WO2018133179A1 - 多模式电磁超声与漏磁检测的方法、装置和系统及传感器 - Google Patents

多模式电磁超声与漏磁检测的方法、装置和系统及传感器 Download PDF

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WO2018133179A1
WO2018133179A1 PCT/CN2017/075750 CN2017075750W WO2018133179A1 WO 2018133179 A1 WO2018133179 A1 WO 2018133179A1 CN 2017075750 W CN2017075750 W CN 2017075750W WO 2018133179 A1 WO2018133179 A1 WO 2018133179A1
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detection
coil
electromagnetic ultrasonic
ultrasonic
signal
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PCT/CN2017/075750
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English (en)
French (fr)
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沈功田
郑阳
张宗健
谭继东
李素军
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中特检科技发展(北京)有限公司
中国特种设备检测研究院
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Priority to US16/478,858 priority Critical patent/US11421986B2/en
Priority to DE112017006851.7T priority patent/DE112017006851T5/de
Publication of WO2018133179A1 publication Critical patent/WO2018133179A1/zh

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    • 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
    • G01N29/24—Probes
    • G01N29/2412—Probes using the magnetostrictive properties of the material to be examined, e.g. electromagnetic acoustic transducers [EMAT]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
    • G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
    • G01B7/10—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance
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    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
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    • G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
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    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
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    • G01N29/34—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor
    • G01N29/348—Generating the ultrasonic, sonic or infrasonic waves, e.g. electronic circuits specially adapted therefor with frequency characteristics, e.g. single frequency signals, chirp signals
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    • G01N29/36—Detecting the response signal, e.g. electronic circuits specially adapted therefor
    • G01N29/42—Detecting the response signal, e.g. electronic circuits specially adapted therefor by frequency filtering or by tuning to resonant frequency
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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    • G01N2291/028—Material parameters
    • G01N2291/02854—Length, thickness
    • G—PHYSICS
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    • G—PHYSICS
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    • G—PHYSICS
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    • G01N2291/2695—Bottles, containers

Definitions

  • the invention relates to the field of industrial non-destructive testing technology, in particular to a multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting method, device and system and sensor.
  • Non-destructive testing is an indispensable part of industrial development. Non-destructive testing can detect defects or inhomogeneities on the surface or inside of the object to be tested without impairing or affecting the performance of the object to be tested.
  • the main magnetic flux leakage detection technology and electromagnetic ultrasonic detection technology including: ultrasonic body wave detection, guided wave detection and surface wave detection
  • the magnetic flux leakage detection technology can be detected by magnetic flux leakage detection technology
  • Corrosion detection of ferromagnetic materials for example, steel plates or pipes
  • electromagnetic ultrasonic testing technology produces non-destructive testing of objects to be measured by generating ultrasonic bulk waves, surface waves and ultrasonic guided waves, without the need to polish the surface of the material, without coupling agents, non-
  • Many advantages, such as contact detection, are especially suitable for automated ultrasonic testing equipment.
  • the prior art sensors for detecting magnetic flux leakage, ultrasonic body waves, surface waves, ultrasonic guided waves, etc. are independent sensors. If the above detection targets are to be realized, magnetic flux leakage, ultrasonic body waves, surface waves, and ultrasound are often required. Guided waves and other instruments and sensors are used together or in combination to perform detection. For example, in the process of detecting large-scale tank wall and bottom plate, firstly, the advantage of ultrasonic guided wave wide-range detection is used to locate the defect area, and then the robot Crawling into the defect area, performing accurate thickness measurement, using C-scan to achieve defect corrosion imaging, and then using surface wave detection technology to distinguish whether the corrosion exists on the inner surface or the outer surface. It can be seen that the prior art adopts multiple independent sensors to detect the object to be tested, which increases the complexity and cost of the detection system, and the detection efficiency is not high.
  • Embodiments of the present invention provide a method, device, system, and sensor for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection, so as to at least solve the problem that the prior art cannot achieve ultrasonic body wave, ultrasonic guided wave, surface wave and leakage of the measured material.
  • the comprehensive detection of magnetic causes technical problems of incomplete detection and low work efficiency.
  • a method for detecting multi-mode electromagnetic ultrasonic and magnetic flux leakage includes: receiving an operation instruction for detecting an object to be tested, wherein the operation instruction is used to control the detection sensor to enter any one of the following Or a plurality of working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave detection and surface wave detection; according to the operation instruction, the detection detection sensor outputs a corresponding detection signal; and the detection object is detected based on the detection signal.
  • a multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting sensor comprising: a U-shaped yoke for magnetizing a material of an object to be tested, and generating an object inside the object to be tested The magnetic field signal; the magnetic flux leakage receiving component is located at a middle position of the U-shaped yoke for detecting whether there is a magnetic field signal outside the object to be tested; the first electromagnetic ultrasonic coil is located below the N pole of the U-shaped yoke, and the U-shaped magnetic The N-pole lower end of the yoke is used in combination to generate or receive any one or more of the following detection waves: an ultrasonic bulk wave, an ultrasonic guided wave, and a surface wave; and a second electromagnetic ultrasonic coil located below the S pole of the U-shaped yoke, Used in conjunction with the lower end of the U-shaped yoke for generating or receiving any one or more of the following detection waves: ultrasonic body waves
  • a system for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection comprising: the sensor of any of the above.
  • an apparatus for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection comprising: a receiving module, configured to receive an operation instruction for detecting an object to be tested, wherein the operation instruction is used for controlling
  • the detecting sensor enters any one or more of the following working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave detection and surface wave detection; and a control module for controlling the detection signal corresponding to the detection sensor output according to the operation instruction; detecting A module for detecting an object to be tested based on a detection signal.
  • an operation instruction for detecting an object to be tested is received, wherein the operation instruction is used to control the detection sensor to enter any one or more of the following working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave Detection and surface wave detection; according to the operation instruction, controlling the detection signal corresponding to the detection sensor output; detecting the object to be tested based on the detection signal, achieving the purpose of using a sensor to realize various detection modes such as magnetic flux leakage and electromagnetic ultrasound, thereby realizing The technical effect of reducing the complexity and cost of the detection system and improving the detection efficiency, thereby solving the problem that the prior art cannot realize the ultrasonic wave, the ultrasonic guided wave, the surface wave and the The comprehensive detection of magnetic flux leakage causes technical problems of incomplete detection and low work efficiency.
  • FIG. 1 is a flow chart of a method for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an optional multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated sensor according to an embodiment of the invention
  • FIG. 3 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an operation principle of an optional multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated sensor according to an embodiment of the invention
  • FIG. 5 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 6 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 7 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 8 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 9 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 10 is a schematic diagram showing the size design of a preferred multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated sensor according to an embodiment of the present invention
  • FIG. 11 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 12 is a flow chart of an alternative multi-mode electromagnetic ultrasonic and magnetic flux leakage detection method in accordance with an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of a multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated detection system according to an embodiment of the invention.
  • FIG. 14 is a schematic diagram of a preferred multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated detecting sensor according to an embodiment of the present invention.
  • 15 is a schematic diagram of an optional multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated detection setup according to an embodiment of the invention.
  • 16 is a schematic diagram of a three-dimensional magnetic flux leakage detecting signal according to an embodiment of the present invention.
  • 17 is a schematic diagram of an electromagnetic ultrasonic thickness measurement signal according to an embodiment of the invention.
  • FIG. 18 is a schematic diagram of an ultrasonic guided wave detection signal according to an embodiment of the present invention.
  • FIG. 19 is a schematic diagram of a surface wave detection signal according to an embodiment of the present invention.
  • 20 is a schematic diagram of a multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting apparatus according to an embodiment of the present invention.
  • 201 object to be tested; 203, U-shaped yoke; 205, magnetic sensitive element (magnetic leakage receiving component); 207, first electromagnetic ultrasonic coil; 209, second electromagnetic ultrasonic coil; 10, magnetized region; 20, transverse wave; 30, guided wave; 40, surface wave; 60, eddy current (eddy current field); 1, internal defects; 2, surface defects; 11, signal generator; 12, power amplifier; 13, duplexer; 14, electromagnetic ultrasonic signal Conditioning unit; 15, magnetic flux leakage signal conditioning unit; 16, electromagnetic ultrasonic guided wave signal conditioning unit; 17, multi-channel signal collector; 18, upper computer; 05, U-shaped yoke; 02, excitation coil; 08, receiving coil ; 01, magnetic flux leakage receiving component (magnetic sensing component); 06, magnetic flux leakage receiving component mounting seat; 03, roller; 04, housing; 07, terminal block.
  • first electromagnetic ultrasonic coil 209, second electromagnetic ultrasonic coil; 10, magnetized region; 20, transverse wave; 30, guided wave; 40, surface wave; 60, eddy current (eddy
  • an embodiment of a method of multi-mode electromagnetic ultrasonic and magnetic flux leakage detection is provided, it being noted that the steps illustrated in the flowchart of the accompanying drawings may be in a computer system such as a set of computer executable instructions The operations are performed in the system, and although the logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.
  • FIG. 1 is a flow chart of a method for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
  • Step S102 receiving an operation instruction for detecting the object to be tested, wherein the operation instruction is used to control the detection sensor to enter any one or more of the following working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave detection, and surface wave detection. .
  • the object to be tested may be any component composed of a ferromagnetic conductor material to be detected, for example, may be a steel plate, a storage tank, a pipe, etc.; the above detection sensor may be a collection magnetic leakage detection, ultrasonic Integrated sensor for body wave detection, ultrasonic guided wave detection and surface wave detection.
  • the detecting sensor may be a sensor composed of a yoke, a magnetic flux leakage receiving component (for example, a magnetic sensing element) and at least one electromagnetic ultrasonic coil, wherein the yoke may be any one of the following: A magnet or an electromagnet for generating an excitation magnetic field for magnetic flux leakage detection and a bias magnetic field for electromagnetic ultrasonic detection.
  • the yoke is a permanent magnet, the yoke can be used to provide a continuous magnetic field; if the yoke is an electromagnet (which can be a yoke wound with a coil), the DC current is required to be used. To generate a magnetic field.
  • the shape of the yoke may be U-shaped or horse-hoofed.
  • a U-shaped yoke is taken as an example for illustration.
  • the U-shaped yoke and the magnetic sensing element can constitute a magnetic flux leakage detecting sensor for magnetic flux leakage detection, using a U-shaped yoke as an excitation device, and the magnetic sensing element as a magnetic field
  • the detector member magnetizes the ferromagnetic material through an alternating or permanent magnet U-shaped yoke. If the surface or subsurface of the material is defective, the magnetic induction line in the material is distorted, and a leak occurs at the surface of the material above the defect. In the magnetic field, the magnetic field detector is used to detect the leakage magnetic field, and the surface or surface defects of the ferromagnetic material can be detected. It has great application prospects in tank bottom plate inspection and pipeline inspection.
  • the N-pole or S-pole lower end of the U-shaped yoke and the electromagnetic ultrasonic coil may constitute an electromagnetic ultrasonic detecting sensor for electromagnetic ultrasonic testing for generating an ultrasonic body
  • Non-destructive testing of waves, surface waves and ultrasonic guided waves has many advantages such as no need to polish the surface of the material, no coupling agent, non-contact detection, etc., and is especially suitable for automated ultrasonic testing equipment.
  • Ultrasonic body waves are generally used for pulse echo thickness measurement or flaw detection (which is a point detection technique).
  • Surface waves are generally used to detect structural surface defects.
  • Ultrasonic guided waves are generally used for thin wall structure defect detection (is a kind of surface). Detection Technology).
  • electromagnetic ultrasonic testing robots do not need to be equipped with grinding mechanism and water spray coupling mechanism, which saves machine mechanism components, control modules, space, weight and cables, etc., and has great advantages.
  • Step S104 according to the operation instruction, controlling the detection signal corresponding to the detection sensor output.
  • the control sensor after receiving an operation instruction for detecting the object to be tested input by the user, the control sensor is controlled to enter a different working mode, and a detection signal for detecting the object to be tested in the mode is output;
  • the detection signal may be a magnetic field signal detected by the magnetic sensitive element in the magnetic flux leakage detecting mode, or may be an ultrasonic body wave, an ultrasonic guided wave, and a surface wave in the electromagnetic ultrasonic detecting mode.
  • Step S106 detecting the object to be tested based on the detection signal.
  • the object to be measured is detected by the detection signal.
  • a multi-mode electromagnetic ultrasonic and magnetic leakage integrated sensor composed of a U-shaped yoke, an electromagnetic ultrasonic coil and a magnetic sensitive element is used, and the user-inputted object to be measured is received by the upper computer.
  • Detecting an operation instruction and controlling the detection sensor to enter any one or more working modes according to the operation instruction, outputting a detection signal corresponding to the working mode, and finally detecting the object to be tested by using the detection signal, thereby achieving leakage by using one sensor
  • the purpose of magnetic, electromagnetic ultrasonic and other detection modes is to achieve the technical effect of reducing the complexity and cost of the detection system and improving the detection efficiency, thereby solving the problem that the prior art cannot realize the ultrasonic wave and the ultrasonic guided wave of the measured material.
  • the comprehensive detection of surface waves and magnetic flux leakage causes technical problems of incomplete detection and low work efficiency.
  • the detecting sensor includes at least: a yoke, a magnetic flux leakage receiving component, a first electromagnetic ultrasonic coil located below the N pole of the yoke, and a second electromagnetic ultrasonic coil located below the S pole of the yoke,
  • the yoke is any one of the following: a permanent magnet or an electromagnet for generating an excitation magnetic field for magnetic flux leakage detection and a bias magnetic field for electromagnetic ultrasonic detection.
  • the yoke is a U-shaped yoke.
  • FIG. 2 is a schematic diagram of an optional multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated sensor according to an embodiment of the present invention.
  • the sensor may include: U-shaped The yoke 203, the magnetic sensitive element (magnetic flux leakage receiving unit) 205, the first electromagnetic ultrasonic coil 207, and the second electromagnetic ultrasonic coil 209.
  • the icon 201 is shown as an object to be tested, and the U-shaped yoke 203 may be of a permanent magnet type or an electromagnet type for generating a magnetic flux leakage magnetic field and a bias magnetic field of the electromagnetic ultrasonic sensor;
  • a coil 207 (a toroidal coil) and a second electromagnetic ultrasonic coil 209 (a toroidal coil) are disposed under the poles of the U-shaped yoke 203, wherein the first electromagnetic ultrasonic coil 207 is located below the N pole of the U-shaped yoke, and the second electromagnetic The ultrasonic coil 209 is located below the S pole of the U-shaped yoke; the bias magnetic field is provided by the U-shaped yoke 203, and the first electromagnetic ultrasonic coil 207 and the second electromagnetic ultrasonic coil 209 can be used to excite and receive the ultrasonic body when different excitation frequencies are employed.
  • Wave, surface wave and ultrasound The magnetic sensitive element 205 is placed in the middle of the U-shaped yoke
  • the above sensors can realize the following detection functions: magnetic flux leakage detection function, ultrasonic body wave thickness measurement and direct incidence flaw detection function, guided wave detection function and surface wave detection function.
  • the detecting sensor in the case that the working mode is magnetic flux leakage detection, the detecting sensor generates a magnetic field signal inside the object to be tested through a yoke (for example, a U-shaped yoke); as shown in FIG. 3, the steps are as shown in FIG.
