CN117214294A - Ultrasonic guided wave detection device for pipeline damage and three-dimensional reconstruction method for damage signal of ultrasonic guided wave detection device - Google Patents
Ultrasonic guided wave detection device for pipeline damage and three-dimensional reconstruction method for damage signal of ultrasonic guided wave detection device Download PDFInfo
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Abstract
The invention discloses a pipeline damage ultrasonic guided wave detection device and a damage signal three-dimensional reconstruction method thereof, and relates to the field of pipeline damage crack ultrasonic monitoring, wherein the device comprises an on-site controller, a piezoelectric ultrasonic transmitting array and a piezoelectric ultrasonic receiving array; the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are respectively connected with the field controller, are uniformly arranged on the same side of the pipeline and are circumferentially distributed on the outer wall surface of the pipeline; the signal processing terminal is in communication connection with the field detection device; the piezoelectric ultrasonic transmitting array is controlled by the field controller to excite ultrasonic waves, guided wave conduction is formed in the pipeline, the piezoelectric ultrasonic receiving array receives guided wave signals, the received guided wave signals are transmitted to the signal processing terminal for processing, three-dimensional reconstruction of damage cracks is obtained, and the problem that the axial direction, the circumferential direction and the radial direction of damage cannot be detected simultaneously in pipeline damage detection is solved.
Description
Technical Field
The invention belongs to the technical field of ultrasonic monitoring of pipeline damage cracks, and particularly relates to an ultrasonic guided wave detection device for pipeline damage and a three-dimensional reconstruction method of damage signals of the ultrasonic guided wave detection device.
Background
The pressure vessel and the pressure pipeline are used as pressure-bearing equipment commonly used in the chemical industry field, and are mainly applied to the storage and transportation process of liquid or gas media. With the rapid development of the chemical industry in China in recent years, the number of pressure-bearing chemical equipment such as pressure vessels, pipelines and the like is also increasing.
Corrosion is one of the important factors causing leakage of chemical pressure vessel pipes. The long-term corrosion effect of the pressure vessel pipeline in the chemical production process can cause pipe wall penetration leakage, seriously influence the normal operation of chemical equipment, and cause huge economic loss. In addition, if toxic substances leak in the pipeline, great potential safety hazards are brought to field personnel, so that the corrosion state of the pipeline is very necessary to monitor.
The detection technology commonly used at present for the pipeline corrosion defect comprises a hanging piece method, a ray detection technology, an acoustic wave detection technology and the like. Among them, the acoustic wave detection technology includes both passive acoustic wave detection, such as acoustic emission detection technology, and active acoustic wave detection methods, such as ultrasonic detection technology, ultrasonic guided wave detection technology, and the like. (1) The hanging method is one of the most common corrosion detection technologies in the chemical industry at present, and the working principle of the hanging method is that hanging pieces which are the same as the material of a pipeline to be detected are placed in a test environment, and after a period of time, the average corrosion rate is calculated according to the quality change of the hanging pieces, so that the corrosion condition of the pipeline is judged. The test environment of the hanging method can be the actual fluid medium environment of the field pipeline or the laboratory simulation corrosion environment. Compared with other corrosion detection technologies, the hanging piece method is simple to operate and low in cost, and the corrosion type under the specified test environment can be determined by analyzing the corrosion morphology and the product of the hanging piece surface. However, the hanging method has the disadvantage that the hanging method can only calculate the average corrosion condition of the test piece in a period of time, can not reflect the corrosion state of the test piece in a short time, and can only generally estimate the corrosion condition of the pipeline. Meanwhile, the method cannot be used for real-time online monitoring of pipeline corrosion defects. (2) The ray detection technology (radiographic testing, RT) is one of the nondestructive detection technologies with the widest application range at present, the workpiece to be detected is transilluminated by manual control and radiation emission, a film is arranged on the other side of the workpiece to be detected, and the radiation passes through the defect-free position of the workpiece and the attenuation degree of the position where the defect is located, so that the radiation intensity of the radiation irradiated to the different positions of the film is different, and an image with different blackness is formed on a negative film, so that the position and the size of the defect can be accurately represented. The main advantage of the ray detection technology is that the detection of the volumetric defect has higher flaw detection sensitivity, the shape and the size of the defect can be intuitively displayed, and the detection result can be preserved for a long time and has traceability. However, the detection sensitivity of the device to thick-wall workpieces is poor, the device is point-by-point detection, the single detection range is limited, and meanwhile, the device cannot realize on-line monitoring. In addition, rays have certain harm to human bodies, so corresponding protection measures need to be taken. (3) Acoustic emissions (acoustic emission, AE) refer to the phenomenon in which a material deforms or breaks during a force, and thus releases strain energy to produce a transient elastic wave. The source of the acoustic emission signal is the workpiece defect, the vibration signal released in the dynamic initiation and growth process of the workpiece defect propagates and diffuses from the defect to the periphery and is finally received by the acoustic emission sensor, and the signal received by the sensor contains very rich information from the workpiece to be detected. However, acoustic emission detection techniques are not suitable for static defects. In addition, the acoustic emission signal contains interference of a plurality of factors, such as various aspects of workpiece materials, sizes, environments where the workpieces are located, and the like, the signal waveform is complex, and the positioning accuracy is low. (4) The basic principle of ultrasonic detection (ultrasonic testing, UT) technology is similar to that of ultrasonic guided wave detection technology, and active echo positioning is utilized. But the two detect the propagation direction of the sound wave on the workpiece. Ultrasonic detection techniques belong to the point detection. The ultrasonic probe is placed on the wall surface of the pipeline, the detection probe transmits an ultrasonic signal, the signal propagates in the direction perpendicular to the wall surface of the pipeline, and the propagation direction is the wall thickness direction of the pipeline. However, the ultrasonic single-pass detection pipeline has limited axial length and low sensitivity to volumetric defects. (5) The ultrasonic guided wave detection technique (ultrasonic guided wave testing, UGW) is a novel non-destructive detection technique. The basic positioning principle of ultrasonic guided wave is echo positioning method. One end of the pipeline is excited with an unidirectional ultrasonic guided wave signal, the guided wave signal uniformly propagates along the axial direction of the pipeline, and an echo is generated when the guided wave signal encounters a place where the cross section of the pipeline locally changes. Based on the arrival time of the echo, the distance between the origin of the echo and the position of the sensor array can be accurately calculated, so that the identification and the positioning of the pipeline defect are realized. The ultrasonic guided wave detection principle proves that the ultrasonic guided wave detection device has a very wide application range, and is suitable for metal materials and nonmetal materials. Both surface and internal defects of the pipe can be successfully detected.
