CN116908301A - Pipeline damage positioning method and system based on ultrasonic guided wave multi-feature fusion - Google Patents
Pipeline damage positioning method and system based on ultrasonic guided wave multi-feature fusion Download PDFInfo
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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
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- 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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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
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- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/262—Arrangements for orientation or scanning by relative movement of the head and the sensor by electronic orientation or focusing, e.g. with phased arrays
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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
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- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
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- G01N29/44—Processing the detected response signal, e.g. electronic circuits specially adapted therefor
Abstract
The invention belongs to the field of pipeline damage positioning, and provides a pipeline damage positioning method and system based on ultrasonic guided wave multi-feature fusion, aiming at solving the problem of poor positioning accuracy of damage in a pipeline. The method for positioning the pipeline damage based on ultrasonic guided wave multi-feature fusion comprises the steps of obtaining ultrasonic guided wave response signals in nondestructive and damage states, obtaining health signals and damage signals, selecting effective signal segments of the health signals and the damage signals, and screening effective paths; respectively constructing an elliptical path probability distribution function and a circular path probability distribution function; according to the product of the elliptical path probability distribution function and the circular path probability distribution function, calculating the damage distribution probability on the pipeline plane, and then superposing the damage distribution probabilities of the virtual plane and the actual plane at the same position point to finally determine the pipeline damage distribution.
Description
Technical Field
The invention belongs to the field of pipeline damage positioning, and particularly relates to a pipeline damage positioning method and system based on ultrasonic guided wave multi-feature fusion.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The pipeline is used as an important tool for fluid transportation and is widely applied to transportation in petroleum, natural gas and other aspects. However, in practical application, the pipeline may face severe environment and artificial damage, and after long-term service, the pipeline may have problems of cracking, perforation, corrosion, deformation and the like. The occurrence of damage can reduce the rigidity and other performances of the pipeline, and seriously can cause the phenomena of pipeline leakage and the like, thereby influencing the service time of the pipeline. Early detection of pipeline leakage is of great significance and is becoming an important application field of structural health monitoring technology.
Ultrasonic guided waves based on piezoelectric ceramic excitation can propagate along a cylindrical pipeline, and are widely applied to pipeline damage detection due to the characteristics of long propagation distance, high sensitivity, full coverage and the like. The ultrasonic guided wave imaging technology can finish accurate detection of a pipe section within a short distance range, and the probability imaging method in the ultrasonic guided wave imaging technology is widely applied to plate-shaped structure damage positioning imaging and has certain application in pipeline damage positioning, but compared with a plate-shaped structure, the pipeline structure can lack some paths perpendicular to the direction of the sensing array due to the specificity of the pipeline sensor array, so that the traditional probability imaging method has larger limitation. Moreover, the conventional probability imaging method can cause a larger error except for the central position of the monitoring area in the positioning process due to the lack of a circumferential sensing path. Although the prior art improves the probability imaging method by introducing the flight time parameter, due to the symmetry of the pipeline structure, the simple use of the flight time for positioning has artifacts, thereby affecting the positioning accuracy of the damage in the pipeline.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a pipeline damage positioning method and system based on ultrasonic guided wave multi-feature fusion, which have the characteristics of high sensitivity, high positioning precision and good robustness.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a pipeline damage positioning method based on ultrasonic guided wave multi-feature fusion.
In one or more embodiments, a method of locating a pipe lesion based on ultrasonic guided wave multi-feature fusion, comprising:
obtaining ultrasonic guided wave response signals in nondestructive and injury states, and obtaining health signals and injury signals;
according to the pipeline plane and the speed matching wave packet, selecting effective signal segments of the health signal and the damage signal, and further screening effective paths; the pipeline plane comprises an actual plane formed by expanding a pipeline along the axial direction and a half pipeline virtual plane which expands towards two sides respectively;
constructing an elliptical path probability distribution function according to the correlation of the health signal and the damage signal of each effective path; constructing a circular path probability distribution function according to the flight time of the signal on each effective path;
and calculating the damage distribution probability on the pipeline plane according to the product of the elliptical path probability distribution function and the circular path probability distribution function, and superposing the damage distribution probabilities of the virtual plane and the actual plane at the same position point to finally determine the damage distribution of the pipeline.