  • the detecting the object to be tested based on the detection signal in S106 may include the following steps:
  • Step S302 detecting, by the magnetic flux leakage receiving component, whether there is a magnetic field signal outside the object to be tested, wherein the magnetic flux leakage receiving component is located at a middle position of the yoke;
  • Step S304 determining whether the object to be tested has a defect according to the detection result.
  • FIG. 4 is an optional electromagnetic ultrasonic and magnetic flux leakage according to an embodiment of the present invention.
  • the working principle diagram of the integrated sensor is shown in FIG. 4, the icon 201 is the object to be tested (ferromagnetic inspection member), the icon 203 is a U-shaped yoke, and the icon 205 is a magnetic sensing element.
  • the U-shaped yoke 203 magnetizes the object to be tested (ferromagnetic member to be inspected), and generates a magnetic field signal inside the object to be measured to form a magnetized region 10.
  • FIG. 4 The U-shaped yoke 203 magnetizes the object to be tested (ferromagnetic member to be inspected), and generates a magnetic field signal inside the object to be measured to form a magnetized region 10.
  • the (test member) 201 constitutes a closed magnetic circuit, and when there is a defect on the surface or the near surface of the member to be inspected (for example, a surface defect shown by the icon 2 in Fig. 3), the magnetic circuit is distorted, and a part of the magnetic induction line enters the air.
  • the leakage to the outside of the member to be inspected forms a leakage magnetic field, thereby being detected by the magnetic sensing element 205, and by analyzing the leakage magnetic field signal, it is possible to determine whether or not there is a defect on the member to be inspected.
  • the magnetic flux leakage detecting function of the object to be tested is realized.
  • controlling the detection signal corresponding to the detection sensor output may include the following steps:
  • Step S502 acquiring a first excitation signal for generating an ultrasound body wave, wherein a frequency of the first excitation signal is a first frequency;
  • Step S504 the first excitation signal is input to the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil;
  • Step S506 generating an ultrasonic body wave according to the first electromagnetic ultrasonic coil and the N pole of the yoke, or the second electromagnetic ultrasonic coil and the S pole of the yoke.
  • an electromagnetic ultrasonic sensor can be constituted by any one of the N-pole or S-pole under the yoke (for example, a U-shaped yoke) and the coil below it.
  • the excitation process of the ultrasonic wave is illustrated by taking FIG. 4 as an example: when the body wave response frequency signal f 1 is passed through the coil (the first electromagnetic ultrasonic coil 207 or the second electromagnetic ultrasonic coil 209), the center frequency is generally several.
  • the eddy current 60 is induced in the material of the ferromagnetic conductor.
  • the eddy current field can be regarded as a mirror image of the toroidal coil, and the direction of the eddy current is opposite to the current in the coil.
  • the eddy current field 60 Under the action of a vertical magnetic field provided by a magnetic pole (N pole or S pole) of the U-shaped yoke, the eddy current field 60 is subjected to Lorentz force, and these forces cause the particles below the coil to generate a mechanical frequency at the same frequency as the current in the coil. vibration.
  • the wire of the coil also generates a dynamically changing magnetic field, which causes the ferromagnetic material under each element to generate magnetization and magnetostrictive force. These forces also cause the particles below the coil to generate current in the coil. Mechanical vibration at the same frequency.
  • the ferromagnetic waveguide material Under the combined action of the above three forces, the ferromagnetic waveguide material is coupled to produce a transversely incident transverse wave 20, which can be used for thickness measurement or direct incidence detection of the area directly under the coil.
  • the detecting the object to be tested based on the detection signal in step S106 may include the following steps:
  • Step S602 receiving a first echo signal reflected by the object to be tested on the ultrasonic body wave
  • Step S604a determining, according to the first echo signal, whether the object to be tested has a defect
  • Step S604b determining the thickness of the object to be tested according to the first echo signal.
  • the ultrasonic body wave thickness measurement and the direct incidence flaw detection function are realized.
  • controlling the detection signal corresponding to the detection sensor output may include the following steps:
  • Step S702 acquiring a second excitation signal for generating an ultrasonic guided wave, wherein a frequency of the second excitation signal is a second frequency;
  • Step S704 the second excitation signal is input to the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil;
  • Step S706 generating ultrasonic guided waves according to the first electromagnetic ultrasonic coil and the N pole of the yoke, or the second electromagnetic ultrasonic coil and the S pole of the yoke.
  • the ultrasonic guided wave detection can be realized by a toroidal coil sensor (only one required as an excitation) under the pole of the N-pole or the S-pole of the yoke (U-shaped yoke). It can be seen from the above-mentioned working principle of the electromagnetic vibration of the toroidal coil that each coil can generate a vibration source in the annular mirror region of the surface of the ferromagnetic material.
  • a single S0 modal guided wave can be excited, and in an alternative embodiment, the resulting guide
  • the wave can be used to detect defects on the entire thickness of the object to be tested, as shown by 30 in Fig. 4, as shown by the icon 1 in Fig. 4.
  • the guided wave operating frequency is generally a narrow frequency band.
  • detecting the object to be tested based on the detection signal in step S106 may include the following steps:
  • Step S802 receiving a second echo signal reflected by the object to be tested on the ultrasonic body wave
  • Step S804 determining whether the object to be tested has a defect according to the second echo signal.
  • the guided wave is centered on the toroidal coil, and 360° uniform radiation propagates.
  • the guided wave energy is distributed in the thickness direction of the material, so that defects in the entire thickness of the material can be detected, such as the internal defect shown by the icon 1 in FIG.
  • controlling the detection signal corresponding to the detection sensor output may include the following steps:
  • Step S902 acquiring a third excitation signal for generating a surface wave, wherein a frequency of the third excitation signal is a third frequency;
  • Step S904 the third excitation signal is input to the first electromagnetic ultrasonic coil, or the second electromagnetic ultrasonic coil;
  • Step S906 generating a surface wave according to the first electromagnetic ultrasonic coil and the N pole of the yoke, or the second electromagnetic ultrasonic coil and the S pole of the yoke.
  • the toroidal coil placed under the N pole or the S pole of the U-shaped yoke, as shown in FIG. 10, is known from the above-mentioned working principle of the electromagnetic vibration of the toroidal coil, each coil can be iron A ring of mirrored areas on the surface of the magnetic material creates a source of vibration.
  • ⁇ R is the surface wave wavelength
  • a is the adjacent line source distance
  • d is the coil inner diameter of the coil
  • N is a positive integer, that is, the adjacent line source distance is equal to the surface wave wavelength
  • the excitation or receiving wavelength Is the surface wave of ⁇ R is as shown by the icon 40 in Figure 4 and can be used to detect surface defects 2 of the object to be tested.
  • detecting the object to be tested based on the detection signal in step S106 may include the following steps:
  • Step S112 receiving a surface wave from another electromagnetic ultrasonic coil by the first electromagnetic ultrasonic coil, and/or the second electromagnetic ultrasonic coil;
  • Step S114 determining whether the object to be tested has a defect according to the energy of the surface wave.
  • the above embodiment implements a charge-and-receive detection mode, for example, a coil under the N-pole acts as an excitation sensor, and a surface wave is generated by excitation, and a coil under the S-pole acts as a receiving sensor to receive a surface wave (or vice versa)
  • the coil is used as the receiver, and the sensor below the S pole is used as the excitation, the reason is the same).
  • the energy received by the receiving sensor when the surface wave energy is received with respect to the defect-free region can be determined. Whether there is a defect in the area, the amount of the defect can be estimated by the amount of energy reduction.
  • detecting the object to be tested based on the detection signal in step S106 may include the following steps:
  • Step S122 receiving a first surface wave of a surface wave from another electromagnetic ultrasonic coil by the first electromagnetic ultrasonic coil, and/or the second electromagnetic ultrasonic coil;
  • Step S124 receiving a second surface wave emitted by itself by the first electromagnetic ultrasonic coil, and/or the second electromagnetic ultrasonic coil;
  • Step S126 determining whether the object to be tested has a defect according to the energy of the first surface wave and the second surface wave.
  • the above embodiment implements a self-excited self-receiving and a single-receiving mode.
  • a coil under the N pole functions as both an excitation sensor and a receiving sensor
  • a coil under the S pole serves as a receiving sensor to receive a surface wave.
  • the forward propagation signal and the reflected broadcast signal are received by the coil below the S pole and the coil below the N pole.
  • the size of the defect can be more accurately evaluated by the transmission coefficient and the reflection coefficient.
  • the first electromagnetic ultrasonic coil and the second electromagnetic ultrasonic coil have equivalence, that is, in an independent working mode, such as self-excited self-receiving electromagnetic ultrasonic thickness measurement, guided wave detection, surface In the wave detection, the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil may be used as the transducer, or both, and the electromagnetic ultrasonic excitation channel of the instrument is required to have a dual channel or a time-sharing excitation function; In the synergistic working mode, such as surface wave detection and guided wave detection, either one of the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil serves as an excitation coil, and the other serves as a receiving coil.
  • an independent working mode such as self-excited self-receiving electromagnetic ultrasonic thickness measurement, guided wave detection, surface In the wave detection, the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil may be used as the transducer, or both, and the electromagnetic ultrasonic excitation channel of the instrument is required to have a dual channel or
  • the first electromagnetic ultrasonic coil is used as the main motion sensor when self-excited, and the first electromagnetic ultrasonic coil is used as the excitation sensor and the second electromagnetic ultrasonic coil is used as the excitation sensor. . In other cases, it can be easily analogized by the following examples.
  • FIG. 13 is a multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated detection system according to an embodiment of the present invention.
  • the system includes: an electromagnetic ultrasonic excitation source (by a signal generator) 11.
  • the power amplifier 12 the duplexer 13, the electromagnetic ultrasonic signal conditioning unit 14, the magnetic flux leakage signal conditioning unit 15, the electromagnetic ultrasonic guided wave signal conditioning unit 16, the multi-channel signal collector 17, and the upper computer 18.
  • the electromagnetic ultrasonic excitation source is used to generate a high-power excitation signal, and is composed of a signal generator and a power amplifier.
  • the frequency range of the electromagnetic ultrasonic excitation source frequency range needs to include the ultrasonic guided wave and the ultrasonic detecting frequency, generally in the range of 10 kHz to 20 MHz.
  • a narrow band signal having a specific dominant frequency can be controlled to pass through the duplexer and enter the first electromagnetic ultrasonic coil in the integrated sensor.
  • the duplexer allows the high-power excitation signal to enter the excitation sensor, restricting the high-power excitation signal from entering the electromagnetic ultrasonic signal conditioning unit, and allowing only a small signal (electromagnetic ultrasonic receiving signal) smaller than a certain voltage to enter the electromagnetic ultrasonic signal conditioning unit.
  • the electromagnetic ultrasonic and guided wave signal conditioning unit has the function of amplifying the received electromagnetic ultrasonic and electromagnetic ultrasonic guided wave signals, and may include an analog filtering function.
  • the magnetic flux leakage signal conditioning unit has a function of amplifying and filtering the received magnetic flux leakage signal.
  • the electromagnetic ultrasonic guided wave signal conditioning unit has a function of amplifying the received guided wave and surface wave signals, and may include an analog filtering function.
  • the multi-channel signal collector has a signal for receiving the electromagnetic ultrasonic sensor, the magnetic sensor, and the electromagnetic ultrasonic sensor, and is processed by the electromagnetic ultrasonic and guided wave signal conditioning unit, the magnetic flux leakage signal conditioning unit, and the electromagnetic ultrasonic guided wave signal conditioning unit.
  • the upper computer software is used to control the detection system.
  • the control system is mainly in different working modes, and controls the output of specific detection signals, records the detection signals and performs signal processing, display and output.
  • the yoke generates a constant magnetic field, and a magnetic circuit is formed in the material to be inspected.
  • the magnetic sensitive element collects the leakage magnetic field signal caused by the defect, inputs the magnetic flux leakage signal conditioning unit, and performs signal amplification and processing. Then input the corresponding channel of the multi-channel signal collector to perform analog-to-digital conversion, and send the collected signal to the upper computer software, and the upper computer software realizes the acquisition and analysis of the magnetic flux leakage detection signal.
  • the signal generator generates a narrow-band high-power signal whose center frequency is an electromagnetic ultrasonic body wave, and the electromagnetic ultrasonic first electromagnetic ultrasonic coil is input through the duplexer to excite the ultrasonic body wave; the ultrasonic body wave reflected from the bottom surface of the material is electromagnetic ultrasonic wave
  • the first electromagnetic ultrasonic coil receives and converts into an electrical signal, and the electromagnetic signal is input into the electromagnetic ultrasonic and guided wave signal conditioning unit through the duplexer to perform signal amplification and processing, and then input to the corresponding channel of the multi-channel signal collector for analog-to-digital conversion.
  • the collected signal is sent to the upper computer software, and the upper computer software realizes the acquisition and analysis of the electromagnetic ultrasonic thickness measurement signal, and obtains the material thickness value.
  • the signal generator generates a narrow-band high-power signal whose center frequency is the guided wave generated by the sensor, and the electromagnetic ultrasonic first electromagnetic ultrasonic coil is input through the duplexer to excite the ultrasonic body wave; the ultrasonic body wave reflected from the bottom surface of the material is electromagnetic ultrasonic wave
  • the first electromagnetic ultrasonic coil receives and converts into an electrical signal, and the electromagnetic signal is input into the electromagnetic ultrasonic and guided wave signal conditioning unit through the duplexer to perform signal amplification and processing, and then input to the corresponding channel of the multi-channel signal collector for analog-to-digital conversion.
  • the collected signal is sent to the upper computer software, and the upper computer software realizes the acquisition and analysis of the electromagnetic ultrasonic thickness measurement signal, and obtains the material thickness value.
  • the signal generator generates a narrow-band high-power signal whose center frequency is the surface wave generated by the sensor, and the electromagnetic ultrasonic first electromagnetic ultrasonic coil is input through the duplexer to excite the surface wave, and the surface wave propagates on the surface of the material to be inspected, when the electromagnetic ultrasonic wave
  • the electromagnetic ultrasonic wave When there is a defect between the first electromagnetic ultrasonic coil and the electromagnetic ultrasonic second electromagnetic ultrasonic coil, a part of the surface wave is reflected, and another part of the wave is formed to be transmitted, and the transmitted wave is received by the electromagnetic ultrasonic second electromagnetic ultrasonic coil, and the received electromagnetic wave is received.
  • Transmitted wave information to detect surface defects of the material to be inspected.
  • FIG. 14 is a schematic diagram of a preferred multi-mode electromagnetic ultrasonic and magnetic flux leakage integrated detecting sensor according to an embodiment of the present invention.
  • the sensor includes: a U-shaped yoke 05, an exciting coil 02, receiving coil 08, magnetic flux leakage receiving component (magnetic sensing component) 01, magnetic flux leakage receiving component mounting seat 06, spring (not shown in the schematic), roller 03, housing 04, housing upper cover (not shown in the schematic) And the terminal block 07 is composed.
  • the U-shaped yoke 05 is mounted inside the casing, and the excitation coil 02 and the receiving coil 08 are respectively located on the bottom surfaces of the legs of the U-shaped yoke 05, and the magnetic flux leakage receiving assembly 01 is mounted on the magnetic flux leakage receiving assembly mounting seat 06, and the magnetic flux leakage receiving assembly mounting seat 06 is mounted on the outer casing 04 and located at a central portion of the U-shaped yoke 05.
  • a spring is disposed between the magnetic flux leakage receiving assembly mounting seat 06 and the outer casing 04, so that the magnetic flux leakage receiving assembly mounting seat 06 can slide with the outer casing 04 to cause a certain sliding.
