CN117074443A - X-ray nondestructive testing robot for power transmission line - Google Patents

X-ray nondestructive testing robot for power transmission line Download PDF

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Publication number
CN117074443A
CN117074443A CN202311339799.2A CN202311339799A CN117074443A CN 117074443 A CN117074443 A CN 117074443A CN 202311339799 A CN202311339799 A CN 202311339799A CN 117074443 A CN117074443 A CN 117074443A
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image
ray
detection
power transmission
transmission line
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陈厚昌
李堂磊
苏广群
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Guangdong Tianxin Electric Power Engineering Testing Co ltd
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Guangdong Tianxin Electric Power Engineering Testing Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01N29/22—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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01N29/4445—Classification of defects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01N29/4463—Signal correction, e.g. distance amplitude correction [DAC], distance gain size [DGS], noise filtering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/761—Proximity, similarity or dissimilarity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
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Abstract

The invention discloses an X-ray nondestructive testing robot for a power transmission line, and relates to the technical field of nondestructive testing of power transmission lines. The robot comprises a ray projection module for transmitting X rays to transilluminate a power transmission line, a ray imaging module for receiving digital images formed by transillumination, an ultrasonic transmitting module for transmitting ultrasonic signals to the power transmission line by adopting an ultrasonic probe, an echo imaging module for recording and processing echo signals to form digital images, a wireless transmission module for transmitting the digital images, an image analysis module for processing and analyzing the digital images in real time and generating analysis results, and an alarm maintenance module for generating alarm notices and repairing and maintaining the power transmission line. The invention adopts the mode of combining X-ray and ultrasonic wave to carry out nondestructive, multi-angle and multi-layer detection on the power transmission line, and timely discovers and solves potential faults and defects in the power transmission line by providing real-time accurate detection results, thereby ensuring the safe operation of the power transmission line.

Description

X-ray nondestructive testing robot for power transmission line
Technical Field
The invention belongs to the technical field of nondestructive testing of transmission lines, and particularly relates to an X-ray nondestructive testing robot for a transmission line.
Background
The power transmission line is a system for transmitting high-voltage electric energy generated by a power plant or a power station to different places so as to meet the power requirements of users; in terms of structural form, transmission lines are classified into overhead transmission lines and cable lines. Because of the importance of the transmission line, some detection means are often used to detect whether the transmission line has a fault or a damaged component, and nondestructive detection of the transmission line by using X-rays is one of the common techniques. The X-ray detection has the advantages of nondestructive, high sensitivity, accuracy, rapid detection and the like in the safety inspection and maintenance of the power transmission line, but also has certain limitations, so that the power transmission line can be subjected to nondestructive, multi-angle and multi-layer detection by trying a plurality of detection modes, and the method is a problem to be solved.
Disclosure of Invention
The invention aims to provide an X-ray nondestructive testing robot for a power transmission line, which adopts a mode of combining X-ray detection and ultrasonic detection to perform nondestructive, multi-angle and multi-layer detection on the power transmission line, so as to provide timely and accurate detection results, further timely discover and solve potential faults and defects in the power transmission line and ensure safe operation of the power transmission line.
The aim of the application can be achieved by the following technical scheme:
the embodiment of the application provides an X-ray nondestructive testing robot for a power transmission line, which comprises a ray projection module, a ray imaging module, a wireless transmission module, an image analysis module and an alarm maintenance module which are sequentially in communication connection; the system also comprises an ultrasonic transmitting module and an echo imaging module which are in communication connection; the echo imaging module is in communication connection with the wireless transmission module;
the ray projection module is used for transmitting X rays to transilluminate a detection object in the power transmission line;
the ray imaging module is used for receiving a digital image formed after X-ray transillumination;
the wireless transmission module is used for transmitting the digital image;
the image analysis module is used for carrying out real-time processing and analysis on the digital image and generating an analysis result;
the alarm maintenance module is used for generating an alarm notification according to the analysis result and maintaining and repairing the power transmission line;
the ultrasonic transmitting module adopts an ultrasonic probe to transmit ultrasonic signals to the power transmission line;
the echo imaging module is used for receiving and recording echo signals and forming the digital image by processing the echo signals;
Wherein, a coupling agent is smeared between the ultrasonic probe and the power transmission line;
wherein the digital image comprises: an X-ray image formed based on the X-ray detection, and an ultrasonic image formed based on the ultrasonic detection;
the digital image further includes a defect site and a defect type; determining a defect grade according to the defect part, performing image description according to the defect type, and determining a treatment suggestion; wherein the defect levels include normal status, general defects, critical defects, and emergency defects;
wherein the ray projection module comprises an X-ray machine; the ray imaging module comprises a DR flat panel detector; the wireless transmission module comprises a wireless transmission system; the image analysis module comprises a mobile workstation;
the nondestructive testing of the power transmission line comprises the following steps:
the X-ray machine emits X-rays to transilluminate a detection object in the power transmission line;
the DR flat panel detector receives the digital image formed after transillumination;
the wireless transmission system sends the digital image to the mobile workstation for processing;
the mobile workstation processes and analyzes the digital image to generate the analysis result;
Maintenance staff maintains and repairs the power transmission line according to the analysis result
Wherein the detection objects comprise a first detection object and a second detection object;
the first detection object comprises a strain clamp and a splicing sleeve;
the second detection object comprises GIS equipment;
wherein, in the first detection object, the first detection area comprises a crimping part of a steel anchor and an external aluminum sleeve, a crimping part of a core wire and an anchor tube, a crimping part of a core wire splicing sleeve, a crimping part of an external aluminum tube and a stranded wire and a crimping part of an intermediate sleeve;
in the second detection object, the second detection area comprises a breaker of a three-phase split-cylinder GIS, a breaker of a three-phase common-cylinder GIS, a disconnecting switch on/off state, adsorbent installation, bus conductor matching and cylinder welding quality.