As an embodiment, before acquiring the ultrasonic guided wave response signal in the nondestructive and damage state, the method further comprises:
and determining the sensor network and the excitation frequency according to the numerical simulation data of the guided wave propagation mode and the dispersion characteristic in the pipeline structure.
In one embodiment, in the process of determining the sensor network and the excitation frequency, when the preset time condition and the amplitude condition of the signal between two peaks of two wave packets in the response signal are met, the distance between the currently corresponding excitation frequency and the sensor array is obtained.
In one embodiment, in selecting the effective signal segments of the health signal and the impairment signal, the length of the effective signal is determined based on the sensing path length and the group velocity of the selected mode wave.
As one embodiment, the process of screening the effective path is:
subtracting the damage signals and the health signals on each sensing path to obtain corresponding scattering signals;
the energy of the scattered signals on each sensing path is compared with the energy of the health signals, and energy damage factors of each sensing path are obtained;
and screening out effective paths according to the damage factors of the sensing paths and the preset loss factor threshold value.
The second aspect of the invention provides a pipeline damage positioning system based on ultrasonic guided wave multi-feature fusion.
In one or more embodiments, a system for locating a pipe damage based on ultrasonic guided wave multi-feature fusion, comprising:
the response signal acquisition module is used for acquiring ultrasonic guided wave response signals in nondestructive and injury states, and obtaining health signals and injury signals;
the effective path screening module is used for selecting effective signal segments of the health signal and the damage signal according to the pipeline plane and the speed matching wave packet so as to screen out an effective path; the pipeline plane surface consists of an actual pipeline expanding plane along the axial direction and a half pipeline virtual plane expanding to two sides respectively;
the distribution function construction module is used for constructing an elliptical path probability distribution function according to the correlation between the health signals and the damage signals of each effective path; constructing a circular path probability distribution function according to the flight time of the signal on each effective path;
the damage distribution determining module is used for calculating damage distribution probability on the pipeline plane according to the product of the elliptical path probability distribution function and the circular path probability distribution function, and then superposing the damage distribution probability of the virtual plane and the actual plane at the same position point to finally determine the damage distribution of the pipeline.
As one embodiment, in the response signal acquisition module, before acquiring the ultrasonic guided wave response signal in the nondestructive and damage state, the method further includes:
and determining the sensor network and the excitation frequency according to the numerical simulation data of the guided wave propagation mode and the dispersion characteristic in the pipeline structure.
In one embodiment, in the effective path screening module, in selecting effective signal segments of the health signal and the damage signal, a length of the effective signal is determined according to a sensing path length and a group velocity of a wave of a selected mode.
As an implementation manner, in the effective path screening module, the process of screening the effective path is as follows:
subtracting the damage signals and the health signals on each sensing path to obtain corresponding scattering signals;
the energy of the scattered signals on each sensing path is compared with the energy of the health signals, and the damage factors of each sensing path are obtained;
and screening out effective paths according to the damage factors of the sensing paths and the preset loss factor threshold value.
A third aspect of the present invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in a method of locating a pipe damage based on ultrasonic guided wave multi-feature fusion as described above.
A fourth aspect of the invention provides an electronic device.
A pipeline damage positioning device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps in the pipeline damage positioning method based on ultrasonic guided wave multi-feature fusion as described above when the program is executed.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the flight time is introduced into the traditional probability distribution definition, the annular damage probability distribution with time variation as a characteristic is constructed, the elliptical probability distribution constructed with the correlation coefficient as a characteristic is combined, and the probability distribution with two different shapes is multiplied to construct a new probability distribution, so that the problem that the edge damage positioning error is larger by the traditional probability imaging method is solved, the symmetry problem based on the TOF method is solved, and meanwhile, the scattering energy is introduced into the probability solution as a weight parameter, thereby enabling the result to be more focused, effectively achieving the purposes of weakening the artifact influence of the damage uncorrelated position, suppressing priori knowledge and calculation error, improving the damage detection precision and robustness of the pipeline structure, and greatly improving the engineering application capability of the method.