  • the magnetic flux leakage receiving component 01 can be in good contact with the component to be tested, the terminal block 07 is located on the sensor side, and all the wires of the excitation coil 02, the receiving coil 08, and the magnetic flux leakage receiving component 01 are connected to the terminal block 07, and the roller 03 is located at the bottom of the sensor. It allows the sensor to move well over the surface being inspected, and the cover of the outer casing 04 remains matched to the outer casing 04 for sealing the sensor after all components have been installed.
  • the outer shape of the U-shaped yoke 05 is 55 x 40 x 20 mm, the magnetic field strength at the coil is about 5000 Gs, and the magnetic sensing element can be a Hall chip.
  • FIG. 15 is a schematic diagram of an optional detection setup in accordance with an embodiment of the present invention.
  • the sensor is placed over the steel plate.
  • the leakage magnetic field strength signals detected by the sensor in the three directions of x, y, and z are as shown in FIG.
  • BX is the magnetic field strength signal in the x direction
  • BY is the magnetic field strength signal in the y direction
  • BZ is the magnetic field strength signal in the z direction
  • the center frequency is used.
  • the three-cycle sine wave modulated by the 3.5MHz Hanning window is used as the excitation signal, and the bottom echo signal collected by the electromagnetic ultrasonic first electromagnetic ultrasonic coil in the self-excited self-recovery working mode.
  • the transverse wave velocity of the steel is 3240m/s.
  • the time difference between the two echoes is 3.704us, and the thickness of the steel plate is 6mm.
  • the sine wave modulated by the Hanning window with a center frequency of 190kHz is used as the excitation.
  • the technical effects disclosed by the above various embodiments of the present invention can achieve the following technical effects: (1)
  • the multi-mode electromagnetic ultrasonic and magnetic leakage integrated sensor provided can generate transverse waves, surface waves, ultrasonic guided waves (guide waves or SH). Guided wave) avoids the disadvantages of repeated detection or complex sensor caused by the use of multiple sensors or mechanically assembling several sensors; (2) Multi-mode electromagnetic ultrasonic and magnetic leakage integrated The sensor does not change the size of the sensors in the existing magnetic flux leakage detection systems, and can be easily used for various types of sensors.
  • Detection robots such as tank bottom plate, wall corrosion detection robot, in-pipe inspection robot (pipe pig), etc.; (3) provided detection instrument system, which can simultaneously realize ultrasonic thickness measurement and detection, ultrasonic guided wave by the same instrument system Detection, surface wave detection and magnetic flux leakage detection avoid the shortcomings of the existing detection technology that need to be repeatedly tested by multiple instrument systems or the detection device needs to be equipped with multiple sets of instrument systems; (4) The detection instrument provided has high integration and volume Small and light weight, it can be conveniently carried into various detection robot systems; (5) Multi-mode electromagnetic ultrasonic and magnetic flux leakage detection integrated sensors and instruments can simultaneously realize ultrasonic thickness measurement and detection, ultrasonic guided wave detection Surface wave detection and magnetic flux leakage detection enable simultaneous detection of corrosion, surface cracks and internal damage of ferromagnetic metal materials equipment, comprehensive detection of damage types and high detection efficiency.
  • an embodiment of a sensor for integrated detection of electromagnetic ultrasonic and magnetic flux leakage is provided.
  • FIG. 2 is a schematic diagram of a sensor for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection according to an embodiment of the present invention.
  • an icon 201 is shown as an object to be tested, and the sensor includes a U-shaped yoke 203 for magnetization.
  • the magnetic flux leakage receiving component 205 is located at a middle position of the U-shaped yoke for detecting whether there is a leakage magnetic field signal outside the object to be tested;
  • the first electromagnetic ultrasonic coil 207 located below the N pole of the U-shaped yoke, in combination with the N-pole lower end of the U-shaped yoke for generating or receiving any one or more of the following detection waves: ultrasonic body waves, ultrasonic guided waves, and surface waves;
  • the second electromagnetic ultrasonic coil 209 is located below the S pole of the U-shaped yoke and is used in combination with the S-pole lower end of the U-shaped yoke for generating or receiving any one or more of the following detection waves: ultrasonic body wave, ultrasonic guide Waves and surface waves.
  • the U-shaped yoke 203 may be a permanent magnet or an electromagnet for generating an excitation magnetic field for magnetic flux leakage detection and a bias magnetic field for electromagnetic ultrasonic detection; if the yoke is a permanent magnet, the yoke is It can be used to provide a continuous magnetic field; if the yoke is an electromagnet (which can be a yoke wound with a coil), it is necessary to use a direct current to generate a magnetic field.
  • the U-shaped yoke may be replaced by a horseshoe-shaped yoke or a U-shaped yoke obtained by assembly, as long as the yoke capable of realizing the U-shaped yoke function is within the scope of the present application.
  • the magnetic flux leakage receiving component 205 may be a magnetic sensing component that measures the magnitude and direction of the magnetic field for collecting the magnetic flux leakage detecting signal.
  • the integrated sensor for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection can simultaneously realize magnetic flux leakage detection and electromagnetic ultrasonic detection through one sensor, wherein the electromagnetic ultrasonic detection includes at least: ultrasonic body wave thickness measurement and direct incidence flaw detection. , ultrasonic guided wave detection function and surface wave detection.
  • any one of the first electromagnetic ultrasonic coil 207 or the second electromagnetic ultrasonic coil 209 described above may be combined with a U-shaped yoke to constitute an electromagnetic ultrasonic sensor.
  • the first electromagnetic ultrasonic coil 207 and the second electromagnetic ultrasonic coil 209 are loop coils respectively located below the N pole of the U-shaped yoke and below the S pole, and the U-shaped yoke is used to provide a bias magnetic field when different excitation frequencies are used.
  • the first electromagnetic ultrasonic coil 207 and/or the second electromagnetic ultrasonic coil 209 can be used to generate and receive ultrasonic body waves, surface waves, and ultrasonic guides. wave.
  • the U-shaped yoke and the magnetic sensing element can constitute a magnetic flux leakage detecting sensor for detecting magnetic flux leakage, and the U-shaped yoke is used as the excitation device, and the magnetic sensing element is used as the magnetic field detecting device.
  • the alternating or permanent magnet U-shaped yoke magnetizes the ferromagnetic material. If the surface or subsurface of the material is defective, the magnetic induction line in the material will be distorted, and a leakage magnetic field will be generated at the surface of the material above the defect.
  • the detector detects the leakage magnetic field to detect defects on the surface or surface of the ferromagnetic material. It has great application prospects in tank bottom plate inspection and pipeline inspection.
  • the N-pole or S-pole lower end of the U-shaped yoke and the electromagnetic ultrasonic coil may constitute an electromagnetic ultrasonic detecting sensor for performing electromagnetic ultrasonic testing by generating ultrasonic body waves, surface waves, and ultrasound.
  • the guided wave is non-destructively tested, and has many advantages such as no need to polish the surface of the material, no coupling agent, non-contact detection, etc., and is especially suitable for automated ultrasonic testing equipment.
  • Ultrasonic body waves are generally used for pulse echo thickness measurement or flaw detection (which is a point detection technique).
  • Surface waves are generally used to detect structural surface defects.
  • Ultrasonic guided waves are generally used for thin wall structure defect detection (is a kind of surface). Detection Technology).
  • a combination of a U-shaped yoke, a magnetic flux leakage receiving component, a first electromagnetic ultrasonic coil and a second electromagnetic ultrasonic coil is obtained by means of electromagnetic ultrasonic wave and magnetic flux leakage integrated detection.
  • a multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting sensor wherein a U-shaped yoke is used to magnetize a material of a region to be measured of a test object, and generates a magnetic field inside the measured region; a magnetic flux leakage receiving component is located at a U-shaped magnetic field a central position of the yoke for detecting whether there is a magnetic field signal outside the measured area; the first electromagnetic ultrasonic coil is located below the N pole of the U-shaped yoke, and forms an electromagnetic ultrasonic sensor with the lower end of the N-shaped yoke of the U-shaped yoke; The electromagnetic ultrasonic coil is located below the S pole of the U-shaped yoke, and constitutes an electromagnetic ultrasonic sensor with the lower end of the U-shaped yoke, which simplifies the system components and can quickly detect the corrosion, surface crack and internal detection of the ferromagnetic metal material.
  • the purpose of the damage further solves the problem that the prior art cannot realize the comprehensive detection of the
  • the above sensing The device can realize, but is not limited to, several detection functions: magnetic flux leakage detection function, ultrasonic body wave thickness measurement and direct incidence flaw detection function, ultrasonic guided wave detection function and surface wave detection function.
  • FIG. 4 is a schematic diagram showing the operation of an optional electromagnetic ultrasonic and magnetic flux leakage integrated sensor according to an embodiment of the present invention.
  • the icon 201 is an object to be tested (ferromagnetic member to be inspected), an icon. 203 shows a U-shaped yoke, and icon 205 shows a magnetic sensitive element.
  • the first type of detection function that is, magnetic flux leakage detection.
  • a magnetic field signal is generated inside the object to be measured to form a magnetized region 10, which can be seen from FIG. , the U-shaped yoke 203 and the object to be tested (test member) 201 constitute a closed magnetic circuit, and when there is a defect on the surface or the near surface of the member to be inspected (for example, a surface defect shown by the icon 2 in FIG.
  • the magnetic circuit is distorted, and a part of the magnetic induction line enters the air and leaks to the outside of the member to be detected, thereby forming a leakage magnetic field, which is detected by the magnetic sensing element 205.
  • a leakage magnetic field signal By analyzing the leakage magnetic field signal, it is possible to determine whether there is a defect on the member to be inspected. .
  • an electromagnetic ultrasonic sensor can be formed by any one of the N-pole or S-pole of the yoke (for example, a U-shaped yoke) and the coil below it.
  • the excitation process of the ultrasonic wave is illustrated by taking FIG. 4 as an example: when the body wave response frequency signal f1 is passed through the coil (the first electromagnetic ultrasonic coil 207 or the second electromagnetic ultrasonic coil 209), the center frequency is generally several megabytes.
  • the narrow-band transient pulse signal of Hertz, the eddy current 60 is induced in the material of the ferromagnetic conductor.
  • the eddy current field can be regarded as a mirror image of the toroidal coil, and the direction of the eddy current is opposite to the direction of the current in the coil.
  • the eddy current field 60 Under the action of a vertical magnetic field provided by a magnetic pole (N pole or S pole) of the U-shaped yoke, the eddy current field 60 is subjected to Lorentz force, and these forces cause the particle below the coil to generate mechanical vibration at the same frequency as the current in the coil.
  • the wire of the coil also generates a dynamically changing magnetic field, which causes the ferromagnetic material under each element to generate magnetization and magnetostrictive force. These forces also cause the particles below the coil to generate current in the coil.
  • the ferromagnetic waveguide material is coupled to produce a transversely incident transverse wave 20, which can be used for thickness measurement or direct incidence detection of the area directly under the coil.
  • a transversely incident transverse wave 20 which can be used for thickness measurement or direct incidence detection of the area directly under the coil.
  • the third detection function ultrasonic guided wave detection.
  • the ultrasonic guided wave detection can be realized by a toroidal coil sensor (only one required as an excitation) under the pole of the N-pole or the S-pole of the yoke (U-shaped yoke). It can be seen from the above-mentioned working principle of the electromagnetic vibration of the toroidal coil that each coil can generate a vibration source in the annular mirror region of the surface of the ferromagnetic material. For certain materials, structures with a certain thickness, at low frequencies Certain frequency segments (operating frequencies) (50 kHz to 500 kHz) can be excited to generate a single S0 modal guided wave.
  • the generated guided wave can be as shown in FIG. It is used to detect defects on the entire thickness of the object to be tested, such as the internal defects shown by the icon 1 in FIG.
  • the guided wave operating frequency is generally a narrow frequency band.
  • a narrowband modulated signal is used as the detection signal. Due to the symmetry of the toroidal coil, this guided wave is centered on the toroidal coil and propagates 360° evenly.
  • the guided wave energy is distributed in the thickness direction of the material, so that the defect of the entire thickness of the material can be detected, as shown by the icon 30 in FIG. 4, and the icon 1 shows the defect in the body.
  • the fourth detection function surface wave detection.
  • the toroidal coil is placed under the N pole or the S pole of the U-shaped yoke. It can be known from the above-mentioned working principle of the electromagnetic vibration of the toroidal coil that each coil can be on the surface of the ferromagnetic material. The image area produces a source of vibration.
  • Fig. 10 is a schematic view showing a sensor shape size design, as shown in Fig. 10, in which D is the outermost coil diameter of the coil.
  • the dimensions of the first electromagnetic ultrasonic coil and the second electromagnetic ultrasonic coil satisfy the following formula:
  • ⁇ R is the surface wave wavelength
  • a is the adjacent line source distance
  • d is the coil inner diameter of the coil
  • N is a positive integer, that is, when the adjacent line source distance is equal to the surface wave wavelength
  • the excitation or receiving wavelength is ⁇
  • the surface wave of R is as shown by the icon 40 in Figure 4 and can be used to detect surface defects 2 of the object to be tested.
  • each coil can generate a source of vibration from the annular mirror region of the surface of the ferromagnetic material.
  • a shock detection mode for example, a coil under the N pole acts as an excitation sensor, and a surface wave is excited, and a coil below the S pole acts as a receiving sensor to receive a surface wave (instead, a coil below the N pole is received, The sensor below the S pole acts as an excitation, the reason is the same).
  • a surface defect in the region of the material to be inspected ie, the surface wave detecting region
  • the energy received by the receiving sensor when the surface wave energy is received with respect to the defect-free region can be determined. Whether there is a defect in the area, the amount of the defect can be estimated by the amount of energy reduction.
  • Mode 2 Self-excited self-receiving and one-in-one-receiving mode.
  • a coil under the N pole acts as both an excitation sensor and a receiving sensor
  • a coil below the S pole acts as a receiving sensor to receive a surface wave.
  • the forward propagation signal and the reflected broadcast signal will be below the coil below the S pole and below the N pole.
  • the coil is received. The size of the defect can be more accurately evaluated by the transmission coefficient and the reflection coefficient.
  • the magnetic flux leakage receiving component is a magnetic sensing component.
  • the magnetic sensing component is a Hall chip.
  • the senor further includes: a magnetic flux leakage receiving component mounting seat and a housing, wherein the magnetic flux leakage receiving component mounting seat is configured to install the magnetic flux leakage receiving component, and a spring is disposed between the magnetic flux leakage receiving component mounting seat and the outer casing to enable magnetic flux leakage receiving There is a certain slip between the component mount and the outer casing.
  • FIG. 14 is a schematic diagram of a preferred multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting sensor according to an embodiment of the present invention; as shown in FIG. 14, the sensor includes: a U-shaped yoke 05, an excitation The coil 02, the receiving coil 08, the magnetic flux leakage receiving component (magnetic sensing element) 01, the magnetic flux leakage receiving component mounting seat 06, the spring schematic not shown, the roller 03, the outer casing 04, the outer casing cover (not shown in the schematic), The terminal block 07 is composed.
  • the U-shaped yoke 05 is mounted inside the casing, and the excitation coil 02 and the receiving coil 08 are respectively located on the bottom surfaces of the legs of the U-shaped yoke 05, and the magnetic flux leakage receiving assembly 01 is mounted on the magnetic flux leakage receiving assembly mounting seat 06, and the magnetic flux leakage receiving assembly mounting seat 06 is mounted on the outer casing 04 and located at a central portion of the U-shaped yoke 05.
