CN115047073A - Pipe defect dynamic detection method and device based on ultrasonic guided waves - Google Patents
Pipe defect dynamic detection method and device based on ultrasonic guided waves Download PDFInfo
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- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
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- G01N29/0654—Imaging
- G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
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Abstract
The invention discloses a method and a device for dynamically detecting pipeline defects based on ultrasonic guided waves.A first ultrasonic guided wave scanning image is generated according to the amplitude of a second ultrasonic guided wave signal by controlling an ultrasonic guided wave transducer array to receive the second ultrasonic guided wave signal returned by a pipeline detection area; preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, extracting the defect edge of the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and detecting the defect to obtain a pipeline defect detection result; and superposing all the ultrasonic guided wave edge extracted images in a preset time period to generate ultrasonic guided wave dynamic scanning defect images, and obtaining a pipeline defect dynamic detection result based on the pipeline defect detection result of each ultrasonic guided wave edge extracted image, thereby realizing the dynamic detection of the pipeline defect and visually displaying the dynamic change process of the pipeline defect in the time period.
Description
Technical Field
The invention relates to the technical field of defect detection, in particular to a method and a device for dynamically detecting pipeline defects based on ultrasonic guided waves.
Background
The existing pipeline defect detection is that the ultrasonic guided wave of an in-service pipeline generally adopts a full-circle covering mode, receives an ultrasonic guided wave echo signal to evaluate the health condition of a pipeline structure, adopts the ultrasonic guided wave full-circle covering mode, and carries out defect positioning based on a scanning signal, wherein the defect echo signal is determined by the loss ratio of a defect relative to the cross section of the pipeline.
In the existing ultrasonic guided wave scanning signals, a single large defect and a plurality of small defects on the same cross section are the same as long as the loss ratio of the single large defect to the cross section of the pipeline is the same as the loss ratio of the plurality of small defects to the cross section of the pipeline, and the defect echo signals are also the same. The existing ultrasonic guided wave scanning signal for evaluating the pipeline defects has limitation, can only reflect the condition of the pipeline defects at the current moment, and cannot describe the change process of the in-service pipeline defects.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the device for dynamically detecting the pipeline defects based on the ultrasonic guided waves are provided, so that the dynamic detection of the pipeline defects is realized, and the dynamic change process of the pipeline defects in a time period can be visually displayed.
In order to solve the technical problem, the invention provides a pipeline defect dynamic detection method based on ultrasonic guided waves, which comprises the following steps:
controlling an ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to a pipeline detection area, controlling the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and generating a first ultrasonic guided wave scanning image of the pipeline detection area according to the amplitude of the second ultrasonic guided wave signal;
preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binarization processing;
performing defect edge extraction on the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and performing defect detection on the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image;
and acquiring and superposing all ultrasonic guided wave edge extraction images in a preset time period to generate ultrasonic guided wave dynamic scanning defect images, and acquiring a pipeline defect dynamic detection result based on a pipeline defect detection result of each ultrasonic guided wave edge extraction image.
In a possible implementation manner, the preprocessing the first ultrasound guided wave scanning image specifically includes:
performing image graying processing on the first ultrasonic guided wave scanning image so as to respectively quantize the maximum value and the minimum value of each ultrasonic guided wave signal amplitude value in the first ultrasonic guided wave scanning image to the brightest value and the darkest value of the same standardized gray matrix to generate an ultrasonic guided wave gray image;
performing median filtering processing on the ultrasonic guided wave gray image so as to set the gray value of each pixel point in the ultrasonic guided wave gray image as the median of the gray values of all pixel points in the neighborhood window of each pixel point, and generating an ultrasonic guided wave median filtering image;
and carrying out piecewise linear enhancement processing on the ultrasonic guided wave median filtering image so as to divide gray values of all pixel points in the ultrasonic guided wave median filtering image into three segments, and respectively carrying out linear enhancement processing on each segment of gray values to generate the ultrasonic guided wave linear enhancement image.
In one possible implementation, the preprocessing the first ultrasound guided wave scanning image further includes:
and carrying out binarization processing on the ultrasonic guided wave linear enhancement image according to a maximum entropy threshold method to generate a second ultrasonic guided wave scanning image.
In a possible implementation manner, the defect detection is performed on the ultrasonic guided wave edge extraction image, so as to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image, and the method specifically includes:
acquiring an ultrasonic guided wave reference scanning image of a pipeline detection area, and calculating the similarity between the ultrasonic guided wave reference scanning image and the ultrasonic guided wave edge extraction image according to cosine similarity;
comparing the similarity with a preset threshold, and if the similarity is greater than or equal to the preset threshold, generating a pipeline defect detection result as that no defect exists; and if the similarity is smaller than the preset threshold, generating a pipeline defect detection result as the existence of defects.