(2) Because only the direct wave packet received by the receiving sensor is used in the positioning algorithm, after the pipeline is subjected to plane expansion, the left and right planes are respectively expanded by half along the expansion direction of the pipeline, and the size of the left and right virtual planes is one half of that of the actual expansion plane, so that not only can all direct paths be represented in the plane, but also redundant paths can be not added, and the aim of reducing the calculation amount is achieved. Meanwhile, the difficulty of signal feature extraction is greatly reduced by using the direct wave packet, and the accuracy of feature extraction is ensured.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram of a pipeline damage positioning flow based on ultrasonic guided waves in an embodiment of the invention;
FIG. 2 (a) is a graph of pipeline phase velocity at the current materials and dimensional parameters for an embodiment of the present invention;
FIG. 2 (b) is a graph of group velocity of pipes under current materials and dimensional parameters according to an embodiment of the present invention;
FIG. 2 (c) is a phase velocity diagram of a flat panel structure under the same parameters according to an embodiment of the present invention;
FIG. 2 (d) is a group velocity diagram of a flat panel structure under the same parameters for an embodiment of the present invention;
FIG. 3 is a semi-planar expanded view of a conduit according to an embodiment of the present invention;
FIG. 4 is a pipeline inspection system composition based on ultrasonic guided waves in accordance with an embodiment of the present invention
FIG. 5 (a) is a spatial distribution diagram of an elliptical probability distribution in accordance with an embodiment of the present invention;
FIG. 5 (b) is a spatial distribution diagram of a circular probability distribution of an embodiment of the present invention;
FIG. 6 is a flow chart of pipeline structure damage detection based on ultrasonic guided waves in accordance with an embodiment of the present invention
FIG. 7 (a) is a positioning result diagram of the current algorithm of an embodiment of the present invention;
FIG. 7 (b) is an imaging result of a single lesion experiment according to an embodiment of the present invention;
FIG. 7 (c) is an imaging result of a multi-lesion experiment according to an embodiment of the present invention;
FIG. 7 (d) is a thresholded imaging result of multi-lesion imaging according to an embodiment of the present invention;
FIG. 8 is a comparison of different path direct wave packet signals according to an embodiment of the present invention;
FIG. 9 (a) is an imaging view of an extension plane of an embodiment of the present invention;
FIG. 9 (b) is a graph of the imaging results after probability stacking according to an embodiment of the present invention;
FIG. 9 (c) is a graph of imaging results after thresholding in an embodiment of the present invention;
fig. 10 is a diagram of all test points of an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
According to fig. 1 and 6, the present embodiment provides a method for positioning a pipe damage based on ultrasonic guided wave multi-feature fusion, which includes:
step 1: and acquiring ultrasonic guided wave response signals in nondestructive and injury states, and obtaining health signals and injury signals.
In the implementation process, before the ultrasonic guided wave response signals in the nondestructive and damage state are acquired, the method further comprises the following steps:
and determining the sensor network and the excitation frequency according to the numerical simulation data of the guided wave propagation mode and the dispersion characteristic in the pipeline structure.
Numerical simulation is carried out on a flat plate structure and a pipeline structure with the same material parameters such as elastic modulus, shear modulus, poisson ratio, density and the like by means of a Dispersion Calculator open source dispersion calculator and a Pcdisp software package, and a dispersion curve of guided waves is drawn. Taking two structures with a thickness of 2mm as an example, the dispersion curves are shown in fig. 2 (a) -2 (d). Comparing the dispersion curves of the two structures, it is clear that when the excitation frequency is greater than 50kHz, the axial mode in the pipeline is close to the A0 mode of the plate structure, and the pipeline can be axially unfolded to serve as a flat plate for analysis.