  • a spring is disposed between the magnetic flux leakage receiving assembly mounting seat 06 and the outer casing 04, so that the magnetic flux leakage receiving assembly mounting seat 06 can slide with the outer casing 04 to cause a certain sliding.
  • the magnetic flux leakage receiving component 01 can be in good contact with the component to be tested, the terminal block 07 is located on the sensor side, and all the wires of the excitation coil 02, the receiving coil 08, and the magnetic flux leakage receiving component 01 are connected to the terminal block 07, and the roller 03 is located at the bottom of the sensor. It allows the sensor to move well over the surface being inspected, and the cover of the outer casing 04 remains matched to the outer casing 04 for sealing the sensor after all components have been installed.
  • the outer shape of the U-shaped yoke 05 is 55 x 40 x 20 mm, the magnetic field strength at the coil is about 5000 Gs, and the magnetic sensing element can be a Hall chip.
  • a system embodiment of multi-mode electromagnetic ultrasonic and magnetic flux leakage detection is provided.
  • FIG. 13 is a schematic structural diagram of a system for multi-mode electromagnetic ultrasonic and magnetic flux leakage detection according to an embodiment of the present invention.
  • the system includes any one of optional or preferred multi-mode electromagnetic ultrasonic waves of Embodiment 1.
  • the signal generator is configured to generate an excitation signal for the first electromagnetic ultrasonic coil and the second electromagnetic ultrasonic coil
  • the power amplifier is used to amplify the excitation signal.
  • the electromagnetic ultrasonic excitation source is composed of a signal generator and a power amplifier.
  • the frequency range of the electromagnetic ultrasonic excitation source frequency range needs to include the ultrasonic guided wave and the ultrasonic detecting frequency, generally in the range of 10 kHz to 20 MHz.
  • the excitation process it is possible to control the generation of a narrow-band signal having a specific dominant frequency, and then enter the integrated sensor through the duplexer.
  • an electromagnetic ultrasonic coil In an electromagnetic ultrasonic coil.
  • a multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting system is formed by a signal generator and a power amplifier by means of electromagnetic ultrasonic wave and magnetic flux leakage integrated detection, wherein a signal generator is used for generating For the excitation signals of the first electromagnetic ultrasonic coil and the second electromagnetic ultrasonic coil, the power amplifier is used to amplify the excitation signal, thereby simplifying the system components, and quickly detecting corrosion, surface cracking and detecting internal damage of the ferromagnetic metal material.
  • the aim is to solve the technical problem that the prior art can not realize the comprehensive detection of the ultrasonic wave, the ultrasonic guided wave, the surface wave and the magnetic flux leakage of the tested material, resulting in incomplete detection and low working efficiency.
  • the system further includes: a duplexer 13 configured to input the amplified excitation signal into the first electromagnetic ultrasonic coil and the second electromagnetic ultrasonic coil, and receive the first electromagnetic ultrasonic coil and the first The echo signal detected by the electromagnetic coil.
  • a duplexer 13 configured to input the amplified excitation signal into the first electromagnetic ultrasonic coil and the second electromagnetic ultrasonic coil, and receive the first electromagnetic ultrasonic coil and the first The echo signal detected by the electromagnetic coil.
  • the duplexer allows the high power excitation signal to enter the excitation sensor, restricting the high power excitation signal from entering the electromagnetic ultrasonic signal conditioning unit 14, allowing only small signals (electromagnetic ultrasonic reception signals) that are less than a certain voltage. It enters the electromagnetic ultrasonic signal conditioning unit 14.
  • the system further includes: a multi-channel signal collector 17 configured to receive the echo signals detected by the first electromagnetic ultrasonic coil 207 and the second electromagnetic ultrasonic coil 209 and the magnetic flux leakage receiving component detection Leakage magnetic field signal.
  • a multi-channel signal collector 17 configured to receive the echo signals detected by the first electromagnetic ultrasonic coil 207 and the second electromagnetic ultrasonic coil 209 and the magnetic flux leakage receiving component detection Leakage magnetic field signal.
  • the multi-channel signal collector has a signal for receiving an electromagnetic ultrasonic sensor, a magnetic sensor, an electromagnetic ultrasonic sensor, an electromagnetic ultrasonic and guided wave signal conditioning unit, a magnetic flux leakage signal conditioning unit 15, and electromagnetic ultrasound.
  • the guided wave signal conditioning unit 16 processes, the digital-to-analog conversion sampling function is performed.
  • the system further includes: an upper computer 18 configured to analyze an echo signal and/or a magnetic field signal uploaded by the multi-channel signal collector, and determine whether the object to be tested exists according to the analysis result. defect.
  • the upper computer 18 is used to control the detection system, and the control system is mainly in different working modes, and controls to output a specific detection signal, record the detection signal, and perform signal processing, display and output. .
  • the electromagnetic ultrasonic and guided wave signal conditioning unit has a function of amplifying the received electromagnetic ultrasonic and electromagnetic ultrasonic guided wave signals, and may include an analog filtering function.
  • the magnetic flux leakage signal conditioning unit 15 has a function of amplifying and filtering the received magnetic flux leakage signal.
  • the electromagnetic ultrasonic guided wave signal conditioning unit 16 has a function of amplifying the received guided wave and surface wave signals, and may include an analog filtering function.
  • FIG. 20 is a schematic diagram of a multi-mode electromagnetic ultrasonic and magnetic flux leakage detecting apparatus according to an embodiment of the present invention.
  • the device includes: a receiving module 211, a control module 213, and a detecting module 215.
  • the receiving module 211 is configured to receive an operation instruction for detecting the object to be tested, wherein the operation instruction is used to control the detecting sensor to enter any one or more of the following working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave Detection and surface wave detection;
  • the control module 213 is configured to control, according to the operation instruction, a detection signal corresponding to the detection sensor output;
  • the detecting module 215 is configured to detect the object to be tested based on the detection signal.
  • the foregoing receiving module 211, the control module 213, and the detecting module 215 may be run in a computer terminal as part of the device, and the functions implemented by the foregoing modules may be performed by a processor in the computer terminal, and the computer terminal may also be It is a smart phone (such as Android phone, iOS phone, etc.), tablet computer, applause computer, and mobile Internet devices (MID), PAD and other terminal devices.
  • a smart phone such as Android phone, iOS phone, etc.
  • tablet computer such as Samsung Galaxy Tabs, etc.
  • applause computer such as Samsung Galaxy Tabs, etc.
  • PAD mobile Internet devices
  • a multi-mode electromagnetic ultrasonic and magnetic leakage integrated sensor composed of a U-shaped yoke, an electromagnetic ultrasonic coil and a magnetic sensitive element is used, and the user-inputted object to be measured is received by the upper computer.
  • Detecting an operation instruction and controlling the detection sensor to enter any one or more working modes according to the operation instruction, outputting a detection signal corresponding to the working mode, and finally detecting the object to be tested by using the detection signal, thereby achieving leakage by using one sensor
  • the purpose of magnetic, electromagnetic ultrasonic and other detection modes is to achieve the technical effect of reducing the complexity and cost of the detection system and improving the detection efficiency, thereby solving the problem that the prior art cannot realize the ultrasonic wave and the ultrasonic guided wave of the measured material.
  • the comprehensive detection of surface waves and magnetic flux leakage causes technical problems of incomplete detection and low work efficiency.
  • the detecting sensor includes at least: a yoke, a magnetic flux leakage receiving component, a first electromagnetic ultrasonic coil located below the N pole of the yoke, and a second electromagnetic ultrasonic wave located below the S pole of the yoke
  • the coil wherein the yoke is any one of the following: a permanent magnet or an electromagnet for generating an excitation magnetic field for magnetic flux leakage detection and a bias magnetic field for electromagnetic ultrasonic detection.
  • the detecting sensor in the case that the working mode is magnetic flux leakage detection, the detecting sensor generates a magnetic field signal in the interior of the object to be tested through the yoke; wherein the detecting module 215 may include: a detecting unit, configured to: The magnetic flux signal is detected by the magnetic flux leakage receiving component, wherein the magnetic flux leakage receiving component is located at a middle position of the U-shaped yoke; and the first determining unit is configured to determine whether the object to be tested has a defect according to the detection result.
  • the above detecting unit and the first determining unit can operate as part of the device.
  • the functions implemented by the above modules may be performed by a processor in the computer terminal, and the computer terminal may also be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, an applause computer, and a mobile Internet device (Mobile Internet Devices). , MID), PAD and other terminal devices.
  • control module 213 may include: a first acquiring unit, configured to acquire a first excitation signal for generating an ultrasonic body wave, wherein a frequency of the first excitation signal is a first frequency; a first input unit for inputting the first excitation signal into the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil; and a second generating unit for using the N pole according to the first electromagnetic ultrasonic coil and the U-shaped yoke, or the second The electromagnetic ultrasonic coil and the S pole of the U-shaped yoke generate ultrasonic body waves.
  • the foregoing first obtaining unit, the first input unit and the second generating unit may be operated in a computer terminal as part of the device, and the function implemented by the above module may be executed by a processor in the computer terminal, the computer
  • the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, an applause computer, and a mobile Internet device (MID), a PAD, and the like.
  • the detecting module 215 may include: a first receiving unit, configured to receive a first echo signal reflected by the object to be tested on the ultrasonic body wave; and a second determining unit, configured to An echo signal determines whether the object to be tested has a defect, and/or determines a thickness of the object to be tested according to the first echo signal.
  • first receiving unit and the second determining unit may be run in a computer terminal as part of the device, and the functions implemented by the foregoing module may be performed by a processor in the computer terminal, and the computer terminal may also be intelligent.
  • Mobile devices such as Android phones, iOS phones, etc.
  • tablets such as Samsung phones, iOS phones, etc.
  • applause computers such as Samsung Galaxy Tabs, Samsung Galaxy Tabs, etc.
  • MID mobile Internet devices
  • control module 213 may include: a second acquiring unit, configured to acquire a second excitation signal for generating an ultrasonic guided wave, wherein a frequency of the second excitation signal is a second frequency; a second input unit for inputting the second excitation signal to the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil; and a third generating unit for using the N pole according to the first electromagnetic ultrasonic coil and the U-shaped yoke, or the second The electromagnetic ultrasonic coil and the S pole of the U-shaped yoke generate ultrasonic guided waves.
  • the foregoing second obtaining unit, the second input unit and the third generating unit may be operated in a computer terminal as part of the device, and the function implemented by the above module may be executed by a processor in the computer terminal, the computer
  • the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, an applause computer, and a mobile Internet device (MID), a PAD, and the like.
  • the detecting module 215 may include: a second receiving unit, configured to receive a second echo signal reflected by the object to be tested on the ultrasonic body wave; and a third determining unit, configured to The two echo signals determine whether the object to be tested has a defect.
  • the foregoing second receiving unit and the third determining unit may be operated in a computer terminal as part of the device, and the functions implemented by the above module may be performed by a processor in the computer terminal, and the computer terminal may also be intelligent.
  • Mobile devices such as Android phones, iOS phones, etc.
  • tablets such as Samsung phones, iOS phones, etc.
  • applause computers such as Samsung Galaxy Tabs, Samsung Galaxy Tabs, etc.
  • MID mobile Internet devices
  • control module 213 may include: a third acquiring unit, configured to acquire a third excitation signal for generating a surface wave, wherein a frequency of the third excitation signal is a third frequency; a determining unit for inputting the third excitation signal into the first electromagnetic ultrasonic coil or the second electromagnetic ultrasonic coil; and a fourth generating unit for using the N pole according to the first electromagnetic ultrasonic coil and the U-shaped yoke, or the second The electromagnetic ultrasonic coil and the S pole of the U-shaped yoke generate surface waves.
  • the foregoing third obtaining unit, fourth determining unit and fourth generating unit may be operated in a computer terminal as part of the device, and the functions implemented by the above module may be executed by a processor in the computer terminal, the computer
  • the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, an applause computer, and a mobile Internet device (MID), a PAD, and the like.
  • the detecting module 215 may include: a third receiving unit, configured to receive a surface wave from another electromagnetic ultrasonic coil by using the first electromagnetic ultrasonic coil, and/or the second electromagnetic ultrasonic coil; And a fourth determining unit, configured to determine, according to the energy of the surface wave, whether the object to be tested has a defect.
  • the foregoing third receiving unit and the fourth determining unit may be run in a computer terminal as part of the device, and the functions implemented by the above module may be performed by a processor in the computer terminal, and the computer terminal may also be intelligent.
  • Mobile devices such as Android phones, iOS phones, etc.
  • tablets such as Samsung phones, iOS phones, etc.
  • applause computers such as Samsung Galaxy Tabs, Samsung Galaxy Tabs, etc.
  • MID mobile Internet devices
  • the detecting module 215 may include: a fourth receiving unit, configured to receive a surface wave from another electromagnetic ultrasonic coil by using the first electromagnetic ultrasonic coil, and/or the second electromagnetic ultrasonic coil a first surface wave; a fifth receiving unit configured to receive a second surface wave emitted by itself by the first electromagnetic ultrasonic coil, and/or the second electromagnetic ultrasonic coil; and a fifth determining unit configured to The energy of the second surface wave determines whether the object to be tested has a defect.
  • the fourth receiving unit, the fifth receiving unit, and the fifth determining unit may be run in a computer terminal as part of the apparatus, and the functions implemented by the foregoing module may be performed by a processor in the computer terminal, the computer
  • the terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, an applause computer, and a mobile Internet device (MID), a PAD, and the like.
  • the various functional modules and units provided by the embodiments of the present application may be implemented in a mobile terminal, a computer terminal, or the like, or may be stored as part of a storage medium.
  • embodiments of the present invention may provide a computer terminal, which may be any computer terminal device in a group of computer terminals.
  • a computer terminal may also be replaced with a terminal device such as a mobile terminal.
  • the computer terminal may be located in at least one network device of the plurality of network devices of the computer network.
  • the computer terminal may execute the program code of the following steps in the method of multi-mode electromagnetic ultrasonic and magnetic flux leakage detection: receiving an operation instruction for detecting the object to be tested, wherein the operation instruction is used to control the detection sensor to enter any of the following One or more working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave detection and surface wave detection; according to the operation instruction, the detection detection sensor outputs a corresponding detection signal; and the detection object is detected based on the detection signal.
  • the computer terminal can include: one or more processors, memory, and transmission means.
  • the memory can be used to store software programs and modules, such as the multi-mode electromagnetic ultrasonic and magnetic flux leakage detection methods and devices corresponding to the program instructions/modules in the embodiments of the present invention, and the processor runs the software programs and modules stored in the memory. Thus, various functional applications and data processing are performed, that is, the above-described multi-mode electromagnetic ultrasonic and magnetic flux leakage detection methods are implemented.
  • the memory may include a high speed random access memory, and may also include non-volatile memory such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
  • the memory can further include memory remotely located relative to the processor, which can be connected to the terminal over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the above transmission device is for receiving or transmitting data via a network.
  • Specific examples of the above network may include a wired network and a wireless network.
  • the transmission device includes a Network Interface Controller (NIC) that can be connected to other network devices and routers via a network cable to communicate with the Internet or a local area network.
  • the transmission device is a Radio Frequency (RF) module for communicating with the Internet wirelessly.
  • NIC Network Interface Controller
  • RF Radio Frequency
  • the memory is used to store preset action conditions and information of the preset rights user, and an application.
  • the processor can call the memory stored information and the application by the transmitting device to execute the program code of the method steps of each of the alternative or preferred embodiments of the above method embodiments.
  • the computer terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, an applause computer, and a mobile Internet device (MID), a PAD, and the like.