In a possible implementation manner, the method controls the ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to the pipeline detection area, and specifically includes:
setting an ultrasonic guided wave emission delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array emits a first ultrasonic guided wave signal to a pipeline detection area according to the ultrasonic guided wave emission delay scheme;
the equal space-time phase principle is phi ═ ω t + kx, wherein phi is a phase angle, ω is an angular frequency, t is time, k is a wave number, and x is a distance;
the ultrasonic guided wave emission delay scheme is characterized in that the phase angle of each ultrasonic transducer in the ultrasonic transducer array is unchanged, the angular frequency and the wave number are unchanged, and corresponding emission delay time is set according to the distance from each ultrasonic transducer to a defect area in a pipeline detection area.
In a possible implementation manner, controlling the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipe detection area specifically includes:
setting an ultrasonic guided wave receiving delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array receives a second ultrasonic guided wave signal returned by the pipeline detection area according to the ultrasonic guided wave receiving delay scheme;
and setting the corresponding receiving delay time according to the distance from the defect area in the pipeline detection area to each ultrasonic transducer.
In a possible implementation manner, generating a first ultrasonic guided wave scanning image of a pipe detection region according to the amplitude of the second ultrasonic guided wave signal specifically includes:
obtaining the amplitude of the second ultrasonic guided wave signal, and converting the amplitude into an RGB value;
and acquiring the axial distance and the circumferential position corresponding to the second ultrasonic guided wave signals, arranging each second ultrasonic guided wave signal according to the axial distance and the circumferential position, and generating a first ultrasonic guided wave scanning image of the pipeline detection area.
The embodiment of the invention also provides a device for dynamically detecting the defects of the pipeline based on the ultrasonic guided waves, which comprises: the image generation module, the image preprocessing module, the image defect edge extraction module and the image superposition module;
the image generation module is used for controlling the ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to a pipeline detection area, controlling the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and generating a first ultrasonic guided wave scanning image of the pipeline detection area according to the amplitude of the second ultrasonic guided wave signal;
the image preprocessing module is used for preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binarization processing;
the image defect edge extraction module is used for extracting the defect edge of the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and detecting the defect of the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image;
the image superposition module is used for acquiring and superposing all ultrasonic guided wave edge extraction images in a preset time period to generate ultrasonic guided wave dynamic scanning defect images, and acquiring a pipeline defect dynamic detection result based on the pipeline defect detection result of each ultrasonic guided wave edge extraction image.
In a possible implementation manner, the image preprocessing module is configured to preprocess the first ultrasound guided wave scanning image, and specifically includes:
performing image graying processing on the first ultrasonic guided wave scanning image so as to respectively quantize the maximum value and the minimum value of each ultrasonic guided wave signal amplitude value in the first ultrasonic guided wave scanning image to the brightest value and the darkest value of the same standardized gray matrix and generate an ultrasonic guided wave gray image;
performing median filtering processing on the ultrasonic guided wave gray image so as to set the gray value of each pixel point in the ultrasonic guided wave gray image as the median of the gray values of all pixel points in the neighborhood window of each pixel point, and generating an ultrasonic guided wave median filtering image;
and carrying out piecewise linear enhancement processing on the ultrasonic guided wave median filtering image so as to divide gray values of all pixel points in the ultrasonic guided wave median filtering image into three segments, and respectively carrying out linear enhancement processing on each segment of gray values to generate the ultrasonic guided wave linear enhancement image.
In a possible implementation manner, the image preprocessing module is configured to preprocess the first ultrasound guided wave scanning image, and further includes:
and carrying out binarization processing on the ultrasonic guided wave linear enhancement image according to a maximum entropy threshold method to generate a second ultrasonic guided wave scanning image.
In a possible implementation manner, the image defect edge extraction module is configured to perform defect detection on the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image, and specifically includes:
acquiring an ultrasonic guided wave reference scanning image of a pipeline detection area, and calculating the similarity between the ultrasonic guided wave reference scanning image and the ultrasonic guided wave edge extraction image according to cosine similarity;
comparing the similarity with a preset threshold, and if the similarity is greater than or equal to the preset threshold, generating a pipeline defect detection result as that no defect exists; and if the similarity is smaller than the preset threshold, generating a pipeline defect detection result as the existence of defects.
In a possible implementation manner, the image generating module is configured to control the ultrasonic guided-wave transducer array to transmit a first ultrasonic guided-wave signal to a pipe detection area, and specifically includes:
setting an ultrasonic guided wave emission delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array emits a first ultrasonic guided wave signal to a pipeline detection area according to the ultrasonic guided wave emission delay scheme;
the equal space-time phase principle is phi ═ ω t + kx, wherein phi is a phase angle, ω is an angular frequency, t is time, k is a wave number, and x is a distance;
the ultrasonic guided wave emission delay scheme is characterized in that the phase angle of each ultrasonic transducer in the ultrasonic transducer array is unchanged, the angular frequency and the wave number are unchanged, and corresponding emission delay time is set according to the distance from each ultrasonic transducer to a defect area in a pipeline detection area.