The plane of the tube expands and spreads as shown in figure 3. The original plane of the middle position is marked as omega 0 The half plane extending to the left is denoted omega -1 The half plane extending to the right is denoted omega 1 Then the abscissa of the virtual sensor in the left half plane is x Rj -L, the abscissa of the virtual sensor in the right half plane is x Rj +l, the path length expression between the excitation sensor and the receiving sensor is:
wherein x is Rj Is the abscissa, x, of the j-th receiving sensor Ai For the ith excitation sensor abscissa, R is the pipe outside diameter, L is the horizontal distance between the excitation sensor and the receiving sensor, and R represents the order of the expansion planes.
Because the direct signal wave packet is selected for analysis, and the guided wave propagates in the pipeline in a spiral and directional manner, the path length and the guided wave propagation speed are combined for calculation in order to conveniently separate the shortest distance direct wave packet and the wave packet in the opposite direction in the signal. In the process of determining the sensor network and the excitation frequency, when the preset time condition and the amplitude condition of the signal between two peaks of two wave packets in the response signal are determined in the process of determining the sensor network and the excitation frequency, the distance between the currently corresponding excitation frequency and the sensor array is obtained. Specifically, the distance difference between the arrival of the guided wave from the left propagation and the arrival from the right in the same sensing path is calculated, and then the wave speed is combined to further obtain the distance between the corresponding excitation frequency and the sensor array when the two wave packets in the response signal can be obviously separated.
When the thickness of the pipeline is small, ultrasonic guided waves similar to those on a planar structure can be excited. When the transducer excites the guided wave, a certain diffusion angle is generated, so that the guided wave propagates in the pipeline in a diffusion way from the excitation source. Thus, the ultrasonic guided wave excited from one position will have a time difference when reaching the receiving sensor due to the difference in propagation direction. When the wave is left-handed and the wave is right-handed, the characteristic parameters are calculated based on the direct wave packet, and the direct wave packet of left-handed and right-handed can be separated at the receiving sensor. Meanwhile, by calculating the arrival time of the direct signals of the left hand and the right hand, taking the maximum value of the envelope as the center, calculating whether the time difference between two wave peak values is larger than the total duration of the excitation signal, comparing whether the envelope of the signal between the two peak values is smaller than 10% of the maximum value of the peak value, and considering that the two wave packets can be obviously separated under the condition of meeting the time and the amplitude value.
As shown in fig. 8, taking the excitation of A1 as an example, the distance travelled by the wave when reaching R2 from left and right is 506.4mm and 750.7mm, respectively, and the distance difference is large, so the wave packets can be clearly separated, but the distances on the left and right when reaching R4 are 554.6mm and 640.3mm, respectively, which results in aliasing of the direct wave packet, and therefore, it is necessary to select an appropriate frequency as the excitation frequency.
In this embodiment, the final selection is made to have a distance between the excitation sensor array and the receiving sensor array of 500mm and an excitation frequency of 150kHz.
Through preparing the test piece, pasting the sensor, constructing a pipeline ultrasonic detection system, designing a sensor network, and obtaining ultrasonic guided wave response signals in nondestructive and damage states.
The ultrasonic guided wave detection system is constructed as shown in fig. 4. The acoustic guided wave detection system consists of a detected pipeline, a piezoelectric transducer, a signal generator, a power amplifier and an acquisition card. The length of the detected pipeline is 2000mm, the wall thickness is 2mm, the outer diameter is 204mm, 16 sensors are divided into two groups, one group is used as an excitation sensor, the other group is used as a receiving sensor, the receiving sensor is named as an S1-S8, and a detected area is arranged between the two groups of sensors.
And collecting ultrasonic guided wave response signals in a health state. The excitation signal is a 5-period sinusoidal modulation signal. Because the ultrasonic guided wave system adopts a polling excitation mode, 16 sensors of the lossless flat plate are polled and excited with Lamb signals and response signals are received, and a health signal matrix H is constructed 1 The size is 128×8000.
And collecting ultrasonic guided wave response signals in the damaged state. The cylindrical damping soil with fixed size is used for simulating injuries at different positions, the same excitation mode is adopted for polling excitation and receiving ultrasonic guided wave response signals, and a health signal matrix D is constructed 1 The size is 128×8000.
