency signals such as ultrasonic waves and the like.
Description
Technical field
The invention belongs to industrial ultrasonic detecting technology field, relate to a kind of high real-time quantitative supersonic detection method based on multi-angle Stereo matching.
Background technology
Pipeline material is as a kind of finished product raw material of economy, is widely applied to as in the middle of shipping industry, biomedicine, automobile, petrochemical complex, civil construction and municipal water supply air supply system etc. and human being's production and the closely bound up industry of living.But along with the growth of tenure of use, the factors such as corrosion and fatigue have increased pipeline the even possibility of blast have occurred to leak.Therefore, be extremely necessary to adopt ultrasonic non-destructive inspection techniques to carry out tubing is implemented to factory testing and in-service monitoring of tools, reduce the unexpected personnel's life causing and the loss of property.
Ultrasonic NDT is an ancient subject, is developed into the quantitative measurement technology reaching its maturity at present by initial qualitative detection.Ultrasonic qualitative detection is to utilize ultrasonic pulse-echo method to obtain A sweep waveform, and whether operating personnel exist the rough position of defect and defect on roughly judging according to A sweep oscillogram and self experience; And using ultrasonic quantitative to detect be to take A sweep waveform as basis, coordinate the scanning form of various machineries, formed that test specimen to be checked is horizontal, the two-dimensional imaging result of longitudinal section, i.e. the scintigram such as B, C, S.Along with computer software and hardware ground development, imaging resolution is more and more higher, although two dimensional image can reflect shape, the size of defect to a certain extent, some aspect of its existence is not enough, does not also reach people for the requirement of the quantitatively characterizing that becomes more meticulous.These are not enough, and aspect main manifestations is, first, due to ultrasonic transducer quantity, location arrangements and scanning mode, determined that ultrasonic transducer only receives from the echoed signal in single direction, and above-mentioned imaging results is also the sign to some cross sections; If defect has certain volume, so the information of the side of defect and bottom surface is carried incomplete, low to the whole quantification degree of defect.Second, adopt ultrasonic scanning tomograph imaging method, can accurately characterize volume type defect, as patent < < ultrasound superficial tissue and organ volume scan tomograph imaging method > > (number of patent application is CN201210197253.3); But echotomography scanning imagery is based on repeatedly B(or C) be formed by stacking on the basis of scintigram, inevitable consuming time, also need more storage hardware.Visible, the meticulous sign of quantification of defect is the process of feature-rich information of extracting based on echoed signal in enormous quantities; And must expend the plenty of time to the process of the collection of mass data, processing and analysis, lose and detect real-time.Exactly because there is this serious restricting relation with detection real-time in the quantification that defect characterizes, extravagantly hope that a kind of method can possess high real-time simultaneously and strong quantification ability is unpractical, only have the relation of effective coordination between them, just can obtain gratifying effect.
Summary of the invention
The present invention is intended to propose a kind of high real-time quantitative supersonic detection method based on multi-angle Stereo matching, to realize the flexible Ultrasonic Detection quantification of coordinating, characterizes and detect these those long relations that disappear between real-time.
Technical matters of the present invention is solved by following technical scheme:
High real-time quantitative supersonic detection method based on multi-angle Stereo matching, should comprise the following steps:
Step (1). test specimen to be checked is divided into big or small adjustable grid cell, as defect, rebuilds the elementary cell characterizing with material.
Step (2). two or more ultrasonic transducers of arranging in different azimuth in space, adjust ultrasonic transducer attitude, the acoustic beam of each ultrasonic transducer is only converged in grid cell space, and every a branch of sound wave from surface of ultrasonic transducer, to converge to the sound path that grid cell experiences consistent.
Step (3). encourage each ultrasonic transducer, according to step (2) requirement, the sound wave that they send is by the sound field in corresponding grid cell place forming energy maximum simultaneously.
Step (4). utilize the channel ultrasonic detecting instrument of bus-type card insert type, carry out real-time sampling simultaneously and process the ultrasonic reflection echoed signal on each passage.
Step (5). adopt the multiresolution Stereo matching based on wavelet transformation associated, obtain the acoustic characteristic of grid cell is characterized, then coordinate upper mechanical scanning, and then come exosyndrome material even to rebuild inherent vice with a series of such grid cells.