In a possible implementation manner, the image generation module is configured to control the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipe detection area, and specifically includes:
setting an ultrasonic guided wave receiving delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array receives a second ultrasonic guided wave signal returned by the pipeline detection area according to the ultrasonic guided wave receiving delay scheme;
and setting the corresponding receiving delay time according to the distance from the defect area in the pipeline detection area to each ultrasonic transducer.
In a possible implementation manner, the image generating module is configured to generate a first ultrasonic guided wave scanning image of a pipe detection region according to an amplitude of the second ultrasonic guided wave signal, and specifically includes:
obtaining the amplitude of the second ultrasonic guided wave signal, and converting the amplitude into an RGB value;
and acquiring the axial distance and the circumferential position corresponding to the second ultrasonic guided wave signals, arranging each second ultrasonic guided wave signal according to the axial distance and the circumferential position, and generating a first ultrasonic guided wave scanning image of the pipeline detection area.
The embodiment of the invention also provides terminal equipment, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to realize the method for dynamically detecting the pipe defect based on the ultrasonic guided wave.
The embodiment of the invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the device where the computer-readable storage medium is located is controlled to execute any one of the above methods for dynamically detecting a pipe defect based on ultrasonic guided waves.
The embodiment of the invention discloses a method and a device for dynamically detecting pipeline defects based on ultrasonic guided waves,
compared with the prior art, the method has the following beneficial effects:
the method comprises the steps that an ultrasonic guided wave transducer array is controlled to emit first ultrasonic guided wave signals to a pipeline detection area, the ultrasonic guided wave transducer array is controlled to receive second ultrasonic guided wave signals returned by the pipeline detection area, and first ultrasonic guided wave scanning images of the pipeline detection area are generated according to the amplitude of the second ultrasonic guided wave signals; preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binarization processing, performing defect edge extraction on the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and detecting the ultrasonic guided wave edge extraction image to generate a pipeline defect detection result of the ultrasonic guided wave edge extraction image, acquiring and superposing all the ultrasonic guided wave edge extraction images in a preset time period to generate an ultrasonic guided wave dynamic scanning defect image, and extracting a pipeline defect detection result of the image based on each ultrasonic guided wave edge to obtain a pipeline defect dynamic detection result, so that the dynamic detection of the pipeline defect is realized, and the dynamic change process of the pipeline defect in a time period can be visually displayed.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a method for dynamically detecting a pipeline defect based on ultrasonic guided waves, provided by the invention;
FIG. 2 is a schematic structural diagram of an embodiment of a pipe defect dynamic detection device based on ultrasonic guided waves, provided by the invention;
FIG. 3 is a schematic structural diagram of an ultrasonic guided wave phased array according to an embodiment of the invention;
FIG. 4 is a two-dimensional plot of pipe axial distance and circumferential position for one embodiment provided by the present invention;
FIG. 5 is a gray scale graph of ultrasonic guided waves according to an embodiment of the present invention;
FIG. 6 is an ultrasonic guided wave median filter image according to an embodiment of the present invention;
figure 7 is an ultrasonic guided wave linear enhanced image of an embodiment provided by the present invention;
figure 8 is a second ultrasonic guided wave scan image of an embodiment provided by the present invention;
FIG. 9 is an ultrasonic guided wave edge extraction image according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a defect region in an ultrasonic guided wave edge extraction image according to an embodiment of the present invention;
figure 11 is an ultrasonic guided wave reference scan image of an embodiment provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Example 1
Referring to fig. 1, fig. 1 is a schematic flowchart of an embodiment of a method for dynamically detecting a pipe defect based on ultrasonic guided waves, as shown in fig. 1, the method includes steps 101 to 104, which are specifically as follows:
step 101: and controlling an ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to a pipeline detection area, controlling the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and generating a first ultrasonic guided wave scanning image of the pipeline detection area according to the amplitude of the second ultrasonic guided wave signal.
In one embodiment, the ultrasonic guided wave transducer array is composed of N ultrasonic guided wave transducers, and the N ultrasonic guided wave transducers are uniformly arranged in the pipeline at a certain distance, wherein N is a positive integer.
In an embodiment, the ultrasonic guided wave phased array detection device performs ultrasonic guided wave transmitting and receiving delay setting by an ultrasonic guided wave transducer array 2 installed on a pipeline 1 according to an isochronous spatial phase principle, so that a first ultrasonic guided wave signal is focused at a defect 3. Ultrasonic guided wave transmitting and receiving delay adjustment is set on an ultrasonic guided wave transducer array, ultrasonic guided wave focusing scanning on a specific region of a pipeline can be achieved, as shown in fig. 3, and fig. 3 is a schematic structural diagram of an ultrasonic guided wave phased array.
