CN106224784B - The ultrasonic nondestructive testing device of defect of pipeline - Google Patents
The ultrasonic nondestructive testing device of defect of pipeline Download PDFInfo
- Publication number
- CN106224784B CN106224784B CN201610814646.2A CN201610814646A CN106224784B CN 106224784 B CN106224784 B CN 106224784B CN 201610814646 A CN201610814646 A CN 201610814646A CN 106224784 B CN106224784 B CN 106224784B
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- signal
- pipeline
- guide rail
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/048—Marking the faulty objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/263—Surfaces
- G01N2291/2634—Surfaces cylindrical from outside
Landscapes
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of ultrasonic nondestructive testing device of defect of pipeline, belong to ultrasonic detection technology field.The detection device includes wheeled array and control system two parts；The wheeled array is made of two or more supporting wheel systems, is fixedly connected between two neighboring supporting wheel systems by hexagon connector, and connecting staggered angle is more than 0 degree；The supporting wheel systems include at least one wheeled ultrasonic probe.The present invention uses wheeled ultrasonic probe, realizes the dry-cured meat with inner-walls of duct, solves to detect the defects of need to using the puzzlement of daubing coupling agent, detect the limitation of not managed interior medium, realize the pipeline to various uses.The centering agency of support wheel type has scalable or fast changeable ability, can be adapted for multiple caliber pipe detection；Multigroup supporting wheel systems dislocation, which is connected, realizes the thorough overlapping layout of pipeline pipe, ensure that detection occurs without missing inspection situation.
Description
Technical field
The present invention relates to ultrasonic detection technology field, and in particular to a kind of ultrasound examination applied to defect of pipeline fills
Put.
Background technology
Important infrastructure of the pipeline as city, carries the important duties such as information transmission, resource provision and energy conveying
Energy.However, increasing with the pipe age of pipeline, the factors such as external force destruction, construction quality, working environment are severe will cause pipeline rotten
Alteration is thin to wait defect of pipeline, and thus caused pipe leakage accident occurs again and again, brings serious consequence.Therefore, in order to ensure
The normal operation of pipeline, relevant departments are badly in need of carrying out all kinds of underground pipings necessary exploration and maintenance.
The core of pipe-line maintenance is to carry out Non-Destructive Testing to pipeline, to find tube wall with the presence or absence of corrosion or to collapse.Phase
When the surface obstructions such as the underground utilities river crossing of quantity, building, highway, since surrounding enviroment limit, pipe detection task
Work-yard is narrow and small, and pipe well inner air is dirty, sewage sludge is numerous, and environment is extremely severe, thus manually carries detection instrument
It is very difficult to carry out pipeline detection, is badly in need of developing a kind of supermatic nondestructive detecting instrument that can go deep into pipeline to replace people
Work detects.With the continuous development of scientific technology, non-destructive testing technology, signal processing technology, microelectric technique, machine are particularly
The leap of people's control technology, pipeline non-destructive testing robot comes into being.
The meaning of non-destructive testing technology is not destroy test specimen, makes it using the difference in institutional framework in material
The changed phenomenon of amount of some physical features, completes the detection of some important indicators, and then understands and evaluate material, equipment
Or property, state and internal structure of product etc..Conventional excavation can be replaced using non-destructive testing technology detection defect of pipeline
Detection, realizes pipeline on-line checking, will certainly be well worth doing in terms of pipe detection.
At this stage, field of non destructive testing, which is used for method for detecting pipeline, Magnetic Flux Leakage Inspecting, EDDY CURRENT, ray detection, magnetic powder
Detection and ultrasound examination.Magnetic Flux Leakage Inspecting is usually used in ferromagnetic material of the detection with high magnetic permeability, is currently used for detecting iron
One of common method of rod, steel pipe and oil pipeline.But Magnetic Flux Leakage Inspecting is a kind of exterior inspection for ferromagnetic material pipeline
The defects of surveying, and being not suitable for Ferromagnetic Material and the detection of closure crackle.Eddy detection technology is that one kind is based on electromagnetic induction
The non-contact detection method of principle, detection method of eddy can only check surface and the near surface flaw of metal material pipeline, not apply to
Detect the internal flaw of its deep layer.Ray detection is that have necessarily during passing through object using ray (X-ray, gamma ray etc.)
Attenuation law, detect a kind of method of inside workpiece defect, the party according to by transmitted intensity after the decay of each position of workpiece
Method device therefor is more complicated, and cost is higher, and the ray produced in detection process can cause human body and some allergens
Certain harm.Magnetic testing is only used for the damage of detection ferromagnetic materials surface or near surface, and can not accurately measure mesh
The specific size of damage is marked, data can not be obtained in detection process so as to carry out quantitative analysis.Because ultrasonic wave passes in the waveguide
Sowing time, the border of waveguide can have an impact the propagation of ultrasonic wave, can be by observing the echo of ultrasonic wave using this characteristic
Signal infers the form of waveguide, so ultrasound examination is suitable for the Non-Destructive Testing of defect of pipeline.Based on the lossless of ultrasonic wave
The features such as detection technique is spent less because its is of low cost, the precision of detection is high, detection process is convenient, workable, becomes state
The hot spot of inside and outside Non-Destructive Testing research.
