CN110109122B - A device and method for detecting a target at the bottom of a solid plate based on leaky Lamb waves - Google Patents

A device and method for detecting a target at the bottom of a solid plate based on leaky Lamb waves Download PDF

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CN110109122B
CN110109122B CN201910451366.3A CN201910451366A CN110109122B CN 110109122 B CN110109122 B CN 110109122B CN 201910451366 A CN201910451366 A CN 201910451366A CN 110109122 B CN110109122 B CN 110109122B
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solid plate
ultrasonic transducer
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CN110109122A (en
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胡中韬
廉国选
王小民
毛捷
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Institute of Acoustics CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined

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Abstract

本发明属于超声探测设备技术领域，具体涉及一种基于漏兰姆波的探测固体板底部目标的装置，其包括：第一信号发射器、第一示波器、第一超声换能器(1)、第二信号发射器、第二示波器、第二超声换能器(2)、固体板(5)和数据处理模块；固体板底部目标(3)置于固体板(5)的下方，第一超声换能器(1)和第二超声换能器(2)相对放置，二者置于固体板(5)之上；第一超声换能器(1)和第二超声换能器(2)均倾斜θ角度；第一超声换能器(1)上还顺序连接第一信号发射器和第一示波器，第二超声换能器上(2)还顺序连接第二信号发射器和第二示波器；所述数据处理模块，用于根据L1和L2，计算固体板底部目标(3)的水平位置和垂直位置。

Figure 201910451366

The invention belongs to the technical field of ultrasonic detection equipment, in particular to a device for detecting a target at the bottom of a solid plate based on a leaky Lamb wave, comprising: a first signal transmitter, a first oscilloscope, a first ultrasonic transducer (1), The second signal transmitter, the second oscilloscope, the second ultrasonic transducer (2), the solid plate (5) and the data processing module; the target (3) at the bottom of the solid plate is placed under the solid plate (5), and the first ultrasonic The transducer (1) and the second ultrasonic transducer (2) are placed opposite to each other, and the two are placed on the solid plate (5); the first ultrasonic transducer (1) and the second ultrasonic transducer (2) The first ultrasonic transducer (1) is also connected to the first signal transmitter and the first oscilloscope in sequence, and the second ultrasonic transducer (2) is also sequentially connected to the second signal transmitter and the second oscilloscope. ; The data processing module is used to calculate the horizontal and vertical positions of the target (3) at the bottom of the solid plate according to L 1 and L 2 .

Figure 201910451366

Description

Device and method for detecting bottom target of solid plate based on leaky lamb wave
Technical Field
The invention belongs to the technical field of ultrasonic detection equipment, and particularly relates to a device and a method for detecting a bottom target of a solid plate based on leaky lamb waves.
Background
Lamb waves are guided waves formed in a solid plate, have frequency dispersion characteristics, and the relation between the phase (group) velocity and the frequency thickness product of each mode can be obtained through a Rayleigh-lamb frequency dispersion equation. Because attenuation is reduced in the lamb wave propagation process, the propagation distance is long, most of detection range can be covered in a short time, and the method is widely applied to the technical fields of nondestructive detection of large-area plates and shell structures, material thickness measurement and the like.
Currently, the bottom target of a solid plate is difficult to locate optically because light cannot penetrate the opaque solid plate. The existing acoustic method can penetrate opaque media and is widely applied to ocean exploration, nondestructive testing and the like. Thus, for the detection of the bottom target of the solid plate, acoustic methods may be employed. However, the acoustic measurement method based on one-pitch and one-pitch requires actual measurement of the specific situation under the solid plate point by point, and the incident body wave vertically penetrates through the single-layer plate, so that strong energy loss is caused. Therefore, the method for measuring the body wave in a transmitting-receiving mode has the problems of low efficiency, complex operation and the like.
Disclosure of Invention
The invention aims to solve the defects of the existing detection method, and provides a device and a method for detecting a target at the bottom of a solid plate based on leaky lamb waves, which can be used for positioning a cylindrical target at the bottom of the solid plate in the horizontal and vertical directions. Two ultrasonic transducers are used for respectively emitting ultrasonic waves to be incident into a solid plate immersed in water to generate the same lamb wave, and part of energy of the lamb wave leaks into surrounding water to form leaky lamb wave. Lamb wave energy leaking into the water will form two identical plane waves with angle theta, frequency f; the two plane waves respectively propagate to a cylindrical target position at the bottom of the solid plate and interact with the cylindrical target position to form two reflected waves with theta angle and frequency f. The two reflected waves are respectively reflected back to the solid plate to excite the same leaky lamb wave, and the leaky lamb wave returns to the corresponding original ultrasonic transducer along the original incident path and is received by the corresponding original ultrasonic transducer; the position of the cylindrical object at the bottom of the solid plate in the horizontal and vertical directions can be determined by the travel time of the returned reflected wave and the radius of the cylindrical object at the bottom of the solid plate.