Preferably, the first detection object is subjected to transillumination arrangement, which specifically comprises the following steps:
tightly attaching an imaging plate/film to a strain clamp/splicing sleeve, and keeping the imaging plate/film parallel to the strain clamp/splicing sleeve;
the imaging plate/film and the strain clamp/splicing sleeve form a first transillumination area;
disposing an X-ray source at an end remote from the imaging plate/film such that a center of an X-ray beam emitted by the X-ray source is directed perpendicularly toward a center of the first transillumination area;
And if the imaging plate/film and the strain clamp/splicing sleeve cannot be tightly attached, the focal length of the X-ray source is enlarged.
Preferably, the focal length F of the X-ray source is expressed as:；
wherein L1 represents the transillumination projection length of the strain clamp/splicing sleeve;
θ represents 1/2 of the vertical radiation angle of the X-ray source;
performing structural defect detection on the first detection object and generating the digital image, wherein the geometric unclear Ug of the digital image is expressed as: uv=f2×d/f1;
wherein f1 is the distance from the surface of the strain clamp/splicing sleeve to the X-ray source;
f2 is expressed as the distance from the surface of the strain clamp/splicing sleeve to the surface of the imaging plate/film;
d represents the focal diameter/equivalent diameter of the X-ray machine.
Preferably, the voltage of the ray tube is selected according to the transillumination thickness, and is dynamically adjusted according to the transillumination quality;
the transillumination thickness W is expressed as:；
wherein D is expressed as the outer diameter of the strain clamp/splicing sleeve;
expressed as the inner diameter of the strain clamp/splicing sleeve;
in actual detection, the exposure is selected by coordinating the tube current and the exposure time according to the requirements of the detection speed, the detection equipment and the detection quality;
Wherein the DR flat panel detector controls the exposure by selecting an acquisition frame rate, an image stack number, and the tube current.
Preferably, the second detection object is subjected to transillumination arrangement, which specifically comprises the following steps:
respectively placing the X-ray machine and the X-ray detector on two sides of the GIS equipment;
wherein the X-ray detector comprises an imaging plate/film; the GIS equipment comprises a plurality of detection components; the X-ray machine comprises an X-ray tube focus;
the imaging plate/film is tightly attached to the GIS equipment, and a second transillumination area is formed;
the beam center of the X-ray tube focus is vertically directed to the center of the second transillumination area;
the distance L between the X-ray tube focus and the imaging plate/film satisfies: l (L) GIS =L GIS 1+L GIS 2；
Wherein L is GIS 1 is denoted as the distance between the X-ray tube focus and the detection component;
L GIS 2 is denoted as the distance between the detection means and the imaging plate/film;
and dynamically adjusting the angle of the beam center pointing to the center of the second transillumination area, and selecting an optimal transillumination angle.
Preferably, the image analysis module comprises an image acquisition unit, an image preprocessing unit, an image recognition unit, an image model unit and an image archive unit which are sequentially in communication connection;
The image acquisition unit is used for acquiring an original digital image;
the image preprocessing unit is used for preprocessing the original digital image to generate a preprocessed image;
the image recognition unit is used for scanning and recognizing the preprocessed image to obtain a defect image;
the image model unit is used for establishing an image analysis model according to the defect image;
the image archive unit is used for establishing an image archive according to the defect image;
the preprocessing comprises image denoising, image transformation, image enhancement, edge detection, image restoration and image stitching;
wherein, the step of establishing the image file comprises the following steps:
acquiring a plurality of defect images;
acquiring a plurality of equipment parameters; the device parameters include: detecting parameter setting, the relative positions of the detection equipment and the detected equipment, and the original drawing size of the detection equipment;
performing size quantization and defect positioning on the defect image by combining the equipment parameters to generate a history detection image;
the image profile is established based on a number of the history detection images.
Preferably, the image denoising is carried out on the original digital image by adopting a BM3D algorithm, and the image denoising method comprises a basic estimation part and a final estimation part, wherein the basic estimation part and the final estimation part comprise similar block grouping, collaborative filtering and aggregation;
In the similar block grouping of the basic estimation part, dividing the original digital image into a plurality of areas for processing, filtering by taking an image block as a unit, and integrating the image block into a three-dimensional matrix; the method comprises the following steps:
acquiring a reference block in the original digital image;
searching similar blocks in a set area range;
integrating the reference block and the similar block to form a three-dimensional matrix;
the searching mode of the similar blocks is expressed as follows:
；
wherein,is Euclidean distance; />Is a normalization factor; />Is the domain of pixels P; />Is the domain of pixel Q; a is Gaussian kernel standard deviation; h is a Gaussian coefficient;
in the collaborative filtering of the basic estimation part, a plurality of three-dimensional matrixes are acquired, and a filtered image block is obtained through a plurality of times of transformation, wherein the process is expressed as follows:
；
wherein γ is a hard thresholding;and->Representing the transformation and inverse transformation processes, respectively.