In the detection environment of crack damage of the pipeline comprising the bent pipe, compared with a hanging piece method, the ultrasonic guided wave detection technology can detect and monitor the local corrosion condition of the pipeline; compared with the acoustic emission technology, the ultrasonic guided wave technology can detect static existing damage defects; compared with ultrasonic detection, the ultrasonic guided wave detection pipeline distance is longer, and blind point-by-point scanning is not needed. However, the current method for detecting the damage and crack of the pipeline based on the ultrasonic guided wave is especially aimed at the damage and crack in the bent pipe. The existing method is difficult to detect the axial, circumferential and radial positions of the damage cracks of the pipeline at the same time.
Disclosure of Invention
Aiming at the defect that the axial direction, the circumferential direction and the radial direction of damage cannot be detected simultaneously in the detection of the damage of the pipeline in the prior art, the invention provides the ultrasonic guided wave detection device for the damage of the pipeline and the three-dimensional reconstruction method of the damage signal thereof. The damage signal is processed through the signal processing terminal, three-dimensional information of damage is obtained, and three-dimensional weight of damage cracks is completed, so that the problem that the axial direction, the circumferential direction and the radial direction of the damage cannot be detected simultaneously in pipeline damage detection is solved.
An ultrasonic guided wave detection device for pipe damage, comprising: the system comprises a field controller, a piezoelectric ultrasonic transmitting array and a piezoelectric ultrasonic receiving array;
the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are respectively connected with the field controller through wires; the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are uniformly arranged on the same side of the pipeline and are circumferentially distributed on the outer wall surface of the pipeline;
the method comprises the steps of controlling voltage changes at two ends of a piezoelectric ultrasonic transmitting array through a field controller, controlling the piezoelectric ultrasonic transmitting array to excite ultrasonic waves, forming guided wave conduction in a pipeline, receiving guided wave signals damaged by the pipeline through a piezoelectric ultrasonic receiving array after the guided wave is reflected by the end face of the pipeline, and transmitting the guided wave signals damaged by the pipeline to the field controller.
Further, the field controller comprises a control panel, a battery and a wireless transmitting module, wherein the battery and the wireless transmitting module are electrically connected with the control panel.
Further, the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are made of piezoelectric ceramic materials PZT-5A.
Further, the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array comprise a plurality of piezoelectric ceramic plates which are connected in parallel, and parallel buses of the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are respectively connected with the field controller in a wired mode.
Further, the number of the piezoelectric ceramic plates of the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array is multiple of 4 and not less than 16, wherein the number of the piezoelectric ceramic plates of the piezoelectric ultrasonic transmitting array is not less than the number of the piezoelectric ceramic plates of the piezoelectric ultrasonic receiving array.
Further, the three-dimensional reconstruction method of the damage signal of the ultrasonic guided wave detection device for the pipeline damage comprises the following steps:
carrying out noise reduction treatment on the guided wave signals received by the field controller and damaged by the pipeline through a wavelet soft threshold noise reduction method;
obtaining WVD time-frequency distribution of wave packets in the noise-reduced guided wave signal by adopting a WVD time-frequency analysis method, extracting time-frequency ridge lines of the wave packets, and further determining the mode of the wave packets; meanwhile, the time domain position of a defect signal wave packet in the guided wave signal is obtained through a Hilbert time domain envelope algorithm;
determining axial positioning information of the pipeline defect according to the time domain position of the defect signal wave packet in the guided wave signal and the group velocity of modal propagation of the wave packet;
determining radial penetration risk information of the pipeline defect through the relative intensity of the L (0, 2) mode and the L (0, 1) bimodal guided wave signal;
drawing defect reflection coefficients corresponding to piezoelectric ultrasonic receiving arrays uniformly distributed on the outer wall surface of the pipeline along the circumferential direction into a radar chart by adopting a circumferential reflection coefficient method, and acquiring circumferential information of the pipeline defect through the direction of a symmetry line of the radar chart;
and reconstructing and displaying three-dimensional information of the pipeline damage crack according to the radial, axial and circumferential information of the pipeline defect.
Further, the noise reduction processing is performed on the guided wave signal received by the field controller from the damage of the pipeline by a wavelet soft threshold noise reduction method, and the method comprises the following steps:
selecting a wavelet base type according to the signal characteristics, and carrying out wavelet decomposition operation on the signal;
after decomposition, each coefficient is quantized by a threshold function through selecting a proper threshold value;
and reconstructing the signal by using the processed coefficients.