Preprocessing the acquired signals to finish the selection of effective signal segments. Because of the manner in which the detection system polls for excitation, this can create some unwanted path signals, such as A1-A2, etc., it is first necessary to classify the acquired signals to remove the signals of A-A and R-R. The size of the effective signal matrix is 64×8000. And carrying out subsequent operation by taking the acquired signal data and the sensor coordinates as algorithm input items.
Step 2: according to the pipeline plane and the speed matching wave packet, selecting effective signal segments of the health signal and the damage signal, and further screening effective paths; the pipeline plane surface is composed of an actual pipeline expanding plane along the axial direction and half pipeline virtual planes expanding to two sides respectively, as shown in fig. 3.
In the specific implementation process, in the process of selecting the effective signal segments of the health signal and the damage signal, the length of the effective signal is determined according to the sensing path length D and the group velocity of the wave of the selected mode:
t m representing the peak position of the received wave packet, t 0 For peak position of crosstalk signal, v g For the group velocity of the modal Lamb wave at the current frequency, k represents the peak number of the excitation signal, λ is the wavelength of a single sinusoidal signal, and M is the margin of the signal length. T corresponding to different paths a ,t b ]Different. Wherein [ t ] a ,t b ]Representing the time of the active signal segment, where t a Indicating the start time of the active signal segment, t b Indicating the end time of the valid signal segment.
The effective path screening process comprises the following steps:
subtracting the damage signals and the health signals on each sensing path to obtain corresponding scattering signals;
the energy of the scattered signals on each sensing path is compared with the energy of the health signals, and the damage factors of each sensing path are obtained;
and screening out effective paths according to the damage factors of the sensing paths and the preset loss factor threshold value.
In the process of screening the effective paths, the energy of the scattered signals on each sensing path is compared with the energy of the health signals to obtain the energy damage factor E of each sensing path DI Setting the energy loss factor threshold as E TH If E DI Greater than E TH The path damage scattering is considered to be stronger, and the damage influence is larger, so that the path damage scattering is reserved in the subsequent calculation process. E (S) n (t)) is the energy of the scattered signal of the nth path, and the same method can obtain the energy E (H) of the health signal n (t))。
S n (t)＝H n (t)-D n (t)
E＝∫(X n (t)) 2 dt
Wherein X is n (t) represents the acquired signal. During energy calculation, the health signal, damage signal and scattering signal can be used as X n (t) substitution into the formula e= ≡ (X n (t)) 2 dt。
Step 3: constructing an elliptical path probability distribution function according to the correlation of the health signal and the damage signal of each effective path; and constructing a circular path probability distribution function according to the flight time of the signal on each effective path.
In the embodiment, the approximate damage position is determined through elliptical probability distribution, and then the accurate position is optimized through annular probability distribution, so that the artifacts are removed.
The process for constructing the elliptical path probability distribution function comprises the following steps:
the conduit is considered to be structurally complete when the sensor array is initially installed, and the signal detected at this time is a health signal and serves as a reference signal in subsequent calculations. The damaged signal is a new signal obtained by re-detecting the structure, and by comparing the two groups of signals, whether the characteristics of the amplitude, the phase and the like of the signals are changed or not is judged, so that whether the structure is damaged or not is judged.
Obtaining the injury factor C based on the correlation of the health signal and the injury signal DI The following formula is shown:
wherein, the liquid crystal display device comprises a liquid crystal display device,is the mean value of health signals, < >>Is the mean of the scattered signal.
C DI Is a number between 0 and 1. The larger the value, the closer the path is to the lesion, the larger the lesion impact, the smaller the value, and the smaller the lesion impact.
In a sensor networkThere are N sensing paths in total, then the probability of damage P at (x, y) in the monitored region C (x, y) can be expressed as:
in p c-n (x, y) represents the probability of damage to the nth path damage factor at (x, y), and Rn (x, y) represents the spatial distribution function.
The monitoring area of each path is set to be an ellipse, the excitation sensor and the receiving sensor are used as focuses of the ellipse, the area size is controlled by a parameter beta, and as shown in fig. 5 (a), the probability of the position closer to the path is larger, and the probability of the position outside the area is 0.Rn (x, y) can be expressed as:
wherein, beta is a fixed value, which is used for adjusting the size of the ellipse. RD (RD) n (x, y) is the relative distance of the point (x, y) to the nth path executor from the receiver. D (D) an For points (x, y) through nth path actuators (coordinates (x) an ,y an ) A) distance; d (D) sn For points (x, y) to the nth path receiver (coordinates (x sn ,y sn ) A) distance; d (D) n Is the distance from the nth path actuator to the sensor.
Specifically, the process of constructing the circular path probability distribution function is as follows:
for the ith path, the damage probability distribution at any reference point (x, y) in the grid is found as:
p ai (x,y)＝C fi ·W i (x,y)＝E(S n (tof))·W i (x,y)
wherein W (x, y) is a probability distribution function. C (C) f Selecting an ith path powder as a weighting factor for enhancing the damage degree of a damaged pathPeak energy value E (S) n (tof)) as a weighted signal to distinguish the size of the different paths affected by the impairment.
As shown in fig. 5 (b), the time of flight is introduced into the damage probability distribution function as:
wherein t is n (x, y) represents the sum of the excitation and reception sensor arrival times of the point (x, y) to the nth path, t tof-n Time t representing the nth path ε Representing a defined time-of-flight error.
t tof-n ＝t a-n +t p-n -t e
Wherein t is a-n T is the starting position of the effective signal section of the nth path p-n To effectively scatter the peak position of the signal, t e Representing the peak of the excitation signal.
Step 4: and calculating the damage distribution probability on the pipeline plane according to the product of the elliptical path probability distribution function and the circular path probability distribution function, and superposing the damage distribution probabilities of the virtual plane and the actual plane at the same position point to finally determine the damage distribution of the pipeline. FIG. 7 (a) is a positioning result diagram of the current algorithm of the present embodiment; fig. 7 (b) is an imaging result of the single lesion experiment of the present embodiment; fig. 7 (c) is an imaging result of the multi-lesion experiment of the present embodiment; fig. 7 (d) is an imaging result of the multi-lesion imaging of the present embodiment after thresholding.
By calculating probability distribution of two different shapes, two probabilities P of damage existence on a plane can be obtained c And P a The probability P that there is a lesion at point (x, y) is P c And P a Is a product of (a) and (b). Since the expansion plane of the tube is extended by half planes to the left and right in path matching, it is necessary to combine the virtual plane with the real planeThe probabilities of points at the same position in the plane are superimposed. The probability after superposition is recorded as I (x, y), the calculation formula is shown as follows, the area of the highlight region in the imaging result obtained by the method is larger, and further 90% thresholding is needed. The main purpose of the 90% thresholding is to filter out artifacts in the imaging results, so that the locations of lesions are clearer. Fig. 9 (c) shows a comparison of lesion imaging effects before and after thresholding.
Wherein I (x, y) is the probability of the regions after superposition. P (P) r0 (x, y) represents the probability of damage to a point on the 0 th order plane, P r1 (x+pi R, y) represents the probability of damage at the midpoint of the right half extension plane, P r-1 (x-pi R, y) represents the probability of a lesion being present at the midpoint of the left half-expansion plane. The coordinates of the point (x, y) at the virtual point corresponding to the right half plane are (x+pi R, y), and the coordinates of the point (x, y) at the virtual point corresponding to the left half plane are (x-pi R, y).
Repeating the steps, carrying out experiments for a plurality of times, calculating damage error indexes, and carrying out algorithm performance evaluation.
Fig. 9 (a) is an imaging diagram of an extension plane, fig. 9 (b) is an imaging result diagram after probability superposition, and fig. 9 (c) is an imaging result diagram after thresholding.
The x and y coordinates corresponding to the peak point in the probability matrix are taken as the abscissa of the damage position, and are denoted as D (x, y).
The Euclidean distance between the damage positions S (x, y) and D (x, y) is set as a positioning error e. Mean e of errors for lesions of the N groups of experiments MAE Calculating to judge the accuracy of the algorithm and simultaneously to damage error e STD And the mean square error of the algorithm is calculated to judge the stability of the algorithm.
Because of the symmetry of the pipe structure, points are selected as test points in a rectangular area with A4, A5, R4, R5 as vertices. The distance between A4 and A5 is 80mm, the length is divided into four equal parts, and a point is taken every 20 mm; the distance between A4 and R4 was 500mm, the length was 10 equally divided, and a point was taken every 50mm, and finally 45 sampling points were included in the region. With 9 points in the axial direction as a group, starting from A4 to R4 are points 1 to 9, respectively, and a group is named a row. Each group is designated as row 1-row 5 in the direction A4-A5, respectively. All test points are shown in fig. 10.
The detection result errors of 45 groups of points are counted, the average value of the positioning errors of the method provided by the embodiment is 7.01mm, the standard deviation is 3.72mm, the positioning error of the RAPID method is 25.4mm, and the standard deviation is 24.5mm. As can be seen by comparison, the original RAPID method has larger positioning error at the position close to the sensor, and can only complete more accurate positioning at the central part of the area, because the sensing path only exists in the axial direction, and the position in the circumferential direction is not well represented. In addition, the positions of the intersections of many paths are easily detected, and the positioning error is large in the area where the paths are sparse. The algorithm can effectively complete the positioning of the whole monitoring area by introducing the flight time.
Example two
The embodiment provides a pipeline damage positioning system based on ultrasonic guided wave multi-feature fusion, which comprises:
(1) The response signal acquisition module is used for acquiring ultrasonic guided wave response signals in nondestructive and injury states, and then a health signal and an injury signal are obtained.
Wherein, in the response signal acquisition module, before acquiring the ultrasonic guided wave response signal in the nondestructive and damage state, the response signal acquisition module further comprises:
and determining the sensor network and the excitation frequency according to the numerical simulation data of the guided wave propagation mode and the dispersion characteristic in the pipeline structure.
(2) The effective path screening module is used for selecting effective signal segments of the health signal and the damage signal according to the pipeline plane and the speed matching wave packet so as to screen out an effective path; the pipeline plane surface consists of an actual pipeline expanding plane along the axial direction and half pipeline virtual planes expanding to two sides respectively.
In the effective path screening module, in the process of selecting effective signal segments of the health signal and the damage signal, the length of the effective signal is determined according to the length of a sensing path and the group velocity of waves of a selected mode.
In the effective path screening module, the effective path screening process comprises the following steps:
subtracting the damage signals and the health signals on each sensing path to obtain corresponding scattering signals;
the energy of the scattered signals on each sensing path is compared with the energy of the health signals, and the damage factors of each sensing path are obtained;
and screening out effective paths according to the damage factors of the sensing paths and the preset loss factor threshold value.
(3) The distribution function construction module is used for constructing an elliptical path probability distribution function according to the correlation between the health signals and the damage signals of each effective path; and constructing a circular path probability distribution function according to the flight time of the signal on each effective path.
(4) The damage distribution determining module is used for calculating damage distribution probability on the pipeline plane according to the product of the elliptical path probability distribution function and the circular path probability distribution function, and then superposing the damage distribution probability of the virtual plane and the actual plane at the same position point to finally determine the damage distribution of the pipeline.
It should be noted that, each module in the embodiment corresponds to each step in the first embodiment one to one, and the implementation process is the same, which is not described here.
Example III
The present embodiment provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in the method for locating a pipe damage based on ultrasonic guided wave multi-feature fusion as described above.
Example IV
The embodiment provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps in the pipeline damage positioning method based on ultrasonic guided wave multi-feature fusion when executing the program.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A pipeline damage positioning method based on ultrasonic guided wave multi-feature fusion is characterized by comprising the following steps:
obtaining ultrasonic guided wave response signals in nondestructive and injury states, and obtaining health signals and injury signals;
according to the pipeline plane and the speed matching wave packet, selecting effective signal segments of the health signal and the damage signal, and further screening effective paths; the pipeline plane surface consists of an actual pipeline expanding plane along the axial direction and a half pipeline virtual plane expanding to two sides respectively;
constructing an elliptical path probability distribution function according to the correlation of the health signal and the damage signal of each effective path; constructing a circular path probability distribution function according to the flight time of the signal on each effective path;
and calculating the damage distribution probability on the pipeline plane according to the product of the elliptical path probability distribution function and the circular path probability distribution function, and superposing the damage distribution probabilities of the virtual plane and the actual plane at the same position point to finally determine the damage distribution of the pipeline.
2. The method for locating a pipe damage based on ultrasonic guided wave multi-feature fusion according to claim 1, further comprising, before acquiring ultrasonic guided wave response signals in a nondestructive and damaged state:
and determining the sensor network and the excitation frequency according to the numerical simulation data of the guided wave propagation mode and the dispersion characteristic in the pipeline structure.
3. The method for locating pipeline damage based on ultrasonic guided wave multi-feature fusion according to claim 2, wherein in the process of determining the sensor network and the excitation frequency, when the preset time condition and the amplitude condition of the signal between two peaks of two wave packets in the response signal are met, the current corresponding excitation frequency and the sensor array distance are obtained.
4. The method for locating a pipeline lesion based on ultrasonic guided wave multi-feature fusion according to claim 1, wherein in selecting the effective signal segments of the health signal and the lesion signal, the length of the effective signal is determined according to the sensing path length and the group velocity of the wave of the selected mode.
5. The method for locating a pipeline injury based on ultrasonic guided wave multi-feature fusion according to claim 1, wherein the process of screening the effective path is as follows:
subtracting the damage signals and the health signals on each sensing path to obtain corresponding scattering signals;
the energy of the scattered signals on each sensing path is compared with the energy of the health signals, and the damage factors of each sensing path are obtained;
and screening out effective paths according to the damage factors of the sensing paths and the preset loss factor threshold value.
6. Pipeline damage positioning system based on ultrasonic guided wave multi-feature fusion, which is characterized by comprising:
the response signal acquisition module is used for acquiring ultrasonic guided wave response signals in nondestructive and injury states, and obtaining health signals and injury signals;
the effective path screening module is used for selecting effective signal segments of the health signal and the damage signal according to the pipeline plane and the speed matching wave packet so as to screen out an effective path; the pipeline plane surface consists of an actual pipeline expanding plane along the axial direction and a half pipeline virtual plane expanding to two sides respectively;
the distribution function construction module is used for constructing an elliptical path probability distribution function according to the correlation between the health signals and the damage signals of each effective path; constructing a circular path probability distribution function according to the flight time of the signal on each effective path;
the damage distribution determining module is used for calculating damage distribution probability on the pipeline plane according to the product of the elliptical path probability distribution function and the circular path probability distribution function, and then superposing the damage distribution probability of the virtual plane and the actual plane at the same position point to finally determine the damage distribution of the pipeline.
7. The ultrasonic guided wave multi-feature fusion based pipe damage localization system of claim 6, wherein the response signal acquisition module, prior to acquiring the ultrasonic guided wave response signal in the lossless and damaged state, further comprises:
and determining the sensor network and the excitation frequency according to the numerical simulation data of the guided wave propagation mode and the dispersion characteristic in the pipeline structure.
8. The method for locating a pipeline injury based on ultrasonic guided wave multi-feature fusion according to claim 6, wherein in the effective path screening module, in the process of selecting effective signal segments of a health signal and an injury signal, the length of the effective signal is determined according to the length of a sensing path and the group velocity of waves of a selected mode;
or (b)
In the effective path screening module, the effective path screening process comprises the following steps:
subtracting the damage signals and the health signals on each sensing path to obtain corresponding scattering signals;
the energy of the scattered signals on each sensing path is compared with the energy of the health signals, and the damage factors of each sensing path are obtained;
and screening out effective paths according to the damage factors of the sensing paths and the preset loss factor threshold value.
9. A computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps in the method for positioning a pipe damage based on ultrasonic guided wave multi-feature fusion as claimed in any one of claims 1 to 5.
10. A pipe damage localization device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, performs the steps in the ultrasonic guided wave multi-feature fusion based pipe damage localization method of any one of claims 1-5.
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