Preferably, in the similar block group of the final estimation part, two three-dimensional matrices are formedAndthe method comprises the steps of carrying out a first treatment on the surface of the In the collaborative filtering of the final estimation part, for +.>And->Performing two-dimensional transformation, and performing coefficient scaling by adopting wiener filtering, wherein the process is expressed as follows:
；
Wherein ψ represents the standard deviation of noise intensities;and->Representing the transformation and inverse transformation processes, respectively.
Preferably, the image enhancement is performed on the original digital image by adopting a homomorphic filtering algorithm, and the method comprises the following steps:
s91, modeling the functional relation of the original digital image, wherein the relation is as follows:；
wherein,is the irradiation intensity; />Is the reflection intensity;
s92, taking logarithms on two sides of the equation of the relation, and converting the logarithms into:；
s93, transforming the functional relation to the frequency domain by fourier transform, expressed as:；
s94, adopting a Gaussian high-pass filterPressing low-frequency energy and improving high-frequency energy;
s95, performing Fourier inverse transformation on the function and obtaining an index of the function to obtain an image with enhanced contrast.
Preferably, the ultrasonic emission module and the echo imaging module adopt an ultrasonic phased array detection technology, and are used for applying the ultrasonic signals to a wafer to be activated according to a delay rule and an excitation sequence, and receiving and processing the echo signals according to the delay rule and the excitation sequence;
the ultrasonic probe is an ultrasonic phased array transducer, and the ultrasonic phased array transducer consists of a plurality of piezoelectric wafers according to a certain sequence;
The piezoelectric wafer adopts an optimal sound-transmitting layer thickness, and the sound-transmitting layer thickness is determined by boundary conditionsDetermining; />The sound intensity projection coefficient is r, and the sound intensity reflection coefficient is r;
the sound intensity projection coefficient is expressed as:；
the sound intensity reflection coefficient is expressed as:；
wherein z is 1 And z 2 The acoustic impedances of medium 1 and medium 2, respectively;
the specific acoustic impedance is expressed as:；
wherein ρ represents the density of the medium; c represents the propagation velocity of the sound wave in the medium;
wherein the thickness of the sound-transmitting layer is。
The beneficial effects of the invention are as follows:
(1) The invention adopts a mode of combining X-ray detection and ultrasonic detection to carry out nondestructive, multi-angle and multi-layer detection on the power transmission line, thereby providing timely and accurate detection results, further timely finding and solving potential faults and defects in the power transmission line and ensuring safe operation of the power transmission line.
(2) According to the invention, strain clamps/splicing sleeves and GIS equipment are respectively detected, different transillumination arrangements are carried out according to different detection positions and detection requirements, and corresponding transillumination parameters are set, so that the accuracy of detection results is ensured.
(3) In the invention, in the image processing process, the BM3D algorithm is adopted to carry out image denoising on an original digital image, the idea of filtering global information of the image is utilized, the image is divided into a plurality of small areas by taking a block as a unit, and the purpose of removing noise is achieved by searching similar blocks in the image and averaging the similar blocks, so that the image features are more obvious, thereby obtaining a higher-quality image, and being beneficial to effectively identifying the image by a target detection algorithm.
(4) The invention also adopts homomorphic filtering algorithm to enhance the original digital image in the image processing process, and realizes enhancement of dark area characteristics on the premise of not losing the bright area information of the image by adjusting the gray level of the image, so that more dark area details can be displayed; meanwhile, the edge information of the image is further sharpened by means of restraining low-frequency energy and enhancing high-frequency energy, so that the contrast of the image is enhanced, more detail features of the image are restored, the effectiveness of the image is enhanced, and further the effective identification of the image by the target detection algorithm is facilitated.
(5) The invention adopts ultrasonic phased array detection technology to carry out ultrasonic detection, and controls deflection or focusing of ultrasonic sound beams by exciting a group of piezoelectric wafers which are arranged according to a certain rule and time sequence and are mutually independent, so that detection can completely cover a detection object, and a corrected internal structure image is generated by scanning modes such as electronic scanning, beam deflection scanning or deep focusing scanning, and the like, thereby realizing accurate positioning of defects.
(6) The invention can smear the couplant on the detection object when using the ultrasonic detection, the couplant is used for filling the tiny gaps between the detection object and the contact surface of the probe, so that the tiny air between the gaps can not influence the penetration of the ultrasonic wave; and secondly, the acoustic impedance difference between the probe and the detection object is reduced through the transitional effect of the couplant, so that the reflection loss of ultrasonic energy at the interface is reduced, and the accuracy of ultrasonic detection is improved.
Drawings
For a better understanding and implementation, the technical solution of the present application is described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an X-ray nondestructive testing robot for a power transmission line according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an image analysis module according to an embodiment of the present application.
Detailed Description
For further explanation of the technical means and effects adopted by the present application for achieving the intended purpose, exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of methods and systems that are consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to any or all possible combinations including one or more of the associated listed items.