  • a smart phone such as an Android phone, an iOS phone, etc.
  • a tablet computer such as an iPad, Samsung Galaxy Tab, Samsung Galaxy Tab, etc.
  • MID mobile Internet device
  • PAD PAD
  • Embodiments of the present invention also provide a storage medium.
  • the foregoing storage medium may be used to save program code executed by the method of multi-mode electromagnetic ultrasonic and magnetic flux leakage detection provided by the foregoing method embodiments and device embodiments.
  • the foregoing storage medium may be located in any one of the computer terminal groups in the computer network, or in any one of the mobile terminal groups.
  • the storage medium is configured to store program code for performing the following steps: receiving an operation instruction for detecting the object to be tested, wherein the operation instruction is used to control the detection sensor to enter any one of the following or A variety of working modes: magnetic flux leakage detection, ultrasonic body wave detection, ultrasonic guided wave detection and surface wave detection; according to the operation instruction, the detection detection sensor outputs a corresponding detection signal; based on the detection signal, the object to be tested is detected.
  • the storage medium may also be provided as program code for storing various preferred or optional method steps provided by the multi-mode electromagnetic ultrasonic and magnetic flux leakage detection methods.
  • the disclosed technical contents may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit may be a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
  • the unit described as a separate component may or may not be physically separated as a unit display
  • the components shown may or may not be physical units, ie may be located in one place or may be distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .

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Abstract

一种多模式电磁超声与漏磁检测的方法、装置和系统及传感器。其中，该方法包括：接收对待测对象进行检测的操作指令（S102），其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；根据操作指令，控制检测传感器输出对应的检测信号（S104）；基于检测信号，对待测对象进行检测（S106）。上述技术方案达到了利用一个传感器实现漏磁、电磁超声等多种检测模式的目的，降低了检测系统复杂度和成本，提高了检测效率。

Description

多模式电磁超声与漏磁检测的方法、装置和系统及传感器 技术领域
本发明涉及工业无损检测技术领域，具体而言，涉及一种多模式电磁超声与漏磁检测的方法、装置和系统及传感器。
背景技术
在本领域，无损检测是工业发展必不可少一个环节，无损检测可以在不损害或不影响待测对象使用性能的前提下，检测待测对象表面或内部的缺陷或不均匀性。
通常，在无损检测过程中，主要采用的漏磁检测技术和电磁超声检测技术(包括：超声体波检测、导波检测和表面波检测)，其中，漏磁检测技术可以采用漏磁检测技术检测铁磁性材料(例如，钢板或管道)的腐蚀性检测；电磁超声检测技术通过产生超声体波、表面波和超声导波来对待测对象进行无损检测，具有无需打磨材料表面、无需耦合剂、非接触检测等众多优点，特别适用于自动化超声检测装备。
但是，由于在实际的工程无损检测中总是基于多个检测目标任务，需要检测待测对象的多种缺陷，尽可能多的获得缺陷信息，还需要快速高效。例如，大型储罐壁板和底板检测，不但需要进行测厚实现腐蚀检测，还需要检测裂纹，同时也期望区分缺陷是存在于待测对象的内侧或外侧，此外还期望有快速扫查缺陷区域位置，然后再精确检测缺陷的高效检测策略。为实现上述检测目标，往往需要漏磁、超声体波、表面波、超声导波等多种检测技术并用。
而现有技术用于进行漏磁、超声体波、表面波、超声导波等检测的传感器都是独立的传感器，如果要实现上述检测目标，往往需要漏磁、超声体波、表面波、超声导波等多种仪器和传感器共同或合并使用来执行检测，例如，对与大型储罐壁板和底板的检测过程中，首先先采用超声导波大范围检测的优势，定位缺陷区域，然后机器人爬行到缺陷区域，进行精确测厚，采用C扫描实现缺陷腐蚀成像，再采用表面波检测技术，区分腐蚀是存在于内表面还是外表面。由此可以看出，现有技术采用多个独立的传感器来对待测对象进行检测的方案，增加了检测系统的复杂度和成本，并且检测效率也不高。
针对上述现有技术采用分立式的多个传感器实现对铁磁性金属材料腐蚀、表面裂 纹及内部损伤检测造成系统复杂度高、工作效率的问题，目前尚未提出有效的解决方案。
发明内容
本发明实施例提供了一种多模式电磁超声与漏磁检测的方法、装置和系统及传感器，以至少解决现有技术无法实现对被测材料进行超声体波、超声导波、表面波和漏磁全面检测造成检测不全面、工作效率低的技术问题。
根据本发明实施例的一个方面，提供了一种多模式电磁超声与漏磁检测的方法，包括：接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；根据操作指令，控制检测传感器输出对应的检测信号；基于检测信号，对待测对象进行检测。
根据本发明实施例的另一方面，还提供了一种多模式电磁超声与漏磁检测的传感器，包括：U型磁轭，用于磁化待测对象的材料，并在待测对象的内部产生磁场信号；漏磁接收组件，位于U型磁轭的中部位置，用于检测待测对象的外部是否存在磁场信号；第一电磁超声线圈，位于U型磁轭的N极下方，与U型磁轭的N极下端结合使用，用于产生或接收如下任意一种或多种检测波：超声体波、超声导波和表面波；第二电磁超声线圈，位于U型磁轭的S极下方，与U型磁轭的S极下端结合使用，用于产生或接收如下任意一种或多种检测波：超声体波、超声导波和表面波。
根据本发明实施例的另一方面，还提供了一种多模式电磁超声与漏磁检测的系统，包括：上述任意一项所述的传感器。
根据本发明实施例的另一方面，还提供了一种多模式电磁超声与漏磁检测的装置，包括：接收模块，用于接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；控制模块，用于根据操作指令，控制检测传感器输出对应的检测信号；检测模块，用于基于检测信号，对待测对象进行检测。
在本发明实施例中，通过接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；根据操作指令，控制检测传感器输出对应的检测信号；基于检测信号，对待测对象进行检测，达到了利用一个传感器实现漏磁、电磁超声等多种检测模式的目的，从而实现了降低检测系统复杂度和成本，提高检测效率的技术效果，进而解决了现有技术无法实现对被测材料进行超声体波、超声导波、表面波和 漏磁全面检测造成检测不全面、工作效率低的技术问题。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的一种多模式电磁超声与漏磁检测的方法流程图；
图2是根据本发明实施例的一种可选的多模式电磁超声与漏磁一体式传感器示意图；
图3是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图4是根据本发明实施例的一种可选的多模式电磁超声与漏磁一体式传感器的工作原理示意图；
图5是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图6是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图7是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图8是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图9是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图10是根据本发明实施例的一种优选的多模式电磁超声与漏磁一体式传感器尺寸设计示意图；
图11是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图12是根据本发明实施例的一种可选的多模式电磁超声与漏磁检测的方法流程图；
图13是根据本发明实施例的一种多模式电磁超声与漏磁一体式检测系统示意图；
图14是根据本发明实施的一种优选的多模式电磁超声与漏磁一体式检测传感器示意图；
图15是根据本发明实施例的一种可选的多模式电磁超声与漏磁一体式检测设置示意图；
图16是根据本发明实施例的一种三维漏磁检测信号示意图；
图17是根据本发明实施例的一种电磁超声测厚检测信号示意图；
图18是根据本发明实施例的一种超声导波检测信号示意图；
图19是根据本发明实施例的一种表面波检测信号示意图；以及
图20是本发明实施例的一种多模式电磁超声与漏磁检测的装置示意图。
其中，上述附图包括以下附图标记：
201、待测对象；203、U型磁轭；205、磁敏元件(漏磁接收组件)；207、第一电磁超声线圈；209、第二电磁超声线圈；10、磁化区；20、横波；30、导波；40、表面波；60、涡流(涡流场)；1、体内缺陷；2、表层缺陷；11、信号发生器；12、功率放大器；13、双工器；14、电磁超声信号调理单元；15、漏磁信号调理单元；16、电磁超声导波信号调理单元；17、多通道信号采集器；18、上位机；05、U型磁轭；02、激励线圈；08、接收线圈；01、漏磁接收组件(磁敏元件)；06、漏磁接收组件安装座；03、滚轮；04、外壳；07、接线座。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例1
根据本发明实施例，提供了一种多模式电磁超声与漏磁检测的方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系 统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
图1是根据本发明实施例的一种多模式电磁超声与漏磁检测的方法流程图，如图1所示，该方法包括如下步骤：
步骤S102，接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测。
具体地，在上述步骤中，上述待测对象可以为待检测的由铁磁性导体材料构成的任何部件，例如，可以是钢板、储罐、管道等；上述检测传感器可以为集漏磁检测、超声体波检测、超声导波检测和表面波检测的一体式传感器。
一种可选的实施例中，上述检测传感器可以由磁轭、漏磁接收组件(例如，磁敏元件)和至少一个电磁超声线圈组成的传感器，其中，磁轭可以为如下任意一种：永磁体或电磁铁，用于产生漏磁检测的励磁磁场以及电磁超声检测的偏置磁场。
需要说明的是，如果磁轭为永磁体，则该磁轭可以用于提供一个持续的磁场；如果磁轭为电磁铁(可以为缠绕有线圈的磁轭)，则需要采用通断直流电的方式来产生磁场。
可选地，磁轭的形状可以为U型或马蹄形，本申请实施例中以U型磁轭为例来说明。
基于上述实施例，作为一种可选的实施方式，由U型磁轭与磁敏元件可以构成用于漏磁检测的漏磁检测传感器，利用U型磁轭作为励磁装置，磁敏元件作为磁场探测器件，通过交流或永磁式U型磁轭将铁磁性材料磁化，如果材料表面或亚表面有缺陷存在，将会使材料中的磁感线发生畸变，在缺陷上方的材料表面处产生漏磁场，采用磁场探测器件检测此漏磁场，即可实现对铁磁性材料表面或来表面缺陷的检测。在储罐底板检测、管道内检测等方面有较大应用前景。
仍基于上述实施例，作为另一种可选的实施方式，由U型磁轭的N极或S极下端与电磁超声线圈可以构成用于电磁超声检测的电磁超声检测传感器，用于产生超声体波、表面波和超声导波进行无损检测，具有无需打磨材料表面、无需耦合剂、非接触检测等众多优点，特别适用于自动化超声检测装备。超声体波一般用于脉冲回波式测厚或探伤(是一种点检测式技术)，表面波一般用于检测结构表面缺陷，超声导波一般用于薄壁结构缺陷检测(是一种面检测技术)。目前已有搭载电磁超声直入射传感器进行脉冲回波测厚的机器人，常用于大型钢结构壁厚测和腐蚀检测。相较于压电超声检 测机器人，电磁超声检测机器人无需配备打磨机构和喷水耦合机构，节省了机器机构部件、控制模块、空间、重量和线缆等，具有巨大优越性。
步骤S104，根据操作指令，控制检测传感器输出对应的检测信号。
具体地，在上述步骤中，在接收到用户输入的对待测对象进行检测的操作指令后，控制检测传感器进入不同的工作模式，并输出该模式下用于对待测对象进行检测的检测信号；其中，检测信号可以为漏磁检测模式下由磁敏元件检测到的磁场信号，也可以为电磁超声检测模式下的超声体波、超声导波和表面波。
步骤S106，基于检测信号，对待测对象进行检测。
具体地，在上述步骤中，在通过检测传感器产生用于对待测对象检测的至少一种检测信号后，利用该检测信号对待测对象进行检测。
由上可知，在本申请上述实施例中，采用由U型磁轭、电磁超声线圈和磁敏元件组成的多模式电磁超声与漏磁一体式传感器，通过上位机接收用户输入的对待测对象进行检测的操作指令，并根据操作指令控制检测传感器进入任意一种或多种工作模式，输出与该工作模式对应的检测信号，最后利用该检测信号对待测对象进行检测，达到了利用一个传感器实现漏磁、电磁超声等多种检测模式的目的，从而实现了降低检测系统复杂度和成本，提高检测效率的技术效果，进而解决了现有技术无法实现对被测材料进行超声体波、超声导波、表面波和漏磁全面检测造成检测不全面、工作效率低的技术问题。