Specifically, an ultrasonic guided wave emission delay scheme is set for an ultrasonic transducer array according to an isochronous space phase principle, so that the ultrasonic transducer array emits a first ultrasonic guided wave signal to a pipeline detection area according to the ultrasonic guided wave emission delay scheme;
the space-time phase principle is phi ═ ω t + kx, where phi is the phase angle, ω is the angular frequency, t is the time, k is the wave number, and x is the distance.
The ultrasonic guided wave emission delay scheme is characterized in that the phase angle of each ultrasonic transducer in the ultrasonic transducer array is unchanged, the angular frequency and the wave number are unchanged, and corresponding emission delay time is set according to the distance from each ultrasonic transducer to a defect area in a pipeline detection area.
Specifically, an ultrasonic guided wave receiving delay scheme is set for the ultrasonic transducer array according to an isochronous space phase principle, so that the ultrasonic transducer array receives a second ultrasonic guided wave signal returned by the pipeline detection area according to the ultrasonic guided wave receiving delay scheme.
The ultrasonic guided wave receiving delay scheme comprises the steps that the phase angle, the angular frequency and the wave number of each ultrasonic transducer in the ultrasonic transducer array are unchanged, and corresponding receiving delay time is set according to the distance from the defect area in the pipeline detection area to each ultrasonic transducer.
In one embodiment, the second ultrasonic guided wave signals returned by the pipeline detection area received by the ultrasonic guided wave transducer array can be characterized in a two-dimensional graph of the axial distance and the circumferential position of the pipeline, as shown in fig. 4, and fig. 4 is a two-dimensional graph of the axial distance and the circumferential position of the pipeline; the origin of coordinates of the two-dimensional map of the axial distance and the circumferential position of the pipe is set at the position of the # 1 transducer of the ultrasonic guided wave transducer array 2. The coordinates of the two-dimensional graph of the axial distance and the circumferential position of the pipeline correspond to the cylindrical coordinate position of the pipeline one by one.
The amplitude values of ultrasonic guided wave phased array focusing echo signals at different circumferential positions are expressed on two-dimensional images of axial distance and circumferential positions in a color gradient mode, so that the full-coverage scanning of the circumference of a pipeline is realized, and inherent characteristics and tiny defects at different axial positions can be distinguished. The signal amplitude is reflected on the two-dimensional image as brightness of colors, the darker position in the image corresponds to a pipeline damage-free area, and the highlight position in the image corresponds to damage or inherent characteristics of the pipeline.
Specifically, the amplitude value of the second ultrasonic guided wave signal is obtained, and the amplitude value is converted into an RGB value; and acquiring the axial distance and the circumferential position corresponding to the second ultrasonic guided wave signals, arranging each second ultrasonic guided wave signal on a two-dimensional image according to the axial distance and the circumferential position, and generating a first ultrasonic guided wave scanning image of a pipeline detection area.
Step 102: and preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binaryzation processing.
In one embodiment, the first ultrasonic guided wave scanning image is preprocessed, wherein the preprocessing comprises image graying processing, median filtering processing and piecewise linear enhancement processing. The first ultrasonic guided wave scanning image is preprocessed, so that the purposes of removing interference factors and improving the quality of the first ultrasonic guided wave scanning image are achieved.
In an embodiment, the first ultrasonic guided wave scanning image is subjected to image graying processing, and an ultrasonic guided wave grayscale image is generated by quantizing the maximum value and the minimum value of each ultrasonic guided wave signal amplitude value in the first ultrasonic guided wave scanning image to the lightest value and the darkest value of the same standardized grayscale matrix respectively, as shown in fig. 5; wherein the brightest value of the same normalized gray matrix is 255 and the darkest value is 0.
The image graying process is carried out on the first ultrasonic guided wave scanning image, so that the interference caused by the fluctuation of an instrument and the like on the ultrasonic guided wave capability in the ultrasonic guided wave scanning process can be eliminated, and the equivalence of the contribution of the pixel graying of the ultrasonic guided wave scanning image at each circumferential position is ensured.
In one embodiment, the ultrasonic guided wave gray level image is subjected to median filtering, and the median filtering is a spatial domain filtering method and can eliminate the influence of noise introduced by complex factors such as instrument electrical noise and the like on the subsequent processing precision of the ultrasonic guided wave gray level image in the ultrasonic guided wave monitoring process. This is because in the median filtering process, the noise point is often directly ignored, and thus the blurring effect caused while the noise is reduced is low.
And generating an ultrasonic guided wave median filtering image by setting the gray value of each pixel point in the ultrasonic guided wave gray image as the median of the gray values of all pixel points in the neighborhood window of each pixel point, as shown in fig. 6.