The following detailed description of specific embodiments, features and effects according to the present application is provided with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1, an embodiment of the present application provides an X-ray nondestructive testing robot for a power transmission line, including a ray projection module, a ray imaging module, a wireless transmission module, an image analysis module and an alarm maintenance module that are sequentially connected in communication; the system also comprises an ultrasonic transmitting module and an echo imaging module which are in communication connection; the echo imaging module is in communication connection with the wireless transmission module;
the ray projection module is used for transmitting X rays to transilluminate a detection object in the power transmission line;
the ray imaging module is used for receiving a digital image formed after X-ray transillumination;
the wireless transmission module is used for transmitting the digital image;
the image analysis module is used for carrying out real-time processing and analysis on the digital image and generating an analysis result;
the alarm maintenance module is used for generating an alarm notification according to the analysis result and maintaining and repairing the power transmission line;
the ultrasonic transmitting module adopts an ultrasonic probe to transmit ultrasonic signals to the power transmission line;
The echo imaging module is used for receiving and recording echo signals and forming the digital image by processing the echo signals;
wherein, a coupling agent is smeared between the ultrasonic probe and the power transmission line;
wherein the digital image comprises: an X-ray image formed based on the X-ray detection, and an ultrasonic image formed based on the ultrasonic detection;
the digital image further includes a defect site and a defect type; determining a defect grade according to the defect part, performing image description according to the defect type, and determining a treatment suggestion; wherein the defect levels include normal status, general defects, critical defects, and emergency defects;
wherein the ray projection module comprises an X-ray machine; the ray imaging module comprises a DR flat panel detector; the wireless transmission module comprises a wireless transmission system; the image analysis module comprises a mobile workstation;
the nondestructive testing of the power transmission line comprises the following steps:
the X-ray machine emits X-rays to transilluminate a detection object in the power transmission line;
the DR flat panel detector receives the digital image formed after transillumination;
the wireless transmission system sends the digital image to the mobile workstation for processing;
The mobile workstation processes and analyzes the digital image to generate the analysis result;
maintenance staff maintains and repairs the power transmission line according to the analysis result
Wherein the detection objects comprise a first detection object and a second detection object;
the first detection object comprises a strain clamp and a splicing sleeve;
the second detection object comprises GIS equipment;
wherein, in the first detection object, the first detection area comprises a crimping part of a steel anchor and an external aluminum sleeve, a crimping part of a core wire and an anchor tube, a crimping part of a core wire splicing sleeve, a crimping part of an external aluminum tube and a stranded wire and a crimping part of an intermediate sleeve;
in the second detection object, the second detection area comprises a breaker of a three-phase split-cylinder GIS, a breaker of a three-phase common-cylinder GIS, a disconnecting switch on/off state, adsorbent installation, bus conductor matching and cylinder welding quality.
Specifically, the X-ray machine in this embodiment employs a pulsed X-ray machine that does not contain radioactive materials, generates radiation only when pulsed, and has lead shielding to minimize radiation leakage and thereby protect operators; an X-ray flaw detector is also employed for performing X-ray detection of special power equipment. When detecting GIS equipment, the detection content comprises: appearance inspection, viewing aperture inspection, identification lines, X-ray imaging detection, and the like.
In this embodiment, the evaluation contents of compression type hardware crimping of the steel core/aluminum alloy core aluminum stranded wire include: the steel anchor is in relative position with the aluminum pipe, the steel anchor, the shape of a connecting pipe steel pipe, the aluminum pipe, the compression joint condition of a steel core and the steel anchor, the depth of a steel core penetrating pipe, the relative position of an aluminum stranded wire and a steel anchor end, the shape of a foreign matter and a steel core, the shape of an aluminum stranded wire, the compression joint condition of the aluminum pipe, burrs, cracks and the like.
In this embodiment, the defect types include multiple pressure, leakage pressure, undervoltage, construction deviation, installation deviation, hardware damage, aluminum pipe integral, excessive bending, and the like; the treatment opinion includes: the method is not processed, and can be not processed, such as pressure compensation can be carried out under the condition of permitting, pressure compensation can be carried out in combination with power failure, pressure compensation can be carried out as soon as possible according to the serious defect requirement, pressure compensation can be carried out immediately according to the defect endangering requirement, correction processing, heavy pressure and the like.
The defect level is described in detail below:
emergency defect: the power failure treatment is immediately carried out according to the defect treatment time limit requirement;
major drawbacks: the defect inspection method is characterized in that the defect inspection method is carried out as soon as possible according to the defect treatment time limit requirement, and the temperature measurement and the appearance inspection are carried out by combining daily inspection before the defect inspection;
general drawbacks: the external operation environment is considered, wherein special line sections with higher bearing capacity requirements such as important crossing, large height difference, large span, strong wind area, repeated ice, galloping area and the like are treated as soon as possible; for the common line section, the daily inspection and the enhanced observation are combined, and if necessary, the X-ray detection is carried out again in combination with the power failure, and the defects have no deterioration trend after evaluation, and can be not processed or degraded;
When compression fitting has compression joint defect, the compression fitting is processed by adopting modes of pressure supplementing, weight cutting, wire clamping with equipment parts and the like; when the pressure compensation mode is adopted for eliminating the defects, the pressure compensation is carried out according to a standard method, the pressure compensation is carried out strictly according to the original pressure compensation process sequence, and the pressure compensation quality is determined again after the pressure compensation.
In this embodiment, the X-ray detection site includes all the crimping positions of the hardware, such as: the crimping part of the steel anchor and the external aluminum sleeve, the crimping area of the core wire and the anchor tube or the core wire splicing sleeve, and the crimping area of the external aluminum tube and the stranded wire or the middle sleeve.
In one embodiment of the present application, the transillumination arrangement is performed on the first detection object, and the specific operations are as follows:
tightly attaching an imaging plate/film to a strain clamp/splicing sleeve, and keeping the imaging plate/film parallel to the strain clamp/splicing sleeve; bending deformation cannot be generated;
the imaging plate/film and the strain clamp/splicing sleeve form a first transillumination area;
disposing an X-ray source at an end remote from the imaging plate/film such that a center of an X-ray beam emitted by the X-ray source is directed perpendicularly toward a center of the first transillumination area;
and if the imaging plate/film and the strain clamp/splicing sleeve cannot be tightly attached, the focal length of the X-ray source is enlarged. If the field condition is limited and the adhesion is not realized, the focal length should be properly enlarged, and if the condition allows, the rays are transilluminated in the air or other people as few directions as possible.