Step (6). application data visualization technique, the real-time characterization of realizing defect shows.
Described in step (1), test specimen to be checked is divided into big or small adjustable grid cell, its concrete methods of realizing is as follows: first, according to the coarse resolution of acquiescence, treat and inspect part and carry out grid division, investigate the real-time of detection system; If meet under the prerequisite of result demonstration real-time, can, by further segmenting grid, improve on the whole ultrasonic meticulous quantification and characterize ability; When result shows that real-time is not good enough, by the lose interest in grid division resolution in region of reductions, when making to improve real-time and experience, in area-of-interest, still keep higher quantification sign ability.
Two or more ultrasonic transducers of arranging in different azimuth in space described in step (2), its concrete methods of realizing is as follows: two ultrasonic transducers are placed in respectively X-axis, Y direction in a plane; Three ultrasonic transducers, are placed in respectively X-axis, Y-axis, Z-direction; If ultrasonic transducer quantity surpasses three,, above test specimen to be checked, ultrasonic transducer is arranged into circle; Settle in the manner described above ultrasonic transducer, can being convenient to meet the described every a branch of sound wave of step (2), from surface of ultrasonic transducer, to converge to the sound path that grid cell experiences consistent.In addition, the acoustic beam of each ultrasonic transducer described in step (2) only converges in grid cell space, and its concrete methods of realizing is as follows: ultrasound wave has directive property, and the energy major part of its propagation is at spread angle
scope in.According to the spread angle of ultrasonic transducer
with the distance of surface of ultrasonic transducer from target grid cell
, beam width that can computation grid place xsect
.Beam width
with the size that marks off grid cell in step (1) compares, by adjusting surface of ultrasonic transducer from the distance of target grid cell, make beam width
be less than the size of grid cell, thereby realize multi beam sound wave, only in grid cell space, converge.
The multi-channel detection instrument of bus-type card insert type described in step (4), its concrete ingredient comprises: the 6U cabinet based on PXI bus, x86 mainboard, and polylith single channel Ultrasonic Detection board.This many card structures are realized parallel transmission, the Storage and Processing of channel ultrasonic reflection echo signal.In theory, should can expand at most 256 conventional Ultrasound sense channels by the channel ultrasonic detecting instrument based on PXI bus.Single channel Ultrasonic Detection board wherein comprises: ultrasound emission exciting circuit, ultrasonic reflection echoed signal gain soft readjustment circuit, and the sampling of ultrasonic reflection echoed signal and digital signal processing unit; By ultrasound emission exciting circuit generation high voltage narrow pulse pumping signal, be loaded into ultrasonic transducer and make it forced vibration and produce ultrasound wave; Ultrasonic reflection echo is input to ultrasonic reflection echoed signal gain soft readjustment circuit after being converted to electric signal by ultrasonic receiving transducer, and main realization improved signal SNR and improved flaw echoes amplitude; Echoed signal after analog gain adjustment will be sampled by AD, and be input to a field programmable gate array (FPGA); All digital signal processings will be realized with parallel pipeline form in FPGA, greatly improve the real-time that signal is processed.
The multiresolution Stereo matching based on wavelet transformation described in step (5) is associated, and its concrete methods of realizing is as follows: application wavelet transformation technique carries out Multiresolution Decomposition to each passage ultrasonic reflection echoed signal; According to the correlative study achievement of Logan theorem and Mallat, utilize the signal zero crossing on each subband after wavelet decomposition to carry out the characteristic of characterization signal; Combine signal zero crossing after the wavelet decomposition of a plurality of passages as the characteristic parameter of Stereo matching association, realization is differentiated the correlativity of the ultrasonic reflection echoed signal of same grid cell different directions and is merged, and then utilizes the different directions defect grid characterization result with correlativity to reconstruct the quantitative informations such as size, shape and orientation of defect.
Beneficial effect of the present invention is mainly manifested in:
1, for the meticulous quantification of current ultrasonic detection equipment defect, characterize ability and detect the serious restriction bottleneck existing between real-time, adopt the method for the invention can flexiblely coordinate these those long relations that disappear between the two, develop into a kind of high real-time quantitative supersonic detection method.