In an embodiment, the guided ultrasound wave median filtering image is subjected to piecewise linear enhancement processing, so that gray values of all pixel points in the guided ultrasound wave median filtering image are divided into three segments, and each segment of gray values is subjected to linear enhancement processing, so as to generate a guided ultrasound wave linear enhancement image, as shown in fig. 7. Wherein, three sections are set for piecewise linear gray enhancement, and the section 0-60 of the gray value is a pipeline tiny background signal for weakening; the section 61-210 of the gray value is a defect signal, and salient enhancement is carried out; the gray value 211 and 255 segments are the inherent characteristic signals of the pipeline and are smoothed.
The piecewise linear enhancement processing of the ultrasonic guided wave median filtering image aims at the problem that the difference between the weak defect characteristic signal amplitude and the background signal is small after the ultrasonic guided wave gray level image is subjected to median filtering, namely the contrast between the ultrasonic guided wave gray level image defect and the background gray level is not obvious.
In one embodiment, the preprocessing the first ultrasonic guided wave scanning image further comprises: and according to a maximum entropy threshold method, performing binarization processing on the ultrasonic guided wave linear enhancement image to generate a second ultrasonic guided wave scanning image, as shown in fig. 8.
Specifically, the characteristic that a pipeline characteristic region and a background region have different gray levels is utilized, and a maximum entropy threshold method is selected to carry out binarization processing on the ultrasonic guided wave linear enhancement image, so that the effects of highlighting the pipeline characteristic, improving the image contrast, strengthening the defect edge effect and inhibiting unimportant information in the image are achieved. The super second ultrasonic guided wave scanning image not only reserves the main characteristics of the first ultrasonic guided wave scanning image, but also greatly compresses the information quantity, and is beneficial to extracting the characteristic information of the pipeline.
Step 103: and carrying out defect edge extraction on the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and carrying out defect detection on the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image.
In one embodiment, because reflection of the ultrasonic guided waves is caused by a pipeline defect or an inherent structural feature, a larger amplitude signal is reflected in an echo signal, and the echo signal has a larger difference with a pixel value of a background region, so that defect edge detection is performed on the second ultrasonic guided wave scanning image according to the amplitude difference between the characteristic signal in the second ultrasonic guided wave scanning image and the background region, edge features are extracted, and the purpose of defect feature extraction is achieved.
Specifically, the gray value of the neighborhood of each pixel in the second ultrasonic guided wave scanning image is checked according to the Roberts operator, the gray change rate of each pixel and the field thereof is quantized to determine edge points, and based on the edge points, a defect edge region is extracted to generate an ultrasonic guided wave edge extraction image, as shown in fig. 9.
Since there are inherent structural features, such as a weld, in an actual pipeline, and it is easy to extract the pipeline defect when extracting the defect edge, but the weld has a fixed structure, and it is embodied as a straight line shape with a certain length, in this embodiment, when extracting the defect edge region, it is also necessary to judge whether the defect edge region is the inherent feature of the pipeline, and if so, the defect edge region is discarded.
In one embodiment, an ultrasonic guided wave reference scanning image of a pipeline detection area is obtained, wherein the ultrasonic guided wave reference scanning image of the pipeline detection area is a pipeline ultrasonic guided wave characteristic image recorded by ultrasonic guided wave monitoring during normal operation of a pipeline, according to cosine similarity, similarity between the ultrasonic guided wave reference scanning image and an ultrasonic guided wave edge extraction image is calculated, the similarity is compared with a preset threshold, and if the similarity is greater than or equal to the preset threshold, a pipeline defect detection result is generated as that no defect exists; and if the similarity is smaller than the preset threshold, generating a pipeline defect detection result as the existence of defects.
Specifically, a defect region in the ultrasonic guided wave edge extraction image is obtained, as shown in fig. 10, an ultrasonic guided wave reference scanning image corresponding to the defect region is obtained, as shown in fig. 11, a feature vector distance between the defect region in the ultrasonic guided wave edge extraction image and the ultrasonic guided wave reference scanning image corresponding to the defect region can be calculated through cosine similarity measurement to determine similarity between the defect region and the ultrasonic guided wave reference scanning image, and if the pipe health condition is good, the similarity between the ultrasonic guided wave edge extraction image and the ultrasonic guided wave reference scanning image is high; if defects such as corrosion occur, reflection or scattering of the ultrasonic guided waves can be caused, the similarity between the ultrasonic guided wave edge extraction image and the ultrasonic guided wave reference scanning image is reduced, and the preset threshold value can be set according to requirements.
Step 104: acquiring all ultrasonic guided wave edge extraction images in a preset time period, performing superposition processing on the ultrasonic guided wave edge extraction images to generate ultrasonic guided wave dynamic scanning defect images, and acquiring a pipeline defect dynamic detection result based on a pipeline defect detection result of each ultrasonic guided wave edge extraction image.