Further, the focal length F of the X-ray source is denoted as:；
wherein L is 1 Representing the transillumination projection length of the strain clamp/splicing sleeve;
θ represents 1/2 of the vertical radiation angle of the X-ray source;
performing structural defect detection on the first detection object and generating the digital image, wherein the geometric unclear Ug of the digital image is expressed as: uv=f2×d/f1;
wherein f1 is the distance from the surface of the strain clamp/splicing sleeve to the X-ray source;
f2 is expressed as the distance from the surface of the strain clamp/splicing sleeve to the surface of the imaging plate/film;
d represents the focal diameter/equivalent diameter of the X-ray machine.
Further, selecting the voltage of the ray tube according to the transillumination thickness, and dynamically adjusting according to the transillumination quality;
the transillumination thickness W is expressed as:；
wherein D is expressed as the outer diameter of the strain clamp/splicing sleeve;
expressed as the inner diameter of the strain clamp/splicing sleeve;
in actual detection, the exposure is selected by coordinating the tube current and the exposure time according to the requirements of the detection speed, the detection equipment and the detection quality;
wherein the DR flat panel detector controls the exposure by selecting an acquisition frame rate, an image stack number, and the tube current.
Specifically, in the embodiment, when the transmission line fitting X-ray detection is performed, the voltage of the ray tube should be selected according to the transillumination thickness; the method can refer to the transillumination tube voltage/pulse number parameter table for preliminary selection during actual operation, and adjust according to transillumination quality, and select lower tube voltage as much as possible under the premise of ensuring exposure.
In one embodiment of the present application, the transillumination arrangement is performed on the second detection object, and the specific operations are as follows:
respectively placing the X-ray machine and the X-ray detector on two sides of the GIS equipment;
wherein the X-ray detector comprises an imaging plate/film; the GIS equipment comprises a plurality of detection components; the X-ray machine comprises an X-ray tube focus;
the imaging plate/film is tightly attached to the GIS equipment, and a second transillumination area is formed;
the beam center of the X-ray tube focus is vertically directed to the center of the second transillumination area;
the distance L between the X-ray tube focus and the imaging plate/film satisfies: l (L) GIS =L GIS 1+L GIS 2；
Wherein L is GIS 1 is denoted as the distance between the X-ray tube focus and the detection component;
L GIS 2 is denoted as the distance between the detection means and the imaging plate/film;
And dynamically adjusting the angle of the beam center pointing to the center of the second transillumination area, and selecting an optimal transillumination angle. If other transillumination angles are used, it is advantageous to detect some defects, and transillumination can be performed in another direction.
As shown in fig. 2, in one embodiment of the present application, the image analysis module includes an image acquisition unit, an image preprocessing unit, an image recognition unit, an image model unit and an image archive unit that are sequentially connected in communication;
the image acquisition unit is used for acquiring an original digital image;
the image preprocessing unit is used for preprocessing the original digital image to generate a preprocessed image;
the image recognition unit is used for scanning and recognizing the preprocessed image to obtain a defect image;
the image model unit is used for establishing an image analysis model according to the defect image;
the image archive unit is used for establishing an image archive according to the defect image;
the preprocessing comprises image denoising, image transformation, image enhancement, edge detection, image restoration and image stitching;
wherein, the step of establishing the image file comprises the following steps:
Acquiring a plurality of defect images;
acquiring a plurality of equipment parameters; the device parameters include: detecting parameter setting, the relative positions of the detection equipment and the detected equipment, and the original drawing size of the detection equipment;
performing size quantization and defect positioning on the defect image by combining the equipment parameters to generate a history detection image;
the image profile is established based on a number of the history detection images.
Further, performing image denoising on the original digital image by adopting a BM3D (Block-matching and 3D filtering) algorithm, wherein the image denoising comprises a basic estimation part and a final estimation part, and the basic estimation part and the final estimation part comprise similar Block grouping, collaborative filtering and aggregation;
in the similar block grouping of the basic estimation part, dividing the original digital image into a plurality of areas for processing, filtering by taking an image block as a unit, and integrating the image block into a three-dimensional matrix; the method comprises the following steps:
acquiring a reference block in the original digital image; taking an image block with the size of k multiplied by k as a reference in the noisy image;
searching similar blocks in a set area range; searching a plurality of similar blocks with highest similarity with the reference block in the range of an n multiplied by n area near the reference block;
Integrating the reference block and the similar block to form a three-dimensional matrix;
in an image, the difference degree between two pixels is generally judged according to the square of the difference value between the pixels, but the accuracy of the method is influenced by the existence of noise, so that the similarity between two image blocks is measured by a BM3D algorithm through calculating the Euclidean distance between the two image blocks;
the searching mode of the similar blocks is expressed as follows:
；
wherein,is Euclidean distance; />Is a normalization factor; />Is the domain of pixels P; />Is the domain of pixel Q; a is Gaussian kernel standard deviation; h is a Gaussian coefficient;
in the collaborative filtering of the basic estimation part, a plurality of three-dimensional matrixes are acquired, and a filtered image block is obtained through a plurality of times of transformation, wherein the process is expressed as follows:；
wherein γ is a hard thresholding;and->Representing the transformation and inverse transformation processes, respectively.