作为一种优选的实施例，上述检测传感器至少包括：磁轭、漏磁接收组件、位于磁轭的N极下方的第一电磁超声线圈和位于磁轭的S极下方的第二电磁超声线圈，其中，磁轭为如下任意一种：永磁体或电磁铁，用于产生漏磁检测的励磁磁场以及电磁超声检测的偏置磁场。优选地，上述磁轭为U型磁轭。
可选地，基于上述实施例，图2所示为根据本发明实施例的一种可选的多模式电磁超声与漏磁一体式传感器示意图；如图2所示，该传感器可以包括：U型磁轭203、磁敏元件(漏磁接收组件)205、第一电磁超声线圈207和第二电磁超声线圈209。其中，图标201所示为待测对象，U型磁轭203可以为永磁体式的，也可以为电磁体式，用于产生漏磁检测励磁磁场及电磁超声传感器的偏置磁场；第一电磁超声线圈207(环形线圈)和第二电磁超声线圈209(环形线圈)，置于U型磁轭203的两极下方，其中，第一电磁超声线圈207位于U型磁轭的N极下方，第二电磁超声线圈209位于U型磁轭的S极下方；利用U型磁轭203提供偏置磁场，采用不同激励频率时，第一电磁超声线圈207和第二电磁超声线圈209可用于激励和接收超声体波、表面波和超声导 波；磁敏元件205置于U型磁轭中部，可测量磁场大小和方向，用于采集漏磁检测信号。
需要说明的是，上述传感器可以实现如下几种检测功能：漏磁检测功能、超声体波测厚与直入射探伤功能、导波检测功能和表面波检测功能。
作为一种可选的实施例，在工作模式为漏磁检测的情况下，检测传感器通过磁轭(例如，U型磁轭)在待测对象的内部产生磁场信号；如图3所示，步骤S106中基于检测信号，对待测对象进行检测，可以包括如下步骤：
步骤S302，通过漏磁接收组件检测待测对象的外部是否存在磁场信号，其中，漏磁接收组件位于磁轭的中部位置；
步骤S304，根据检测结果确定待测对象是否存在缺陷。
具体地，在上述实施例中，由磁轭与漏磁接收组件(磁敏元件)组合可以构成漏磁检测工作模式，图4是根据本发明实施例的一种可选的电磁超声与漏磁一体式传感器的工作原理图，如图4所示，图标201所示为待测对象(铁磁性被检构件)，图标203所示为U型磁轭，图标205所示为磁敏元件，在U型磁轭203将待测对象(铁磁性被检构件)磁化后，在待测对象内部产生磁场信号，形成磁化区10，由图4可以看出，由U型磁轭203与待测对象(被检构件)201组成了一个闭合磁路，当被检构件表面或近表面存在缺陷(例如，图3中图标2所示的表层缺陷)时，磁路发生畸变，一部分磁感线进入空气，泄漏到被检构件的外部，形成漏磁场，从而被磁敏元件205探测到，通过对漏磁场信号进行分析，可以确定被检构件上是否存在缺陷。
通过上述实施例，实现了对待测对象的漏磁检测功能。
作为一种可选的实施例，在工作模式为超声体波检测的情况下，如图5所示，步骤S104中根据操作指令，控制检测传感器输出对应的检测信号，可以包括如下步骤：
步骤S502，获取用于产生超声体波的第一激励信号，其中，第一激励信号的频率为第一频率；
步骤S504，将第一激励信号输入第一电磁超声线圈或第二电磁超声线圈；
步骤S506，根据第一电磁超声线圈与磁轭的N极，或第二电磁超声线圈与磁轭的S极，产生超声体波。
具体地，在上述实施例中，由磁轭(例如，U型磁轭)的N极或S极下的任意一端与其下方的线圈，可组成电磁超声传感器。具体地，以图4为例来说明超声波的激 励过程：当线圈(第一电磁超声线圈207或第二电磁超声线圈209)中通以体波响应频率信号f1时，一般是中心频率为几兆赫兹的窄频带瞬态脉冲信号，铁磁性导体被检材料中感生出涡流60，由电磁感应的基本原理可知，此涡流场几乎可以认为是环形线圈的镜像，涡流方向与线圈中电流方向相反，在U型磁轭某一磁极(N极或者S极)提供的垂直磁场作用下，涡流场60受洛仑兹力作用，这些作用力使得线圈下方的质点产生跟线圈中电流同频率的机械振动。此外，线圈的导线还会产生动态变化的磁场，此动磁场使得每一份线元下方的铁磁性材料产生磁化力和磁致伸缩力，这些作用力也会使得线圈下方的质点产生跟线圈中电流同频率的机械振动。在上述三种作用力的共同作用下，铁磁性导波材料中耦合产生出垂直入射的横波20，此横波20可以用于对线圈正下方区域的测厚或直入射探伤。
基于上述实施例，如图6所示，在工作模式为超声体波检测的情况下，步骤S106中基于检测信号，对待测对象进行检测，可以包括如下步骤：
步骤S602，接收由待测对象对超声体波反射的第一回波信号；
步骤S604a，根据第一回波信号确定待测对象是否存在缺陷；和/或
步骤S604b，根据第一回波信号确定待测对象的厚度。
具体地，在上述实施例中，当超声体波遇到待测对象的底面后，产生反射波，反射波传播到材料表面时，引起处于磁场中的材料表面质点振动，产生向周围空间辐射的电磁波，并被线圈探测到。
通过上述实施例，实现了超声体波测厚与直入射探伤功能。
作为一种可选的实施例，在工作模式为超声导波检测的情况下，如图7所示，步骤S104中根据操作指令，控制检测传感器输出对应的检测信号，可以包括如下步骤：
步骤S702，获取用于产生超声导波的第二激励信号，其中，第二激励信号的频率为第二频率；
步骤S704，将第二激励信号输入第一电磁超声线圈或第二电磁超声线圈；
步骤S706，根据第一电磁超声线圈与磁轭的N极，或第二电磁超声线圈与磁轭的S极，产生超声导波。
具体地，在上述实施例中，由处于磁轭(U型磁轭)的N极或S极某一极下方的环形线圈传感器(只需要一个作为激励即可)可以实现超声导波检测。由上述环形线圈电磁超声工作原理可知，每个线圈可在铁磁性材料表面环形镜象区域产生振动源。 对于一定材料、一定厚度的结构，在低频(50kHz～500kHz)的某些频率段(工作频率)，可以激励产生较单一的S0模态导波，一种可选的实施例中，产生的导波可以如图4中30所示，可以用于检测待测对象整个厚度上的缺陷，如图4中图标1所示的体内缺陷。导波工作频率一般是窄频段，激励产生单一S0模态导波时，需采用窄频调制信号作为检测信号。
基于上述实施例，如图8所示，在工作模式为超声导波检测的情况下，步骤S106中基于检测信号，对待测对象进行检测，可以包括如下步骤：
步骤S802，接收由待测对象对超声体波反射的第二回波信号；
步骤S804，根据第二回波信号确定待测对象是否存在缺陷。
具体地，在上述实施例中，由于环形线圈的对称性，此导波以环形线圈为中心，360°均匀辐射传播。导波能量在材料厚度方向上均有分布，因此可以检测到材料整个厚度上的缺陷，如图4中图标1所示的体内缺陷。
作为一种可选的实施例，在工作模式为表面波检测的情况下，如图9所示，步骤S104中根据操作指令，控制检测传感器输出对应的检测信号，可以包括如下步骤：
步骤S902，获取用于产生表面波的第三激励信号，其中，第三激励信号的频率为第三频率；
步骤S904，将第三激励信号输入第一电磁超声线圈，或第二电磁超声线圈；
步骤S906，根据第一电磁超声线圈与磁轭的N极，或第二电磁超声线圈与磁轭的S极，产生表面波。
具体地，在上述实施例中，置于由U型磁轭的N极或S极下的环形线圈，如图10所示，由上述的环形线圈电磁超声工作原理可知，每个线圈可在铁磁性材料表面环形镜象区域产生振动源。当线圈形状尺寸满足
Figure PCTCN2017075750-appb-000001
时，其中，λR为表面波波长，a为相邻线源距离，d为线圈最内侧的线圈直径，N为正整数，即相邻线源距离等于表面波的波长时，激励或接收波长为λR的表面波。一种可选的实施例中，形成的表面波如图4中图标40所示，可以用于检测待测对象的表面缺陷2。
基于上述实施例进行表面波检测时，可以实现如下两种检测模式：
在一种可选的实施方式中，如图11所示，步骤S106中基于检测信号，对待测对象进行检测，可以包括如下步骤：
步骤S112，通过第一电磁超声线圈，和/或第二电磁超声线圈接收来自另外一个电磁超声线圈的表面波；
步骤S114，根据表面波的能量确定待测对象是否存在缺陷。
具体地，上述实施例实现了一激一收检测模式，例如处于N极下方的线圈作为激发传感器，激励产生表面波，处于S极下方的线圈作为接收传感器，接收表面波(反之，N极下方的线圈作为接收，S极下方的传感器作为激励，道理是同样的)。当U型磁轭N极到S极中间的被检材料区域(即表面波检测区域)存在表层缺陷时，接收传感器收到表面波能量相对于无缺陷时的能量减小，即可判断出此区域中是否存在缺陷，通过能量减小的量可以评估缺陷的大小。
在另一种可选的实施方式中，如图12所示，步骤S106中基于检测信号，对待测对象进行检测，可以包括如下步骤：
步骤S122，通过第一电磁超声线圈，和/或第二电磁超声线圈接收来自另外一个电磁超声线圈的表面波的第一表面波；
步骤S124，通过第一电磁超声线圈，和/或第二电磁超声线圈接收其自身发出的第二表面波；
步骤S126，根据第一表面波和第二表面波的能量确定待测对象是否存在缺陷。
具体地，上述实施例实现了自激自收与一激一收模式，例如处于N极下方的线圈既作为激发传感器也作为接收传感器，处于S极下方的线圈作为接收传感器，接收表面波。此时如果表面波检测区域存在表层缺陷时，前向传播信号和反射播信号会被S极下方的线圈和N极下方的线圈接收到。通过透射系数和反射系数可以更准确地评估缺陷的大小。
需要说明的是，在上述各个实施例中，第一电磁超声线圈和第二电磁超声线圈具有等价性，即在独立工作模式下，如自激自收电磁超声测厚、导波检测、表面波检测时，可采用第一电磁超声线圈或第二电磁超声线圈作为换能器，也可两者均采用，这时要求仪器的电磁超声激励通道为双通道或具有分时激励功能；在一激一收协同工作模式下，如表面波检测、导波检测时，第一电磁超声线圈或第二电磁超声线圈中的任一个作为激励线圈，而另一个作为接收线圈。在下文的检测模式描述中，自激自收时按第一电磁超声线圈作为主体动作传感器；一激一收时，按第一电磁超声线圈作为激励作感器，第二电磁超声线圈作为激励传感器。其它情况，可按下列示例很容易类比出来。
作为一种优选的实施方式，图13是根据本发明实施例的一种多模式电磁超声与漏磁一体式检测系统，如图13所示，该系统包括：电磁超声激励源(由信号发生器11、功率放大器12)、双工器13、电磁超声信号调理单元14、漏磁信号调理单元15、电磁超声导波信号调理单元16、多通道信号采集器17、上位机18组成。
其中，电磁超声激励源用于产生大功率激励信号，由信号发生器和功率放大器组成。电磁超声激励源频率带宽范围需包含超声导波及超声波检测频率，一般在10kHz～20MHz范围内。激励过程中能够控制产生有特定主频的窄频带信号，通过双工器后进入到一体式传感器中的第一电磁超声线圈中。
双工器允许大功率激励信号进入激励传感器，限制大功率激励信号进入电磁超声信号调理单元，只允许小于某一电压的小信号(电磁超声接收信号)进入到电磁超声信号调理单元。
电磁超声及导波信号调理单元具有对接收的电磁超声及电磁超声导波信号进行放大的功能，可包含模拟滤波功能。
漏磁信号调理单元具有对接收的漏磁信号进行放大和滤波功能。
电磁超声导波信号调理单元具有对接收的导波和表面波信号进行放大的功能，可包含模拟滤波功能。
多通道信号采集器具有对电磁超声传感器、磁敏元件、电磁超声传感器接收信号，经电磁超声及导波信号调理单元、漏磁信号调理单元、电磁超声导波信号调理单元处理后，进行数模转换采样的功能。
上位机软件用于对检测系统进行控制，主要有控制系统处于不同的工作模式下，控制输出特定的检测信号，记录检测信号并进行信号处理、显示与输出。
基于上述多模式电磁超声与漏磁一体式检测系统实施例，可以实现但不限于以下几种检测模式：
一、漏磁检测模式
磁轭产生稳恒磁场，在被检材料中形成磁路，当被检材料中存在缺陷时，磁敏元件采集到缺陷引发的漏磁场信号，输入漏磁信号调理单元，进行信号放大和处理，再输入多通道信号采集器的对应通道进行模数转换，并将采集的信号输送给上位机软件，上位机软件实现对漏磁检测信号的获取和分析。
二、测厚与直入射探伤工作模式
信号发生器发生出中心频率为电磁超声体波的窄频大功率信号，经双工器输入电磁超声第一电磁超声线圈，激励产生超声体波；由材料底面反射回来的超声体波被电磁超声第一电磁超声线圈接收，并转换为电信号，此电磁信号经双工器输入电磁超声及导波信号调理单元，进行信号放大和处理，再输入多通道信号采集器的对应通道进行模数转换，并将采集的信号输送给上位机软件，上位机软件实现对电磁超声测厚信号的获取和分析，并得到材料厚度值。
三、导波检测工作模式
信号发生器发生出中心频率为传感器产生导波的窄频大功率信号，经双工器输入电磁超声第一电磁超声线圈，激励产生超声体波；由材料底面反射回来的超声体波被电磁超声第一电磁超声线圈接收，并转换为电信号，此电磁信号经双工器输入电磁超声及导波信号调理单元，进行信号放大和处理，再输入多通道信号采集器的对应通道进行模数转换，并将采集的信号输送给上位机软件，上位机软件实现对电磁超声测厚信号的获取和分析，并得到材料厚度值。
四、表面波检测工作模式
信号发生器发生出中心频率为传感器产生表面波的窄频大功率信号，经双工器输入电磁超声第一电磁超声线圈，激励产生表面波，此表面波在被检材料表面传播，当电磁超声第一电磁超声线圈和电磁超声第二电磁超声线圈之间有缺陷时，会使得一部分表面波形成反射，另一部分波形成透射，透射波被电磁超声第二电磁超声线圈接收到，利用接收到的透射波信息，实现被检材料表面缺陷的检测。
根据本申请上述实施例，图14是根据本发明实施的一种优选的多模式电磁超声与漏磁一体式检测传感器示意图；如图14所示，该传感器包括：U型磁轭05、激励线圈02、接收线圈08、漏磁接收组件(磁敏元件)01、漏磁接收组件安装座06、弹簧(示意图中未标出)、滚轮03、外壳04、外壳上盖(示意图中未标出)、接线座07组成。U型磁轭05安装于外壳内部，激励线圈02和接收线圈08分别位于U型磁轭05两腿底面，漏磁接收组件01安装于漏磁接收组件安装座06上，漏磁接收组件安装座06安装于外壳04并位于U型磁轭05的中部位置，漏磁接收组件安装座06与外壳04间设置有弹簧，使漏磁接收组件安装座06可与外壳04间产生一定的滑动，使漏磁接收组件01可良好接触于被测部件，接线座07位于传感器一侧，激励线圈02、接收线圈08、漏磁接收组件01的所有接线都与接线座07连接，滚轮03位于传感器底部，其使传感器可在被检表面良好移动，外壳04上盖保持与外壳04相匹配，用于在安装完所有组件后密封传感器。
优选地，上述传感器中环形线圈的形状尺寸可以为：D＝18.2mm，d＝6.2mm，a＝0.4mm。U形磁轭05的外形尺寸55×40×20mm，在线圈处磁场强度约5000Gs，磁敏元件可以为霍尔芯片。
作为一种可选的实施方式，图15是根据本发明实施例的一种可选的检测设置示意图。以6mm厚钢板检测为例。如图15所示，传感器置于钢板上方。在漏磁检测模式下，当传感器扫查过一个深4mm，宽5.92mm的槽形缺陷时，传感器检测到的x、y、z三个方向上的漏磁场强度信号如图16中所示，其中，BX为x方向上的磁场强度信号，BY为y方向上的磁场强度信号，BZ为z方向上的磁场强度信号；在电磁超声测厚模式下，如图17所示，为采用中心频率为3.5MHz汉宁窗调制的三个周期正弦波作为激励信号，电磁超声第一电磁超声线圈自激自收工作模式下采集到的底面回波信号，此时钢的横波波速为3240m/s，两个回波间的时间差为3.704us，钢板测厚值为6mm；在超声导波工作模式下，如图18所示，为采用中心频率为190kHz七个周期汉宁窗调制的正弦波作为激励信号，电磁超声第一电磁超声线圈在钢板中激励产生出的兰姆波信号；在表面波工作模式下，如图19所示，为采用中心频率为7.5MHz汉宁窗调制7个周期正弦波信号作为激励信号，由电磁超声第一电磁超声线圈激发，由电磁超声第二电磁超声线圈接收到的表面波检测信号，此时传播途径中无缺陷。
需要说明的是，多目标无损检测中需要采用漏磁、超声体波、表面波和导波多种技术手段时，现有分立式传感器和系统造成如下主要问题：(1)漏磁检测、超声体波测厚及检测、表面波检测和超声导波检测采用的传感器及仪器系统往往是分立式的，或是几者的机械组合，造成传感器数量多或非常复杂，仪器系统多。(2)在执行检测时，分立式的传感器和系统，往往需要分步进行多次重复检测，造成程序步骤多，检测过程繁杂，检测时间耗时长。(3)在采用机器人检测的场合，多种检测传感器或需要多个机器人进行检测，即使采用机械复合式的传感器，仪器系统也难以合并，会造成机器人体积增大、负重增重等。特别是对于爬壁检测机器和管道内检测机器人(管道猪)，会造成极大影响，有时候集成到一个机器人上是不可能实现的。