2, the method for the invention quantity of information is carried completely, is more conducive to realize quantification and detects.
3, the method for the invention has multiresolution and time domain and frequency domain combined analysis ability, is particularly suitable for the processing to time frequency signals such as ultrasound waves.
4, the method for the invention is with the collection of parallel pipeline form and process multi channel signals, and each passage finally only retains zero crossing feature and carry out follow-up Stereo matching, possesses significant detectability in real time.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the high real-time quantitative supersonic detection method based on multi-angle Stereo matching.
Fig. 2 is the schematic diagram of the concrete case study on implementation of the method for the invention.
Fig. 3 is the schematic diagram that ultrasonic transducer multi-angle is arranged.
Fig. 4 is the schematic diagram of ultrasonic transducer radiation acoustic beam.
Fig. 5 is the frame diagram of channel ultrasonic detecting instrument of the present invention.
Fig. 6 is the schematic diagram of the multiresolution Stereo matching association based on wavelet transformation of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the general flow of the high real-time quantitative supersonic detection method based on multi-angle Stereo matching comprises: S1 represents test specimen to be checked to be divided into big or small adjustable grid cell, rebuilds the elementary cell characterizing with material as defect; Two or more ultrasonic transducers of arranging in different azimuth in space, adjust ultrasonic transducer attitude, the acoustic beam of each ultrasonic transducer is only converged in grid cell space, and every a branch of sound wave from surface of ultrasonic transducer, to converge to the sound path that grid cell experiences consistent; S2 represents to encourage each ultrasonic transducer, and the sound wave that they send is by the sound field in corresponding grid cell place forming energy maximum; S3 represents sound field and grid interaction back reflection ultrasound echo signal; S4 represents to utilize the channel ultrasonic detecting instrument of bus-type card insert type, can carry out real-time sampling simultaneously and process the ultrasonic reflection echoed signal on each passage; S5 adopts the multiresolution Stereo matching based on wavelet transformation associated, acquisition characterizes the acoustic characteristic of grid cell, coordinate again upper mechanical scanning, repeat S2 ~ S5 process and scan successively other grid, and then come exosyndrome material even to rebuild inherent vice with a series of such grid cells; S6 application data visualization technique, realizes the real-time demonstration of testing result;
The schematic diagram of the concrete case study on implementation of the method for the invention as shown in Figure 2.In figure, ultrasonic transducer quantity surpasses three, therefore, above test specimen to be checked, ultrasonic transducer is arranged into circle, is convenient to make every a branch of sound wave to converge to from surface of ultrasonic transducer the sound path that grid cell experiences consistent.If only use three ultrasonic transducers, ultrasonic transducer 1,2,3 is placed in respectively to X-axis, Y-axis, Z-direction, three ultrasonic transducers and test specimen to be checked 4 are according to arranging as shown in Figure 3.
For the acoustic beam of each ultrasonic transducer is only converged in grid cell space, need to roughly calculate acoustic beam at the width in cross section, grid place, circular is as follows, below the parameter that comprises in formula as shown in Figure 4.
Be S4 channel ultrasonic detecting instrument used in Fig. 1 as shown in Figure 5, its concrete ingredient comprises: the 6U cabinet 5 based on PXI bus, x86 mainboard 6, and polylith single channel Ultrasonic Detection board 7.This many card structures are realized parallel transmission, the Storage and Processing of channel ultrasonic reflection echo signal.In theory, should can expand at most 256 conventional Ultrasound sense channels by the channel ultrasonic detecting instrument based on PXI bus.Single channel Ultrasonic Detection board 7 wherein comprises: ultrasound emission exciting circuit 8, ultrasonic reflection echoed signal gain soft readjustment circuit 9, and the sampling of ultrasonic reflection echoed signal and digital signal processing unit 10; By ultrasound emission exciting circuit 8, there is high voltage narrow pulse pumping signal, be loaded into ultrasonic transducer and make it forced vibration and produce ultrasound wave; Ultrasonic reflection echo is input to ultrasonic reflection echoed signal gain soft readjustment circuit 9 after being converted to electric signal by ultrasonic receiving transducer, and main realization improved signal SNR and improved flaw echoes amplitude; Echoed signal after analog gain adjustment will sampled by AD, and be input to a field programmable gate array (FPGA); All digital signal processings will be realized with parallel pipeline form in FPGA, greatly improve the real-time that signal is processed.