Specifically, in collaborative filtering, multiple three-dimensional matrices can be obtained by performing similar block grouping operations multiple times, and then performing discrete cosine transform (Discrete cosine transform, DCT) or wavelet transform (Wavelet transform, WT) on the three-dimensional matricesTwo-dimensional transformation is carried out on the image blocks of the matrix, the hadamard transformation (Hadamard transform) is utilized to carry out the transformation of the third dimension, and the obtained image blocks are smaller than the matrix through hard threshold processing And finally, obtaining the filtered image block through inverse transformation.
Finally, the two-dimensional image block estimation after denoising is obtained after the collaborative filtering operation, and the aggregation operation is used for fusing the processed image blocks to the original positions in the image.
Further, in the similar block group of the final estimation part, two three-dimensional matrices are formedAndthe method comprises the steps of carrying out a first treatment on the surface of the In the collaborative filtering of the final estimation part, for +.>And->Performing two-dimensional transformation, and performing coefficient scaling by adopting wiener filtering, wherein the process is expressed as follows:
；
wherein ψ represents the standard deviation of noise intensities;and->Representing the transformation and inverse transformation processes, respectively.
In one embodiment of the present application, the image enhancement is performed on the original digital image using a homomorphic filtering algorithm, comprising the steps of:
s91, carrying out the original digital imageModeling a row function relation, wherein the relation is as follows:；
wherein,is the irradiation intensity; />Is the reflection intensity;
s92, taking logarithms on two sides of the equation of the relation, and converting the logarithms into:；
s93, transforming the functional relation to the frequency domain by fourier transform, expressed as:；
s94, adopting a Gaussian high-pass filterPressing low-frequency energy and improving high-frequency energy;
S95, performing Fourier inverse transformation on the function and obtaining an index of the function to obtain an image with enhanced contrast.
In one embodiment of the present application, the ultrasonic transmitting module and the echo imaging module use an ultrasonic phased array detection technology, and are configured to apply the ultrasonic signals to the wafer to be activated according to a delay rule and an excitation sequence, and receive and process the echo signals according to the delay rule and the excitation sequence;
the ultrasonic probe is an ultrasonic phased array transducer, and the ultrasonic phased array transducer consists of a plurality of piezoelectric wafers according to a certain sequence; the piezoelectric chip is composed of a group of piezoelectric chips which excite ultrasonic detection signals according to a certain rule and time sequence and are mutually independent; the piezoelectric wafers independent from each other form an array, and the array is controlled by an electronic system according to a certain rule and time sequence, so that the control of the deflection, the focus position and the focus direction of the sound beam is realized.
In this embodiment, since the density of the medium and the propagation speed of the acoustic wave in each medium are different when the ultrasonic wave propagates in different media, the acoustic impedances of the respective media are different; in order to ensure that the ultrasonic waves are incident as far as possible into the object to be examined, an optimum sound-transmitting layer thickness must be adapted to the probe;
The piezoelectric wafer adopts an optimal sound-transmitting layer thickness, and the sound-transmitting layer thickness is determined by boundary conditionsDetermining; />The sound intensity projection coefficient is r, and the sound intensity reflection coefficient is r;
the sound intensity projection coefficient is expressed as:；
the sound intensity reflection coefficient is expressed as:；
wherein z is 1 And z 2 The acoustic impedances of medium 1 and medium 2, respectively;
the specific acoustic impedance is expressed as:；
wherein ρ represents the density of the medium; c represents the propagation velocity of the sound wave in the medium;
wherein the thickness of the sound-transmitting layer is。
In summary, the application has the following beneficial effects:
(1) The application adopts a mode of combining X-ray detection and ultrasonic detection to carry out nondestructive, multi-angle and multi-layer detection on the power transmission line, thereby providing timely and accurate detection results, further timely finding and solving potential faults and defects in the power transmission line and ensuring safe operation of the power transmission line.
(2) According to the application, strain clamps/splicing sleeves and GIS equipment are respectively detected, different transillumination arrangements are carried out according to different detection positions and detection requirements, and corresponding transillumination parameters are set, so that the accuracy of detection results is ensured.
(3) In the application, in the image processing process, the BM3D algorithm is adopted to carry out image denoising on an original digital image, the idea of filtering global information of the image is utilized, the image is divided into a plurality of small areas by taking a block as a unit, and the purpose of removing noise is achieved by searching similar blocks in the image and averaging the similar blocks, so that the image features are more obvious, thereby obtaining a higher-quality image, and being beneficial to effectively identifying the image by a target detection algorithm.
(4) The application also adopts homomorphic filtering algorithm to enhance the original digital image in the image processing process, and realizes enhancement of dark area characteristics on the premise of not losing the bright area information of the image by adjusting the gray level of the image, so that more dark area details can be displayed; meanwhile, the edge information of the image is further sharpened by means of restraining low-frequency energy and enhancing high-frequency energy, so that the contrast of the image is enhanced, more detail features of the image are restored, the effectiveness of the image is enhanced, and further the effective identification of the image by the target detection algorithm is facilitated.
(5) The application adopts ultrasonic phased array detection technology to carry out ultrasonic detection, and controls deflection or focusing of ultrasonic sound beams by exciting a group of piezoelectric wafers which are arranged according to a certain rule and time sequence and are mutually independent, so that detection can completely cover a detection object, and a corrected internal structure image is generated by scanning modes such as electronic scanning, beam deflection scanning or deep focusing scanning, and the like, thereby realizing accurate positioning of defects.