而通过本发明上述各个实施例公开的技术方案，可以实现如下技术效果：(1)提供的多模式电磁超声与漏磁一体式传感器，能产生横波、表面波、超声导波(导波或SH导波)，避免了现有检测技术需采用多个传感器或是机械地把几种传感器组装在一起造成的重复检测或传感器复杂的缺点；(2)提供的多模式电磁超声与漏磁一体式传感器，体积基本不改变现有各漏磁检测系统中传感器的尺寸，可以很方便地用于种各 种检测机器人，如储罐底板、壁板腐蚀检测机器人，管道内检测机器人(管道猪)等；(3)提供的检测仪器系统，采用同一仪器系统可同时实现超声波测厚及检测、超声导波检测、表面波检测和漏磁检测，避免了现有检测技术需采用多种仪器系统重复检测或者检测装置需搭载多套仪器系统的缺点；(4)提供的检测仪器，具有集成度高、体积小、重量轻的特点，可以方便地搭载到各种检测机器人系统中；(5)提供的多模式电磁超声与漏磁检测一体式传感器和仪器可同步实现超声波测厚及检测、超声导波检测、表面波检测和漏磁检测，从而实现对铁磁性金属材料设备腐蚀、表面裂纹及内部损伤的同步检测，检测损伤类型全面，检测效率高。
实施例2
根据本发明实施例，提供了一种用于电磁超声与漏磁一体式检测的传感器实施例。
图2是根据本发明实施例的多模式电磁超声与漏磁检测的传感器示意图，如图2所示，图标201所示为待测对象，该传感器包括：U型磁轭203，用于磁化待测对象的材料，并在待测对象的内部产生磁场信号；漏磁接收组件205，位于U型磁轭的中部位置，用于检测待测对象的外部是否存在漏磁场信号；第一电磁超声线圈207，位于U型磁轭的N极下方，与U型磁轭的N极下端结合使用，用于产生或接收如下任意一种或多种检测波：超声体波、超声导波和表面波；第二电磁超声线圈209，位于U型磁轭的S极下方，与U型磁轭的S极下端结合使用，用于产生或接收如下任意一种或多种检测波：超声体波、超声导波和表面波。
可选地，上述U型磁轭203可以为永磁体，也可以为电磁铁，用于产生漏磁检测的励磁磁场及电磁超声检测的偏置磁场；如果磁轭为永磁体，则该磁轭可以用于提供一个持续的磁场；如果磁轭为电磁铁(可以为缠绕有线圈的磁轭)，则需要采用通断直流电的方式来产生磁场。
需要说明的是，上述U型磁轭也可以替换为马蹄形磁轭，或者通过组装得到的呈U形的磁轭，只要可以实现U型磁轭功能的磁轭均属于本申请保护的范围。
一种可选的实施中，上述漏磁接收组件205可以为磁敏元件，可测量磁场大小和方向，用于采集漏磁检测信号。
本申请提供的多模式电磁超声与漏磁检测的一体式传感器，可以实现通过一个传感器同时实现漏磁检测与电磁超声检测，其中，电磁超声检测至少包括：超声体波测厚与直入射探伤检测、超声导波检测功能和表面波检测。
具体地，上述第一电磁超声线圈207或第二电磁超声线圈209中的任意一个线圈与U型磁轭组合，可构成电磁超声传感器。优选地，第一电磁超声线圈207和第二电磁超声线圈209呈环形线圈，分别位于U型磁轭的N极下方和S极下方，利用U型磁轭提供偏置磁场，当采用不同激励频率的激励信号输入至上述第一电磁超声线圈207或第二电磁超声线圈209后，第一电磁超声线圈207和/或第二电磁超声线圈209可用于产生和接收超声体波、表面波和超声导波。
作为一种可选的实施方式，由U型磁轭与磁敏元件可以构成用于进行漏磁检测的漏磁检测传感器，利用U型磁轭作为励磁装置，磁敏元件作为磁场探测器件，通过交流或永磁式U型磁轭将铁磁性材料磁化，如果材料表面或亚表面有缺陷存在，将会使材料中的磁感线发生畸变，在缺陷上方的材料表面处产生漏磁场，采用磁场探测器件检测此漏磁场，即可实现对铁磁性材料表面或来表面缺陷的检测。在储罐底板检测、管道内检测等方面有较大应用前景。
作为另一种可选的实施方式，由U型磁轭的N极或S极下端与电磁超声线圈可以构成用于进行电磁超声检测的电磁超声检测传感器，通过产生超声体波、表面波和超声导波进行无损检测，具有无需打磨材料表面、无需耦合剂、非接触检测等众多优点，特别适用于自动化超声检测装备。超声体波一般用于脉冲回波式测厚或探伤(是一种点检测式技术)，表面波一般用于检测结构表面缺陷，超声导波一般用于薄壁结构缺陷检测(是一种面检测技术)。目前已有搭载电磁超声直入射传感器进行脉冲回波测厚的机器人，常用于大型钢结构壁厚测和腐蚀检测。相较于压电超声检测机器人，电磁超声检测机器人无需配备打磨机构和喷水耦合机构，节省了机器机构部件、控制模块、空间、重量和线缆等，具有巨大优越性。
由上可知，在本实施例中，采用电磁超声波与漏磁一体式检测的方式，通过U型磁轭、漏磁接收组件、第一电磁超声线圈以及第二电磁超声线圈相组合，得到一种多模式电磁超声与漏磁检测的传感器，其中，U型磁轭，用于磁化待测对象的被测区域的材料，并在被测区域的内部产生磁场；漏磁接收组件，位于U型磁轭的中部位置，用于检测被测区域的外部是否存在磁场信号；第一电磁超声线圈，位于U型磁轭的N极下方，与U型磁轭的N极下端构成电磁超声传感器；第二电磁超声线圈，位于U型磁轭的S极下方，与U型磁轭的S极下端构成电磁超声传感器，达到了简化系统组成部分，并且能快速检测铁磁性金属材料腐蚀、表面裂纹以及检测内部损伤的目的，进而解决了现有技术无法实现对被测材料进行超声体波、超声导波、表面波和漏磁全面检测造成检测不全面、工作效率低的技术问题。
需要说明的是，由于电磁超声与漏磁一体式检测传感器的独特的结构，上述传感 器可以实现但不限于几种检测功能：漏磁检测功能、超声体波测厚与直入射探伤功能、超声导波检测功能和表面波检测功能。
下面结合图4来说明上述几种检测功能。图4是根据本发明实施例的一种可选的电磁超声与漏磁一体式传感器的工作原理图，如图4所示，图标201所示为待测对象(铁磁性被检构件)，图标203所示为U型磁轭，图标205所示为磁敏元件。
第一种检测功能，即，漏磁检测。基于图4所示的一体式传感器，利用U型磁轭203将待测对象(铁磁性被检构件)磁化后，在待测对象内部产生磁场信号，形成磁化区10，由图2可以看出，由U型磁轭203与待测对象(被检构件)201组成了一个闭合磁路，当被检构件表面或近表面存在缺陷(例如，图4中图标2所示的表层缺陷)时，磁路发生畸变，一部分磁感线进入空气，泄漏到被检构件的外部，形成漏磁场，从而被磁敏元件205探测到，通过对漏磁场信号进行分析，可以确定被检构件上是否存在缺陷。
第二种检测功能，超声体波测厚与直入射探伤检测功能。基于图4所示的一体式传感器，由磁轭(例如，U型磁轭)的N极或S极下的任意一端与其下方的线圈，可组成电磁超声传感器。具体地，以图4为例来说明超声波的激励过程：当线圈(第一电磁超声线圈207或第二电磁超声线圈209)中通以体波响应频率信号f1时，一般是中心频率为几兆赫兹的窄频带瞬态脉冲信号，铁磁性导体被检材料中感生出涡流60，由电磁感应的基本原理可知，此涡流场几乎可以认为是环形线圈的镜像，涡流方向与线圈中电流方向相反，在U型磁轭某一磁极(N极或者S极)提供的垂直磁场作用下，涡流场60受洛仑兹力作用，这些作用力使得线圈下方的质点产生跟线圈中电流同频率的机械振动。此外，线圈的导线还会产生动态变化的磁场，此动磁场使得每一份线元下方的铁磁性材料产生磁化力和磁致伸缩力，这些作用力也会使得线圈下方的质点产生跟线圈中电流同频率的机械振动。在上述三种作用力的共同作用下，铁磁性导波材料中耦合产生出垂直入射的横波20，此横波20可以用于对线圈正下方区域的测厚或直入射探伤。当超声体波遇到待测对象的底面后，产生反射波，反射波传播到材料表面时，引起处于磁场中的材料表面质点振动，产生向周围空间辐射的电磁波，并被线圈探测到。
第三种检测功能，超声导波检测功能。基于图4所示的一体式传感器，由处于磁轭(U型磁轭)的N极或S极某一极下方的环形线圈传感器(只需要一个作为激励即可)可以实现超声导波检测。由上述环形线圈电磁超声工作原理可知，每个线圈可在铁磁性材料表面环形镜象区域产生振动源。对于一定材料、一定厚度的结构，在低频 (50kHz～500kHz)的某些频率段(工作频率)，可以激励产生较单一的S0模态导波，一种可选的实施例中，产生的导波可以如图4中30所示，可以用于检测待测对象整个厚度上的缺陷，如图4中图标1所示的体内缺陷。导波工作频率一般是窄频段，激励产生单一S0模态导波时，需采用窄频调制信号作为检测信号。由于环形线圈的对称性，此导波以环形线圈为中心，360°均匀辐射传播。导波能量在材料厚度方向上均有分布，因此可以检测到材料整个厚度上的缺陷，如图4中图标30所示为导波，图标1所示为体内缺陷。
第四种检测功能，表面波检测。基于图4所示的一体式传感器，置于由U型磁轭的N极或S极下的环形线圈，由上述的环形线圈电磁超声工作原理可知，每个线圈可在铁磁性材料表面环形镜象区域产生振动源。图10示出了一种传感器形状尺寸设计的示意图，如图10所示，图10中D为线圈最外侧的线圈直径。在一种可选的实施例中，第一电磁超声线圈和第二电磁超声线圈的尺寸满足如下公式：
a＝λR且
Figure PCTCN2017075750-appb-000002
其中，λR为表面波波长，a为相邻线源距离，d为线圈最内侧的线圈直径，N为正整数，即相邻线源距离等于表面波的波长时，激励或接收波长为λR的表面波。一种可选的实施例中，形成的表面波如图4中图标40所示，可以用于检测待测对象的表面缺陷2。
在一种可选的实施例中，由环形线圈电磁超声工作原理可知每个线圈可铁磁性材料表面环形镜象区域产生振动源。在通过上式对表面波进行检测时，有以下两种检测模式：
模式一：一激一收检测模式，例如处于N极下方的线圈作为激发传感器，激励产生表面波，处于S极下方的线圈作为接收传感器，接收表面波(反之，N极下方的线圈作为接收，S极下方的传感器作为激励，道理是同样的)。当U型磁轭N极到S极中间的被检材料区域(即表面波检测区域)存在表层缺陷时，接收传感器收到表面波能量相对于无缺陷时的能量减小，即可判断出此区域中是否存在缺陷，通过能量减小的量可以评估缺陷的大小。
模式二：自激自收与一激一收模式，例如处于N极下方的线圈既作为激发传感器也作为接收传感器，处于S极下方的线圈作为接收传感器，接收表面波。此时如果表面波检测区域存在表层缺陷时，前向传播信号和反射播信号会被S极下方的线圈和N极下方 的线圈接收到。通过透射系数和反射系数可以更准确地评估缺陷的大小。
可选的，漏磁接收组件为磁敏元件，优选地，该磁敏元件为霍尔芯片。
可选的，传感器还包括：漏磁接收组件安装座和外壳，其中，漏磁接收组件安装座用于安装漏磁接收组件，漏磁接收组件安装座与外壳间设置有弹簧，使漏磁接收组件安装座与外壳间产生一定的滑动。
在一种优选的实施例中，图14是根据本发明实施的一种优选的多模式电磁超声与漏磁检测的传感器示意图；如图14所示，该传感器包括：U型磁轭05、激励线圈02、接收线圈08、漏磁接收组件(磁敏元件)01、漏磁接收组件安装座06、弹簧示意图中未标出、滚轮03、外壳04、外壳上盖(示意图中未标出)、接线座07组成。U型磁轭05安装于外壳内部，激励线圈02和接收线圈08分别位于U型磁轭05两腿底面，漏磁接收组件01安装于漏磁接收组件安装座06上，漏磁接收组件安装座06安装于外壳04并位于U型磁轭05的中部位置，漏磁接收组件安装座06与外壳04间设置有弹簧，使漏磁接收组件安装座06可与外壳04间产生一定的滑动，使漏磁接收组件01可良好接触于被测部件，接线座07位于传感器一侧，激励线圈02、接收线圈08、漏磁接收组件01的所有接线都与接线座07连接，滚轮03位于传感器底部，其使传感器可在被检表面良好移动，外壳04上盖保持与外壳04相匹配，用于在安装完所有组件后密封传感器。
优选地，上述传感器中环形线圈的形状尺寸可以为：D＝18.2mm，d＝6.2mm，a＝0.4mm。U形磁轭05的外形尺寸55×40×20mm，在线圈处磁场强度约5000Gs，磁敏元件可以为霍尔芯片。
实施例3
根据本发明实施例，提供了一种多模式电磁超声与漏磁检测的系统实施例。
图13是根据本发明实施例的一种多模式电磁超声与漏磁检测的系统结构示意图，如图13所示，该系统包括实施例1中任意一种可选的或优选的多模式电磁超声与漏磁检测的传感器，以及信号发生器11和功率放大器12。其中，信号发生器用于产生对第一电磁超声线圈和第二电磁超声线圈的激励信号，功率放大器用于对激励信号进行放大。
其中，由信号发生器和功率放大器组成电磁超声激励源。电磁超声激励源频率带宽范围需包含超声导波及超声波检测频率，一般在10kHz～20MHz范围内。激励过程中能够控制产生有特定主频的窄频带信号，通过双工器后进入到一体式传感器中的第 一电磁超声线圈中。
由上可知，在本实施例中，采用电磁超声波与漏磁一体式检测的方式，通过信号发生器和功率放大器组成一种多模式电磁超声与漏磁检测的系统，其中，信号发生器用于产生对第一电磁超声线圈和第二电磁超声线圈的激励信号，功率放大器用于对激励信号进行放大，达到了简化系统组成部分，并且能快速检测铁磁性金属材料腐蚀、表面裂纹以及检测内部损伤的目的，进而解决了现有技术无法实现对被测材料进行超声体波、超声导波、表面波和漏磁全面检测造成检测不全面、工作效率低的技术问题。
可选的，如图13所示，上述系统还包括：双工器13，用于将放大后的激励信号输入第一电磁超声线圈和第二电磁超声线圈，并接收第一电磁超声线圈和第二电磁超声线圈探测到的回波信号。
在一种可选的实施例中，双工器允许大功率激励信号进入激励传感器，限制大功率激励信号进入电磁超声信号调理单元14，只允许小于某一电压的小信号(电磁超声接收信号)进入到电磁超声信号调理单元14。
可选的，如图13所示，上述系统还包括：多通道信号采集器17，用于接收第一电磁超声线圈207和第二电磁超声线圈209探测到的回波信号以及漏磁接收组件检测到的漏磁场信号。
在一种可选的实施例中，多通道信号采集器具有对电磁超声传感器、磁敏元件、电磁超声传感器接收信号，经电磁超声及导波信号调理单元、漏磁信号调理单元15、电磁超声导波信号调理单元16处理后，进行数模转换采样的功能。
可选的，如图13所示，上述系统还包括：上位机18，用于对多通道信号采集器上传的回波信号和/或磁场信号进行分析，并根据分析结果确定待测对象是否存在缺陷。
在一种可选的实施例中，上位机18用于对检测系统进行控制，主要有控制系统处于不同的工作模式下，控制输出特定的检测信号，记录检测信号并进行信号处理、显示与输出。
在一种可选的实施例中，电磁超声及导波信号调理单元具有对接收的电磁超声及电磁超声导波信号进行放大的功能，可包含模拟滤波功能。
漏磁信号调理单元15具有对接收的漏磁信号进行放大和滤波功能。
电磁超声导波信号调理单元16具有对接收的导波和表面波信号进行放大的功能，可包含模拟滤波功能。
实施例4
根据本发明实施例，还提供了一种用于实现上述基于电磁超声与漏磁检测方法的装置实施例，图20是本发明实施例的一种多模式电磁超声与漏磁检测的装置示意图，如图20所示，该装置包括：接收模块211、控制模块213和检测模块215。
其中，接收模块211，用于接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；
控制模块213，用于根据操作指令，控制检测传感器输出对应的检测信号；
检测模块215，用于基于检测信号，对待测对象进行检测。
此处需要说明的是，上述接收模块211、控制模块213和检测模块215可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
由上可知，在本申请上述实施例中，采用由U型磁轭、电磁超声线圈和磁敏元件组成的多模式电磁超声与漏磁一体式传感器，通过上位机接收用户输入的对待测对象进行检测的操作指令，并根据操作指令控制检测传感器进入任意一种或多种工作模式，输出与该工作模式对应的检测信号，最后利用该检测信号对待测对象进行检测，达到了利用一个传感器实现漏磁、电磁超声等多种检测模式的目的，从而实现了降低检测系统复杂度和成本，提高检测效率的技术效果，进而解决了现有技术无法实现对被测材料进行超声体波、超声导波、表面波和漏磁全面检测造成检测不全面、工作效率低的技术问题。
