CN113295766A - System and method for detecting rail defects based on guided waves - Google Patents
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- 239000011159 matrix material Substances 0.000 claims description 24
- 230000005284 excitation Effects 0.000 claims description 8
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Abstract
The invention discloses a method for detecting rail defects based on guided waves, which comprises the following steps: drawing a standard frequency dispersion curve and a defect curve, and storing the standard frequency dispersion curve and the defect curve in a defect information knowledge base; acquiring a defect signal curve of a rail to be detected, determining the defect type of the rail to be detected according to a defect information knowledge base, and marking the defect position coordinates on the defect signal curve; and determining the defect position of the rail to be detected according to the defect position coordinates. The defect type and the defect position of the rail can be identified by establishing the defect information knowledge base and substituting the defect signal curve of the rail into the defect information knowledge base, so that the defect detection standardization popularization of the rail is facilitated.
Description
Technical Field
The invention relates to the technical field of rail detection, in particular to a system and a method for detecting rail defects based on guided waves.
Background
With the rapid development of rail transit, the regular safety detection of the rail plays an important role in guaranteeing the operation safety of the rail transit. There are many methods for detecting defects in rails, such as visual inspection, machine vision inspection, eddy current, ultrasonic, etc. The operation line is long, the line condition is complex, effective detection on the defects of the rail is lacked, the visual inspection workload is large, a large amount of experienced workers are needed, the machine vision detection can only detect the defects on the surface of the rail, the analysis processing workload on images is large, a corresponding detection algorithm needs to be developed, for eddy current detection, the detection on the defects on the surface and the near surface of the rail can only be realized, and the detection result is easily disturbed by the material and other factors.
Ultrasonic detection is a traditional nondestructive detection technology, an electromagnetic ultrasonic guided wave detection technology evolved from ultrasonic detection overcomes the defect that the conventional ultrasonic detection technology needs point-to-point coupling, and has the unique advantage of single-point excitation long-distance detection, the detection distance can reach more than one hundred meters once under ideal conditions, the detection efficiency is greatly improved, and the method is gradually favored by domestic and foreign nondestructive detection researchers and becomes a great research hotspot. However, the existing iron rail guided wave detection technology is difficult to identify different defect types, and the detection method is difficult to standardize.
Disclosure of Invention
The invention provides a method for detecting rail defects based on guided waves, which is characterized in that a defect information knowledge base is established by drawing a standard frequency dispersion curve and a defect curve, and during detection, a defect signal curve of a rail to be detected is obtained and substituted into the information knowledge base, so that the defect type can be rapidly identified and the defect position can be rapidly positioned. The invention also aims to provide a system for detecting the defects of the rails based on the guided waves, which can be used for on-site detection of the rails based on the method and has simple structure and wide measurement range.
The technical scheme of the invention is as follows:
a method for detecting rail defects based on guided waves, comprising:
drawing a standard frequency dispersion curve and a defect curve, and storing the standard frequency dispersion curve and the defect curve in a defect information knowledge base;
acquiring a defect signal curve of a rail to be detected, determining the defect type of the rail to be detected according to a defect information knowledge base, and marking the defect position coordinates on the defect signal curve;
and determining the defect position of the rail to be detected according to the defect position coordinates.
Preferably, the step of drawing the standard dispersion curve comprises the following steps:
taking a section of complete rail, wherein the center frequencies of excitation signals are respectively 20kHz, 40kHz, 50kHz, 60kHz and 80kHz, and receiving echo characteristic curves of the end face of the rail;
selecting the central frequency corresponding to the echo characteristic curve with the highest signal-to-noise ratio as the standard guided wave frequency;
carrying out finite element dispersion on the cross section of the rail to obtain a plurality of discrete units, and acquiring node coordinates and unit coordinates;
calculating a stiffness matrix and a mass matrix to obtain a wave equation of standard guided waves propagating in the rail;
solving a wave equation to obtain a phase velocity and a group velocity;
and drawing a frequency dispersion characteristic curve under the standard frequency guided wave according to the phase velocity and the group velocity to serve as a standard frequency dispersion curve.
Preferably, the defect profile is obtained by:
taking rails with different defect parts and different defect types, and drawing a frequency dispersion characteristic curve under standard frequency guided waves by using finite element analysis software to serve as a defect frequency dispersion curve;
and subtracting the standard dispersion curve from the defect dispersion curve to obtain a defect curve.
Preferably, the defect sites comprise rail head defects, rail web defects and rail bottom defects;
the defect types include cracks, craters, folds, weld defects.