Further, the method for extracting the time-frequency ridge line of the wave packet in the noise-reduced guided wave signal by adopting the WVD time-frequency analysis method comprises the following steps:
intercepting wave packet signals (X, T) = (X) to be analyzed in original echo signals of pipelines 1 ,t 1 ),(x 2 ,t 2 ),...,(x k ,t k ) K is a positive integer;
the method comprises the steps of performing WVD time-frequency distribution on a wave packet signal X to be analyzed, obtaining a time-frequency matrix T, wherein any numerical value in the time-frequency matrix is defined as H (i, j), i is a subscript of time T (i), j is a subscript of frequency f (j), m is not less than i and not more than n, u is not less than j and not more than v, m, n, u, v are positive integers, and the numerical value is determined by edge distribution of time-frequency atoms in a time-frequency cloud picture; h (i, j) characterizes the relative energy distribution of the signal components at time t (i) with frequency f (j);
traversing each time point t (i) from the time-frequency matrix H (i, j), traversing f (j) at each time point t (i), searching a maximum value max (H (i, j)), wherein m is not less than i and not more than n, u is not less than j and not more than v, and recording the time and frequency corresponding to the maximum value;
all data obtained by the traversal is referred to as a time-frequency ridge line f (j).
Further, after the time domain position of the defect signal wave packet in the guided wave signal is obtained through the Hilbert time domain envelope algorithm, an atomic matching pursuit algorithm using Gabor atoms as matching atoms is adopted, the similarity degree maximum value of different parameter atoms in the guided wave designated pulse and the atomic dictionary is calculated, the standardized atomic signal is utilized to replace the key characteristic wave packet of the guided wave signal, sparse decomposition and reconstruction are carried out on the guided wave signal, and partial noise interference is removed.
The invention provides a pipeline damage ultrasonic guided wave detection device and a damage signal three-dimensional reconstruction method thereof, which have the following beneficial effects:
according to the invention, the voltage change at two ends of the piezoelectric ultrasonic transmitting array is controlled by the field controller, so that the piezoelectric ultrasonic transmitting array is controlled to excite ultrasonic waves, guided wave conduction is formed in a pipeline, guided wave is reflected by the end face of the pipeline, guided wave signals damaged by the pipeline are received by the piezoelectric ultrasonic receiving array, and the guided wave signals containing damage information are sent to the signal processing terminal. The damage signal is processed through the signal processing terminal to obtain the three-dimensional information of the damage, and the three-dimensional reconstruction of the damage crack is completed; the length positioning information along the axial direction of the pipeline, the direction information along the circumferential direction of the pipeline and the semi-quantitative information of whether the damage penetrates through the pipeline wall can be identified; the ultrasonic guided wave identification and reconstruction of the pipeline cracks can be carried out on the straight pipe and the bent pipe; the method can identify and reconstruct the position information of the damage and the crack in the bent pipe and the semi-quantitative information of whether the bent pipe penetrates through the pipe wall, and solves the problem that the axial direction, the circumferential direction and the radial direction of the damage cannot be detected simultaneously in the detection of the damage of the pipeline.
Drawings
FIG. 1 is a schematic structural diagram of a device for detecting ultrasonic guided wave of pipe damage in an embodiment of the invention;
FIG. 2 is a flow chart of a three-dimensional reconstruction method for damage signals of ultrasonic guided wave detection of pipeline damage in an embodiment of the invention;
FIG. 3 is a flow chart of signal processing in an embodiment of the invention;
FIG. 4 is a schematic diagram of a piezoelectric ultrasonic array according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a field controller according to an embodiment of the present invention;
FIG. 6 is a flow chart of pattern matching in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The invention provides a pipeline damage crack ultrasonic guided wave identification and three-dimensional reconstruction method. According to the invention, the piezoelectric ceramic piece PZT-5A is used as a piezoelectric ultrasonic transmitting array and receiving module, ultrasonic waves are excited through the piezoelectric ultrasonic transmitting array, guided wave conduction is formed in a pipeline, guided wave signals are received by the piezoelectric ultrasonic receiving array after end face reflection, and the signals are transmitted to a signal processing terminal by combining wired and wireless transmitting functions. In a signal processing terminal, firstly, noise reduction processing is carried out on a signal, then modal identification is carried out on a wave packet in the noise-reduced signal, and whether a damage crack has a penetration risk in the radial direction is determined by comparing the relative intensity of a characteristic modal wave packet; determining the time domain position of the wave packet by using a Hilbert time domain envelope algorithm, and determining the axial position information of the defect by combining the guided wave group velocity of the corresponding mode; and drawing a radar chart by the reflection coefficients of different piezoelectric receiving modules, and determining the circumferential information of the damaged crack by the intensity distribution of the radar chart. And finally, completing the three-dimensional information reconstruction of the damaged crack in the axial direction, the radial direction and the circumferential direction.
In order to achieve the above object, the present invention adopts the following technical means.
The invention provides an ultrasonic guided wave detection device for pipeline damage cracks, which comprises a field detection device and a signal processing terminal. The field detection device comprises a field controller, a piezoelectric ultrasonic transmitting array and a piezoelectric ultrasonic receiving array; the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are both attached to the outer wall of one end face of the pipeline, the field controller controls the piezoelectric ultrasonic transmitting array to generate ultrasonic vibration, ultrasonic guided wave conduction is generated in the excitation pipeline wall, the ultrasonic guided wave generates characteristic changes such as frequency, mode and amplitude after being damaged and cracked through the pipeline, and then the ultrasonic guided wave is reflected by the piezoelectric ultrasonic receiving array after passing through the other end face of the pipeline.