In an embodiment, the steps 101 to 103 are repeated to obtain a plurality of ultrasonic guided wave edge extraction images and a pipeline defect detection result corresponding to each ultrasonic guided wave edge extraction image within a preset time period.
In an embodiment, all the ultrasonic guided wave edge extracted images obtained within a preset time period are subjected to superposition processing, specifically, all the ultrasonic guided wave edge extracted images obtained within the preset time period are sequenced according to the time sequence of obtaining each ultrasonic guided wave edge extracted image, each ultrasonic guided wave edge extracted image is used as an image frame, and each image frame is subjected to superposition processing according to the sequence from morning to evening to generate an ultrasonic guided wave dynamic scanning defect image.
Preferably, the generated ultrasonic guided wave dynamic scanning defect image can be displayed in a dynamic image form, and also can be displayed in an image video form.
In an embodiment, the pipeline defect detection result of each ultrasonic guided wave edge extraction image obtained in the step 103 is obtained, and the pipeline defect detection results are arranged according to the arrangement sequence of each ultrasonic guided wave edge extraction image.
In one embodiment, whether the pipeline defect detection results of all ultrasonic guided wave edge extracted images are good in pipeline health condition is judged, if yes, the pipeline defect dynamic detection result is output, namely whether the pipeline in a time period has no defects, if not, whether the pipeline defect detection result of the ultrasonic guided wave edge extracted images with the first arrangement sequence is the pipeline defect detection result is judged, and if not, the pipeline defect dynamic detection result is output, namely whether the defect condition of the pipeline in the time period is from the existence to the nonexistence; if yes, acquiring the similarity corresponding to each ultrasonic guided wave edge extraction image in step 103, and arranging the similarities according to the arrangement sequence of each ultrasonic guided wave edge extraction image, wherein if the similarity in the arrangement is in a trend of large to small, the dynamic detection result of the pipeline defect is output as that the defect in the pipeline in a time period is in an ascending trend; and if the similarity in the arrangement shows a stable trend, outputting a dynamic detection result of the pipeline defects, wherein the dynamic detection result shows that the defects in the pipeline in the time period show a stable trend.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a pipe defect dynamic detection apparatus based on ultrasonic guided waves, as shown in fig. 2, the apparatus includes an image generation module 201, an image preprocessing module 202, an image defect edge extraction module 203, and an image superposition module 204, which are specifically as follows:
the image generation module 201 is configured to control the ultrasonic guided wave transducer array to transmit a first ultrasonic guided wave signal to the pipeline detection area, control the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and generate a first ultrasonic guided wave scanning image of the pipeline detection area according to an amplitude of the second ultrasonic guided wave signal.
The image preprocessing module 202 is configured to preprocess the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, where the preprocessing includes image graying processing, median filtering processing, piecewise linear enhancement processing, and binarization processing.
The image defect edge extraction module 203 is configured to perform defect edge extraction on the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and perform defect detection on the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image.
The image overlaying module 204 is configured to acquire and overlay all the ultrasonic guided wave edge extraction images within a preset time period to generate an ultrasonic guided wave dynamic scanning defect image, and obtain a pipeline defect dynamic detection result based on a pipeline defect detection result of each ultrasonic guided wave edge extraction image.
In an embodiment, the image preprocessing module 202 is configured to preprocess the first ultrasound guided wave scanning image, and specifically includes: performing image graying processing on the first ultrasonic guided wave scanning image so as to respectively quantize the maximum value and the minimum value of each ultrasonic guided wave signal amplitude value in the first ultrasonic guided wave scanning image to the brightest value and the darkest value of the same standardized gray matrix and generate an ultrasonic guided wave gray image; performing median filtering processing on the ultrasonic guided wave gray image so as to set the gray value of each pixel point in the ultrasonic guided wave gray image as the median of the gray values of all pixel points in the neighborhood window of each pixel point, and generating an ultrasonic guided wave median filtering image; and carrying out piecewise linear enhancement processing on the ultrasonic guided wave median filtering image so as to divide gray values of all pixel points in the ultrasonic guided wave median filtering image into three segments, and respectively carrying out linear enhancement processing on each segment of gray values to generate the ultrasonic guided wave linear enhancement image.
In an embodiment, the image preprocessing module 202 is configured to preprocess the first ultrasound guided wave scan image, and further includes: and carrying out binarization processing on the ultrasonic guided wave linear enhancement image according to a maximum entropy threshold method to generate a second ultrasonic guided wave scanning image.
In an embodiment, the image defect edge extraction module 203 is configured to perform defect detection on the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image, and specifically includes: acquiring an ultrasonic guided wave reference scanning image of a pipeline detection area, and calculating the similarity between the ultrasonic guided wave reference scanning image and the ultrasonic guided wave edge extraction image according to cosine similarity; comparing the similarity with a preset threshold, and if the similarity is greater than or equal to the preset threshold, generating a pipeline defect detection result as that no defect exists; and if the similarity is smaller than the preset threshold, generating a pipeline defect detection result as the existence of defects.