The multiresolution Stereo matching based on wavelet transformation is as shown in Figure 6 associated, and its concrete methods of realizing is as follows: application wavelet transformation technique carries out Multiresolution Decomposition to each passage ultrasonic reflection echoed signal; According to the correlative study achievement of Logan theorem and Mallat, utilize the signal zero crossing on each subband after wavelet decomposition to carry out the characteristic of characterization signal; Combine signal zero crossing after the wavelet decomposition of a plurality of passages as the characteristic parameter of Stereo matching association, realization is differentiated the correlativity of the ultrasonic reflection echoed signal of same grid cell different directions and is merged, and then utilizes the different directions defect grid characterization result with correlativity to reconstruct the quantitative informations such as size, shape and orientation of defect.
Claims (6)
1. the high real-time quantitative supersonic detection method based on multi-angle Stereo matching, its feature comprises the following steps in the method:
Step (1). test specimen to be checked is divided into big or small adjustable grid cell, as defect, rebuilds the elementary cell characterizing with material;
Step (2). two or more ultrasonic transducers of arranging in different azimuth in space, adjust ultrasonic transducer attitude, the acoustic beam of each ultrasonic transducer is only converged in grid cell space, and every a branch of sound wave from surface of ultrasonic transducer, to converge to the sound path that grid cell experiences consistent;
Step (3). encourage each ultrasonic transducer, according to step (2) requirement, the sound wave that they send is by the sound field in corresponding grid cell place forming energy maximum simultaneously;
Step (4). utilize the channel ultrasonic detecting instrument of bus-type card insert type, carry out real-time sampling simultaneously and process the ultrasonic reflection echoed signal on each passage;
Step (5). adopt the multiresolution Stereo matching based on wavelet transformation associated, obtain the acoustic characteristic of grid cell is characterized, then coordinate upper mechanical scanning, and then come exosyndrome material even to rebuild inherent vice with a series of such grid cells;
Step (6). application data visualization technique, the real-time characterization of realizing defect shows.
2. the high real-time quantitative supersonic detection method based on multi-angle Stereo matching according to claim 1, is characterized in that: described in step (1), test specimen to be checked is divided into big or small adjustable grid cell, its concrete methods of realizing is as follows:
First, according to the coarse resolution of acquiescence, treat and inspect part and carry out grid division, investigate the real-time of detection system; If meet under the prerequisite of result demonstration real-time, by further segmentation grid, improve on the whole ultrasonic meticulous quantification and characterize ability; When result shows that real-time is not good enough, by the lose interest in grid division resolution in region of reductions, when making to improve real-time and experience, in area-of-interest, still keep higher quantification sign ability.
3. the high real-time quantitative supersonic detection method based on multi-angle Stereo matching according to claim 1, it is characterized in that: two or more ultrasonic transducers of arranging in different azimuth in space described in step (2), its concrete methods of realizing is as follows:
Two ultrasonic transducers are placed in respectively X-axis, Y direction in a plane; Three ultrasonic transducers, are placed in respectively X-axis, Y-axis, Z-direction; If ultrasonic transducer quantity surpasses three,, above test specimen to be checked, ultrasonic transducer is arranged into circle; Settle in the manner described above ultrasonic transducer, meeting the described every a branch of sound wave of step (2), from surface of ultrasonic transducer, to converge to the sound path that grid cell experiences consistent.
4. the high real-time quantitative supersonic detection method based on multi-angle Stereo matching according to claim 1, is characterized in that: the acoustic beam of each ultrasonic transducer described in step (2) only converges in grid cell space, and its concrete methods of realizing is as follows:
Ultrasound wave has directive property, and the energy major part of its propagation is at spread angle
scope in; According to the spread angle of ultrasonic transducer
with the distance of surface of ultrasonic transducer from target grid cell
, the beam width of computation grid place xsect
; Beam width
with the size that marks off grid cell in step (1) compares, by adjusting surface of ultrasonic transducer from the distance of target grid cell
, make beam width
be less than the size of grid cell, thereby realize multi beam sound wave, only in grid cell space, converge;
Wherein
,
,
represent wavelength,
the effective wafer diameter that represents ultrasonic transducer.