在一种可选的实施例中，上述检测传感器至少包括：磁轭、漏磁接收组件、位于磁轭的N极下方的第一电磁超声线圈和位于磁轭的S极下方的第二电磁超声线圈，其中，磁轭为如下任意一种：永磁体或电磁铁，用于产生漏磁检测的励磁磁场以及电磁超声检测的偏置磁场。
在一种可选的实施例中，在工作模式为漏磁检测的情况下，检测传感器通过磁轭在待测对象的内部产生磁场信号；其中，上述检测模块215可以包括：检测单元，用于通过漏磁接收组件检测是否存在磁场信号，其中，漏磁接收组件位于U型磁轭的中部位置；第一确定单元，用于根据检测结果确定待测对象是否存在缺陷。
此处需要说明的是，上述检测单元和第一确定单元可以作为装置的一部分运行在 计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述控制模块213可以包括：第一获取单元，用于获取用于产生超声体波的第一激励信号，其中，第一激励信号的频率为第一频率；第一输入单元，用于将第一激励信号输入第一电磁超声线圈或第二电磁超声线圈；第二产生单元，用于根据第一电磁超声线圈与U型磁轭的N极，或第二电磁超声线圈与U型磁轭的S极，产生超声体波。
此处需要说明的是，上述第一获取单元、第一输入单元和第二产生单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述检测模块215可以包括：第一接收单元，用于接收由待测对象对超声体波反射的第一回波信号；第二确定单元，用于根据第一回波信号确定待测对象是否存在缺陷，和/或根据第一回波信号确定待测对象的厚度。
此处需要说明的是，上述第一接收单元和第二确定单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述控制模块213可以包括：第二获取单元，用于获取用于产生超声导波的第二激励信号，其中，第二激励信号的频率为第二频率；第二输入单元，用于将第二激励信号输入第一电磁超声线圈或第二电磁超声线圈；第三产生单元，用于根据第一电磁超声线圈与U型磁轭的N极，或第二电磁超声线圈与U型磁轭的S极，产生超声导波。
此处需要说明的是，上述第二获取单元、第二输入单元和第三产生单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述检测模块215可以包括：第二接收单元，用于接收由待测对象对超声体波反射的第二回波信号；第三确定单元，用于根据第二回波信号确定待测对象是否存在缺陷。
此处需要说明的是，上述第二接收单元和第三确定单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述控制模块213可以包括：第三获取单元，用于获取用于产生表面波的第三激励信号，其中，第三激励信号的频率为第三频率；第四确定单元，用于将第三激励信号输入第一电磁超声线圈，或第二电磁超声线圈；第四产生单元，用于根据第一电磁超声线圈与U型磁轭的N极，或第二电磁超声线圈与U型磁轭的S极，产生表面波。
此处需要说明的是，上述第三获取单元、第四确定单元和第四产生单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述检测模块215可以包括：第三接收单元，用于通过第一电磁超声线圈，和/或第二电磁超声线圈接收来自另外一个电磁超声线圈的表面波；第四确定单元，用于根据表面波的能量确定待测对象是否存在缺陷。
此处需要说明的是，上述第三接收单元和第四确定单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
在一种可选的实施例中，上述检测模块215可以包括：第四接收单元，用于通过第一电磁超声线圈，和/或第二电磁超声线圈接收来自另外一个电磁超声线圈的表面波的第一表面波；第五接收单元，用于通过第一电磁超声线圈，和/或第二电磁超声线圈接收其自身发出的第二表面波；第五确定单元，用于根据第一表面波和第二表面波的能量确定待测对象是否存在缺陷。
此处需要说明的是，上述第四接收单元、第五接收单元和第五确定单元可以作为装置的一部分运行在计算机终端中，可以通过计算机终端中的处理器来执行上述模块实现的功能，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
本申请实施例所提供的各个功能模块和单元可以在移动终端、计算机终端或者类似的运算装置中运行，也可以作为存储介质的一部分进行存储。
由此，本发明的实施例可以提供一种计算机终端，该计算机终端可以是计算机终端群中的任意一个计算机终端设备。可选地，在本实施例中，上述计算机终端也可以替换为移动终端等终端设备。
可选地，在本实施例中，上述计算机终端可以位于计算机网络的多个网络设备中的至少一个网络设备。
在本实施例中，上述计算机终端可以执行多模式电磁超声与漏磁检测的方法中以下步骤的程序代码：接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；根据操作指令，控制检测传感器输出对应的检测信号；基于检测信号，对待测对象进行检测。
可选地，该计算机终端可以包括：一个或多个处理器、存储器、以及传输装置。
其中，存储器可用于存储软件程序以及模块，如本发明实施例中的多模式电磁超声与漏磁检测的方法及装置对应的程序指令/模块，处理器通过运行存储在存储器内的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现上述的多模式电磁超声与漏磁检测的方法。存储器可包括高速随机存储器，还可以包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器可进一步包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
上述的传输装置用于经由一个网络接收或者发送数据。上述的网络具体实例可包括有线网络及无线网络。在一个实例中，传输装置包括一个网络适配器(Network Interface Controller，NIC)，其可通过网线与其他网络设备与路由器相连从而可与互联网或局域网进行通讯。在一个实例中，传输装置为射频(Radio Frequency，RF)模块，其用于通过无线方式与互联网进行通讯。
其中，具体地，存储器用于存储预设动作条件和预设权限用户的信息、以及应用程序。
处理器可以通过传输装置调用存储器存储的信息及应用程序，以执行上述方法实施例中的各个可选或优选实施例的方法步骤的程序代码。
本领域普通技术人员可以理解，计算机终端也可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌声电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令终端设备相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
本发明的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于保存上述方法实施例和装置实施例所提供的多模式电磁超声与漏磁检测的方法所执行的程序代码。
可选地，在本实施例中，上述存储介质可以位于计算机网络中计算机终端群中的任意一个计算机终端中，或者位于移动终端群中的任意一个移动终端中。
可选地，在本实施例中，存储介质被设置为存储用于执行以下步骤的程序代码：接收对待测对象进行检测的操作指令，其中，操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；根据操作指令，控制检测传感器输出对应的检测信号；基于检测信号，对待测对象进行检测。
可选地，在本实施例中，存储介质还可以被设置为存储多模式电磁超声与漏磁检测的方法提供的各种优选地或可选的方法步骤的程序代码。
如上参照附图以示例的方式描述了根据本发明的多模式电磁超声与漏磁检测的方法及装置。但是，本领域技术人员应当理解，对于上述本发明所提出的多模式电磁超声与漏磁检测的方法及装置，还可以在不脱离本发明内容的基础上做出各种改进。因此，本发明的保护范围应当由所附的权利要求书的内容确定。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显 示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (21)

  1. 一种多模式电磁超声与漏磁检测的方法，其特征在于，包括：
    接收对待测对象进行检测的操作指令，其中，所述操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；
    根据所述操作指令，控制所述检测传感器输出对应的检测信号；
    基于所述检测信号，对所述待测对象进行检测。
  2. 根据权利要求1所述的方法，其特征在于，所述检测传感器至少包括：磁轭、漏磁接收组件、位于所述磁轭的N极下方的第一电磁超声线圈和位于所述磁轭的S极下方的第二电磁超声线圈，其中，所述磁轭为如下任意一种：永磁体或电磁铁，用于产生漏磁检测的励磁磁场以及电磁超声检测的偏置磁场。
  3. 根据权利要求2所述的方法，其特征在于，在所述工作模式为漏磁检测的情况下，所述检测传感器通过所述磁轭在所述待测对象的内部产生磁场信号；其中，基于所述检测信号，对所述待测对象进行检测，包括：
    通过所述漏磁接收组件检测所述待测对象的外部是否存在漏磁场信号，其中，所述漏磁接收组件位于所述磁轭的中部位置；
    根据检测结果确定所述待测对象是否存在缺陷。
  4. 根据权利要求2所述的方法，其特征在于，在所述工作模式为超声体波检测的情况下，根据所述操作指令，控制所述检测传感器输出对应的检测信号，包括：
    获取用于产生所述超声体波的第一激励信号，其中，所述第一激励信号的频率为第一频率；
    将所述第一激励信号输入所述第一电磁超声线圈或所述第二电磁超声线圈；
    根据所述第一电磁超声线圈与所述磁轭的N极，或所述第二电磁超声线圈与所述磁轭的S极，产生所述超声体波。
  5. 根据权利要求4所述的方法，其特征在于，在所述工作模式为超声体波检测的情况下，基于所述检测信号，对所述待测对象进行检测，包括：
    接收由所述待测对象对所述超声体波反射的第一回波信号；
    根据所述第一回波信号确定所述待测对象是否存在缺陷；和/或
    根据所述第一回波信号确定所述待测对象的厚度。
  6. 根据权利要求2所述的方法，其特征在于，在所述工作模式为超声导波检测的情况下，根据所述操作指令，控制所述检测传感器输出对应的检测信号，包括：
    获取用于产生所述超声导波的第二激励信号，其中，所述第二激励信号的频率为第二频率；
    将所述第二激励信号输入所述第一电磁超声线圈或所述第二电磁超声线圈；
    根据所述第一电磁超声线圈与所述磁轭的N极，或所述第二电磁超声线圈与所述磁轭的S极，产生所述超声导波。
  7. 根据权利要求6所述的方法，其特征在于，在所述工作模式为超声导波检测的情况下，基于所述检测信号，对所述待测对象进行检测，包括：
    接收由所述待测对象对所述超声体波反射的第二回波信号；
    根据所述第二回波信号确定所述待测对象是否存在缺陷。
  8. 根据权利要求2所述的方法，其特征在于，在所述工作模式为表面波检测的情况下，根据所述操作指令，控制所述检测传感器输出对应的检测信号，包括：
    获取用于产生所述表面波的第三激励信号，其中，所述第三激励信号的频率为第三频率；
    将所述第三激励信号输入所述第一电磁超声线圈，或所述第二电磁超声线圈；
    根据所述第一电磁超声线圈与所述磁轭的N极，或所述第二电磁超声线圈与所述磁轭的S极，产生所述表面波。
  9. 根据权利要求8所述的方法，其特征在于，在所述工作模式为表面波检测的情况下，基于所述检测信号，对所述待测对象进行检测，包括：
    通过所述第一电磁超声线圈，和/或第二电磁超声线圈接收来自另外一个电磁超声线圈的表面波；
    根据所述表面波的能量确定所述待测对象是否存在缺陷。
  10. 根据权利要求8所述的方法，其特征在于，在所述工作模式为表面波检测的情况下，基于所述检测信号，对所述待测对象进行检测，包括：
    通过所述第一电磁超声线圈，和/或第二电磁超声线圈接收来自另外一个电磁超声线圈的表面波的第一表面波；
    通过所述第一电磁超声线圈，和/或第二电磁超声线圈接收其自身发出的第二表面波；
    根据所述第一表面波和所述第二表面波的能量确定所述待测对象是否存在缺陷。
  11. 一种多模式电磁超声与漏磁检测的传感器，其特征在于，包括：
    U型磁轭，用于磁化待测对象的材料，并在所述待测对象的内部产生磁场信号；
    漏磁接收组件，位于所述U型磁轭的中部位置，用于检测所述待测对象的外部是否存在漏磁场信号；
    第一电磁超声线圈，位于所述U型磁轭的N极下方，与所述U型磁轭的N极下端结合使用，用于产生或接收如下任意一种或多种检测波：超声体波、超声导波和表面波；
    第二电磁超声线圈，位于所述U型磁轭的S极下方，与所述U型磁轭的S极下端结合使用，用于产生或接收如下任意一种或多种检测波：超声体波、超声导波和表面波。
  12. 根据权利要求11所述的传感器，其特征在于，所述第一电磁超声线圈和所述第二电磁超声线圈的尺寸满足如下公式：
    a＝λR且
    Figure PCTCN2017075750-appb-100001
    其中，λR为表面波波长，a为相邻线源距离，d为线圈最内侧的线圈直径。
  13. 根据权利要求11所述的传感器，其特征在于，所述漏磁接收组件为磁敏元件。
  14. 根据权利要求13所述的传感器，其特征在于，所述磁敏元件为霍尔芯片。
  15. 根据权利要求11所述的传感器，其特征在于，所述传感器还包括：漏磁接收组件安装座和外壳，其中，所述漏磁接收组件安装座用于安装所述漏磁接收组件，所述漏磁接收组件安装座与所述外壳之间设置有弹簧，使所述漏磁接收组件安装座与所述外壳间产生一定的滑动。
  16. 一种多模式电磁超声与漏磁检测的系统，其特征在于，包括：权利要求11至15 中任意一项所述的传感器。
  17. 根据权利要求16所述的系统，其特征在于，所述系统还包括：
    信号发生器，用于产生对所述第一电磁超声线圈和所述第二电磁超声线圈的激励信号；
    功率放大器，与所述信号发生器连接，用于对所述激励信号进行放大。
  18. 根据权利要求17所述的系统，其特征在于，所述系统还包括：
    双工器，与所述功率放大器连接，用于将所述放大后的激励信号输入所述第一电磁超声线圈和/或所述第二电磁超声线圈，并接收所述第一电磁超声线圈和/或所述第二电磁超声线圈检测到的回波信号。
  19. 根据权利要求18所述的系统，其特征在于，所述系统还包括：
    多通道信号采集器，与所述双工器连接，用于接收如下任意一种或多种信号：所述第一电磁超声线圈检测到的回波信号、所述第二电磁超声线圈检测到的回波信号、所述漏磁接收组件检测到的漏磁场信号。
  20. 根据权利要求19所述的系统，其特征在于，所述系统还包括：
    上位机，与所述多通道信号采集器连接，用于接收所述多通道信号采集器上传的信号，并对所述信号进行分析，根据分析结果确定所述待测对象是否存在缺陷。
  21. 一种多模式电磁超声与漏磁检测的装置，其特征在于，包括：
    接收模块，用于接收对待测对象进行检测的操作指令，其中，所述操作指令用于控制检测传感器进入如下任意一种或多种工作模式：漏磁检测、超声体波检测、超声导波检测和表面波检测；
    控制模块，用于根据所述操作指令，控制所述检测传感器输出对应的检测信号；
    检测模块，用于基于所述检测信号，对所述待测对象进行检测。
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