In an embodiment, the image generating module 201 is configured to control the ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to a pipe detection area, and specifically includes: setting an ultrasonic guided wave emission delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array emits a first ultrasonic guided wave signal to a pipeline detection area according to the ultrasonic guided wave emission delay scheme; the equal space-time phase principle is phi ═ ω t + kx, wherein phi is a phase angle, ω is an angular frequency, t is time, k is a wave number, and x is a distance; the ultrasonic guided wave emission delay scheme is characterized in that the phase angle of each ultrasonic transducer in the ultrasonic transducer array is unchanged, the angular frequency and the wave number are unchanged, and corresponding emission delay time is set according to the distance from each ultrasonic transducer to a defect area in a pipeline detection area.
In an embodiment, the image generating module 201 is configured to control the ultrasonic guided wave transducer array to receive the second ultrasonic guided wave signal returned by the pipe detection area, and specifically includes: setting an ultrasonic guided wave receiving delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array receives a second ultrasonic guided wave signal returned by the pipeline detection area according to the ultrasonic guided wave receiving delay scheme; and setting the corresponding receiving delay time according to the distance from the defect area in the pipeline detection area to each ultrasonic transducer.
In an embodiment, the image generating module 201 is configured to generate a first ultrasonic guided wave scanning image of a pipe detection area according to the amplitude of the second ultrasonic guided wave signal, and specifically includes: obtaining the amplitude of the second ultrasonic guided wave signal, and converting the amplitude into an RGB value; and acquiring the axial distance and the circumferential position corresponding to the second ultrasonic guided wave signals, arranging each second ultrasonic guided wave signal according to the axial distance and the circumferential position, and generating a first ultrasonic guided wave scanning image of the pipeline detection area.
In summary, the invention discloses a method and a device for dynamically detecting a pipeline defect based on ultrasonic guided waves, wherein an ultrasonic guided wave transducer array is controlled to transmit a first ultrasonic guided wave signal to a pipeline detection area, the ultrasonic guided wave transducer array is controlled to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and a first ultrasonic guided wave scanning image of the pipeline detection area is generated according to the amplitude of the second ultrasonic guided wave signal; preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binarization processing, performing defect edge extraction on the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and detecting the ultrasonic guided wave edge extraction image to generate a pipeline defect detection result of the ultrasonic guided wave edge extraction image, acquiring and superposing all the ultrasonic guided wave edge extraction images in a preset time period to generate an ultrasonic guided wave dynamic scanning defect image, and extracting a pipeline defect detection result of the image based on each ultrasonic guided wave edge to obtain a pipeline defect dynamic detection result, so that the dynamic detection of the pipeline defect is realized, and the dynamic change process of the pipeline defect in a time period can be visually displayed.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A pipeline defect dynamic detection method based on ultrasonic guided waves is characterized by comprising the following steps:
controlling an ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to a pipeline detection area, controlling the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and generating a first ultrasonic guided wave scanning image of the pipeline detection area according to the amplitude of the second ultrasonic guided wave signal;
preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binarization processing;
performing defect edge extraction on the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and performing defect detection on the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image;
and acquiring and superposing all ultrasonic guided wave edge extraction images in a preset time period to generate ultrasonic guided wave dynamic scanning defect images, and acquiring a pipeline defect dynamic detection result based on a pipeline defect detection result of each ultrasonic guided wave edge extraction image.
2. The method for dynamically detecting the defect of the pipeline based on the ultrasonic guided wave according to claim 1, wherein the preprocessing is performed on the first ultrasonic guided wave scanning image, and specifically comprises:
performing image graying processing on the first ultrasonic guided wave scanning image so as to respectively quantize the maximum value and the minimum value of each ultrasonic guided wave signal amplitude value in the first ultrasonic guided wave scanning image to the brightest value and the darkest value of the same standardized gray matrix and generate an ultrasonic guided wave gray image;
performing median filtering processing on the ultrasonic guided wave gray image so as to set the gray value of each pixel point in the ultrasonic guided wave gray image as the median of the gray values of all pixel points in the neighborhood window of each pixel point, and generating an ultrasonic guided wave median filtering image;
and carrying out piecewise linear enhancement processing on the ultrasonic guided wave median filtering image so as to divide gray values of all pixel points in the ultrasonic guided wave median filtering image into three sections, and respectively carrying out linear enhancement processing on each section of gray values to generate the ultrasonic guided wave linear enhancement image.
3. The method for dynamically detecting the defect of the pipeline based on the ultrasonic guided wave as claimed in claim 2, wherein the preprocessing is performed on the first ultrasonic guided wave scanning image, and further comprising:
and carrying out binarization processing on the ultrasonic guided wave linear enhancement image according to a maximum entropy threshold method to generate a second ultrasonic guided wave scanning image.
4. The method for dynamically detecting the pipeline defect based on the ultrasonic guided wave according to claim 1, wherein the defect detection is performed on the ultrasonic guided wave edge extraction image to obtain the pipeline defect detection result of the ultrasonic guided wave edge extraction image, and specifically comprises:
acquiring an ultrasonic guided wave reference scanning image of a pipeline detection area, and calculating the similarity between the ultrasonic guided wave reference scanning image and the ultrasonic guided wave edge extraction image according to cosine similarity;
comparing the similarity with a preset threshold, and if the similarity is greater than or equal to the preset threshold, generating a pipeline defect detection result as that no defect exists; and if the similarity is smaller than the preset threshold, generating a pipeline defect detection result as the existence of defects.
5. The dynamic pipeline defect detection method based on the ultrasonic guided wave as claimed in claim 1, wherein the controlling of the ultrasonic guided wave transducer array to emit the first ultrasonic guided wave signal to the pipeline detection area specifically comprises:
setting an ultrasonic guided wave emission delay scheme for an ultrasonic transducer array according to an isochronous space phase principle so that the ultrasonic transducer array emits a first ultrasonic guided wave signal to a pipeline detection area according to the ultrasonic guided wave emission delay scheme;
the equal space-time phase principle is phi & ltt & gt + kx, wherein phi is a phase angle, omega is an angular frequency, t is time, k is a wave number, and x is a distance;
the ultrasonic guided wave emission delay scheme is characterized in that the phase angle of each ultrasonic transducer in the ultrasonic transducer array is unchanged, the angular frequency and the wave number are unchanged, and corresponding emission delay time is set according to the distance from each ultrasonic transducer to a defect area in a pipeline detection area.
6. The method for dynamically detecting the defect of the pipeline based on the ultrasonic guided wave according to claim 5, wherein the step of controlling the ultrasonic guided wave transducer array to receive the second ultrasonic guided wave signal returned by the pipeline detection area specifically comprises the steps of:
setting an ultrasonic guided wave receiving delay scheme for an ultrasonic transducer array according to an isochronous phase principle so that the ultrasonic transducer array receives a second ultrasonic guided wave signal returned by the pipeline detection area according to the ultrasonic guided wave receiving delay scheme;
and setting the corresponding receiving delay time according to the distance from the defect area in the pipeline detection area to each ultrasonic transducer.
7. The method for dynamically detecting the defect of the pipeline based on the ultrasonic guided wave according to claim 1, wherein a first ultrasonic guided wave scanning image of a pipeline detection area is generated according to the amplitude of the second ultrasonic guided wave signal, and the method specifically comprises:
obtaining the amplitude of the second ultrasonic guided wave signal, and converting the amplitude into an RGB value;
and acquiring the axial distance and the circumferential position corresponding to the second ultrasonic guided wave signals, arranging each second ultrasonic guided wave signal according to the axial distance and the circumferential position, and generating a first ultrasonic guided wave scanning image of the pipeline detection area.
8. The utility model provides a pipeline defect dynamic verification device based on supersound guided wave which characterized in that includes: the image generation module, the image preprocessing module, the image defect edge extraction module and the image superposition module;
the image generation module is used for controlling the ultrasonic guided wave transducer array to emit a first ultrasonic guided wave signal to a pipeline detection area, controlling the ultrasonic guided wave transducer array to receive a second ultrasonic guided wave signal returned by the pipeline detection area, and generating a first ultrasonic guided wave scanning image of the pipeline detection area according to the amplitude of the second ultrasonic guided wave signal;
the image preprocessing module is used for preprocessing the first ultrasonic guided wave scanning image to obtain a second ultrasonic guided wave scanning image, wherein the preprocessing comprises image graying processing, median filtering processing, piecewise linear enhancement processing and binarization processing;
the image defect edge extraction module is used for extracting the defect edge of the second ultrasonic guided wave scanning image to obtain an ultrasonic guided wave edge extraction image, and detecting the defect of the ultrasonic guided wave edge extraction image to obtain a pipeline defect detection result of the ultrasonic guided wave edge extraction image;
the image superposition module is used for acquiring and superposing all ultrasonic guided wave edge extraction images in a preset time period to generate ultrasonic guided wave dynamic scanning defect images, and acquiring a pipeline defect dynamic detection result based on the pipeline defect detection result of each ultrasonic guided wave edge extraction image.
9. A terminal device, comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the method for dynamically detecting a pipe defect based on guided ultrasonic waves according to any one of claims 1 to 7.
10. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium is controlled to execute the method for dynamically detecting the pipeline defect based on the ultrasonic guided wave according to any one of claims 1 to 7.
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