Preferably, the step of obtaining the signal curve of the rail defect to be detected comprises the following steps:
connecting the rail to be detected with a defect detection system, and acquiring an echo signal curve of the rail to be detected under a standard frequency;
performing wavelet transformation on the echo signal curve to obtain a denoising curve;
and subtracting the standard dispersion curve from the denoising curve to obtain a to-be-detected rail defect signal curve.
Preferably, the group velocity and said phase velocity are calculated by:
wherein, CpDenotes the phase velocity, CgRepresenting group velocity, ω representing frequency, ξ representing wave number,
representing the right eigenvector calculated from the wave equation,
representing the right eigenvector calculated from the wave equation, T representing the transpose,
a first stiffness matrix is represented that is,
a second stiffness matrix is represented that represents a second stiffness matrix,
a third stiffness matrix is represented that represents the third stiffness matrix,
in order to be a quality matrix,
representing the average density of the rail.
Preferably, the wavelet transform process is:
wherein, WfA transition wave function representing a transition function, a representing a scale factor, b representing a time shift factor, t representing a guided wave propagation time,
a function of a mother wavelet is represented,
to represent
Complex conjugate of (a), x denotes the particle abscissa, xsAbscissa of the excitation point, σ represents the standard deviation of the function, κ represents the reflection coefficient, wgRepresenting the acoustic impedance of the rail material.
Preferably, the defect position is calculated as:
where L represents the distance between the defect and the defect detection system.
A system for detecting defects of a rail based on guided waves comprises the following steps:
a launch sensor for launching the guided wave;
a receiving sensor for receiving echo signals of the guided waves;
the oscilloscope is connected with the receiving sensor and used for calling a depth migration algorithm and generating a curve for the echo signal;
and the data processing terminal is used for drawing a standard guided wave frequency dispersion curve, defect curve identification and defect positioning.
Preferably, the installation distance between the transmitting sensor and the receiving sensor is 1500-2000 meters.
The invention has the beneficial effects that:
1. the invention provides a method for detecting rail defects based on guided waves, which is characterized in that a defect information knowledge base is established by drawing a standard frequency dispersion curve and a defect curve, and during detection, a defect signal curve of a rail to be detected is obtained and substituted into the information knowledge base, so that the defect type can be rapidly identified and the defect position can be rapidly positioned.
2. The method analyzes the propagation characteristics of the rail by screening standard guided wave frequencies, selects the optimal center frequency as an excitation signal, and provides theoretical support for further detection and research. The defect information knowledge base provided by the invention is used for carrying out numerical modeling on the rail based on a finite element theory to obtain defect curves and standard dispersion curves of the rails with different defect parts and different defect types, thereby providing a reference basis for practical application.
3. When the method is used for detecting the defects of the rail to be detected, the acquired echo signals are subjected to wavelet conversion, so that the signal-to-noise ratio of the curve can be improved, and the detection precision can be improved.
4. The invention also provides a system for detecting the defects of the rails based on the guided waves, which can be used for on-site detection of the rails and has the advantages of simple structure and wide measurement range.
Drawings
Fig. 1 is a flowchart of a method for detecting a rail defect based on a director according to the present invention.
FIG. 2 is a flow chart of a standard dispersion curve according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a system for detecting a rail defect based on guided waves according to the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that in the description of the present invention, the terms "in", "upper", "lower", "lateral", "inner", etc. indicate directions or positional relationships based on those shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the method for detecting a rail defect based on guided waves provided by the present invention comprises the following steps:
and S110, drawing a standard frequency dispersion curve.
The ultrasonic guided wave dispersion curve comprises important information such as wave number, frequency, vibration characteristics of each mode of guided wave and the like, the dispersion curve of the ultrasonic guided wave in the rail is obtained, and the method is an important way for analyzing the propagation characteristics of the ultrasonic guided wave in the rail.
And S120, drawing a defect curve.
And (3) taking rails with different defect parts and different defect types, drawing a frequency dispersion characteristic curve under standard frequency guided waves by using finite element analysis software to serve as a defect frequency dispersion curve, and subtracting the defect frequency dispersion curve from the standard frequency dispersion curve to obtain the defect curve.
Wherein the defect parts comprise rail head defects, rail web defects and rail bottom defects; the defect types include cracks, craters, folds, weld defects.
And S130, creating a defect information knowledge base for storing the standard dispersion curve and the defect curve.
Considering that the laying distance of the rail is long, the service environment is severe, the defect condition of the rail is not limited to the defect part and the defect type, and the defect information knowledge base can be continuously enriched so as to improve the detection accuracy.
And S140, acquiring a defect signal curve of the rail to be detected.
Connecting the rail to be detected with a defect detection system, acquiring an echo signal curve of the rail to be detected under a standard frequency, and performing wavelet transformation on the echo signal curve to obtain a de-noising curve; and subtracting the standard dispersion curve from the denoising curve to obtain a to-be-detected rail defect signal curve.