In order to achieve the above object, the present invention provides a leaky lamb wave-based device for detecting a target at the bottom of a solid plate, which uses a pair of ultrasonic transducers arranged at two ends of the solid plate, and transmits ultrasonic waves towards the center of the solid plate at the same theta angle and frequency f in sequence, and the ultrasonic waves propagate to and interact with a cylindrical target position at the bottom of the solid plate to form a reflected wave with the theta angle and the frequency f. The reflected wave is reflected back to the solid plate to excite the same leaky lamb wave, and the leaky lamb wave returns to the original ultrasonic transducer along the original incident path and is received by the original ultrasonic transducer; the position of the cylindrical object at the bottom of the solid plate in the horizontal and vertical directions can be determined by the travel time of the returned reflected wave and the radius of the cylindrical object at the bottom of the solid plate.
The detection device specifically comprises: the ultrasonic diagnosis device comprises a first signal emitter, a first oscilloscope, a first ultrasonic transducer, a second signal emitter, a second oscilloscope, a second ultrasonic transducer, a solid plate and a data processing module;
the first ultrasonic transducer, the second ultrasonic transducer, the solid plate and the target at the bottom of the solid plate are all positioned below the water surface; the target at the bottom of the solid plate is arranged below the solid plate, the first ultrasonic transducer and the second ultrasonic transducer are oppositely arranged and are arranged on the solid plate, and the first ultrasonic transducer and the second ultrasonic transducer are separated from the solid plate by a distance Scm and are positioned on the same horizontal plane; the first ultrasonic transducer and the second ultrasonic transducer are both inclined by an angle theta; the first ultrasonic transducer is also sequentially connected with a first signal emitter and a first oscilloscope, and the second ultrasonic transducer is also sequentially connected with a second signal emitter and a second oscilloscope;
the data processing module is used for transmitting ultrasonic waves with the angle theta and the frequency f transmitted by the first ultrasonic transducer in the solid plate according to the propagation distance L of the ultrasonic waves in the solid plate1And the distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer to propagate in the solid plate2Calculating the horizontal position and the vertical position of the target at the bottom of the solid plate; wherein the solid plate bottom target is a cylindrical target.
As one improvement of the above technical solution, θ ═ arcsin (Cw/Cp), where Cp is the phase velocity of the lamb wave; cw is the speed of sound.
As one improvement of the above technical solution, the solid plate is an opaque metal plate; preferably an aluminium plate.
As an improvement of the above technical solution, the data processing module specifically includes:
a first data receiving unit for receiving the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer in the solid plate1；
A first processing unit for propagating in the solid plate according to the ultrasonic wave of theta angle and frequency f emitted by the first ultrasonic transducerTime t1(ii) a Calculating the propagation distance L of the sound wave with the angle of the ultrasonic theta and the frequency f emitted by the first ultrasonic transducer in the solid plate1；
L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2 (1)
Wherein, t0Time of propagation of ultrasonic waves in water, t0(ii) S/Cw; cg is the group velocity of lamb waves; cw is the sound velocity; θ ═ arcsin (Cw/Cp), where Cp is the phase velocity of the lamb wave; t is t1The propagation time of the reflected leaky lamb wave received by the first ultrasonic energy transducer;
a second data receiving unit for receiving the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer in the solid plate2；
A second processing unit for propagating the ultrasonic waves with the frequency f in the solid plate according to the angle theta emitted by the second ultrasonic transducer for a time t2(ii) a Calculating the propagation distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer in the solid plate2；
L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2 (2)
Wherein, t1The propagation time of the reflected leaky lamb wave received by the second ultrasonic transducer;
a third processing unit for processing according to L1And L2Calculating the horizontal position D and the vertical position h of the target at the bottom of the solid plate;
Figure BDA0002075256280000031
Figure BDA0002075256280000032
wherein L is the distance between the first ultrasonic transducer and the second ultrasonic transducer; r is the radius of the solid plate bottom target.
Based on the device for detecting the bottom target of the solid plate based on the leaky lamb wave, the invention also provides a method for detecting the bottom target of the solid plate based on the leaky lamb wave. The method specifically comprises the following steps:
acquiring the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer in the solid plate1；
Acquiring the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer in the solid plate2；
According to t1And t2Calculating the propagation distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer in the solid plate correspondingly1And the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer propagates in the solid plate for a distance L2；
According to L1And L2And calculating the horizontal position D and the vertical position h of the target at the bottom of the solid plate.
