CN108896659B - Method and system for expanding structural health monitoring range - Google Patents
Method and system for expanding structural health monitoring range Download PDFInfo
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Abstract
The invention discloses a method and a system for expanding the structural health monitoring range, wherein the method comprises the following steps: scanning the detected structure for a plurality of times, wherein each scanning comprises: transmitting an excitation signal to the structure; each time the excitation signal is detected to be transmitted to the structure, collecting a response signal after the excitation signal is transmitted to the structure according to a preset collection delay; analyzing the state of the structure according to the response signal collected every time to obtain an analysis result; and superposing all the analysis results to obtain a final detection result. A wider range of monitoring of the structure is achieved without increasing the number of sensors, without increasing the number of actuators, and without upgrading the memory capacity.
Description
Technical Field
The invention relates to the technical field of big data processing, in particular to a method and a system for expanding a structural health monitoring range.
Background
A Structural Health Monitoring (SHM) system relates to damage detection and characteristic analysis processes of engineering structures. Damage may include changes in the material and/or geometric properties of the structural system, as well as changes in boundary conditions and system connectivity, which may adversely affect the performance of the structural system. The monitoring process may include continuously observing the system using a sensor array and periodically sampling dynamic response measurements, extracting damage sensitive features from the measurements and statistically analyzing the features to determine the real-time health of the system.
Currently, SHM systems include a data acquisition device and at least one processing device, such as a computer, that is separate from or integrated with the data acquisition device. The data acquisition equipment is typically mounted on or near the structure being monitored. In a passive SHM system, the data acquisition device includes an in-situ sensor that may continuously or periodically receive changes. In an active SHM system, the data acquisition equipment includes not only the in-situ sensor, but also the actuator. The actuator generates and transmits an excitation signal to the structure, while the in situ sensor receives a response of the structure from the excitation signal. The system analyzes the received signals to determine the state of the structure. The response signal when the structure is normal is used as reference data. When the structure is defective or changed, the response signal will be different from the reference data. A home actuator emits an excitation signal and a home sensor receives a structural response signal. The actuator and sensor may be integrated together or may be separate devices and applied as components, using the actuator to transmit the excitation signal and the sensor to receive the signal.
The prior art SHM systems can only cover a limited space. When the structure to be monitored is greater than its limit, actuators and sensors need to be added. This solution increases the installation complexity, weight, size and cost of the SHM system. Another solution is to increase the storage capacity of the SHM system to extend the maximum time for data acquisition to reach greater monitoring distances. However, this solution also adds significant cost due to the size and speed requirements of the memory cells used in the SHM system (especially real-time SHM systems). Therefore, there is a need in the market to extend the monitoring range of SHM systems without adding additional actuators and sensors, or upgrading memory capacity.
Disclosure of Invention
The invention aims to provide a method and a system for expanding a structural health monitoring range, which are used for solving the problem that the monitoring range of an SHM system cannot be expanded under the condition of not adding additional actuators and sensors or upgrading the capacity of a memory.
In order to achieve the above object, the technical solution of the present invention provides a method for expanding a structural health monitoring range, including: scanning the detected structure for a plurality of times, wherein each scanning comprises: transmitting an excitation signal to the structure;
each time the excitation signal is detected to be transmitted to the structure, collecting a response signal after the excitation signal is transmitted to the structure according to a preset collection delay;
analyzing the state of the structure according to the response signal collected every time to obtain an analysis result;
and superposing all the analysis results to obtain a final detection result.
The invention has the following advantages: if the first scan is made, the sensor collects the corresponding signals immediately after the excitation signal is transmitted to the structure, and the scan covers the original monitored area. And at the next scanning, with the existence of the collection delay, the starting point of the scanning moves backwards with the existence of the collection delay, namely, although the whole monitoring area covered by the scanning shifts backwards. Then, after the state of the structure is analyzed according to the collected response signals each time, the total analysis results are superposed, and the monitoring on the structure in a wider range can be obtained. Moreover, the method is realized on the premise of not increasing the number of sensors, the number of actuators and the capacity of a memory.