At present, the ultrasonic detection device applied to pipeline, the overwhelming majority is to be directed to a kind of pipeline of purposes, with pipe
Material (such as water, oil) in road is used as couplant, the Ultrasonic Nondestructive of progress.Such as present existing invention " stone
Oil-piping ultrasonic detection method and the robot of detection " (publication number：CN1982889A), it is necessary to by the use of the oil in pipe as
Couplant, the defects of being simply possible to use in petroleum pipeline, are detected, and the ultrasonic probe of the invention can be gone out by the detection that rotates in a circumferential direction
Existing defect missing inspection.
The content of the invention
In order to solve the problems in the existing technology, present invention offer is a kind of is suitable for any bore, the pipeline of material,
And medium in pipeline, the ultrasonic detection device of pipeline circumferential direction complete detection are not only restricted to, it can meet defect inspection need
Ask.
The present invention provides a kind of ultrasonic nondestructive testing device of defect of pipeline, and the detection device includes wheeled array
With control system two parts；
The wheeled array is made of two or more supporting wheel systems, is connected between two neighboring supporting wheel systems by hexagon
Fitting is fixedly connected, and connecting staggered angle is more than 0 degree；
The supporting wheel systems include at least one wheeled ultrasonic probe；
Control system waits host computer to send detection instruction after the power is turned on, when control system receives the detection instruction of host computer
When, DSP sets detection pattern according to detection instruction, after detection pattern is determined, DSP gating ultrasonic pulse radiating circuit productions
Raw high-voltage pulse, high-voltage pulse excite the ultrasonic transducer in wheeled ultrasonic probe to produce ultrasound examination pipeline defect,
Then DSP gathers one group of echo-signal；After collection is completed, wavelet threshold denoising is carried out to echo-signal, is utilizing echo
Peak-to-peak value calculates testing result and is sent to host computer, completes one-time detection；Then next ultrasonic high pressure impulse ejection is gated
Circuit produces high-voltage pulse, gathers second group of echo-signal, by gathering denoising and calculating processing operation, completes second and examines
Survey, until detection pattern circulation is completed；Cycle detection, until reaching pipeline terminal.
According to the design feature of wheeled ultrasonic probe, the echo reflected from rubber layer for second of echo, from pipe
The echo that channel layer outer wall reflects is third time echo, using the time difference of second of echo of ultrasonic wave and third time echo,
Just the relative wall thickness of pipeline is calculated, relative wall thickness reflects the internal flaw or External Defect situation of pipeline.According to ultrasound
The characteristics of ripple echo-signal, improve signal-to-noise ratio so that accuracy of detection is lifted using Wavelet Denoising Method.
(1) a kind of wheeled ultrasonic probe structure and its supporting structure.
(2) reliable and stable system hardware circuit, including DSP+CPLD modules, ultrasonic wave transmitting module, signal processing mould
The subsystems such as block, DC carrier wave communication module, odometer module and power module.
(3) the echo signal processing method of Wavelet Denoising Method is used.Noise will certainly be introduced during system detectio, to detection
As a result interference is produced, influences accuracy of detection.Ultrasonic echo signal is non-stationary signal, comprising some spike components or mutation,
Wavelet analysis method has the characteristics that multiresolution is i.e. multiple dimensioned, can by thick and thin gradual observation signal.At this method
Reason echo-signal can largely improve accuracy of detection.
Compared with existing ultrasonic detection device, the advantage of the invention is that：
(1) wheeled ultrasonic probe is used, realizes the dry-cured meat with inner-walls of duct, solves that the tired of daubing coupling agent need to be used
The defects of disturbing, detecting the limitation of not managed interior medium, realize the pipeline to various uses is detected.
(2) centering agency of support wheel type has scalable or fast changeable ability, can be adapted for multiple caliber
Pipe detection.
(3) multigroup supporting wheel systems dislocation, which is connected, realizes the thorough overlapping layout of pipeline pipe, ensure that detection occurs without missing inspection feelings
Condition.
(4) reliable and stable real-time data transmission system is devised, and employs the echo signal processing side of Wavelet Denoising Method
Method ensure that higher accuracy of detection.
(5) the overall waterproofing grade for using IP68, possesses stronger waterproof ability.
Brief description of the drawings
Fig. 1 is the wheeled ultrasonic probe detection defect of pipeline principle schematic of the present invention.
Fig. 2 is the wheeled ultrasonic probe structure sectional view of the present invention.
Fig. 3 is the wheeled ultrasonic probe 3D schematic diagrames of the present invention.
Fig. 4 is the wheeled ultrasonic probe support structure diagram of the present invention.
Fig. 5 is the single group supporting wheel systems design diagram of the present invention.
Fig. 6 is the train array schematic diagram of multigroup supporting wheel systems composition of the present invention.
Fig. 7 is the circuit function structure diagram of the present invention.