5. the high real-time quantitative supersonic detection method based on multi-angle Stereo matching according to claim 1, is characterized in that: the multi-channel detection instrument of bus-type card insert type described in step (4), and its concrete ingredient comprises:
6U cabinet based on PXI bus, x86 mainboard, and polylith single channel Ultrasonic Detection board; This many card structures are realized parallel transmission, the Storage and Processing of channel ultrasonic reflection echo signal; Single channel Ultrasonic Detection board wherein comprises: ultrasound emission exciting circuit, ultrasonic reflection echoed signal gain soft readjustment circuit, and the sampling of ultrasonic reflection echoed signal and digital signal processing unit; By ultrasound emission exciting circuit generation high voltage narrow pulse pumping signal, be loaded into ultrasonic transducer and make it forced vibration and produce ultrasound wave; Ultrasonic reflection echo is input to ultrasonic reflection echoed signal gain soft readjustment circuit after being converted to electric signal by ultrasonic receiving transducer, realizes and improves signal SNR and improve flaw echoes amplitude; Echoed signal after analog gain adjustment will be sampled by AD, and be input to an on-site programmable gate array FPGA; All digital signal processings will be realized with parallel pipeline form in FPGA, greatly improve the real-time that signal is processed.
6. the high real-time quantitative supersonic detection method based on multi-angle Stereo matching according to claim 1, is characterized in that: the multiresolution Stereo matching based on wavelet transformation described in step (5) is associated, and its concrete methods of realizing is as follows:
Application wavelet transformation technique carries out Multiresolution Decomposition to each passage ultrasonic reflection echoed signal; Utilize the signal zero crossing on each subband after wavelet decomposition to carry out the characteristic of characterization signal; Combine signal zero crossing after the wavelet decomposition of a plurality of passages as the characteristic parameter of Stereo matching association, realization is differentiated the correlativity of the ultrasonic reflection echoed signal of same grid cell different directions and is merged, and then utilizes the different directions defect grid characterization result with correlativity to reconstruct the quantitative informations such as size, shape and orientation of defect.
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| CN109416908A (en) * | 2016-07-08 | 2019-03-01 | 医视特有限公司 | System and method for ensuring the coherence between multiple ultrasound transducer arrays |
| CN109982227A (en) * | 2017-12-27 | 2019-07-05 | 声博科技股份有限公司 | Measure the method and system of acoustic transducer optimal drive signal |
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| CN109416908B (en) * | 2016-07-08 | 2023-07-07 | 医视特有限公司 | System and method for ensuring coherence between multiple ultrasound transducer arrays |
| CN111316070B (en) * | 2017-11-08 | 2022-04-12 | 西门子股份公司 | Angle sensor with a ring waveguide as a measuring standard |
| CN111316070A (en) * | 2017-11-08 | 2020-06-19 | 西门子股份公司 | Angle sensor with a ring waveguide as a measuring standard |
| CN109982227A (en) * | 2017-12-27 | 2019-07-05 | 声博科技股份有限公司 | Measure the method and system of acoustic transducer optimal drive signal |
| CN112903813A (en) * | 2021-01-14 | 2021-06-04 | 北京安铁软件技术有限公司 | Railway track ultrasonic automatic flaw detection method |
| CN112903813B (en) * | 2021-01-14 | 2023-03-14 | 北京安铁软件技术有限公司 | Railway track ultrasonic automatic flaw detection method |
| CN114113344A (en) * | 2021-11-11 | 2022-03-01 | 大连理工大学 | Electromagnetic ultrasonic stress measurement system and use method |
| CN114113344B (en) * | 2021-11-11 | 2023-11-07 | 大连理工大学 | Electromagnetic ultrasonic stress measurement system and use method thereof |
| CN116735721A (en) * | 2023-08-15 | 2023-09-12 | 浙江大学 | Flexible coupling wedge block for ultrasonic detection and application method thereof |
| CN116735721B (en) * | 2023-08-15 | 2023-11-07 | 浙江大学 | Flexible coupling wedge block for ultrasonic detection and application method thereof |
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