(6) The application can smear the couplant on the detection object when using the ultrasonic detection, the couplant is used for filling the tiny gaps between the detection object and the contact surface of the probe, so that the tiny air between the gaps can not influence the penetration of the ultrasonic wave; and secondly, the acoustic impedance difference between the probe and the detection object is reduced through the transitional effect of the couplant, so that the reflection loss of ultrasonic energy at the interface is reduced, and the accuracy of ultrasonic detection is improved.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the system is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.

Claims (10)

1. An X-ray nondestructive testing robot for a power transmission line is characterized in that: the system comprises a ray projection module, a ray imaging module, a wireless transmission module, an image analysis module and an alarm maintenance module which are sequentially connected in a communication way; the system also comprises an ultrasonic transmitting module and an echo imaging module which are in communication connection; the echo imaging module is in communication connection with the wireless transmission module;
the ray projection module is used for transmitting X rays to transilluminate a detection object in the power transmission line;
the ray imaging module is used for receiving a digital image formed after X-ray transillumination;
the wireless transmission module is used for transmitting the digital image;
the image analysis module is used for carrying out real-time processing and analysis on the digital image and generating an analysis result;
the alarm maintenance module is used for generating an alarm notification according to the analysis result and maintaining and repairing the power transmission line;
the ultrasonic transmitting module adopts an ultrasonic probe to transmit ultrasonic signals to the power transmission line;
the echo imaging module is used for receiving and recording echo signals and forming the digital image by processing the echo signals;
Wherein, a coupling agent is smeared between the ultrasonic probe and the power transmission line;
wherein the digital image comprises: an X-ray image formed based on the X-ray detection, and an ultrasonic image formed based on the ultrasonic detection;
the digital image further includes a defect site and a defect type; determining a defect grade according to the defect part, performing image description according to the defect type, and determining a treatment suggestion; wherein the defect levels include normal status, general defects, critical defects, and emergency defects;
wherein the ray projection module comprises an X-ray machine; the ray imaging module comprises a DR flat panel detector; the wireless transmission module comprises a wireless transmission system; the image analysis module comprises a mobile workstation;
the nondestructive testing of the power transmission line comprises the following steps:
the X-ray machine emits X-rays to transilluminate a detection object in the power transmission line;
the DR flat panel detector receives the digital image formed after transillumination;
the wireless transmission system sends the digital image to the mobile workstation for processing;
the mobile workstation processes and analyzes the digital image to generate the analysis result;
Maintenance staff maintain and repair the power transmission line according to the analysis result;
wherein the detection objects comprise a first detection object and a second detection object;
the first detection object comprises a strain clamp and a splicing sleeve;
the second detection object comprises GIS equipment;
wherein, in the first detection object, the first detection area comprises a crimping part of a steel anchor and an external aluminum sleeve, a crimping part of a core wire and an anchor tube, a crimping part of a core wire splicing sleeve, a crimping part of an external aluminum tube and a stranded wire and a crimping part of an intermediate sleeve;
in the second detection object, the second detection area comprises a breaker of a three-phase split-cylinder GIS, a breaker of a three-phase common-cylinder GIS, a disconnecting switch on/off state, adsorbent installation, bus conductor matching and cylinder welding quality.
2. An X-ray non-destructive inspection robot for a power transmission line according to claim 1, wherein: transillumination arrangement is carried out on the first detection object, and the specific operation is as follows:
tightly attaching an imaging plate/film to a strain clamp/splicing sleeve, and keeping the imaging plate/film parallel to the strain clamp/splicing sleeve;
the imaging plate/film and the strain clamp/splicing sleeve form a first transillumination area;
Disposing an X-ray source at an end remote from the imaging plate/film such that a center of an X-ray beam emitted by the X-ray source is directed perpendicularly toward a center of the first transillumination area;
and if the imaging plate/film and the strain clamp/splicing sleeve cannot be tightly attached, the focal length of the X-ray source is enlarged.
3. An X-ray non-destructive inspection robot for a power transmission line according to claim 2, wherein: the focal length F of the X-ray source is denoted as:；
wherein L is 1 Representing the transillumination projection length of the strain clamp/splicing sleeve;
θ represents 1/2 of the vertical radiation angle of the X-ray source;
performing structural defect detection on the first detection object and generating the digital image, wherein the geometric unclear Ug of the digital image is expressed as: uv=f2×d/f1;
wherein f1 is the distance from the surface of the strain clamp/splicing sleeve to the X-ray source;
f2 is expressed as the distance from the surface of the strain clamp/splicing sleeve to the surface of the imaging plate/film;
d represents the focal diameter/equivalent diameter of the X-ray machine.
4. An X-ray non-destructive inspection robot for a power transmission line according to claim 3, wherein: selecting the voltage of the ray tube according to the transillumination thickness, and dynamically adjusting according to the transillumination quality;
The transillumination thickness W is expressed as:；
wherein D is expressed as the outer diameter of the strain clamp/splicing sleeve;
expressed as the inner diameter of the strain clamp/splicing sleeve;
in actual detection, the exposure is selected by coordinating the tube current and the exposure time according to the requirements of the detection speed, the detection equipment and the detection quality;
wherein the DR flat panel detector controls the exposure by selecting an acquisition frame rate, an image stack number, and the tube current.
5. An X-ray non-destructive inspection robot for a power transmission line according to claim 1, wherein: the transillumination arrangement is carried out on the second detection object, and the specific operation is as follows:
respectively placing the X-ray machine and the X-ray detector on two sides of the GIS equipment;
wherein the X-ray detector comprises an imaging plate/film; the GIS equipment comprises a plurality of detection components; the X-ray machine comprises an X-ray tube focus;
the imaging plate/film is tightly attached to the GIS equipment, and a second transillumination area is formed;
the beam center of the X-ray tube focus is vertically directed to the center of the second transillumination area;
the distance L between the X-ray tube focus and the imaging plate/film satisfies: l (L) GIS =L GIS 1+L GIS 2；
Wherein L is GIS 1 is denoted as the distance between the X-ray tube focus and the detection component;
L GIS 2 is denoted as the distance between the detection means and the imaging plate/film;
and dynamically adjusting the angle of the beam center pointing to the center of the second transillumination area, and selecting an optimal transillumination angle.
6. An X-ray non-destructive inspection robot for a power transmission line according to claim 1, wherein: the image analysis module comprises an image acquisition unit, an image preprocessing unit, an image recognition unit, an image model unit and an image archive unit which are sequentially connected in a communication mode;
the image acquisition unit is used for acquiring an original digital image;
the image preprocessing unit is used for preprocessing the original digital image to generate a preprocessed image;
the image recognition unit is used for scanning and recognizing the preprocessed image to obtain a defect image;
the image model unit is used for establishing an image analysis model according to the defect image;
the image archive unit is used for establishing an image archive according to the defect image;
the preprocessing comprises image denoising, image transformation, image enhancement, edge detection, image restoration and image stitching;
Wherein, the step of establishing the image file comprises the following steps:
acquiring a plurality of defect images;
acquiring a plurality of equipment parameters; the device parameters include: detecting parameter setting, the relative positions of the detection equipment and the detected equipment, and the original drawing size of the detection equipment;
performing size quantization and defect positioning on the defect image by combining the equipment parameters to generate a history detection image;
the image profile is established based on a number of the history detection images.
7. An X-ray non-destructive inspection robot for a power transmission line according to claim 6, wherein: image denoising is carried out on the original digital image by adopting a BM3D algorithm, the image denoising method comprises a basic estimation part and a final estimation part, wherein the basic estimation part and the final estimation part comprise similar block grouping, collaborative filtering and aggregation;
in the similar block grouping of the basic estimation part, dividing the original digital image into a plurality of areas for processing, filtering by taking an image block as a unit, and integrating the image block into a three-dimensional matrix; the method comprises the following steps:
acquiring a reference block in the original digital image;
searching similar blocks in a set area range;
Integrating the reference block and the similar block to form a three-dimensional matrix;
the searching mode of the similar blocks is expressed as follows:
；
wherein,is Euclidean distance; />Is a normalization factor; />Is the domain of pixels P; />Is the domain of pixel Q; a is Gaussian kernel standard deviation; h is a Gaussian coefficient;
in the collaborative filtering of the basic estimation part, a plurality of three-dimensional matrixes are acquired, and a filtered image block is obtained through a plurality of times of transformation, wherein the process is expressed as follows:；
wherein γ is a hard thresholding;and->Representing the transformation and inverse transformation processes, respectively.
8. An X-ray non-destructive inspection robot for a power transmission line according to claim 7, wherein: in the similar block group of the final estimation part, two three-dimensional matrixes are formedAnd->The method comprises the steps of carrying out a first treatment on the surface of the In the collaborative filtering of the final estimation part, for +.>And->Performing two-dimensional transformation, and performing coefficient scaling by adopting wiener filtering, wherein the process is expressed as follows:
；
wherein ψ represents the standard deviation of noise intensities;and->Representing the transformation and inverse transformation processes, respectively.
9. An X-ray non-destructive inspection robot for a power transmission line according to claim 6, wherein: image enhancement is carried out on the original digital image by adopting a homomorphic filtering algorithm, and the method comprises the following steps:
S91, modeling the functional relation of the original digital image, wherein the relation is as follows:；
wherein,is the irradiation intensity; />Is the reflection intensity;
s92, taking logarithms on two sides of the equation of the relation, and converting the logarithms into:；
s93, transforming the functional relation to the frequency domain by fourier transform, expressed as:；
s94, adopting a Gaussian high-pass filterPressing low-frequency energy and improving high-frequency energy;
s95, performing Fourier inverse transformation on the function and obtaining an index of the function to obtain an image with enhanced contrast.
10. An X-ray non-destructive inspection robot for a power transmission line according to claim 1, wherein: the ultrasonic transmitting module and the echo imaging module adopt an ultrasonic phased array detection technology and are used for applying the ultrasonic signals to a wafer to be activated according to a delay rule and an excitation sequence and receiving and processing the echo signals according to the delay rule and the excitation sequence;
the ultrasonic probe is an ultrasonic phased array transducer, and the ultrasonic phased array transducer consists of a plurality of piezoelectric wafers according to a certain sequence;
the piezoelectric wafer adopts an optimal sound-transmitting layer thickness, and the sound-transmitting layer thickness is determined by boundary conditions Determining; />The sound intensity projection coefficient is r, and the sound intensity reflection coefficient is r;
the sound intensity projection coefficient is expressed as:；
the sound intensity reflection coefficient is expressed as:；
wherein z is 1 And z 2 The acoustic impedances of medium 1 and medium 2, respectively;
the specific acoustic impedance is expressed as:；
wherein ρ represents the density of the medium; c represents the propagation velocity of the sound wave in the medium;
wherein the thickness of the sound-transmitting layer is。
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