Fig. 8 is the overall control strategy block diagram of the present invention
In figure：
A. inner wall defect；B. duct wall；C. outer wall defect；
A. supporting wheel systems；B. wheeled ultrasonic probe；
1. rubber wheel；2. wheel shaft；3. liquid medium；
4. ultrasonic transducer；5. ring-type fixing plate；6. wheel hub；
7.O type sealing rings；8. bearing (ball) cover；9. waterproof deep groove ball bearing；
10. axis check ring；11. stopple；12. axis V-shaped seal ring；
13. fixing bracket；14. fixed block A；15. fixed block B；
16. guide rail A；17. guide rail B；18. sliding block A；
19. slide block B；20. guide rod；21. support arm A；
22. support arm B；23. support arm C；24. support arm D；
25.O type connectors；26. hexagon connector；27. central shaft.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention provides a kind of ultrasonic nondestructive testing device of defect of pipeline, and principle is as shown in Figure 1.Returned using ultrasonic wave
The ripple time difference quantitatively calculates the relative wall thickness of duct wall b so as to detect duct wall b defects, the ultrasound that ultrasonic transducer 4 is sent
When ripple is propagated in the waveguide, the border of waveguide can have an impact the propagation of ultrasonic wave, using this characteristic, can pass through ultrasound
The echo-signal time difference for the ultrasonic wave that wave transducer 4 is sent calculates the relative wall thickness of position duct wall b.It is as shown in Figure 1, super
Acoustic wave transducer 4 is fixed on wheel shaft 2, is connected between rubber wheel 1 and wheel shaft 2 by ring-type fixing plate, wheel hub and bearing, and
Therebetween seal, hydraulically full medium (water) 3 in rubber wheel 1, ultrasonic transducer 4 is perpendicular to duct wall b, whenever detecting
During outer wall defect c, apart from constant, but detect that relative wall thickness is thinned, then it is pipeline outer wall defect that the defects of detecting, which can be explained,
c.When ultrasonic probe detects inner wall defect a, ultrasonic probe standard displacement increase, and the relative wall thickness of duct wall b
It is thinned, illustrates the inner wall defect a that this defect is duct wall b.According to above-mentioned wheeled ultrasound examination principle, the present invention devises
Wheeled construction and supporting structure define the free degree of wheel shaft, ensure ultrasonic transducer probe all the time perpendicular to duct wall, from
And it ensure that the feasibility of detection method.
A kind of ultrasonic nondestructive testing device of defect of pipeline provided by the invention, including at least two supporting wheel systems A, often
A supporting wheel systems A is circumferentially uniformly distributed including six wheeled ultrasonic probe B, is illustrated in figure 5 single supporting wheel systems A designs and is shown
It is intended to, the setting angle between two neighboring wheeled ultrasonic probe B is 60 degree.Fig. 6 show what six groups of supporting wheel systems A were formed
Supporting wheel systems array schematic diagram, misplaces fixed connect in order to realize that all standing of pipeline circumferential direction detects, between six groups of supporting wheel systems A
Connect, dislocation angle is determined by pipe circumference, ensure that not missing inspection in detection process.Error angle θ and the diameter D of pipe under test have
Close.If the radius of pipeline is d (units：Mm), then the size of error angle is(unit：°).
As shown in Figure 2 to 4, each wheeled ultrasonic probe B includes rubber wheel 1, wheel shaft 2, water 3, ultrasonic transducer
4th, ring-type fixing plate 5, wheel hub 6, O-ring seal 7, bearing (ball) cover 8, waterproof deep groove ball bearing 9, axis check ring 10, stopple
11st, axis V-shaped seal ring 12, fixing bracket 13, fixed block A14, fixed block B15, guide rail A16, guide rail B17, sliding block A18, cunning
Block B19, guide rod 20, support arm A21, support arm B22, support arm C23, support arm D24, O-shaped connector 25, hexagon connector
26。
The rubber wheel 1 connects wheel shaft 2 by wheel hub 6 and waterproof deep groove ball bearing 9, and rubber wheel 1 can be 2 turns around wheel shaft
It is dynamic, form the wheel construction shown in Fig. 3.The both sides of rubber wheel 1 are realized by ring-type fixing plate 5 and sealed, and are full of inside rubber wheel 1
Water 3.The outside of ring-type fixing plate 5 is followed successively by axis check ring 10, axis V-shaped seal ring 12 and bearing (ball) cover 8, described
Axis check ring 10 and bearing (ball) cover 8 be each attached on wheel shaft 2, limitation waterproof deep groove ball bearing 9 moves on wheel shaft 2.
Such as Fig. 2, the hollow inside of wheel shaft 2 is fixed with ultrasonic transducer 4 with two fixing brackets 13, the ultrasonic transducer 4
Perforation export of the conducting wire out of wheel shaft 2.
Inlet opening is provided with the rubber wheel 1, after water 3 is filled with rubber wheel 1 by inlet opening, will be intake with stopple 11
Mouth is blocked, and avoids revealing.
O-ring seal 7 is set to be used to prevent the accidental water leakage of rubber wheel 1 from asking between the wheel hub 6 and bearing (ball) cover 8
Topic.