The field controller is formed by integrally packaging a control panel, a battery and a wireless transmitting module, and a USB interface is reserved on a packaging shell. The field control module is connected with the signal processing terminal in a USB connection mode. The battery provides power to the field control module to form a varying voltage signal. The site controller can also directly supply power to the site controller through an external power supply, and the wireless transmitting module can realize the function of wireless communication with the signal processing terminal through a WIFI signal mode. The field controller transmits the damage crack signals to the signal processing terminal in a wired transmission mode preferentially, and when wired transmission cannot be performed, the field controller transmits the signals to the signal processing terminal through a wireless WIFI technology.
One side end face of the pipeline is stuck with a piezoelectric ultrasonic transmitting array and a piezoelectric ultrasonic receiving array, and forms a field detection end with a field controller near the pipeline. The piezoelectric ultrasonic emission array controls the emission module to generate vibration to excite the pipeline to generate ultrasonic guided waves through the controller, and the ultrasonic guided waves are analyzed by a built-in algorithm of the signal processing terminal to detect the information of damage and crack of the pipeline according to the mode, frequency and amplitude characteristics of the ultrasonic guided waves in the transmission process.
The controller and the signal processing terminal can perform wired data transmission through a USB interface, and can also realize wireless communication transmission through WIFI. The signal processing terminal can realize noise reduction on the received signals, identify wave packet modes, compare specific mode amplitudes, conduct reflection coefficient radar graph analysis on each receiving sensor, finally obtain axial, radial and circumferential three-dimensional information of the pipeline damage crack, and complete three-dimensional information reconstruction of the pipeline damage crack.
Fig. 1 is a schematic structural diagram of a system for detecting and identifying ultrasonic damage to a pipeline and reconstructing the ultrasonic damage in three dimensions, and fig. 2 is a technical roadmap of the whole system. The system consists of a field detection device 1 and a signal processing terminal 2. The in-situ detection device 1 is responsible for sending out ultrasonic waves and receiving defect echoes, and the signal processing terminal 2 is responsible for processing the received echoes and analyzing damage crack information. The field detection device 1 and the signal processing terminal 2 are connected by wired transmission or by wireless WIFI.
The field detection device 1 comprises a field controller 101, a piezoelectric ultrasonic transmission array 102 and a piezoelectric ultrasonic receiving array 103. Wherein the field controller 101 is mounted near the pipeline. The piezoelectric ultrasonic transmitting array 102 and the piezoelectric ultrasonic receiving array 103 are both composed of piezoelectric ceramic plate arrays, are uniformly distributed on the outer wall surface of the pipeline along the circumferential direction on the same side of the pipeline, and are respectively connected with the field controller 101 through wires. The piezoelectric ultrasonic transmitting array 102 and the piezoelectric ultrasonic receiving array 103 are respectively composed of piezoelectric ceramic plate arrays made of piezoelectric ceramic materials PZT-5A, and the piezoelectric ceramic plates are connected in parallel. The respective parallel buses of the piezoelectric ultrasonic transmission array 102 and the piezoelectric ultrasonic reception array 103 are wired to the field controller 101, respectively. The number of the piezoelectric ceramic plates of the piezoelectric ultrasonic transmitting array 102 and the piezoelectric ultrasonic receiving array 103 can be changed according to the working condition according to the outer diameter of the detected pipeline, and the piezoelectric ceramic plates are connected in parallel, but the number of the piezoelectric ceramic plates of the piezoelectric ultrasonic transmitting array 102 is not less than the number of the piezoelectric ceramic plates of the piezoelectric ultrasonic receiving array, so that the accuracy of circumferential positioning of defects is ensured. The signal processing terminal 2 is composed of a signal preprocessing module 201, a signal post-processing module 202, a data analysis module 203, and a result display module 204.
In one embodiment, the field controller is comprised of a control panel, a battery, and a wireless transmitter module. The outside is connected with the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array through wires respectively; meanwhile, a USB connection interface is reserved on the surface of the package, so that the field control module is connected with the signal processing terminal in a USB connection mode. The battery provides power to the field control module to form a varying voltage signal.
By improving the scheme, the field controller can directly supply power to the field controller through an external power supply, and the wireless transmitting module can realize the function of wireless communication with the signal processing terminal through a WIFI connection mode.
In this embodiment, the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are made of piezoelectric ceramic material PZT-5A. The upper surface of the piezoelectric plate is a positive electrode, the lower surface of the piezoelectric plate is a negative electrode, and the negative electrode part of the piezoelectric plate extends to the same side as the positive electrode in consideration of the bonding effect of the piezoelectric plate and the pipeline, so that the other side of the piezoelectric plate is fully in contact coupling with the pipeline. Leads for connecting the positive electrode and the negative electrode of the piezoelectric sheet are led out from the upper surface of the piezoelectric sheet.
In the embodiment, the piezoelectric ultrasonic transmitting array and the piezoelectric ultrasonic receiving array are respectively and uniformly distributed along the circumferential direction of the pipeline and are respectively and parallelly connected, and according to the outer diameter of the pipeline to be tested, the number of the piezoelectric ceramic plates respectively can be changed according to the situation, but the number of the piezoelectric ceramic plates respectively is a multiple of 4 and is not less than 16 so as to ensure the accuracy of circumferential positioning of the defects. The number of the piezoelectric ceramic plates of the piezoelectric ultrasonic transmitting array is not less than that of the piezoelectric ceramic plates of the piezoelectric ultrasonic receiving array. The center frequency of the ultrasonic wave emitted by the piezoelectric ultrasonic emission array is controlled by controlling the voltage change at the two ends of the piezoelectric ultrasonic emission array. The piezoelectric ultrasonic receiving array is responsible for receiving the end face echo and the defect echo transmitted in the pipeline and finally transmitting the collected damage crack signals to the field controller.