As one improvement of the technical scheme, the acquisition of the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer in the solid plate1(ii) a The method specifically comprises the following steps:
the first signal emitter emits an electric signal to the first ultrasonic transducer, the first ultrasonic transducer converts the electric signal into ultrasonic waves, and the ultrasonic waves with the angle of an incident angle theta and the frequency f are emitted into a solid plate immersed in water to form lamb waves; the leaky lamb waves leaked into water are incident on the outer surface of a target at the bottom of the solid plate in a theta angle and frequency f plane wave and interact with the target at the bottom of the solid plate to form a reflected wave with the theta angle and the frequency f, the reflected wave is reflected back to the solid plate through the outer surface of the target at the bottom of the solid plate to excite the same leaky lamb waves and returns to the first ultrasonic transducer through the solid plate along the original incident path, the first ultrasonic transducer receives the reflected leaky lamb waves and displays the reflected leaky lamb waves and the propagation time t thereof through the first oscilloscope1。
As the above-mentioned skillOne improvement of the technical scheme is that the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer in the solid plate is obtained2(ii) a The method specifically comprises the following steps:
the second signal emitter emits an electric signal to the second ultrasonic transducer, the second ultrasonic transducer converts the electric signal into ultrasonic waves, and the ultrasonic waves with the angle of an incident angle theta and the frequency f are emitted into a solid plate immersed in water to form lamb waves; the leaky lamb waves leaked into the water are incident on the outer surface of the solid plate bottom target in a theta angle and frequency f plane wave and interact with the solid plate bottom target to form a reflected wave with the theta angle and the frequency f, the reflected wave is reflected back to the solid plate through the outer surface of the solid plate bottom target to excite the same leaky lamb waves and returns to the second ultrasonic transducer through the solid plate along the original incident path, the second ultrasonic transducer receives the reflected leaky lamb waves and displays the reflected leaky lamb waves and the propagation time t thereof through the second oscilloscope2。
As one improvement of the above technical solution, the above is according to t1And t2Calculating the propagation distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer in the solid plate correspondingly1And the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer propagates in the solid plate for a distance L2(ii) a The method specifically comprises the following steps:
the angle theta and the frequency f ultrasonic wave emitted by the first ultrasonic transducer are propagated in the solid plate by a distance L1Comprises the following steps:
L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2 (1)
wherein, t0Time of propagation of ultrasonic waves in water, t0(ii) S/Cw; cg is the group velocity of lamb waves; cw is the sound velocity; θ ═ arcsin (Cw/Cp), where Cp is the phase velocity of the lamb wave; t is t1The propagation time of the reflected leaky lamb wave received by the first ultrasonic energy transducer;
the distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer propagating in the solid plate2Comprises the following steps:
L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2 (2)
wherein, t1Is the propagation time of the reflected leaky lamb wave received by the second ultrasonic transducer.
As one improvement of the above technical solution, said base according to L1And L2Calculating the horizontal position D and the vertical position h of the target at the bottom of the solid plate; the method specifically comprises the following steps:
Figure BDA0002075256280000041
Figure BDA0002075256280000042
wherein L is the distance between the first ultrasonic transducer and the second ultrasonic transducer; r is the radius of the solid plate bottom target.
Compared with the prior art, the invention has the beneficial effects that:
the method can calculate the horizontal position and the vertical position of the target at the bottom of the solid plate in a short time, determine the specific position of the target at the bottom of the solid plate, and realize the quick and accurate positioning of the target at the bottom of the solid plate.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus for detecting a target at the bottom of a solid plate based on leaky lamb waves according to the present invention;
FIG. 2 is a schematic structural diagram of a first ultrasonic transducer, a second ultrasonic transducer, a solid plate and a cylindrical target in the device for detecting the target at the bottom of the solid plate based on leaky lamb waves, which is disclosed by the invention, immersed in the water surface;
FIG. 3 is a phase velocity dispersion curve of a solid plate in an apparatus for detecting a target at the bottom of the solid plate based on leaky lamb waves according to the invention, wherein A0, S0, A1, S1, A2, S2 are respective lamb wave modes;
FIG. 4 is a group velocity dispersion curve of a solid plate in an apparatus for detecting a target at the bottom of the solid plate based on leaky lamb waves according to the invention, wherein A0, S0, A1, S1, A2, S2 are respective lamb wave modes;
FIG. 5 is a graph of the attenuation dispersion of a solid plate in an apparatus for detecting a target at the bottom of the solid plate based on leaky lamb waves according to the invention, wherein A0, S0, A1, S1, A2, S2 are respective lamb wave modes;
FIG. 6 is a graph of time versus relative amplitude of reflected waves received by a first ultrasonic transducer in an apparatus for detecting a target at the bottom of a solid plate based on leaky lamb waves of the present invention, recording the propagation time t 1;
FIG. 7 is a graph of time versus relative amplitude of reflected waves received by a second ultrasonic transducer in an apparatus for detecting a target at the bottom of a solid plate based on leaky lamb waves of the present invention, recording the travel time t 2.
Reference numerals:
1. first ultrasonic transducer 2 and second ultrasonic transducer
3. Cylindrical target 4, water surface
5. Solid plate 6, container
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
As shown in figures 1 and 2, the invention provides a device for detecting a target at the bottom of a solid plate based on leaky lamb waves, wherein a part of the device is placed in a container containing water, the device adopts a pair of ultrasonic transducers arranged at two ends of the solid plate, ultrasonic waves are respectively emitted towards the center of the solid plate at the same theta angle and frequency f in sequence, and are transmitted to a cylindrical target position at the bottom of the solid plate and interact with the cylindrical target position to form a reflected wave with the theta angle and the frequency f. The reflected wave is reflected back to the solid plate to excite the same leaky lamb wave, and the leaky lamb wave returns to the original ultrasonic transducer along the original incident path and is received by the original ultrasonic transducer; the position of the cylindrical object at the bottom of the solid plate in the horizontal and vertical directions can be determined by the travel time of the returned reflected wave and the radius of the cylindrical object at the bottom of the solid plate.
The detection device specifically comprises: the ultrasonic diagnosis device comprises a first signal emitter, a first oscilloscope, a first ultrasonic transducer 1, a second signal emitter, a second oscilloscope, a second ultrasonic transducer 2, a solid plate 5 and a data processing module;
the first ultrasonic transducer 1, the second ultrasonic transducer 2, the solid plate 5 and the solid plate bottom target 3 are all positioned in a container 6 with water, namely below the water surface 4; the solid plate bottom target 3 is placed below the solid plate 5, the first ultrasonic transducer 1 and the second ultrasonic transducer 2 are oppositely placed, the first ultrasonic transducer and the second ultrasonic transducer are placed above the solid plate 5, and the first ultrasonic transducer and the second ultrasonic transducer are positioned on the same horizontal plane and are separated from the solid plate 5 by a distance Scm; the first ultrasonic transducer 1 and the second ultrasonic transducer 2 are both inclined by an angle theta; the first ultrasonic transducer 1 is also sequentially connected with a first signal emitter and a first oscilloscope, and the second ultrasonic transducer 2 is also sequentially connected with a second signal emitter and a second oscilloscope;
the data processing module is used for transmitting ultrasonic waves with the angle theta and the frequency f in accordance with the first ultrasonic transducer 1 and transmitting the ultrasonic waves with the distance L in the solid plate 51And the distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer 2 to propagate in the solid plate 52And calculating the horizontal position and the vertical position of the target 3 at the bottom of the solid plate to finish detecting the specific position of the target 3 at the bottom of the solid plate.
Wherein, if the functions in the data processing module are implemented in the form of software functional units and sold or used as independent products, the functions can be stored in a nonvolatile computer readable storage medium which can be executed by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Wherein θ is arcsin (Cw/Cp), where Cp is a phase velocity of the lamb wave; cw is the speed of sound.
The solid plate is an opaque metal plate; preferably an aluminium plate.
The data processing module specifically comprises:
a first data receiving unit for receiving the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer 1 in the solid plate 51；
A first processing unit for propagating ultrasonic waves of frequency f in the solid plate 5 according to the angle theta emitted by the first ultrasonic transducer 1 for a time t1(ii) a Calculating the distance L of propagation of the ultrasonic wave emitted by the first ultrasonic transducer 1 at the angle theta and the frequency f in the solid plate 51；
L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2 (1)
Wherein, t0Time of propagation of ultrasonic waves in water, t0(ii) S/Cw; cg is the group velocity of lamb waves; cw is the sound velocity; θ ═ arcsin (Cw/Cp), where Cp is the phase velocity of the lamb wave; t is t1The propagation time of the reflected leaky lamb wave received by the first ultrasonic energy transducer;
a second data receiving unit for receiving the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer 2 in the solid plate 52；
A second processing unit for propagating the ultrasonic waves of frequency f in the solid plate 5 for a time t according to the angle theta emitted by the second ultrasonic transducer 22(ii) a Calculating the distance L of propagation of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer 2 in the solid plate 52；
L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2 (2)
Wherein, t1Upon propagation of the reflected leaky lamb wave received by the second ultrasonic transducerA (c) is added;
a third processing unit for processing according to L1And L2Calculating the horizontal position D and the vertical position h of the target at the bottom of the solid plate;
Figure BDA0002075256280000071
Figure BDA0002075256280000072
wherein L is the distance between the first ultrasonic transducer and the second ultrasonic transducer; r is the radius of the solid plate bottom target.
Based on the device for detecting the target at the bottom of the solid plate based on the leaky lamb wave, the invention also provides a method for detecting the target at the bottom of the solid plate based on the leaky lamb wave. The method specifically comprises the following steps:
assuming a longitudinal wave velocity Cl, a transverse wave velocity Cs and a density rho of the solid plate material1Plate thickness d of solid plate material, density ρ of liquid2Sound velocity Cw, lamb wave number k and lamb wave frequency omega according to a frequency dispersion equation of the immersion liquid plate:
Figure BDA0002075256280000073
Figure BDA0002075256280000074
wherein k isLomega/Cl is the wave number of longitudinal waves in the solid plate; k is a radical ofTomega/Cs is the wave number of the transverse wave of the body;
Figure BDA0002075256280000075
Figure BDA0002075256280000076
i is an imaginary part; wherein coth () is a hyperbolic cotangent function; tanh () is a hyperbolic tangent function;
obtaining a phase velocity-frequency dispersion curve, a group velocity-frequency dispersion curve and an attenuation-frequency dispersion curve of an S-series lamb mode of a leaky lamb wave in the immersion liquid solid plate according to the formula (5); specifically, as in fig. 3, 4 and 5, the dispersion curves of phase velocity-frequency, group velocity-frequency, and attenuation-frequency of the S0, S1, S2 lamb modes;
obtaining a phase velocity-frequency dispersion curve, a group velocity-frequency dispersion curve and an attenuation-frequency dispersion curve of an A series lamb mode of a leaky lamb wave in the immersion liquid solid plate according to the formula (6); specifically, as in fig. 3, 4 and 5, phase velocity-frequency dispersion curves, group velocity-frequency dispersion curves and attenuation-frequency dispersion curves for a0, a1, a2 lamb mode;
according to the obtained phase velocity-frequency dispersion curve, group velocity-frequency dispersion curve and attenuation-frequency dispersion curve of the A-series lamb mode, selecting the phase velocity-frequency dispersion curve, group velocity-frequency dispersion curve and attenuation-frequency dispersion curve of any A-series lamb mode, and determining the group velocity Cg and phase velocity Cp in the corresponding lamb mode according to the graphs shown in FIGS. 3, 4 and 5; based on the determined group velocity Cg and phase velocity Cp; determining an incidence angle theta of the ultrasonic wave by using theta as arcsin (Cw/Cp); based on the determined group velocity Cg and phase velocity Cp; determining the frequency f corresponding to the determined group velocity Cg and the phase velocity Cp; wherein the selected range of the frequency f of the ultrasonic wave is determined by the attenuation dispersion curve, e.g. selected A1The attenuation of the mode needs to satisfy the mode of being more than S0 and less than A1;
based on the determined angle theta and frequency f, acquiring the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the first ultrasonic transducer 1 in the solid plate 51(ii) a In particular, the amount of the solvent to be used,
the first signal emitter emits an electrical signal to the first ultrasonic transducer, the first ultrasonicThe transducer converts the electric signal into ultrasonic waves, and the ultrasonic waves with the angle of an incident angle theta and the frequency f are emitted into a solid plate immersed in water to form lamb waves; the leaky lamb waves leaked into water are incident on the outer surface of a target at the bottom of the solid plate in a theta angle and frequency f plane wave and interact with the target at the bottom of the solid plate to form a reflected wave with the theta angle and the frequency f, the reflected wave is reflected back to the solid plate through the outer surface of the target at the bottom of the solid plate to excite the same leaky lamb waves and returns to the first ultrasonic transducer through the solid plate along the original incident path, the first ultrasonic transducer receives the reflected leaky lamb waves and displays the reflected leaky lamb waves and the propagation time t thereof through the first oscilloscope1As shown in fig. 6.
Acquiring the propagation time t of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer in the solid plate2(ii) a The method specifically comprises the following steps:
the second signal emitter emits an electric signal to the second ultrasonic transducer, the second ultrasonic transducer converts the electric signal into ultrasonic waves, and the ultrasonic waves with the angle of an incident angle theta and the frequency f are emitted into a solid plate immersed in water to form lamb waves; the leaky lamb waves leaked into the water are incident on the outer surface of the solid plate bottom target in a theta angle and frequency f plane wave and interact with the solid plate bottom target to form a reflected wave with the theta angle and the frequency f, the reflected wave is reflected back to the solid plate through the outer surface of the solid plate bottom target to excite the same leaky lamb waves and returns to the second ultrasonic transducer through the solid plate along the original incident path, the second ultrasonic transducer receives the reflected leaky lamb waves and displays the reflected leaky lamb waves and the propagation time t thereof through the second oscilloscope2As shown in fig. 7.
According to t1And t2The distance L of propagation of the ultrasonic wave emitted by the first ultrasonic transducer 1 at the angle θ and the frequency f in the solid plate 5 is calculated correspondingly1And the ultrasonic wave of the angle theta and the frequency f emitted by the second ultrasonic transducer 2 propagates in the solid plate 5 by a distance L2(ii) a The method specifically comprises the following steps:
the ultrasonic wave with theta angle and frequency f emitted by the first ultrasonic transducerDistance L of propagation in a solid plate1Comprises the following steps:
L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2 (1)
wherein, t0Time of propagation of ultrasonic waves in water, t0(ii) S/Cw; cg is the group velocity of lamb waves; cw is the sound velocity; θ ═ arcsin (Cw/Cp), where Cp is the phase velocity of the lamb wave; t is t1The propagation time of the reflected leaky lamb wave received by the first ultrasonic energy transducer;
the distance L of the ultrasonic wave with the angle theta and the frequency f emitted by the second ultrasonic transducer propagating in the solid plate2Comprises the following steps:
L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2 (2)
wherein, t1The propagation time of the reflected leaky lamb wave received by the second ultrasonic transducer;
according to L1And L2Calculating the horizontal position D and the vertical position h of the target at the bottom of the solid plate; the method specifically comprises the following steps:
Figure BDA0002075256280000091
Figure BDA0002075256280000092
wherein L is the distance between the first ultrasonic transducer and the second ultrasonic transducer; r is the radius of the solid plate bottom target.
Example 1:
in this embodiment, the solid plate 5 is an aluminum plate, the target at the bottom of the solid plate is a steel cylinder target, and the present embodiment mainly verifies and detects the horizontal position and the vertical position of the steel cylinder target at the bottom of the aluminum plate, that is, the horizontal position D and the vertical position h of the steel cylinder target at the bottom of the aluminum plate can be determined by separating the aluminum plate, and the measurement method is simple and has high precision.
Wherein the longitudinal wave speed Cl of the aluminum plate is 6300m/s and the transverse wave speed Cl of the aluminum plate is 6300m/sSpeed Cs 3100m/s and density ρ1＝2700kg/m3The thickness d of the aluminum plate is 2.45mm, the sound velocity Cw in water is 1500m/s, and the density is rho2＝1000kg/m3。
By substituting the above plate and water information into the dispersion equation of the plate, the phase, group velocity and attenuation dispersion curve of leaky lamb waves in the immersion liquid solid plate can be solved, for example, fig. 3 is the phase velocity dispersion curve of the immersion liquid plate, fig. 4 is the group velocity dispersion curve of the immersion liquid plate, and fig. 5 is the attenuation dispersion curve of the immersion liquid plate.