The rotation of wheel shaft 2 in order to prevent, ensures ultrasonic transducer 4 all the time perpendicular to duct wall b, it is necessary to limit wheel shaft 2
The free degree.Such as Fig. 4, two groups of support arms are connected respectively at the both ends of the wheel shaft 2, the top of first group of support arm, which rotates, to be connected
It is connected on the wheel shaft 2, bottom is rotatably connected on fixed block A14, and the top and bottom rotate coaxially respectively, and is turned
Moving axis is parallel.The top of second group of support arm (support arm C23 and support arm D24) is rotatably connected on the wheel shaft 2, and bottom turns
Dynamic to be connected in the slide block B 19, the top is rotated coaxially respectively with bottom and rotation axis is parallel.The slide block B 19
It is slidably connected on a pair of parallel guide rail A16, the both ends of guide rail A16 are separately fixed on fixed block A14 and fixed block B15.
When the slide block B 19 is slided on guide rail A16, the wheel construction can be driven to be subjected to displacement along the direction of guide rail A16.
Guide rail B17 is additionally provided between the fixed block A14 and fixed block B15, the guide rail A16 is parallel to guide rail B17, guide rail
Two guide rods 20 of connection on sliding block A18, the sliding block A18 are slidably connected on B17, described two 20 one end of guide rod are fixed respectively
On the both sides of wheel shaft 2, the other end is each passed through upper two through holes of sliding block A18, and sliding block A18 can be slided on guide rod 20
It is dynamic.When the wheel construction is subjected to displacement along the direction of guide rail A16, wheel construction changes relative to the distance of guide rail A16,
Wheel construction can drive guide rod 20 to move at this time, simultaneously because slip of the guide rod 20 on sliding block A18 so that sliding block A18 is in guide rail
Slided on B15.Thus, the opening of support arm and contraction, realize the elevating movement of wheel construction, and then condition wheel construction and guide rail
The distance between A16.Preferably, linear axis are set in two through holes of the position that the sliding block A18 and guide rod 20 connect
Hold.The guide rail A16 has two, is parallel to each other, and corresponds to two through holes in slide block B 19 respectively, and the guide rail A16 is worn respectively
Two through holes in slide block B 19 are crossed, both ends are separately fixed on fixed block A14 and fixed block B15；In the slide block B 19
Two through holes in set linear bearing.
The top of first group of support arm, the top of second group of support arm, can also be fixed by O-shaped connector 25
On wheel shaft 2, the O-shaped connector 25 is fixed by screws on wheel shaft 2.
Under the restriction of two groups of support arms and guide rod 20, the wheel construction can be in the Vertical Square of guide rail A16
It is flexible upwards, sliding block A18 and slide block B 19 is horizontal on guide rail A16 and guide rail B17 respectively slides so that wheel shaft 2 only have it is parallel and
The free degree in vertical guide rail both direction.Between fixed block A14 and slide block B 19 or fixed block B15 and slide block B 19 guide rail
The spring of certain stiffness factor is set with A16, the former selects tension spring, and the latter selects compression spring.
Such as Fig. 5, six wheeled ultrasonic probe B are grouped together into a supporting wheel systems A, each ultrasonic probe
The fixed block A14 at B both ends is fixed on a hexagon connector 26, and fixed block B15 is fixedly connected on another hexagon company
On fitting 26, and two hexagon connectors 26 are connected by the central shaft 27 of geometric center, the central shaft 27 with it is each
The guide rail A16 or guide rail B17 of wheeled ultrasonic probe B is parallel, enhances the stability of supporting wheel systems A.Each ultrasonic probe B
On wheel construction it is outside, be arranged circumferentially on the hexagon connector 26.
With reference to Fig. 4, installation guarantee of the ultrasonic transducer 4 on wheel shaft 2 is vertical with guide rail A16.So, so ensure that
In Figure 5, the vertical relation of ultrasonic transducer 4 and train central shaft 27.So when detection device enters pipe under test
Because train central shaft 27 is parallel with the central shaft of pipeline, hanging down for ultrasonic transducer 4 and duct wall is so ensured that
Directly.Again because wheel shaft 2 does not rotate design, this vertical relation can be always maintained at down, and ensure that detection scheme can
OK.
Under static state, since the elastic force of spring acts on, rubber wheel 1 is in distance guide rail A16 to the supporting wheel systems A
Or the highest distance position of guide rail B17, when carrying out the duct survey of different inner diameters, since duct wall b makees the pressure of rubber wheel 1
With the direction movement (contractile motion of support arm) of rubber wheel 1 direction guiding rail 16A or guide rail B17, simultaneously because spring force is made
With, rubber wheel 1 can be caused to be close to inner-walls of duct a, and the vibrations of reducing mechanism to a certain extent, so at the same time realize pipe
Footpath adaptability design.
More than two supporting wheel systems A are connected to form train array.Preferably, described two supports above
Train A is identical structure.For the hexagon connector 26 of two neighboring supporting wheel systems A is fixed, fixed angle is connection mode
Error angle θ.The number of the train array middle support wheel system A, according to wheeled ultrasonic probe in error angle and supporting wheel systems A
The quantity of B determines, ensures that the train array can realize the complete detection to duct wall.
The definition of the error angle is：Two groups of supporting wheel systems A by hexagon connector connection installation after at center
Axis projection on 27 direction of axis, the minimum angle between two neighboring wheeled ultrasonic probe B projections is error angle.