The wavelet conversion process is as follows:
wherein, WfA transition wave function representing a transition function, a representing a scale factor, b representing a time shift factor, t representing a guided wave propagation time,
a function of a mother wavelet is represented,
to represent
Plural number ofYoke, x denotes the particle abscissa, xsAbscissa of the excitation point, σ represents the standard deviation of the function, κ represents the reflection coefficient, wgRepresenting the acoustic impedance of the rail material.
The detection signal received by the sensor is usually not visual and ideal and is often accompanied with certain interference signals, so that the signal-to-noise ratio of the detection signal is not high, and the defect identification and positioning are not accurate enough, so that the detection signal needs to be optimized in a signal processing mode, the improvement of the signal-to-noise ratio is an indispensable ring for rail detection, the mode of wavelet transformation is used, the complexity of guided wave components is effectively reduced, and the energy of guided waves and the accuracy of defect identification are improved.
S150, determining the defect type of the rail to be detected according to the defect information knowledge base, and marking the defect position coordinates on the defect signal curve.
And S160, determining the defect position of the rail to be detected according to the defect position coordinates.
The defect position is obtained by calculation:
where L represents the distance between the defect and the defect detection system.
Further, a flow of drawing a standard dispersion curve is shown in fig. 2, and includes the following steps:
and S111, taking a section of the complete rail.
S112, the center frequencies of the excitation signals are respectively set to be 20kHz, 40kHz, 50kHz, 60kHz and 80 kHz.
And S113, receiving the echo characteristic curve of the rail end face.
S114, screening standard guided wave frequency, and selecting the central frequency corresponding to the echo characteristic curve with the highest signal-to-noise ratio as the standard guided wave frequency. Due to the special shape of the rail section, the guided wave is propagated in the rail and on the rail boundary, interference echoes in various forms can be caused, and the influence on the detection of the echoes is great, so that the frequency with high signal-to-noise ratio is screened out through various frequencies to serve as the standard guided wave frequency, the echo receiving quality is effectively improved, and the denoising difficulty is reduced.
And S115, finite element numerical modeling.
Finite element numerical modeling, with respect to boundary elements, is the discretization of a continuous elastic body into several sub-regions (cells) in time and space, and the interconnection of the sub-regions by nodes on their boundaries. The displacement mode of the unit is selected, the total motion equation of the elastic body is obtained by utilizing the variational principle, and the solution of each discrete point in the elastic body can be obtained by selecting a proper method to solve the motion equation.
The method specifically comprises the following steps:
s115a, carrying out finite element dispersion on the cross section of the rail to obtain a plurality of discrete units, and acquiring node coordinates and unit coordinates;
s115b, obtaining a wave equation of standard guided waves propagating in the rail through rigidity matrix calculation and quality matrix calculation;
and S115c, solving the wave equation to obtain the phase velocity and the group velocity.
The group velocity and the phase velocity are calculated as follows:
wherein, CpDenotes the phase velocity, CgRepresenting group velocity, ω representing frequency, ξ representing wave number,
representing the right eigenvector calculated from the wave equation,
representing the right eigenvector calculated from the wave equation, T representing the transpose,
a first stiffness matrix is represented that is,
a second stiffness matrix is represented that represents a second stiffness matrix,
a third stiffness matrix is represented that represents the third stiffness matrix,
in order to be a quality matrix,
representing the average density of the rail.
And S116, drawing a frequency dispersion characteristic curve under the standard frequency guided wave according to the phase velocity and the group velocity to serve as a standard frequency dispersion curve.
As shown in fig. 3, a system for detecting a rail defect based on guided waves includes a transmission sensor 110, a reception sensor 120, an oscilloscope 130, and a data processing terminal 140.
The transmitting sensor 110 is used for transmitting guided waves, the receiving sensor 120 is used for receiving echo signals of the guided waves, the oscilloscope 130 is connected with the receiving sensor 120 and used for calling a depth migration algorithm to generate curves of the echo signals, and the data processing terminal 140 is connected with the oscilloscope 130 and used for drawing standard guided wave dispersion curves, defect curve identification and defect positioning.
Preferably, the installation distance between the transmitting sensor 10 and the receiving sensor 120 is 1500-2000 meters.
The invention provides a method for detecting rail defects based on guided waves, which is characterized in that a defect information knowledge base is established by drawing a standard frequency dispersion curve and a defect curve, and during detection, a defect signal curve of a rail to be detected is obtained and substituted into the information knowledge base, so that the defect type can be rapidly identified and the defect position can be rapidly positioned. The invention also provides a system for detecting the defects of the rails based on the guided waves, which can be used for on-site detection of the rails and has the advantages of simple structure and wide measurement range.