As shown by the black dots in FIG. 3, we select A1The frequency of the mode is 1438kHz, and the point attenuation is larger than S0Mode, less than A1Mode(s). The group velocity Cg is 3235 m/s. The phase velocity Cp is 5488m/s, and the angle of incidence θ is given by: θ is arcsin (Cw/Cp) 15.86 °;
the height S of the first ultrasonic transducer 1 from the aluminum plate is 0.7cm, and the height S of the second ultrasonic transducer 2 from the aluminum plate is 0.7 cm; propagation time t of ultrasonic wave in water0A is generated in an aluminum plate using a first ultrasonic transducer 1, S/Cw 4.6 μ S1A mode leaky lamb wave is adopted, the first ultrasonic transducer 1 is adopted to receive an echo signal generated by the interaction with the steel cylinder target, and the propagation time t of the echo signal is recorded through a first oscilloscope142.79 μ s, and therefore, the distance L over which the ultrasonic wave emitted by the first ultrasonic transducer 1 propagates in the aluminum plate can be obtained1Comprises the following steps:
L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2＝5.622cm
generating the same a in an aluminum plate using a second ultrasonic transducer 21Leaky lamb waves of a mode (the same refers to the condition that a second transducer is the same as the first transducer, and the A1 mode is different, and the mode refers to the same A1 mode), the second ultrasonic transducer 2 is adopted to receive echo signals generated by interaction with a steel column target, and the propagation time t of the echo signals is recorded through a second oscilloscope252.36 mus. It is thus possible to obtain the distance L over which the ultrasonic waves emitted by the second ultrasonic transducer 2 travel in the aluminum plate2Comprises the following steps:
L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2＝7.170cm
wherein the radius of the steel cylinder target is 3.5cm, and the distance L between the two transducers is 10cm, so that the horizontal position D of the steel cylinder target can be determined as:
Figure BDA0002075256280000101
the vertical position h of the steel cylinder target can be expressed as:
Figure BDA0002075256280000102
and (4) judging the horizontal distance and the vertical distance of the steel cylinder target by taking the o point as an original point. Through actual measurement, the actual horizontal position and the vertical position of the steel column target are respectively as follows: d '4.430 ± 0.001cm, h' 0.315 ± 0.001 cm.
The actual horizontal position and the actual vertical position of the steel column target calculated by the method are respectively 4.226 cm; h is 0.329 cm; the positioning error of this method is 5% compared to the actual measurement result.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1.一种基于漏兰姆波的探测固体板底部目标的装置，其特征在于，其包括：第一信号发射器、第一示波器、第一超声换能器(1)、第二信号发射器、第二示波器、第二超声换能器(2)、固体板(5)和数据处理模块；1. A device for detecting a target at the bottom of a solid plate based on a leaky Lamb wave, characterized in that it comprises: a first signal transmitter, a first oscilloscope, a first ultrasonic transducer (1), a second signal transmitter , a second oscilloscope, a second ultrasonic transducer (2), a solid plate (5) and a data processing module; 第一超声换能器(1)、第二超声换能器(2)、固体板(5)、固体板底部目标(3)均位于水面下；固体板底部目标(3)置于固体板(5)的下方，第一超声换能器(1)和第二超声换能器(2)相对放置，二者置于固体板(5)之上，且处于同一水平面上；第一超声换能器(1)和第二超声换能器(2)均倾斜θ角度；第一超声换能器(1)上还顺序连接第一信号发射器和第一示波器，第二超声换能器上(2)还顺序连接第二信号发射器和第二示波器；The first ultrasonic transducer (1), the second ultrasonic transducer (2), the solid plate (5), and the solid plate bottom target (3) are all located under the water surface; the solid plate bottom target (3) is placed on the solid plate ( 5) below, the first ultrasonic transducer (1) and the second ultrasonic transducer (2) are placed opposite each other, the two are placed on the solid plate (5), and are on the same horizontal plane; the first ultrasonic transducer The device (1) and the second ultrasonic transducer (2) are both inclined at an angle of θ; the first ultrasonic transducer (1) is also connected to the first signal transmitter and the first oscilloscope in sequence, and the second ultrasonic transducer ( 2) also sequentially connecting the second signal transmitter and the second oscilloscope; 所述数据处理模块，用于根据第一超声换能器(1)发射的θ角度、频率f的超声波在固体板(5)中传播的距离L1和第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播的距离L2，计算固体板底部目标(3)的水平位置和垂直位置；其中，所述固体板底部目标(3)为圆柱体目标；The data processing module is used to transmit the distance L 1 and the second ultrasonic