Effective detection circumferential lengths of each wheeled ultrasonic probe are lc(counted in error angle calculation formula according to 20mm
Calculate), one group of supporting wheel systems carries six wheeled ultrasonic probes, and it is 6l effectively to detect lengthc.For the pipeline of a diameter of D, week
It is to not missing inspection condition：
M is required A number of supporting wheel systems.
In order to make the ultrasonic detection device possess ultrasonic high pressure impulse ejection, ultrasonic signal modulation and acquisition process
And the function such as carrier communication of upper and lower computer, the present invention devise the control system based on DSP.Such as Fig. 7, according to the design needs,
Control system include power module, DSP+CPLD modules, ultrasonic pulse radiating circuit, odometer module, carrier communication circuit,
AD/DA circuits and by preamplifier gain amplifying circuit, limiter protection circuit, bandwidth-limited circuit, programme-controlled gain amplifying circuit, straight
Flow the signal processing module of biasing circuit composition.
Power module uses external cable as following module for power supply：It is DSP+CPLD modules, ultrasonic pulse radiating circuit, inner
Journey meter module, carrier communication circuit, AD/DA circuits, limiter protection circuit and signal processing module power supply, each module or circuit institute
The voltage signal of different amplitudes is needed to be obtained by switching mode voltage stabilizing chip.
In CPLD+DSP modules, CPLD uses XC9572XL chips, is responsible for the triggering high pressure of ultrasonic pulse radiating circuit
The capture of odometer signal in the generation of pulse, the control signal generation of direct-current carrier communication circuit and odometer module.
DSP is the core of the control system, and DSP uses TMS320F28335 high-performance digital signal processors, is realized
The functions such as transmitting, reception and the processing of signal echo of ultrasonic signal.In the processing of echo-signal, small wavelength-division is employed
The method of analysis carries out the processing of original echoed signals, that is, a definite wavelet basis function and wavelet decomposition level N is selected, to original
Beginning echo-signal carries out N layers of wavelet decomposition.The present invention selects the db4 of Daubechies small echos family to do wavelet function, small wavelength-division
Solution exponent number is 3 ranks.The quality of threshold value selection is directly related to the quality of denoising effect.The present invention have selected a kind of improved threshold value
Function(between soft and hard threshold function) and threshold value λj, denoising is carried out to ultrasound echo signal.
Wherein, λjFor the threshold value of jth wavelet decomposition, N is the length of denoised signal, and δ is the intensity of noise, dj(k) it is jth
K-th of wavelet coefficient of layer,It is the wavelet coefficient crossed by threshold process, sgn () represents sign function, α meets 0≤
α≤1, γ meet 0≤γ≤λj.In this example, the parameter in threshold function table is chosen for α=0.83, the λ of γ=0.5j, in threshold value
Parameter N=256.
Ultrasonic pulse transmitting module：Common ultrasonic wave transmitting needs high voltage power supply, transformer, and volume is larger, and
The amplification circuit structure of power tube driving is complex, easily radiates bad.The present invention uses the RLC series resonances of low voltage control
Circuit, the generation of rectangle 300V negative pulses is realized using inductive discharge.
The centre frequency for the echo-signal that ultrasonic transducer receives is 2.5MHz, simultaneously because wheeled ultrasonic probe
Design is so that echo-signal only has the pulse of the frequency low-amplitude value of several millivolts or tens millivolts of alternate positive and negatives.Signal processing mould
Block is used for distortionless amplification echo-signal, while improves signal-to-noise ratio as far as possible, then gives AD/DA circuits again and completes at a high speed
Collection.Carrier communication circuit is devised in the present invention, realizes the real-time communication of upper and lower computer.Train supersonic array device is in pipeline
In be detected, slave computer need to host computer send defects detection result；Slave computer will also receive the control of host computer at the same time
System instruction or detection instruction, carrier communication circuit realize the real-time communication of upper and lower computer.Direct current carrier technology utilizes existing confession
Signal loading, without creating communication network, is realized the technology of data transfer, tool by electric wire by way of carrier wave on supply lines
There is the characteristics of transmission range is long, the bit error rate is low.
Odometer module mainly to the travel of system and the measurement in direction, is joined by measuring travel and direction
Number, establishes the distance of ultrasonic nondestructive testing device movement, and positional information and detection data match are detected so as to draw
The position of the defects of going out in the duct.
Signal processing module includes limiter protection circuit, preamplifier gain amplifying circuit, bandwidth-limited circuit, programme-controlled gain and puts
Big five parts of circuit and DC bias circuit.Ultrasonic transducer in the present invention is transceiver, that is, launches and connect
Receipts are used in conjunction with a signal wire.In order to avoid high voltage negative pulse entering signal process circuit causes channel block or the first device of damage
Part, the allowed band present invention employs limiter protection circuit limitation into amplifier in voltage.Preamplifier gain amplification electricity
The effect on road is effective amplification echo-signal, realizes the impedance matching of ultrasonic transducer and preamplifier gain amplifying circuit.In order to
Avoid noise signal from entering follow-up circuit, improve signal-to-noise ratio, devise voltage-controlled power supply type two level bandwidth-limited circuit and filter out and make an uproar
Sound.The ultrasonic wave detecting system of defect of pipeline, according to the difference of detection pipeline, the amplitude of echo-signal is also corresponding different, therefore
Must be according to the amplification factor of the corresponding Regulate signal process circuit of change of echo-signal.In order to strengthen the adaptation of the system
Property, devise a kind of circuit that can automatically adjust amplifier gain.Add a DC voltage, shape in ultrasonic echo signal
Into DC bias circuit, the missing of ultrasonic echo signal when avoiding data acquisition.