The above descriptions are only examples of the present invention, and common general knowledge of known specific structures, characteristics, and the like in the schemes is not described herein too much, and it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the invention, several changes and modifications can be made, which should also be regarded as the protection scope of the invention, and these will not affect the effect of the invention and the practicality of the patent.
Claims (10)
1. A method for detecting rail defects based on guided waves, comprising:
drawing a standard frequency dispersion curve and a defect curve, and storing the standard frequency dispersion curve and the defect curve in a defect information knowledge base;
acquiring a defect signal curve of a rail to be detected, determining the defect type of the rail to be detected according to the defect information knowledge base, and marking the defect position coordinates on the defect signal curve;
and determining the defect position of the rail to be detected according to the defect position coordinates.
2. The guided wave based detection rail defect of claim 1, wherein the step of drawing a standard dispersion curve comprises the steps of:
taking a section of complete rail, wherein the center frequencies of excitation signals are respectively 20kHz, 40kHz, 50kHz, 60kHz and 80kHz, and receiving echo characteristic curves of the end face of the rail;
selecting the central frequency corresponding to the echo characteristic curve with the highest signal-to-noise ratio as a standard guided wave frequency;
carrying out finite element dispersion on the cross section of the rail to obtain a plurality of discrete units, and acquiring node coordinates and unit coordinates;
calculating a stiffness matrix and a mass matrix to obtain a wave equation of standard guided waves propagating in the rail;
solving the wave equation to obtain a phase velocity and a group velocity;
and drawing a frequency dispersion characteristic curve under the standard frequency guided wave according to the phase velocity and the group velocity to serve as a standard frequency dispersion curve.
3. A method for guided wave based detection of rail defects according to claim 2 wherein the defect profile is obtained by:
taking rails with different defect parts and different defect types, and drawing a frequency dispersion characteristic curve under the standard frequency guided wave by using finite element analysis software to serve as a defect frequency dispersion curve;
and subtracting the standard dispersion curve from the defect dispersion curve to obtain a defect curve.
4. The guided wave based detection method of rail defects of claim 3 wherein the defect sites include rail head defects, rail web defects, and rail foot defects;
the defect types include cracks, craters, folds, weld defects.
5. A method for guided wave based detection of rail defects according to claim 4 wherein said obtaining a signal profile of a rail defect to be detected comprises the steps of:
connecting the rail to be detected with a defect detection system, and acquiring an echo signal curve of the rail to be detected under a standard frequency;
performing wavelet transformation on the echo signal curve to obtain a denoising curve;
and subtracting the standard dispersion curve from the denoising curve to obtain a to-be-detected rail defect signal curve.
6. The guided wave based detection method of rail defects of claim 5, wherein the group velocity and the phase velocity are calculated by:
wherein, CpDenotes the phase velocity, CgRepresenting group velocity, ω representing frequency, ξ representing wave number,
representing the right eigenvector calculated from the wave equation,
representing the right eigenvector calculated from the wave equation, T representing the transpose,
a first stiffness matrix is represented that is,
a second stiffness matrix is represented that represents a second stiffness matrix,
a third stiffness matrix is represented that represents the third stiffness matrix,
in order to be a quality matrix,
representing the average density of the rail.
7. A method for guided wave based detection of rail defects according to claim 6 wherein the wavelet transform process is:
wherein, WfA transition wave function representing a transition function, a representing a scale factor, b representing a time shift factor, t representing a guided wave propagation time,
a function of a mother wavelet is represented,
to represent
Complex conjugate of (a), x denotes the particle abscissa, xsAbscissa of the excitation point, σ represents the standard deviation of the function, κ represents the reflection coefficient, wgRepresenting the acoustic impedance of the rail material.
8. The guided wave method for detecting rail defects of claim 7, wherein the defect location is calculated by:
where L represents the distance between the defect and the defect detection system.
9. A system for detecting defects of a railway rail based on guided waves, based on the method for detecting defects of a railway rail based on guided waves according to claims 1 to 8, comprising:
a launch sensor for launching the guided wave;
a receiving sensor for receiving echo signals of the guided waves;
the oscilloscope is connected with the receiving sensor and used for calling a depth migration algorithm and generating a curve for the echo signal;
and the data processing terminal is connected with the oscilloscope and is used for drawing a standard guided wave frequency dispersion curve, defect curve identification and defect positioning.
10. The guided wave based rail defect detection system of claim 9, wherein the transmitting sensor is mounted at a distance of 1500-2000 meters from the receiving sensor.
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