As an improvement of the scheme, the field controller transmits the damage crack signals to the signal processing terminal in a mode of wire transmission preferentially, and when wire transmission cannot be performed, the field controller transmits the signals to the signal processing terminal through a wireless WIFI technology.
Fig. 4 is a schematic diagram of the structure of an piezoelectric ultrasonic array in one embodiment. The piezoelectric sensor material is a piezoelectric ceramic material PZT-5A, the upper surface of the piezoelectric sheet is an anode, the lower surface of the piezoelectric sheet is a cathode, and the cathode part of the piezoelectric sheet is extended to the same side as the anode in consideration of the bonding effect of the piezoelectric sheet and the pipeline, so that the other side of the piezoelectric sheet is fully contacted and coupled with the pipeline. Leads for connecting the positive electrode and the negative electrode of the piezoelectric sheet are led out from the upper surface of the piezoelectric sheet.
Fig. 5 is a schematic diagram of a site controller configuration in one embodiment. The field controller is formed by integrally packaging a control panel 111, a battery 112 and a wireless transmitting module 113, and a USB interface is reserved on a packaging shell. The field control module is connected with the signal processing terminal in a USB connection mode. When the control panel 111 is installed, the external device sets the time interval of vibration, the center frequency of vibration, the dispersion curve of the battery and the pipeline; in operation, a varying voltage signal is sent to the piezoelectric ultrasonic emission array 102 to cause the conduit to vibrate at a particular frequency. The battery 112 provides power to the field control module to form a varying voltage signal. The site controller can also directly supply power to the site controller through an external power supply, and the wireless transmitting module 113 can realize the function of realizing wireless communication with the signal processing terminal through a WIFI signal mode. The field controller transmits the damage crack signals to the signal processing terminal in a wired transmission mode preferentially, and when wired transmission cannot be performed, the field controller transmits the signals to the signal processing terminal through a wireless WIFI technology.
The invention provides a three-dimensional reconstruction method of ultrasonic guided wave signals for pipeline crack damage, which comprises the steps of carrying out noise reduction treatment on the damaged crack guided wave signals emitted from a field detection end, carrying out wave packet mode identification on the guided wave signals through a built-in algorithm, comparing specific mode amplitudes, drawing reflection coefficient radar graphs of different receiving sensors, realizing three-dimensional information identification of axial, circumferential and radial directions of the pipeline crack, and completing three-dimensional reconstruction of the pipeline crack.
At a signal processing terminal, a wavelet soft threshold noise reduction method is adopted to reconstruct and reduce noise of signals, a WVD distribution algorithm is adopted to develop and obtain a time-frequency ridge line of a wave packet and match with a corresponding time-frequency curve to finish modal identification of the wave packet, a Hilbert time-domain envelope algorithm is adopted to calculate the peak position of the wave packet, a matching pursuit algorithm with Gabor atoms as matching atomic types is adopted to reduce noise aiming at the problem of unsmooth envelope under noise component interference so as to accurately obtain the time-domain position of the wave packet in guided waves, and axial positioning information of defects is determined according to group velocities propagated by corresponding modes and the time-domain position of the defect wave packet. And determining whether the radial direction of the damaged crack has a penetration risk or not according to the relative strength of the L (0, 2) mode and the L (0, 1) bimodal guided wave. And then, drawing a radar chart through defect reflection coefficients corresponding to piezoelectric sheet receiving sensors uniformly distributed along the circumferential direction. The circumferential information of the defect can be obtained through the symmetry line direction of the radar chart. Finally, the axial, radial and circumferential three-dimensional positioning and reconstruction of the damaged cracks in the straight pipe and the bent pipe are realized.
As a further improvement of the above scheme, the control panel will send the dispersion curve of the pipeline to the signal processing terminal along with the damage signal.
The invention aims to detect damage crack information in a straight pipe and a bent pipe by using ultrasonic guided waves, obtain axial and circumferential position information of the damage crack in a pipeline and obtain the risk of penetration of the damage crack in the radial direction. And finally, the purpose of three-dimensional reconstruction of the damaged cracks is achieved.
In one embodiment, a signal preprocessing module in the signal processing terminal carries out reconstruction noise reduction processing on a pipeline damage crack signal by using a wavelet soft threshold noise reduction algorithm with common db4, db5 and db8 wavelets as wavelet basis functions, and finally compares the magnitude of signal to noise ratios to select the optimal wavelet basis function and outputs a damage signal after noise reduction. The wavelet threshold noise reduction algorithm flow is as follows:
(1) And selecting a wavelet base type according to the signal characteristics, and carrying out wavelet decomposition operation on the signal.
(2) After decomposition, each coefficient is quantized by a threshold function by selecting a proper threshold value.
(3) And reconstructing the signal by using the processed coefficients.
In this embodiment, a signal post-processing module in the signal processing terminal obtains a WVD time-frequency distribution of the wave packet in the time domain by Wigner-Ville distribution processing (WVD) by using a time-frequency analysis method, and extracts a time-frequency ridge line.
The WVD calculation formula for signal x (t) is as follows:
wherein: τ—time difference variable.
The time-frequency ridge extraction flow is as follows:
(1) Intercepting wave packet signals (X, T) = (X) to be analyzed in original echo signals of pipelines 1 ,t 1 ),(x 2 ,t 2 ),...,(x k ,t k ) K is a positive integer.
(2) And performing WVD time-frequency distribution on the wave packet signal X to be analyzed, obtaining a time-frequency matrix T, wherein any numerical value in the time-frequency matrix is defined as H (i, j), i is a subscript of time T (i), j is a subscript of frequency f (j), m is not less than i and not more than n, u is not less than j and not more than v, m, n, u, v are positive integers, and the numerical value is determined by the edge distribution of time-frequency atoms in the time-frequency cloud picture.
H (i, j) characterizes the relative energy distribution of the signal components at time t (i) with frequency f (j).
(3) Traversing each time point t (i) from the time-frequency matrix H (i, j), traversing f (j) at each time point t (i), searching the maximum value max (H (i, j)), m is less than or equal to i and less than or equal to n, u is less than or equal to j and less than or equal to v, and recording the time and frequency corresponding to the maximum value.
(4) All the data obtained by traversing in the step 3 are recorded as a time-frequency ridge line f (j).
In this embodiment, the signal post-processing module in the signal processing terminal further obtains the time domain position of the defect signal wave packet in the guided wave signal through a Hilbert time domain envelope algorithm, and aims at the problem that the curve of the Hilbert time domain envelope is not smooth when the signal has noise components, an atomic matching tracking algorithm using Gabor atoms as matching atoms is adopted, the similarity maximum value of different parameter atoms in the guided wave designated pulse and the atomic dictionary is calculated, the standardized atomic signal is used for replacing the key feature wave packet of the guided wave signal, sparse decomposition and reconstruction are carried out on the guided wave signal, and partial noise interference is removed. And determining the axial positioning information of the defect according to the group velocity propagated by the corresponding mode and the time domain position of the defect wave packet. The principle of the Hilbert envelope is introduced as follows:
a modulation signal is providedWhere a (t) is a slowly varying low frequency modulated signal.
Hilbert transform with x (t) setIts resolved signal is:
the modular calculation formula of the analytic signal is as follows:
wherein: an envelope signal of a (t) -x (t).
The algorithm flow of the matching pursuit is as follows:
(1) Constructing an overcomplete matched atom library g= (G) 0 ,g 1 ,…,g n ) Wherein each atom is a wave packet signal similar to the original signal wave packet characteristics.
(2) Sequentially calculating the inner product of the signal f (t) and each atom in the atom library, and selecting the atom with the largest absolute value of the inner product:
(3) Subtracting g from the signal f (t) the matched signal component to obtain a residual signal:
R 1 f＝f(t)-<f(t),g>g
(4) And recording the residual signal as an initial signal f (t) to be decomposed, and jumping to the step 2 to continue execution. The matching times P are limited or an amplitude threshold Q is set for the residual signal, and when the amplitude of the residual signal is smaller than Q or the iteration times are larger than P, the iteration is ended.
(5) And adding the best matching atoms obtained by each matching to obtain a guided wave reconstruction signal, wherein the matching reconstruction process shows that the matching tracking algorithm has completeness.
In this embodiment, the data analysis module continuously calculates the position similarity and the direction similarity of the time-frequency ridge line of the wave packet and the time-frequency curve of the mode guided wave according to the matching of the extracted time-frequency ridge line and the frequency dispersion curve of the pipeline. When identifying the mode information of the wave packet, removing some modes with low time-frequency ridge line trend and corresponding time-frequency curve similarity by using direction similarity, and then selecting the mode with highest position similarity from the rest possible modes as the final mode judgment of the guided wave. After the modal information of the wave packet is identified, determining whether the penetration risk data analysis module exists in the radial direction of the damaged crack or not according to the relative strength of the L (0, 2) modal and the L (0, 1) bimodal guided wave, and determining the axial positioning information of the defect according to the time domain position information of the wave packet identified by the signal post-processing module, the group velocity propagated by the corresponding mode of the wave packet and the time domain position of the defect wave packet. The data analysis module draws defect reflection coefficients corresponding to piezoelectric patch receiving sensors which are uniformly distributed along the circumferential direction into a radar chart. The circumferential information of the defect can be obtained through the symmetry line direction of the radar chart.
As a further improvement of the above solution, it is also possible that the display module displays the axial, circumferential and radial information of the pipe crack defect. And three-dimensional reconstruction of the damaged cracks of the pipeline is completed through the pipeline parameters and the defect information.
The signal preprocessing module 201 performs noise reduction preprocessing on the defect signal from the field detection device 1, performs noise reduction processing on the original signal by a wavelet soft threshold noise reduction method, and transmits the noise reduction processed original signal to the signal post-processing module 202. The signal post-processing module 202 obtains a WVD time-frequency distribution of the wave packet in the time domain through Wigner-Ville distribution processing (WVD) by adopting a time-frequency analysis method, and extracts a time-frequency ridge line; and obtaining the time domain position of the defect signal wave packet in the guided wave signal based on the Hilbert time domain envelope algorithm and the atomic matching pursuit algorithm. The data analysis module 203 is configured to determine a time domain position of the defect wave packet and a group velocity propagated by the corresponding mode. The data analysis module 203 is used for identifying the modal information of the wave packet according to the matching of the extracted time-frequency ridge line and the dispersion curve of the pipeline, and determining whether the radial defect has a penetration risk or not according to the relative strength of the L (0, 2) modal and the L (0, 1) bimodal guided wave. The data analysis module determines the axial positioning information of the defect according to the time domain position information of the wave packet identified by the signal post-processing module, the group velocity propagated by the corresponding mode of the wave packet and the time domain position of the defect wave packet. The data analysis module 203 maps the defect reflection coefficients corresponding to the piezoelectric patch receiving sensors uniformly distributed along the circumferential direction into a radar chart. The circumferential information of the defect can be obtained through the symmetry line direction of the radar chart. The data display module 204 displays the axial, axial and radial information of the damaged crack, and reconstructs the position and shape of the damaged crack based on the three-dimensional information.
Fig. 3 is a signal processing flow diagram in one embodiment. The control panel 111 records and transmits the dispersion curve of the pipeline to the signal processing terminal; the signal preprocessing module 201 performs wavelet soft threshold noise reduction on the damaged original signal; the signal post-processing module 202 uses a Hilbert time domain envelope algorithm to the noise-reduced guided wave signal to obtain the time domain position of the defect signal wave packet in the guided wave signal, and uses an atomic matching pursuit algorithm using a Gabor atom as a matching atom to further solve the problem of unsmooth wave packet envelope caused by noise removal, obtains the WVD time-frequency distribution of the wave packet in the time domain through Wigner-Ville distribution processing (WVD), and extracts a time-frequency ridge line. The data analysis module 203 determines the axial positioning information of the defect according to the group velocity propagated by the corresponding mode and the time domain position of the defect wave packet; determining whether the radial direction of the defect has a penetration risk or not through the relative intensity of the L (0, 2) mode and the L (0, 1) bimodal guided wave; and drawing defect reflection coefficients corresponding to piezoelectric sheet receiving sensors uniformly distributed along the circumferential direction into a radar chart, and acquiring circumferential information of the defects through the direction of symmetry lines of the radar chart.
FIG. 6 is a flow diagram of modality matching in one embodiment. After the signal post-processing module 202 extracts the time-frequency ridge line of the intercepted wave packet, the data analysis module 203 completes the matching of the time-frequency ridge line and the time-frequency curve of the guided wave, and the matching degree is comprehensively considered by the position and the direction.
After the wave packet dispersion curve is converted into the time-frequency curve, the frequency sequence is still accurate, and the time sequence has certain deviation in the conversion process, so that the time sequence in the time-frequency ridge line and the one-dimensional time sequence of the corresponding time-frequency curve are used as matching objects.
For the two factors, two indexes used by the invention are led out, namely, the position similarity and the direction similarity.
Euclidean distance is the most common distance measure, which is the absolute distance between two points in a multidimensional space. It can also be understood that: the true distance between two points in m-dimensional space, or the natural length of the vector (i.e., the distance of the point from the origin). The euclidean distance can represent the absolute differences of individual numerical features, so more is used for analysis that requires the differences to be represented from the numerical magnitudes of the dimensions. Cosine distances are more directionally differentiated than absolute values.
Let n-dimensional space exist two point vectors x= (X) 1 ,x 2 ,x i ,…,x n )，Y＝(y 1 ,y 2 ,y i ,…,y n ). The euclidean distance calculation formula for these two points is:
the euclidean distance metric is the absolute distance between two vectors, the smaller the euclidean distance, the higher the degree of similarity of the two vectors. The inverse of the euclidean distance is therefore defined as the position similarity.
The cosine similarity calculation formula of the two points is as follows:
the cosine similarity measures the directional similarity between two vectors, with the greater the cosine similarity, the greater the degree of similarity of the two vectors. The cosine similarity is defined as the direction similarity.
When judging the guided wave mode by using the two indexes, the wave packet is continuously assumed to be a certain mode and then is matched with the time-frequency curve of the mode. Firstly, removing modes with low similarity between some time-frequency ridge line trends and corresponding time-frequency curves by using the direction similarity, and then selecting the mode with highest position similarity from the rest possible modes as the final mode judgment of the guided wave.
In summary, the invention adopts the ultrasonic guided wave method to finish the detection of the damage crack of the pipeline, and transmits the damage signal to the post-processing terminal in a wired or wireless mode. Furthermore, the invention provides a pipeline damage crack identification and three-dimensional reconstruction algorithm, which can acquire the axial and circumferential position information of a pipeline with damage cracks and the semi-quantitative information of whether the radial direction has penetration risk or not through ultrasonic guided wave damage signals, and can reconstruct the damage cracks in three dimensions.
From the above description of embodiments, it will be apparent to those skilled in the art that the content of the method according to the present disclosure may be implemented by software plus necessary general purpose hardware, or may be implemented by special purpose hardware including an application specific integrated circuit, a special purpose CPU, a special purpose memory, a special purpose component, etc. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions can be varied, such as analog circuits, digital circuits, or dedicated circuits. However, in many cases, a software program implementation is a preferred embodiment for the present invention.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (9)
1. An ultrasonic guided wave detection device for pipe damage, comprising: a field controller (101), a piezoelectric ultrasonic transmitting array (102) and a piezoelectric ultrasonic receiving array (103);
the piezoelectric ultrasonic transmitting array (102) and the piezoelectric ultrasonic receiving array (103) are respectively connected with the field controller (101) through wires; the piezoelectric ultrasonic transmitting array (102) and the piezoelectric ultrasonic receiving array (103) are uniformly arranged on the same side of the pipeline and are circumferentially distributed on the outer wall surface of the pipeline;
the method comprises the steps of controlling voltage changes at two ends of a piezoelectric ultrasonic emission array (102) through a field controller (101), controlling the piezoelectric ultrasonic emission array (102) to excite ultrasonic waves, forming guided wave conduction in a pipeline, receiving a guided wave signal of pipeline damage by a piezoelectric ultrasonic receiving array (103) after the guided wave is reflected by the end face of the pipeline, and transmitting the guided wave signal of the pipeline damage to the field controller (101).
2. The ultrasonic guided wave detection device for pipe damage according to claim 1, wherein the field controller (101) comprises a control panel (111), a battery (112) and a wireless transmission module (113), and the battery (112) and the wireless transmission module (113) are electrically connected with the control panel (111).
3. The ultrasonic guided wave detection device for pipeline damage according to claim 1, wherein the piezoelectric ultrasonic transmitting array (102) and the piezoelectric ultrasonic receiving array (103) are made of piezoelectric ceramic materials PZT-5A.
4. The ultrasonic guided wave detection device for pipeline damage according to claim 1, wherein the piezoelectric ultrasonic transmitting array (102) and the piezoelectric ultrasonic receiving array (103) comprise a plurality of piezoelectric ceramic plates, the piezoelectric ceramic plates are connected in parallel, and parallel buses of the piezoelectric ultrasonic transmitting array (102) and the piezoelectric ultrasonic receiving array (103) are connected with the field controller (101) in a wired mode respectively.
5. The ultrasonic guided wave detection device for pipe damage according to claim 4, wherein the number of piezoelectric ceramic plates of each of the piezoelectric ultrasonic transmission array (102) and the piezoelectric ultrasonic reception array (103) is a multiple of 4 and not less than 16, and wherein the number of piezoelectric ceramic plates of the piezoelectric ultrasonic transmission array (102) is not less than the number of piezoelectric ceramic plates of the piezoelectric ultrasonic reception array (103).
6. A method for three-dimensional reconstruction of a damage signal based on the ultrasonic guided wave detection device for pipe damage according to claim 1, comprising the steps of:
carrying out noise reduction treatment on the guided wave signals received by the field controller and damaged by the pipeline through a wavelet soft threshold noise reduction method;
extracting a time-frequency ridge line of a wave packet in the noise-reduced guided wave signal by adopting a WVD time-frequency analysis method, and further determining the mode of the wave packet; meanwhile, the time domain position of a defect signal wave packet in the guided wave signal is obtained through a Hilbert time domain envelope algorithm;
determining axial positioning information of the pipeline defect according to the time domain position of the defect signal wave packet in the guided wave signal and the group velocity of modal propagation of the wave packet;
determining radial penetration risk information of the pipeline defect through the relative intensity of the L (0, 2) mode and the L (0, 1) bimodal guided wave signal;
drawing defect reflection coefficients corresponding to piezoelectric ultrasonic receiving arrays uniformly distributed on the outer wall surface of the pipeline along the circumferential direction into a radar chart by adopting a circumferential reflection coefficient method, and acquiring circumferential information of the pipeline defect through the direction of a symmetry line of the radar chart;
and reconstructing and displaying three-dimensional information of the pipeline damage crack according to the radial, axial and circumferential information of the pipeline defect.
7. The method for three-dimensional reconstruction of the damaged signal of the ultrasonic guided wave detection of the pipeline damage according to claim 6, wherein the noise reduction treatment is carried out on the guided wave signal of the pipeline damage received by the field controller through a wavelet soft threshold noise reduction method, and the method comprises the following steps:
selecting a wavelet base type according to the signal characteristics, and carrying out wavelet decomposition operation on the signal;
after decomposition, each coefficient is quantized by a threshold function through selecting a proper threshold value;
and reconstructing the signal by using the processed coefficients.
8. The method for three-dimensional reconstruction of the damaged signal for ultrasonic guided wave detection of pipeline damage according to claim 6, wherein the method for extracting the time-frequency ridge line of the wave packet in the guided wave signal after noise reduction by adopting the WVD time-frequency analysis method comprises the following steps:
intercepting wave packet signals (X, T) = (X) to be analyzed in original echo signals of pipelines 1 ,t 1 ),(x 2 ,t 2 ),...,(x k ,t k ) K is a positive integer;
the method comprises the steps of performing WVD time-frequency distribution on a wave packet signal X to be analyzed, obtaining a time-frequency matrix T, wherein any numerical value in the time-frequency matrix is defined as H (i, j), i is a subscript of time T (i), j is a subscript of frequency f (j), m is not less than i and not more than n, u is not less than j and not more than v, m, n, u, v are positive integers, and the numerical value is determined by edge distribution of time-frequency atoms in a time-frequency cloud picture; h (i, j) characterizes the relative energy distribution of the signal components at time t (i) with frequency f (j);
traversing each time point t (i) from the time-frequency matrix H (i, j), traversing f (j) at each time point t (i), searching a maximum value max (H (i, j)), wherein m is not less than i and not more than n, u is not less than j and not more than v, and recording the time and frequency corresponding to the maximum value;
all data obtained by the traversal is referred to as a time-frequency ridge line f (j).
9. The method for three-dimensional reconstruction of a damaged signal for ultrasonic guided wave detection of pipeline damage according to claim 6, wherein after the time domain position of a defect signal wave packet in a guided wave signal is obtained through a Hilbert time domain envelope algorithm, an atom matching tracking algorithm using Gabor atoms as matching atoms is adopted to calculate the similarity maximum value of different parameter atoms in a guided wave designated pulse and an atom dictionary, a standardized atom signal is utilized to replace a guided wave signal key feature wave packet, sparse decomposition and reconstruction are carried out on the guided wave signal, and partial noise interference is removed.
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