Fig. 8 is the overall control strategy block diagram of the control system of the present invention.Control system waits host computer to send after the power is turned on
Detection instruction, when control system receives the detection instruction of host computer, DSP sets detection pattern (to participate according to detection instruction
The supporting wheel systems and detection ordering of detection).After detection pattern is determined, DSP gating ultrasonic pulse radiating circuits produce high
Pulse CLKi is pressed, high-voltage pulse excitation ultrasound wave transducer produces ultrasound examination pipeline defect, and then DSP gathers one group of echo
Signal.After collection is completed, wavelet threshold denoising is carried out to echo-signal, testing result hair is calculated in the peak-to-peak value using echo
Host computer is given, completes one-time detection.Then gate next ultrasonic high pressure impulse ejection circuit and produce high-voltage pulse, high pressure
Pulse excitation ultrasonic transducer produces ultrasound examination pipeline defect, then gathers second group of echo-signal, is gone by collection
The operations such as processing upload are made an uproar and calculated, second is completed and detects, up to detection pattern circulation is completed.According to above-mentioned testing process,
Cycle detection is realized, until reaching pipeline terminal.
Claims (5)
1. the ultrasonic nondestructive testing device of defect of pipeline, it is characterised in that：The detection device includes wheeled array and control
System two parts processed；
The wheeled array includes six identical supporting wheel systems of structure；
It is fixedly connected between two neighboring supporting wheel systems by hexagon connector, connecting staggered angle is more than 0 degree；
Each supporting wheel systems include six wheeled ultrasonic probes；
Control system waits host computer to send detection instruction after the power is turned on, when control system receives the detection instruction of host computer,
DSP sets detection pattern according to detection instruction, and after detection pattern is determined, DSP gating ultrasonic pulse radiating circuits produce
High-voltage pulse, high-voltage pulse excite the ultrasonic transducer in wheeled ultrasonic probe to produce ultrasound examination pipeline defect, so
DSP gathers one group of echo-signal afterwards；After collection is completed, wavelet threshold denoising is carried out to echo-signal, at the peak using echo
Peak computational testing result is sent to host computer, completes one-time detection；Then next ultrasonic high pressure impulse ejection electricity is gated
Road produces high-voltage pulse, gathers second group of echo-signal, by gathering denoising and calculating processing operation, completes second and detects,
Until detection pattern circulation is completed；Cycle detection, until reaching pipeline terminal；
Error angle θ is related with the diameter of pipe under test, if the radius of pipeline is d, unit：Mm, then the size of error angle beUnit：°.
2. the ultrasonic nondestructive testing device of defect of pipeline according to claim 1, it is characterised in that：Each wheeled ultrasound
Ripple probe includes rubber wheel, wheel shaft, liquid medium, ultrasonic transducer, ring-type fixing plate, wheel hub, O-ring seal, bearing end
Lid, waterproof deep groove ball bearing, axis check ring, axis V-shaped seal ring, fixing bracket, fixed block A, fixed block B, guide rail A,
Guide rail B, sliding block A, slide block B, guide rod, support arm A, support arm B, support arm C and support arm D；
The rubber wheel connects wheel shaft with waterproof deep groove ball bearing by wheel hub, forms wheel construction；The both sides of rubber wheel pass through
Ring-type fixing plate realizes sealing, the hydraulically full medium inside rubber wheel；Axis bullet is followed successively by the outside of the ring-type fixing plate
Spring baffle ring, axis V-shaped seal ring and bearing (ball) cover, the axis are each attached on wheel shaft with check ring and bearing (ball) cover, empty
The axle interior of the heart is fixed with ultrasonic transducer with two fixing brackets, and the conducting wire of the ultrasonic transducer is out of wheel shaft
Perforation export；
O-ring seal is set between the wheel hub and bearing (ball) cover；
Connect two groups of support arms respectively at the both ends of the wheel shaft, the top of first group of support arm is rotatably connected on the wheel
On axis, bottom is rotatably connected on fixed block A, and the top and bottom rotate coaxially respectively, and rotation axis is parallel；Second group
The top of support arm is rotatably connected on the wheel shaft, and bottom is rotatably connected in the slide block B, the top and bottom point
Do not rotate coaxially and rotation axis is parallel；The slide block B is slidably connected on a pair of parallel guide rail A, the both ends difference of guide rail A
It is fixed on fixed block A and fixed block B；When the slide block B is slided on guide rail A, the wheel construction is driven along guide rail A
Direction be subjected to displacement；Guide rail B is additionally provided between the fixed block A and fixed block B, the guide rail A is parallel to guide rail
Two guide rods of connection, described two guide rods on sliding block A, the sliding block A are slidably connected on B, guide rail B and are separately fixed at wheel
On the both sides of axis, the other end is each passed through upper two through holes of sliding block A, and sliding block A is slided on guide rod；The guide rail A
There are two, be parallel to each other, correspond to two through holes in slide block B respectively, the guide rail A is each passed through two through holes in slide block B,
Both ends are separately fixed on fixed block A and fixed block B；Between fixed block A and slide block B or the fixed block B and guide rail A of slide block B
On be set with spring；Ultrasonic transducer is vertical with duct wall.