In order to achieve the above object, the present invention provides a system for extending a structural health monitoring range, the system comprising: sensors, actuators, processors, memory;
the processor is used for controlling the actuator to send out an excitation signal to the detected structure;
the control sensor collects response signals after the excitation signals are transmitted to the structure according to preset collection delay when detecting that the excitation signals are transmitted to the structure each time;
analyzing the structure according to the response signal collected every time to obtain an analysis result;
superposing all analysis results to obtain a final detection result;
the memory is used for storing the analysis result of each time and the final detection result.
The invention has the following advantages: if the first scan is made, the sensor collects the corresponding signals immediately after the excitation signal is transmitted to the structure, and the scan covers the original monitored area. And at the next scanning, with the existence of the collection delay, the starting point of the scanning moves backwards with the existence of the collection delay, namely, although the whole monitoring area covered by the scanning shifts backwards. Then, after the state of the structure is analyzed according to the collected response signals each time, the total analysis results are superposed, and the monitoring on the structure in a wider range can be obtained. Moreover, the method is realized on the premise of not increasing the number of sensors, the number of actuators and the capacity of a memory.
Drawings
Fig. 1 is a schematic flow chart of a method for expanding a structural health monitoring range according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an exemplary arrangement of the present invention including an actuator and a sensor;
FIG. 3 is a schematic diagram of another exemplary configuration of the present invention including an actuator and a sensor;
FIG. 4 is a schematic diagram of an exemplary configuration of the present invention including two actuators and two sensors;
FIG. 5 is a schematic diagram of an exemplary configuration of the present invention including a plurality of actuators and a plurality of sensors;
FIG. 6 is a schematic diagram of an actuator and a plurality of sensors that can transmit/receive excitation signals to cover a two-dimensional circular area according to the present invention;
fig. 7 is a schematic structural diagram of a system for expanding a structural health monitoring range according to an embodiment of the present invention.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
The embodiment 1 of the invention provides a flow schematic diagram of a method for expanding a structural health monitoring range. As shown in fig. 1 in detail, the method may include: the structure to be inspected is scanned a plurality of times. During each scan, as the excitation signal is transmitted to the structure, collection of response signals may begin after the signal reaches the transmitting structure. Or after the corresponding preset collection delay is set, the excitation signal is collected according to the preset collection delay and then transmitted to the response signal after the structure.
The specific details are as follows:
And step 120, collecting the response signal after the excitation signal is transmitted to the structure according to a preset collection delay every time the excitation signal is detected to be transmitted to the structure.
And step 130, analyzing the state of the structure according to the response signal collected every time, and obtaining an analysis result.
And step 140, overlapping all the analysis results to obtain a final detection result.
Alternatively, the excitation signal may be an ultrasonic waveform. The collection delay of each scan may be sequentially increased, that is, the preset collection delay of the i +1 th scan is greater than the preset collection delay of the i th scan, where i is a positive integer greater than or equal to 1. The purpose is to be able to extend the scanning range. The specific effects can be seen from the following examples. The method comprises the following specific steps:
in one specific example, it is assumed that the monitored structure is scanned multiple times in succession during the monitoring process. The scan without the collection delay covers the original monitoring area of the SHM system. The scan with collection delay covers an extended monitoring area. The combination of the scanning results expands the monitoring range of the SHM system.
If there is no collection delay in the data acquisition, or the collection of response signals begins immediately after the excitation signal is transmitted to the structure, the maximum distance L0 for the scan can be shown by the following equation:
L0＝(TS-Tw)×v/2 (1)
wherein a point at distance L (0 < L < L >0) Overlaid in the data acquisition, L is the distance between the actuators and sensors and the point of interest in the structure, v is the signal velocity through the structure, TwIs the duration of the actuating signalTime (window), Ts is the signal duration during which the sensor needs to perform data collection. The signal velocity v is constant in a uniform structure. For non-uniform structures, the signal velocity v may vary with different directions and different locations. In practice, Ts may be obtained by experimental measurements or by structural models, and the signal velocity v in equation (1) may be the average signal velocity to the point of interest.
If the sensor performs signal collection with a collection delay d after receiving the excitation signal, i.e., the sensor waits a time d before collecting the response signal, the starting distance at which data acquisition occurs is:
therefore, due to the collection delay d, the detection distance increases from L0 to Ld + L0, and the region between Ld and Ld + L0 is covered.
If the following collection delay is selected
(3)
Then Ld1 becomes L0 and the measurement distance becomes L (L0 < ═ L < (2L 0). Therefore, the farthest measurement distance becomes 2L 0.
If the results are combined by scanning the structure twice, one without the collection delay and one with the collection delay specified by equation (3), the monitoring range doubles to 2L 0. Thereby, the measurement distance becomes L (0 < ═ L < ═ 2L 0). Fig. 2 shows an exemplary configuration including an actuator 200 and a sensor 202. The actuator 200 generates an ultrasonic wave 201 as an excitation signal. Without the collection delay mechanism, the monitoring range of the sensor 202 is L0. With the addition of the collection delay mechanism, the monitoring range may be increased to 2L0 according to the principles described above. The collection delay mechanism allows for an extended monitoring range by multiple scans and increased collection delay.
To further increase the monitoring range, an additional scan with the following collection delay may be performed:
in combination with the first two scans, the monitoring range was increased by a factor of three. The obtained measurement distance becomes L (0 ═ L < ═ 3L 0).
Further, more additional scans may be performed. In one embodiment, the collection delay for each additional scan is as follows:
wherein n is 1, 2, 3. Thus, Ldn — nL 0. Thus, when all the scanning results are combined, the measurement distance becomes L (0 < ═ L < ═ nL 0).
It should be noted that when collection delays d1, d 2.., dn are used, their values may not necessarily be determined by equations (3), (4), and (5). The value of the collection delay depends on the actual need. For example, the value of the collection delay may be less than the value defined by equation (5). In this case, the two scanning areas may overlap. Overlapping scan regions may be used to detect regions with more detail.
And analyzing each scanning area, and superposing the obtained analysis results to obtain the final detection result.
According to the method for expanding the structural health monitoring range, provided by the embodiment of the invention, if the structure is scanned for the first time, the sensor immediately collects corresponding signals after the excitation signals are transmitted to the structure, and the original monitoring area is covered by scanning. And at the next scanning, with the existence of the collection delay, the starting point of the scanning moves backwards with the existence of the collection delay, namely, although the whole monitoring area covered by the scanning shifts backwards. Then, after the state of the structure is analyzed according to the collected response signals each time, the total analysis results are superposed, and the monitoring on the structure in a wider range can be obtained. Moreover, the method is realized on the premise of not increasing the number of sensors, the number of actuators and the capacity of a memory.
Example 2
On the basis of embodiment 1, the reflected excitation signal may experience more energy loss in consideration of the fact that the excitation signal is transmitted farther as the monitoring range is expanded. The gain can be adjusted to compensate for losses and enhance the reflected structural response signal. For example, a different gain may be preset for each scan. Furthermore, the SHM system may be arranged to automatically adjust the signal gain according to the characteristics of the signal.
Specifically, after step 120, the method may further include: different gain compensations are applied to the response signals to increase the effective signal strength, step 150.
The specific process comprises the following steps: comparing the absolute maximum amplitude value of the response signal with the maximum value and the minimum value of a preset value interval;
increasing the gain of the response signal when the absolute maximum value of the amplitude of the response signal is less than the minimum value;
or, when the absolute maximum value of the amplitude of the response signal is greater than the maximum value, reducing the gain of the response signal;
or when the absolute maximum value of the amplitude of the response signal is within the preset value interval, the gain compensation processing is not carried out on the response signal.
In one specific example, the gain is adjusted so that the absolute maximum amplitude of the signal is within a specified interval of the data acquisition input range. For example, the preset numerical range may be set in a range from 40% to 75%. The lower bound of the interval ensures that the signal is strong enough and the upper bound of the interval provides enough room for signal variations without reaching saturation. The lower and upper limits may have other values depending on the application. It should be noted that various methods may be used to filter the collected signal to overcome background noise. Therefore, the absolute maximum value of the amplitude can be smoothed. For example, the data may be smoothed using an exponentially weighted moving average. The automatic gain adjustment procedure is described below. Upon receipt of the reflected structural response signal, the absolute maximum amplitude of the signal is compared to the lower and upper limits of the interval. If the amplitude absolute maximum is below the lower limit, the gain is increased to boost the signal. If the amplitude absolute maximum is above the upper limit, the gain is reduced to reduce the signal power.
In one embodiment, if the amplitude absolute maximum is below the lower limit, the gain is increased according to the following equation
gt+l＝gt+0.5×|gt-gt-1| (6)
Wherein, gt+lComprises the following steps: gain adjusted at t +1 times; gtGain adjusted t times, g0＝0，g1＝0.5gmax；gmaxIs the maximum gain; t is 1, 2.
If the absolute maximum amplitude is above the upper limit, it is reduced as follows
gt+l＝gt-0.5×|gt-gt-1| (7)
Until the absolute maximum amplitude falls within this interval. It should be noted that the automatic gain adjustment may be performed by a different method, and the gain adjustment value may be different from the values defined by equations (6) and (7).
According to the method for expanding the structural health monitoring range, provided by the embodiment of the invention, if the structure is scanned for the first time, the sensor immediately collects corresponding signals after the excitation signals are transmitted to the structure, and the original monitoring area is covered by scanning. And at the next scanning, with the existence of the collection delay, the starting point of the scanning moves backwards with the existence of the collection delay, namely, although the whole monitoring area covered by the scanning shifts backwards. Then, after the state of the structure is analyzed according to the collected response signals each time, the total analysis results are superposed, and the monitoring on the structure in a wider range can be obtained. Moreover, the method is realized on the premise of not increasing the number of sensors, the number of actuators and the capacity of a memory.
Example 3
In the above embodiments of the present invention, a single actuator and a single sensor are described as an example. But is not intended to represent that the present application is applicable to systems having only one actuator and one sensor as examples. Of course, the system may also be provided with one or more actuators, or one or more sensors, if sufficient memory is available. Specific embodiments as follows, on the basis of any of the above embodiments, the present embodiment will describe a case where one or more actuators or one or more sensors are included in the system. The actuator and sensor may be integrated as in the above embodiments, or may be separate.
The principle of increasing the detection range of an SHM system will be explained using one or more disconnected actuators and sensors. It is to be noted that the pulse-echo mode is applicable to the above-described embodiments and the embodiments to be explained below.
In one example, as shown in fig. 3, the SHM system may include one actuator 300 and one sensor 301. The actuators and sensors are spaced apart as a group and placed side-by-side. The actuator 300 emits ultrasonic waves 302 through the structure. The sensor 301 receives the reflected excitation signal. Assume that the detection range is d. When the target is a one-dimensional structure such as a rod or tube, the actuator 300 and sensor 301 may be mounted at one end of the structure. The ultrasonic wave may travel in one direction to the other end of the structure and return after being reflected. The system may have a delay mechanism that implements multiple scans, processes the reflected excitation signals and combines the results of the scans. Scanning may increase the collection delay to extend the monitoring range to cover the entire length of the structure. The system may also have a compensation mechanism that automatically adjusts the gain of each scan and compensates for the energy loss in each case. The scan measurements, when combined, can cover a larger area and can monitor a larger area of the structure without increasing the SHM system memory capacity or adding additional actuators and sensors.
In another example, the SHM system may include an actuator, a plurality of sensors, a set of delay mechanisms, and a set of compensation mechanisms. The actuators and sensors may be provided as a set of components, placed in a structure at specified orientations and spacings. It should be noted that the device spacing may have the same or different values. The sensors may acquire data simultaneously or sequentially. The system may perform multiple scans using a delay mechanism to extend the monitoring range. Scanning may increase collection delay. The reflected excitation signal may be compensated for by gain adjustment by a compensation mechanism. The system determines the structural state and two-or three-dimensional changes by analyzing the phase and amplitude of the reflected excitation signal collected by the sensor. Also, due to the use of multiple scans and increased collection delay, the monitoring range may be increased and the detection area in the structure may be increased.
In yet another example, the SHM system may include multiple actuators, sensors, a delay mechanism, and a compensation mechanism. The actuator and sensor may be placed in a particular orientation in a particular location of the structure and work together as a whole. Fig. 4 shows an exemplary configuration of actuators 400, 402 and sensor 401. The actuators are oriented differently and generate ultrasonic waves 403 and 404 in different directions. Assume again that the monitoring range is d. The spacing of the actuators from the sensors 401 may be the same or different. The actuators 400 and 402 transmit waves at different times, and the waves may have the same or different energy levels. With multiple actuators, the system can observe two-dimensional or three-dimensional changes in the structure. The phase and amplitude differences between the structural reflection excitation signals can be analyzed. Also, the system can use a delay mechanism and a compensation mechanism to perform an incremental collection delay scan, compensate for reflected excitation signals, and increase the monitoring range to cover a larger area in the structure without any costly upgrade.
In another example, the SHM system may include multiple actuators, multiple sensors, a delay mechanism, and a compensation mechanism. The actuator and sensor may work together as an assembly and be mounted in a predetermined orientation in a specified position of the structure. The distance between the actuator and the corresponding sensor can be defined according to actual needs. Fig. 5 is an example of this embodiment. Actuators 500, 502 and 504 transmit ultrasonic waves 506, 507 and 508, respectively. The waves propagate in different directions in a two-dimensional plane. The actuator may also be positioned to generate waves in three-dimensional space. Sensors 501, 503 and 505 are paired with actuators, respectively. Again, d represents the monitored distance. The actuators may transmit waves at the same or different energy levels at the same or different times. The sensors may receive the reflected excitation signals sequentially or in parallel. The system can be used to identify structural changes in two or three dimensions. The phase and amplitude differences between the structural reflection excitation signals can be analyzed. Also, the system may use a delay mechanism and a compensation mechanism to perform multiple incremental collection delay scans and perform appropriate gain adjustments to extend the monitoring range. By combining the measurements of multiple scans with the collection delay, the system can increase the monitoring range and cover a larger area without upgrading memory or adding additional actuators and sensors.
In another example, the SHM system may have multiple groups located in a designated area of the structure. Each group may include actuator and sensor configurations, such as one actuator and one sensor, one actuator and multiple sensors, multiple actuators and one sensor, or multiple actuators and multiple sensors, or a combination of any two or more configurations. Each group may monitor a designated area of the structure. All subgroups of measurements may cover different areas of the structure. There may be overlap between groups to form redundant coverage. Also, each group or system may have a delay mechanism and a compensation mechanism. The delay mechanism is used to perform multiple scans of incremental gather delay. The compensation mechanism is used to provide the appropriate gain for the reflected excitation signal. The monitoring range of each group can be extended by combining the scan measurements. The system can cover additional areas in the structure without increasing storage capacity or installing more actuators and sensors.
In the foregoing embodiments, the characteristics and pointing direction of the ultrasonic waves can be fine-tuned using beamforming techniques, so that the region of interest can receive excitation signals of optimal power, respectively. The delay mechanism can be designed according to the waveform speed or signal transmission speed in the structure and in the position of the monitored area, and the collection delay can be automatically adjusted.
In another example, the actuators and sensors may send/receive excitation signals (e.g., ultrasonic waveforms) to cover a two-dimensional circular area. Fig. 6 shows an example in which an actuator 601 and a sensor 602 are arranged together, and transmit and receive ultrasonic waveforms to cover a two-dimensional circular area. That is, the waveform is uniformly emitted at 360 degrees. Assuming that the monitoring range of the actuator 601 and sensor 602 is a circular area with radius d, the present invention can extend the monitoring range to circular areas with radii 2d, 3d, or even larger by using multiple scans with collection delays as described above. This configuration is very effective when the structure to be monitored is a thin flat plate. It should be noted that this method is equally applicable when the waveform velocities are different at different angles or different locations. In this case, the waveform velocities in different directions and positions should be measured using an experimental method.
In another example, the actuators and sensors may send/receive excitation signals (e.g., ultrasonic waveforms) to cover a three-dimensional spherical region. Specifically, the actuator and the sensor are arranged together, and the ultrasonic waveform is transmitted and received to cover the three-dimensional spherical region. That is, the waveform is uniformly emitted in 360 degrees in the three-dimensional direction. Similar to the embodiments described above, the present invention can extend the monitoring range of actuators and sensors from radius d to a radius of 2d, 3d or greater by using multiple scans with collection delays. It should be noted that this method is equally applicable when the waveform velocities are different at different angles or different locations. In this case, the waveform velocities in different directions and positions should be measured using an experimental method.
It should be noted that the present invention is not limited to reflected waves or waveforms, but rather, waves or waveforms resulting from penetration, refraction, or diffraction may be collected and collected by an SHM system to perform lesion analysis.
Example 4
Corresponding to the above embodiments, an embodiment of the present invention further provides a system for extending a structural health monitoring range, specifically as shown in fig. 7, the system includes: sensors 701, actuators 702, a processor 703, a memory 704.
The processor 703 is configured to perform a plurality of scans of the structure to be inspected, each scan including:
controlling the actuator 702 to emit an excitation signal to the structure being detected;
the control sensor 701 collects a response signal after the excitation signal is transmitted to the structure according to a preset collection delay every time the excitation signal is detected to be transmitted to the structure;
analyzing the structure according to the response signal collected every time to obtain an analysis result;
superposing all analysis results to obtain a final detection result;
the memory is used for storing the analysis result of each time and the final detection result.
Optionally, the sensor 701 includes at least one, and the actuator 702 includes at least one.
Optionally, the processor 703 is specifically configured to: the preset collection delay at each scan is automatically adjusted based on the excitation signal transmission speed in the structure, the position of the actuator 702 transmitting the excitation signal, and the position of the sensor 701 collecting the response signal.
The functions performed by each component in the system for expanding the structural health monitoring range provided by the embodiment of the invention are described in detail in the above embodiment, and therefore, the detailed description is omitted here.
According to the system for expanding the structural health monitoring range provided by the embodiment of the invention, if the system scans for the first time, the sensor 701 immediately collects corresponding signals after the excitation signals are transmitted to the structure, and the original monitoring area is covered by scanning. And at the next scanning, with the existence of the collection delay, the starting point of the scanning moves backwards with the existence of the collection delay, namely, although the whole monitoring area covered by the scanning shifts backwards. Then, after the state of the structure is analyzed according to the collected response signals each time, the total analysis results are superposed, and the monitoring on the structure in a wider range can be obtained. Moreover, this is achieved without increasing the number of sensors 701, without increasing the number of actuators 702, and without upgrading the memory capacity.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed. Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. A method of extending a structural health monitoring range, the method comprising:
scanning the detected structure for a plurality of times, wherein each scanning comprises: transmitting an excitation signal to the structure;
each time the excitation signal is detected to be transmitted to the structure, collecting a response signal after the excitation signal is transmitted to the structure according to a preset collection delay; the collection delay of each scanning is sequentially increased, namely the preset collection delay of the i +1 th scanning is larger than that of the ith scanning, wherein i is a positive integer larger than or equal to 1;
analyzing the state of the structure according to the response signal collected every time to obtain an analysis result;
and superposing all analysis results, and after acquiring a final detection result and collecting a response signal after the excitation signal is transmitted to the structure according to a preset collection delay, the method further comprises the following steps:
applying different gain compensation to the response signal;
the performing different gain compensations on the response signal specifically includes:
comparing the absolute maximum amplitude value of the response signal with the maximum value and the minimum value of a preset value interval;
increasing the gain of the response signal when the absolute maximum value of the amplitude of the response signal is less than the minimum value, the gain increasing according to the following equation:
gt+l＝gt+0.5×|gt-gt-1|
wherein, gt+lGain adjusted at t +1 times;gtgain adjusted t times, gt-1Gain adjusted t-1 times, g0＝0，g1＝0.5gmax；gmaxIs the maximum gain; t is 1, 2.. times of gain adjustment;
or, when the absolute maximum value of the amplitude of the response signal is larger than the maximum value, the gain of the response signal is reduced according to the following formula:
gt+l＝gt-0.5×|gt-gt-1|
until the absolute maximum amplitude falls within this interval;
or when the absolute maximum amplitude of the response signal is within the preset value interval, the gain compensation processing is not performed on the response signal.
2. The method of claim 1, wherein the excitation signal comprises ultrasound.
3. A system for extending structural health monitoring range based on the method for extending structural health monitoring range of claim 1, the system comprising: sensors, actuators, processors, memory;
the processor is configured to perform a plurality of scans of the structure under inspection, each scan including:
controlling the actuator to transmit an excitation signal to the detected structure;
controlling the sensor to collect a response signal after the excitation signal is transmitted to the structure according to a preset collection delay when the sensor detects that the excitation signal is transmitted to the structure each time;
and analyzing the structure according to the response signal collected every time to obtain an analysis result.
4. The system of claim 3, wherein the sensor comprises at least one and the actuator comprises at least one.
5. The system of claim 3 or 4, wherein the processor is specifically configured to: the preset collection delay at each scan is automatically adjusted based on the excitation signal transmission speed, the actuator position transmitting the excitation signal, and the sensor position collecting the response signal in the structure.
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