transducer (2) according to the angle θ emitted by the first ultrasonic transducer (1), the distance L 1 of the ultrasonic wave of frequency f propagated in the solid plate (5) and the second ultrasonic transducer (2) The distance L 2 of the ultrasonic wave of the θ angle and frequency f propagated in the solid plate (5), calculate the horizontal and vertical positions of the target (3) at the bottom of the solid plate; wherein, the target (3) at the bottom of the solid plate is a cylinder Target; 所述数据处理模块具体包括：The data processing module specifically includes: 第一数据接收单元，用于接收第一超声换能器(1)发射的θ角度、频率f的超声波在固体板(5)中传播时间t1；a first data receiving unit, configured to receive the propagation time t 1 of the ultrasonic wave at the angle θ and frequency f emitted by the first ultrasonic transducer (1) in the solid plate (5); 第一处理单元，用于根据第一超声换能器(1)发射的θ角度、频率f的超声波在固体板(5)中传播时间t1；计算第一超声换能器(1)发射的θ角度、频率f的声波在固体板(5)中传播的距离L1；The first processing unit is used to calculate the propagation time t 1 of the ultrasonic wave with the angle θ and frequency f emitted by the first ultrasonic transducer (1) in the solid plate (5); The distance L 1 that the sound wave of angle θ and frequency f propagates in the solid plate (5); L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2 (1)L 1 =Cw·t 0 ·sinθ+Cg·(t 1 -2t 0 )/2 (1) 其中，t0为超声波在水中的传播时间，t0＝S/Cw；Cg为兰姆波的群速度；S为超声换能器与固定板之间的距离；Among them, t 0 is the propagation time of ultrasonic waves in water, t 0 =S/Cw; Cg is the group velocity of the Lamb wave; S is the distance between the ultrasonic transducer and the fixed plate; 第二数据接收单元，用于接收第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播时间t2；a second data receiving unit, configured to receive the propagation time t 2 of the ultrasonic wave at angle θ and frequency f emitted by the second ultrasonic transducer (2) in the solid plate (5); 第二处理单元，用于根据第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播时间t2；计算第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播的距离L2；The second processing unit is used to calculate the propagation time t 2 of the ultrasonic wave at the angle θ and frequency f emitted by the second ultrasonic transducer (2) in the solid plate (5); The distance L 2 that the ultrasonic wave of angle θ and frequency f propagates in the solid plate (5); L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2 (2)L 2 =Cw·t 0 ·sinθ+Cg·(t 2 −2t 0 )/2 (2) 第三处理单元，用于根据L1和L2，计算固体板底部目标(3)的水平位置D及其垂直位置h；The third processing unit is used to calculate the horizontal position D and the vertical position h of the target (3) at the bottom of the solid plate according to L 1 and L 2 ;
Figure FDA0002762586760000011
Figure FDA0002762586760000011
Figure FDA0002762586760000021
Figure FDA0002762586760000021
 其中，L为第一超声换能器与第二超声换能器之间的距离；r为固体板底部目标的半径。Wherein, L is the distance between the first ultrasonic transducer and the second ultrasonic transducer; r is the radius of the target at the bottom of the solid plate. 2.根据权利要求1所述的基于漏兰姆波的探测固体板底部目标的装置，其特征在于，所述θ＝arcsin(Cw/Cp)；其中，Cp为兰姆波的相速度；Cw为声速。2 . The device for detecting a target at the bottom of a solid plate based on a leaky Lamb wave according to claim 1 , wherein the θ=arcsin(Cw/Cp); wherein, Cp is the phase velocity of the Lamb wave; Cw is the speed of sound. 3.根据权利要求1所述的基于漏兰姆波的探测固体板底部目标的装置，其特征在于，所述固体板为不透明金属板。3 . The device for detecting a target at the bottom of a solid plate based on a leaky Lamb wave according to claim 1 , wherein the solid plate is an opaque metal plate. 4 . 4.一种基于漏兰姆波的探测固体板底部目标的方法，该方法基于权利要求1-3中任一所述的装置实现，所述方法包括：4. A method for detecting a target at the bottom of a solid plate based on leaky Lamb waves, the method is implemented based on the device according to any one of claims 1-3, the method comprising: 获取第一超声换能器(1)发射的θ角度、频率f的超声波在固体板(5)中传播时间t1；Obtain the propagation time t 1 of the ultrasonic wave at the angle θ and frequency f emitted by the first ultrasonic transducer (1) in the solid plate (5); 获取第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播时间t2；Obtain the propagation time t 2 of the ultrasonic wave at the angle θ and frequency f emitted by the second ultrasonic transducer (2) in the solid plate (5); 根据t1和t2，分别对应地计算第一超声换能器(1)发射的θ角度、频率f的超声波在固体板(5)中传播的距离L1和第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播的距离为L2；According to t 1 and t 2 , the angle θ emitted by the first ultrasonic transducer (1), the distance L 1 of the ultrasonic wave of frequency f propagating in the solid plate (5) and the second ultrasonic transducer (2) are calculated respectively correspondingly. ) The distance of the transmitted ultrasonic wave at angle θ and frequency f in the solid plate (5) is L 2 ; 具体地，第一超声换能器(1)发射的θ角度、频率f超声波在固体板(5)中传播的距离L1为：Specifically, the distance L 1 that the first ultrasonic transducer (1) transmits the θ angle and the frequency f ultrasonic wave propagates in the solid plate (5) is: L1＝Cw·t0·sinθ+Cg·(t1-2t0)/2 (1)L 1 =Cw·t 0 ·sinθ+Cg·(t 1 -2t 0 )/2 (1) 其中，t0为超声波在水中的传播时间，t0＝S/Cw；Cg为兰姆波的群速度；S为超声换能器与固定板之间的距离；Among them, t 0 is the propagation time of ultrasonic waves in water, t 0 =S/Cw; Cg is the group velocity of the Lamb wave; S is the distance between the ultrasonic transducer and the fixed plate; 第二超声换能器(2)发射的θ角度、频率f的超声波在固体板(5)中传播的距离L2为：The distance L 2 of the ultrasonic wave at angle θ and frequency f emitted by the second ultrasonic transducer (2) in the solid plate (5) is: L2＝Cw·t0·sinθ+Cg·(t2-2t0)/2 (2)L 2 =Cw·t 0 ·sinθ+Cg·(t 2 −2t 0 )/2 (2) 根据L1和L2，计算固体板底部目标(3)的水平位置D及其垂直位置h；According to L 1 and L 2 , calculate the horizontal position D and vertical position h of the target (3) at the bottom of the solid plate; 具体地，specifically,
Figure FDA0002762586760000022
Figure FDA0002762586760000022
Figure FDA0002762586760000023
Figure FDA0002762586760000023
 其中，L为第一超声换能器与第二超声换能器之间的距离；r为固体板底部目标的半径。Wherein, L is the distance between the first ultrasonic transducer and the second ultrasonic transducer; r is the radius of the target at the bottom of the solid plate. 5.根据权利要求4所述的方法，其特征在于，所述获取第一超声换能器发射的θ角度、频率f的超声波在固体板中传播时间t1；具体包括：5. The method according to claim 4, characterized in that, obtaining the propagation time t 1 of the ultrasonic waves of the angle θ and frequency f emitted by the first ultrasonic transducer in the solid plate; specifically comprising: 第一信号发射器发射电信号至第一超声换能器，第一超声换能器(1)将电信号转换为超声波，并以入射角θ角度、频率f的超声波发射至浸入水中的固体板(5)中，形成兰姆波；泄露到水中的漏兰姆波以θ角度、频率f的平面波入射到固体板底部目标的外表面上，并与固体板底部目标(3)发生相互作用，形成具有θ角度、频率f的反射波，该反射波经固体板底部目标的外表面反射回固体板(5)，激励出相同的漏兰姆波，并通过固体板(5)沿原入射路径返回至第一超声换能器(1)，第一超声换能器(1)接收反射回的漏兰姆波，并通过第一示波器显示反射回的漏兰姆波及其传播时间t1。The first signal transmitter transmits an electrical signal to the first ultrasonic transducer, and the first ultrasonic transducer (1) converts the electrical signal into ultrasonic waves, and transmits ultrasonic waves with an incident angle θ angle and frequency f to a solid plate immersed in water In (5), a Lamb wave is formed; the leaky Lamb wave leaking into the water is incident on the outer surface of the target at the bottom of the solid plate with a plane wave of angle θ and frequency f, and interacts with the target (3) at the bottom of the solid plate, A reflected wave with angle θ and frequency f is formed, the reflected wave is reflected back to the solid plate (5) by the outer surface of the target at the bottom of the solid plate, and the same leaky Lamb wave is excited, and passes through the solid plate (5) along the original incident path Returning to the first ultrasonic transducer ( 1 ), the first ultrasonic transducer ( 1 ) receives the reflected leaky Lamb wave and displays the reflected leaky Lamb wave and its propagation time t 1 by the first oscilloscope. 6.根据权利要求4所述的方法，其特征在于，所述获取第二超声换能器发射的θ角度、频率f的超声波在固体板中传播时间t2；具体包括：6. The method according to claim 4, characterized in that, obtaining the propagation time t 2 of the ultrasonic waves of the angle θ and frequency f emitted by the second ultrasonic transducer in the solid plate; specifically comprising: 第二信号发射器发射电信号至第二超声换能器(2)，第二超声换能器(2)将电信号转换为超声波，并以入射角θ角度、频率f的超声波发射至浸入水中的固体板(5)中，形成兰姆波；泄露到水中的漏兰姆波以θ角度、频率f的平面波入射到固体板底部目标的外表面上，并与固体板底部目标(3)发生相互作用，形成具有θ角度、频率f的反射波，该反射波经固体板底部目标的外表面反射回固体板(5)，激励出相同的漏兰姆波，并通过固体板(5)沿原入射路径返回至第二超声换能器(2)，第二超声换能器(2)接收反射回的漏兰姆波，并通过第二示波器显示反射回的漏兰姆波及其传播时间t2。The second signal transmitter transmits electrical signals to the second ultrasonic transducer (2), and the second ultrasonic transducer (2) converts the electrical signals into ultrasonic waves, and transmits ultrasonic waves with an incident angle θ and a frequency f to the immersed water. The Lamb wave is formed in the solid plate (5) of interact to form a reflected wave with angle θ and frequency f, which is reflected back to the solid plate (5) by the outer surface of the target at the bottom of the solid plate, and excites the same leaky Lamb wave, and passes through the solid plate (5) along the The original incident path returns to the second ultrasonic transducer (2), and the second ultrasonic transducer (2) receives the reflected leaky Lamb wave, and displays the reflected leaky Lamb wave and its propagation time t through the second oscilloscope 2 .
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