3. the ultrasonic nondestructive testing device of defect of pipeline according to claim 2, it is characterised in that：In the sliding block
Linear bearing is set in two through holes of the position that A is connected with guide rod；Straight line is set in two through holes in the slide block B
Bearing.
4. the ultrasonic nondestructive testing device of defect of pipeline according to claim 2, it is characterised in that：Described first group
The top of support arm, the top of second group of support arm, are fixed on wheel shaft, the O-shaped connector passes through by O-shaped connector
Screw is fixed on wheel shaft.
5. the ultrasonic nondestructive testing device of defect of pipeline according to claim 1, it is characterised in that：The control system
System includes power module, DSP+CPLD modules, ultrasonic pulse radiating circuit, odometer module, carrier communication circuit, AD/DA
Circuit and inclined by preamplifier gain amplifying circuit, limiter protection circuit, bandwidth-limited circuit, programme-controlled gain amplifying circuit, direct current
The signal processing module of circuits composition；
Power module uses external cable as following module for power supply：DSP+CPLD modules, ultrasonic pulse radiating circuit, odometer
Module, carrier communication circuit, AD/DA circuits, limiter protection circuit and signal processing module are powered, needed for each module or circuit not
Voltage signal with amplitude is obtained by switching mode voltage stabilizing chip；
In CPLD+DSP modules, CPLD uses XC9572XL chips, is responsible for the triggering high-voltage pulse of ultrasonic pulse radiating circuit
Generation, direct-current carrier communication circuit control signal generation and odometer module in odometer signal capture；
DSP uses TMS320F28335 high-performance digital signal processors, realizes the transmitting, reception and signal of ultrasonic signal
The processing function of echo；In the processing of echo-signal, the method for employing wavelet analysis carries out the processing of original echoed signals；
Ultrasonic pulse transmitting module uses the RLC series resonant circuits of low voltage control, and rectangle 300V is realized using inductive discharge
The generation of negative pulse；
Signal processing module is used to amplify echo-signal, then gives AD/DA circuits again and completes collection；Limiter protection circuit limits
Into the allowed band of amplifier in voltage；The effect of preamplifier gain amplifying circuit is effective amplification echo-signal, is realized
The impedance matching of ultrasonic transducer and preamplifier gain amplifying circuit；
Carrier communication circuit, realizes the real-time communication of upper and lower computer；
Odometer module is to the travel of system and the measurement in direction, so as to draw the position of the defects of detected in the duct
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814646.2A CN106224784B (en) | 2016-09-09 | 2016-09-09 | The ultrasonic nondestructive testing device of defect of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814646.2A CN106224784B (en) | 2016-09-09 | 2016-09-09 | The ultrasonic nondestructive testing device of defect of pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106224784A CN106224784A (en) | 2016-12-14 |
| CN106224784B true CN106224784B (en) | 2018-05-15 |
Family
ID=58074822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610814646.2A Active CN106224784B (en) | 2016-09-09 | 2016-09-09 | The ultrasonic nondestructive testing device of defect of pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106224784B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107064995B (en) * | 2017-04-18 | 2019-02-22 | 江苏莘翔机电有限公司 | A kind of acoustics method for positioning underground pipeline based on DSP |
| CN106990173A (en) * | 2017-04-28 | 2017-07-28 | 四川嘉义索隐科技有限公司 | Servicing unit for pipeline non-destructive testing |
| CN108562643B (en) * | 2018-04-04 | 2020-11-13 | 中国航发北京航空材料研究院 | Ultrasonic detection method for circumferential cracks of hydraulic conduit joint |
| BR102018069242B1 (en) * | 2018-09-21 | 2022-01-18 | Petróleo Brasileiro S.A. - Petrobras | SYSTEM AND METHOD DETECTION OF FLOODING IN A FLEXIBLE PIPE FROM A CONNECTOR OF THE FLEXIBLE PIPE |
| CN109738520B (en) * | 2019-01-04 | 2021-04-06 | 义乌市思淇工业设计有限公司 | Pipeline and container damage detection device |
| CN110487894A (en) * | 2019-08-15 | 2019-11-22 | 湖北三江航天江北机械工程有限公司 | Carbon fiber winding shell cover ultrasonic detecting probe and detection method |
| CN112903819A (en) * | 2019-12-03 | 2021-06-04 | 哈尔滨工业大学 | Large-scale high-speed rotation equipment defect detection method based on ultrasonic principle |
| CN112903159B (en) * | 2019-12-03 | 2022-09-27 | 哈尔滨工业大学 | Large-scale high-speed rotation equipment residual stress measuring device based on wheeled dry coupling ultrasound |
| CN112630229B (en) * | 2021-03-09 | 2021-06-18 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN114167426A (en) * | 2021-10-23 | 2022-03-11 | 上海惟堪建筑工程技术有限公司 | Underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on unmanned aerial vehicle |
| CN114414630A (en) * | 2022-03-29 | 2022-04-29 | 东营市特种设备检验研究院 | Industrial boiler detection device and detection method for petrochemical production |
| CN117554488B (en) * | 2024-01-11 | 2024-03-22 | 成都工业学院 | Tank defect intelligent detection trolley with ultrasonic dry coupling function |
| CN117630180B (en) * | 2024-01-25 | 2024-03-26 | 苏州思萃熔接技术研究所有限公司 | Ultrasonic detection workstation for annular forging |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103672294A (en) * | 2013-12-17 | 2014-03-26 | 江南大学 | Spiral type pipeline robot |
| CN105487545A (en) * | 2016-01-28 | 2016-04-13 | 天津理工大学 | Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1026538C2 (en) * | 2004-07-01 | 2006-01-03 | Roentgen Tech Dienst Bv | A method and assembly for detecting a crack in a pipeline from an inside of the pipeline. |
| CN100561213C (en) * | 2005-12-12 | 2009-11-18 | 北京航空航天大学 | The robot of ultrasonic inspection of petroleum pipeline and detection usefulness |
| DE102007058043B4 (en) * | 2007-11-30 | 2022-03-24 | Rosen Swiss Ag | Device and method for non-destructive testing of pipelines |
| CN201488979U (en) * | 2009-09-01 | 2010-05-26 | 北京化工大学 | Ultrasonic dry coupling wheel type focusing probe |
| CN101886744B (en) * | 2010-06-25 | 2012-12-19 | 东北大学 | Ultrasonic positioning device and positioning method of portable internal pipeline fault detection equipment |
| CN103063171A (en) * | 2013-01-07 | 2013-04-24 | 河北省电力公司电力科学研究院 | Method for measuring wall thickness of workpiece |
| CN104374350B (en) * | 2013-08-15 | 2017-05-10 | 中国石油天然气集团公司 | Thickness detecting probe for wheel type pipeline detector |
| CN204403791U (en) * | 2015-01-06 | 2015-06-17 | 爱德森（厦门）电子有限公司 | A kind of in-service pipeline ultrasonic thickness measurement detection device |
| CN104634373B (en) * | 2015-02-27 | 2017-05-31 | 北京零偏科技有限责任公司 | Pipeline detector centering device |
-
2016
- 2016-09-09 CN CN201610814646.2A patent/CN106224784B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103672294A (en) * | 2013-12-17 | 2014-03-26 | 江南大学 | Spiral type pipeline robot |
| CN105487545A (en) * | 2016-01-28 | 2016-04-13 | 天津理工大学 | Worm wheel type driving pipeline robot system based on high-strength spring wall press apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106224784A (en) | 2016-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106224784B (en) | The ultrasonic nondestructive testing device of defect of pipeline | |
| US9915632B2 (en) | Long-range magnetostrictive ultrasonic guided wave scanner system and method | |
| CN103154721B (en) | For using Doppler's spectrum to carry out the apparatus and method of lossless granule detection | |
| Wilcox et al. | The excitation and detection of Lamb waves with planar coil electromagnetic acoustic transducers | |
| USRE40515E1 (en) | Method and apparatus for inspecting pipelines from an in-line inspection vehicle using magnetostrictive probes | |
| CA2941509C (en) | Pipeline inspection tool | |
| CN104655714B (en) | Detection and imaging method and device based on wideband magnetic wave reflex path parameter identification | |
| Dobie et al. | A noncontact ultrasonic platform for structural inspection | |
| EP3281003B1 (en) | In-line inspection tool | |
| CN108508085A (en) | A kind of torsion mode magneto strictive sensor, pipe detection system and method | |
| US7634392B2 (en) | Simulation of guided wave reflection signals representing defects in conduits | |
| Qi et al. | Tracing and localization system for pipeline robot | |
| CN109507282A (en) | A kind of pipe surface defect inspection method of electromagnetic acoustic monitoring sensor installation point | |
| CN103512483B (en) | Overhead pipe wall thickness corrosion scanning and detecting system | |
| CN104155366A (en) | Ultrasonic non-destructive pipeline detection device | |
| CN107014905A (en) | Defect of pipeline imaging method based on supersonic guide-wave | |
| Wickramanayake et al. | Ultrasonic thickness measuring in-pipe robot for real-time non-destructive evaluation of polymeric spray linings in drinking water pipe infrastructure | |
| Vogelaar et al. | Simplified ultrasonic damage detection in fluid-filled pipes | |
| CN201965117U (en) | Remote pipe imaging system based on guided wave focused scanning | |
| CN106442719A (en) | Pipeline bended waveguide detection method and system based on spiral comb type transducer | |
| US20230139882A1 (en) | Ultrasonic system and method for non-intrusive detection and measurement of impurities in multiphase flows | |
| KR100966543B1 (en) | Ultrasonic evaluation system for internal deposit layer in a pipe | |
| Bertoncini et al. | Pipeline long-range inspection and monitoring by an innovative magnetic collar for magnetostrictive guided-wave systems | |
| Gori et al. | Guided waves by EMAT transducers for rapid defect location on heat exchanger and boiler tubes | |
| Gunarathna et al. | Challenges in Monitoring Metallic Pipeline Corrosion Using Ultrasonic Waves—A Review Article |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |