CN114487114B - Detection method based on omnidirectional ultrasonic probe, device and ultrasonic detection system thereof - Google Patents
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Abstract
The application relates to the technical field of ultrasonic detection, in particular to a detection method based on an omnidirectional ultrasonic probe, a device and an ultrasonic detection system thereof. The detection method comprises the following steps: controlling the omnidirectional ultrasonic probe to move along a preset linear path and performing ultrasonic scanning on the piece to be detected at a plurality of positions; extracting a surface profile echo signal in echo signals received by an omnidirectional ultrasonic probe; reconstructing the surface profile of the to-be-detected piece according to the surface profile echo signal so as to obtain a surface profile image of the to-be-detected piece; extracting a defect echo signal in echo signals received by an omnidirectional ultrasonic probe; and carrying out focusing imaging according to the defect echo signals to obtain a defect image of the piece to be detected. The application does not need to adjust the position and the posture of the probe, has simple scanning path and can realize the detection of the large-scale complex-shape to-be-detected piece.
Description
Technical Field
The application relates to the technical field of ultrasonic detection, in particular to a detection method based on an omnidirectional ultrasonic probe, a device and an ultrasonic detection system thereof.
Background
In recent years, complex-shaped structures with curved, inclined or multiple surfaces are increasingly used for safety-critical mechanical parts, such as aircraft structures. Since equivalent stresses are typically concentrated around the bending region, imperfections introduced during manufacture or use may severely impact the safety and reliability of the structure. Therefore, there is an urgent need for a reliable nondestructive inspection technique capable of efficiently inspecting and quantifying defects in a complex-shaped part. Ultrasonic detection is widely used to detect and characterize defects with its high resolution and deep penetration advantages. However, the complexity of the geometry makes it difficult to arrange the ultrasound probe and determine the propagation path of the sound beam. In particular, due to the complex geometry, the ultrasonic waves deform, bend and separate during propagation, making defects difficult to detect. For large structures of complex geometry, reliable ultrasonography should ensure that the axis of symmetry of the probe is perpendicular to the surface of the structure throughout the examination and that the examination path should cover the entire structure.
The conventional ultrasonic detection method of the complex-shape structure mainly comprises single-probe ultrasonic detection and phased array ultrasonic detection. For single-probe ultrasonic detection, an ultrasonic nondestructive detection device capable of detecting any curved surface exists in the prior art, and the scheme can acquire the contour information of the curved surface, guide a manipulator to reach a correct pose and realize ultrasonic nondestructive detection of any curved surface. For phased array ultrasonic detection, in the prior art, there is a flexible ultrasonic array detection device and method of a self-adaptive complex curved surface, according to the technical scheme, a sensor seat is arranged on the back surface of a flexible ultrasonic phased array probe, a distance measuring sensor is arranged on the sensor seat, distances between different positions of the flexible ultrasonic phased array probe relative to the sensor seat are obtained through measurement of the distance measuring sensor, so that a curved surface relation of a coupling surface between the flexible ultrasonic phased array probe and the surface of a workpiece is obtained, shape creation of a detection surface is realized according to the curved surface relation of the coupling surface, and then focusing parameters of the flexible ultrasonic phased array probe are formed, and finally the parameters are used for imaging.
However, the inventors of the present application found in long-term studies that: for the ultrasonic nondestructive testing device capable of conducting ultrasonic testing on any curved surface, when the manipulator conducting ultrasonic testing on any curved surface, the manipulator needs to adjust the posture and the position of the ultrasonic probe in real time, so that the coincidence between the direction of the acoustic axis of the ultrasonic transducer in the ultrasonic probe and the direction of the surface normal of the tested workpiece close to the probe is ensured, and ultrasonic waves are transmitted inside the workpiece at the most favorable angle for testing; for the self-adaptive complex curved surface flexible ultrasonic array detection device and the method, the flexible phased array ultrasonic detection cannot be well adapted to a large-curvature structure due to the limited bending curvature. In addition, for large complex-shaped structures, the two traditional ultrasonic detection methods need to obtain CAD models of the structures in advance by means of reverse engineering technology, and then a scanning path which changes along with the model structures is planned, so that the detection process is long and the cost is high.
In summary, the conventional ultrasonic detection technology mainly has two problems when detecting a complex shape structure: (1) The difficulty and inconvenience of adjusting the ultrasonic probe in real time to effectively transmit and receive ultrasonic waves; (2) The scan path during the structure scan is complex and not readily available.
Disclosure of Invention
The application mainly aims to provide a detection method and a detection device based on an omnidirectional ultrasonic probe, an ultrasonic detection system and a computer readable storage medium, so as to solve the problems that the ultrasonic probe is difficult and inconvenient to adjust in real time in the prior art and the scanning path in the structure scanning process is complex and not easy to obtain.
The detection method based on the omnidirectional ultrasonic probe provided by the embodiment of the application comprises the following steps:
controlling the omnidirectional ultrasonic probe to move along a preset linear path and carrying out ultrasonic scanning on a piece to be detected in a complex shape at a plurality of positions;
extracting a surface profile echo signal from echo signals received by the omnidirectional ultrasonic probe;
reconstructing the surface profile of the to-be-detected piece according to the surface profile echo signal so as to obtain a surface profile image of the to-be-detected piece;
extracting a defect echo signal in echo signals received by the omnidirectional ultrasonic probe;
and carrying out focusing imaging according to the defect echo signals so as to obtain a defect image of the to-be-detected piece.
As an improvement of the above solution, the extracting a surface profile echo signal from echo signals received by the omnidirectional ultrasound probe includes:
acquiring an echo signal received by the omnidirectional ultrasonic probe;
performing energy compensation on the echo signals;
and extracting an envelope peak value larger than a global threshold value from the echo signals after energy compensation as the surface profile echo signals.
As an improvement of the above solution, the extracting, from the echo signals after energy compensation, an envelope peak value greater than a global threshold as the surface profile echo signal includes:
extracting a signal satisfying the following condition from the echo signals S (X, Y) after energy compensation as a surface profile echo signal:
λ=β·max|S(X,Y)| (2)
wherein λ is a global threshold, β is an empirical value, S (X, Y) represents a variation relationship of the amplitude of the echo signal along with a position coordinate X of the omnidirectional ultrasonic probe on a first coordinate axis set along the preset linear path and a transmission distance Y of the echo signal, where the transmission distance Y is obtained by calculating a delay time and a transmission speed of the echo signal, and max is a maximum function.
As an improvement of the above solution, the extracting a defect echo signal from echo signals received by the omnidirectional ultrasonic probe includes:
and removing the surface profile echo signal from the echo signal after energy compensation to extract a defect echo signal.
As an improvement of the above solution, after the extracting the defect echo signal, the method further includes:
and carrying out noise reduction treatment on the defect echo signals.
As an improvement of the above solution, reconstructing the surface profile of the object to be detected from the surface profile echo signal to obtain a surface profile image of the object to be detected includes:
reconstructing the surface profile of the to-be-detected piece according to the following transformation formula to obtain a surface profile image of the to-be-detected piece:
and X and Y are respectively the position coordinates of a position point of the surface profile of the object to be detected, which vertically reflects the echo signal, on a first coordinate axis arranged along the preset linear path and the position coordinates of a position point of the surface profile of the object to be detected, which is perpendicular to the first coordinate axis, on a second coordinate axis, and X and Y are respectively the position coordinates of the omnidirectional ultrasonic probe on the first coordinate axis and the transmission distance of the echo signal, which are determined according to the echo signal of the surface profile, and the transmission distance Y is obtained by calculating the delay time and the transmission speed of the echo signal.
As an improvement of the above solution, the performing focus imaging according to the defect echo signal to obtain a defect image of the object to be detected includes:
performing focusing imaging on the defect echo signals according to the following synthetic aperture focusing algorithm:
wherein x and y are respectively the position coordinates of the defect point of the object to be detected on a first coordinate axis arranged along the preset linear path and the position coordinates of the defect point on a second coordinate axis perpendicular to the first coordinate axis, I (x, y) is a reconstructed superposition signal of the defect point at the position (x, y), omega n As the weight coefficient, S (τ n ,u n ) For the omnidirectional ultrasound probe in position (u n 0) the nth defect echo signal received at (x, y) reflected by the defect point at position (x, y), u n Receiving the position coordinates of the defect echo signal for the omnidirectional ultrasonic probe on a first coordinate axis arranged along the preset linear path, (u) n 0) means that the omnidirectional ultrasonic probe moves along the first coordinate axis and the position coordinate on the second coordinate axis is 0, N is the total number of defect echo signals detected by the omnidirectional ultrasonic probe along the preset linear path, and tau n Is the delay time, r n For a defect point at location (x, y) and the omnidirectional ultrasound probe receiving the defect returnDistance of wave signal, t n For the defect point at the position (x, y), the omnidirectional ultrasonic probe receives the nth defect echo signal, and the time tau n The calculation formula of (2) is as follows:
the ultrasonic detection device based on the omnidirectional ultrasonic probe provided by the embodiment of the application comprises:
the scanning module is used for controlling the omnidirectional ultrasonic probe to move along a preset linear path and carrying out ultrasonic scanning on the to-be-detected piece with the complex shape at a plurality of positions;
the surface profile echo extraction module is used for extracting a surface profile echo signal in echo signals received by the omnidirectional ultrasonic probe;
the surface profile reconstruction module is used for reconstructing the surface profile of the to-be-detected piece according to the surface profile echo signal so as to obtain a surface profile image of the to-be-detected piece;
the defect echo extraction module is used for extracting defect echo signals in echo signals received by the omnidirectional ultrasonic probe;
and the defect imaging module is used for carrying out focusing imaging according to the defect echo signal so as to obtain a defect image of the piece to be detected.
An ultrasonic detection system provided by an embodiment of the present application includes:
one or more processors;
a memory coupled to the processor for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the omnidirectional ultrasound probe-based detection method as described in any embodiment.
The embodiment of the application provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the detection method based on an omnidirectional ultrasound probe according to any embodiment.
Compared with the prior art, the detection method and device based on the omnidirectional ultrasonic probe, the ultrasonic detection system and the computer readable storage medium have the following beneficial effects:
the omnidirectional ultrasonic probe and a simple preset linear scanning path are used for detecting the complex-shaped to-be-detected piece, wherein the omnidirectional characteristic of the sound field of the omnidirectional ultrasonic probe ensures that ultrasonic waves always propagate along the surface perpendicular to the to-be-detected piece without adjusting the position and the posture of the probe, and simultaneously ensures that the scanning is performed by using the simple linear scanning path instead of the complex path continuously changing along the surface profile, the scanning path is simple, and the detection of the large complex-shaped to-be-detected piece can be realized. In addition, the surface profile of the to-be-detected piece is rebuilt through the surface profile echo signal to obtain a surface profile image of the to-be-detected piece, and focusing imaging is carried out according to the defect echo signal to obtain a defect image of the to-be-detected piece, so that comprehensive detection of the to-be-detected piece with the complex shape is realized. Therefore, the application improves the adaptability of the ultrasonic detection method to complex shape structures, simplifies the scanning operation, and improves the detection efficiency and the imaging precision.
Drawings
The present application will be described with reference to the accompanying drawings. The drawings of the present application are for illustration purposes only and are for the purpose of describing the embodiments. Other embodiments will be readily apparent to those skilled in the art from the following description, without departing from the principles of the application.
Fig. 1 is a flow chart of a detection method based on an omnidirectional ultrasonic probe in an embodiment of the application.
Fig. 2 is a schematic diagram of a principle of detecting a complex-shaped object to be detected by using a hemispherical omnidirectional ultrasonic probe in an embodiment of the present application.
Fig. 3 is a schematic diagram of surface contour reconstruction of a complex-shaped object to be detected in an embodiment of the present application.
FIG. 4 is a schematic diagram showing the result of reconstructing the surface profile of a complex-shaped object to be inspected according to an embodiment of the present application;
fig. 5 is a schematic diagram of a synthetic aperture focusing algorithm in an embodiment of the application.
Fig. 6 is a schematic diagram of imaging results obtained by removing surface profile echoes and using a synthetic aperture focusing algorithm in an embodiment of the present application.
Fig. 7 is a schematic structural diagram of an ultrasonic detection device based on an omnidirectional ultrasonic probe in an embodiment of the application.
Fig. 8 is a schematic structural diagram of an ultrasonic detection system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," and the like in this disclosure are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1, an embodiment of the present application provides a detection method based on an omnidirectional ultrasonic probe, including the following steps:
s10, controlling the omnidirectional ultrasonic probe to move along a preset linear path and performing ultrasonic scanning on the to-be-detected piece at a plurality of positions.
In this embodiment, the to-be-detected member has a complex shape, and the present embodiment uses a hemispherical omnidirectional ultrasonic probe and a simple linear scanning path to detect the complex shape structure, and utilizes the omnidirectional characteristic of the hemispherical ultrasonic probe, that is, the hemispherical probe can transmit ultrasonic waves to and receive ultrasonic signals from all directions, and the sensitivity of all directions is similar, which can ensure that the ultrasonic waves always propagate along the surface perpendicular to the to-be-detected member without adjusting the posture and position of the probe, and simultaneously ensure that the scanning detection of the large complex shape structure can be realized by using a simple linear scanning path instead of a complex path continuously changing along the surface profile. Thus, the preset linear path is a simple linear path.
Specifically, as shown in fig. 2, fig. 2 is a schematic diagram of a principle of detecting a complex-shaped structure using a hemispherical omnidirectional ultrasonic probe and a conventional probe. When scanning a complex-shaped structure, the ultrasonic probe can be scanned by using a simple linear scanning path instead of a complex path with continuously changing surface profile in the traditional method because the omnidirectional characteristic of the hemispherical ultrasonic probe ensures that ultrasonic waves always propagate along the surface perpendicular to the complex-shaped structure without adjusting the posture and the position of the probe in the traditional detection method. In addition, the full coverage detection of the complex-shape to-be-detected piece is realized through a simple linear scanning path, the full coverage detection of the complex-shape to-be-detected piece can be realized by using the simple linear scanning path under the condition of no CAD model, instead of the CAD model which is required to be obtained in advance in the traditional method, and then the probe is scanned along the complex path with the surface profile continuously changed.
And S20, extracting a surface profile echo signal from echo signals received by the omnidirectional ultrasonic probe.
Since the omnidirectional ultrasonic probe has consistent transmitting and receiving sensitivity in all directions, in order to realize the comprehensive detection of the complex-shaped to-be-detected piece, echo signals received by the hemispherical omnidirectional ultrasonic probe are used for ultrasonic imaging in two parts: firstly, extracting a surface profile echo signal, and using the surface profile echo signal to reconstruct a surface profile; then extracting a defect echo signal, and using the defect echo signal for focusing imaging.
In a specific embodiment, the step S20 includes the following steps:
s21, acquiring echo signals received by the omnidirectional ultrasonic probe.
The application controls the omnidirectional ultrasonic probe to scan along a simple straight path, transmits ultrasonic waves to a complex-shaped member and receives reflected echo signals thereof, and records the echo signals as s (X, Y).
S22, performing energy compensation on the echo signals.
The signal-to-noise ratio becomes lower because the energy of the echo signal becomes weaker as the propagation depth increases. The water absorption decay can be compensated by the following gain function:
g(v,t)=10α·v·t/20 (9)
where α is a threshold constant; v is the propagation velocity of the ultrasonic wave in the water; t is the time it takes for an ultrasonic wave to propagate back from the probe to the re-emission. Thus, the echo signal after compensation can be expressed as:
S(X,Y)=s(X,Y)·g(v,t) (10)
and then the Hilbert function is utilized to envelope the echo signal after energy compensation.
S23, extracting an envelope peak value larger than a global threshold value from the echo signals subjected to energy compensation as the surface profile echo signals.
Optionally, the step S23 includes the following steps:
extracting a signal satisfying the following condition from the echo signals S (X, Y) after energy compensation as a surface profile echo signal:
λ=β·max|S(X,Y)| (2)
wherein λ is a global threshold, β is an empirical value, S (X, Y) represents a variation relationship of the amplitude of the echo signal along with a position coordinate X of the omnidirectional ultrasonic probe on a first coordinate axis set along the preset linear path and a transmission distance Y of the echo signal, where the transmission distance Y is obtained by calculating a delay time and a transmission speed of the echo signal, and max is a maximum function.
Illustratively, as shown in fig. 5, the first coordinate axis is the x-axis along which the omnidirectional ultrasound probe moves.
The present embodiment establishes a global threshold criterion, wherein the echo signal envelope peak is considered as an echo signal from the surface of the object to be detected only if it is greater than the global threshold λ, i.e. satisfies equation (1), wherein λ=β·max|s (X, Y) |, and the value of the parameter β is empirically determined.
S30, reconstructing the surface profile of the to-be-detected piece according to the surface profile echo signal so as to obtain a surface profile image of the to-be-detected piece.
In a specific embodiment, the step S30 includes the following steps:
s31, reconstructing the surface profile of the to-be-detected piece according to the following transformation formula:
and X and Y are respectively the position coordinates of a position point of the surface profile of the object to be detected, which vertically reflects the echo signal, on a first coordinate axis arranged along the preset linear path and the position coordinates of a position point of the surface profile of the object to be detected, which is perpendicular to the first coordinate axis, on a second coordinate axis, and X and Y are respectively the position coordinates of the omnidirectional ultrasonic probe on the first coordinate axis and the transmission distance of the echo signal, which are determined according to the echo signal of the surface profile, and the transmission distance Y is obtained by calculating the delay time and the transmission speed of the echo signal.
In one embodiment, the calculation formula for Y is:
Y=vt/2 (11)
where v is the propagation velocity of the ultrasonic wave in the water and t is the propagation time of the ultrasonic wave.
The shape estimation algorithm based on boundary scatter transformation and direct scattered wave extraction may be simply referred to as SEABED, which is a reverse transformation relationship between the surface profile and the quasi-wavefront signal. The coordinate points in the real space are represented by parameters (X, Y) and the coordinate points in the transition space are represented by parameters (X, Y) by adopting a shape estimation algorithm based on boundary scattering transformation and direct scattering wave extraction. The principle of surface contour reconstruction is illustrated in fig. 3, wherein the first coordinate axis is the X-axis, the second coordinate axis is the Y-axis, and X represents the abscissa of the position of the omnidirectional ultrasonic probe on the X-axis, and Y may be represented by y=vt/2 by the ultrasonic propagation time t and the propagation speed v of the ultrasonic wave in water, i.e. the transmission distance of the ultrasonic wave d.
The boundary scattering transformation formula is as follows:
the inverse boundary scattering transformation formula is:
in this embodiment, when |dY/dX|+.1 is satisfied, the surface profile points (x, y) of the object to be inspected can be calculated by the above-described inverse boundary scattering transformation formula (3). And then fitting the obtained boundary discrete points to obtain the reconstructed surface profile.
Illustratively, FIG. 4 shows the result of imaging the surface profile of the part to be inspected estimated using the SEABED algorithm. The solid and dashed lines are the true and reconstructed surface contours of the object to be inspected, respectively. The consistency of the true surface profile with the reconstructed surface profile demonstrates the effectiveness of the reconstruction algorithm.
And S40, extracting a defect echo signal in echo signals received by the omnidirectional ultrasonic probe.
In a specific embodiment, the step S40 includes the following steps:
s41, removing the surface profile echo signals from the echo signals after energy compensation to extract defect echo signals.
Since the presence of surface profile echoes can greatly interfere with defect imaging, the surface profile echoes can be directly removed using a window function on the experimental time domain signal by the following equation:
wherein S' i To remove the time domain signal after surface contour echo, S i And (t) is a time domain signal corresponding to the echo signal S (X, Y) after original energy compensation, and epsilon is a suppression coefficient. t is t 1 And t 2 The delay and time domain width of the surface profile echo, respectively. From the surface profile reflection point (x) i ,y i ) The delay time to the receipt of the surface profile echo at the omnidirectional ultrasound probe location (x, y) may be expressed as:
in the formula, v water The propagation velocity of ultrasonic waves in water was measured to be 1497m/s.
And (3) marking the time domain signal after the surface contour echo is removed in the step as S' (X, Y), namely the defect echo signal.
Optionally, after the extracting the defect echo signal, the method further includes:
s42, performing noise reduction processing on the defect echo signals.
In order to better extract effective defect echo signals for focusing imaging, a wavelet change soft threshold denoising technology is used for preprocessing the defect echo signals S' (X, Y), so that errors are effectively eliminated, and the method is expressed as follows:
wherein,,to estimate the original signal after denoising, y i Is the wavelet coefficient corresponding to the signal, delta represents the noise level, is a constant, sgn is a step function.
S50, focusing imaging is carried out according to the defect echo signals so as to obtain a defect image of the to-be-detected piece.
Although the omnidirectional nature of the hemispherical ultrasound probe ensures that there is always ultrasound propagating perpendicular to the surface profile of the structure, it also causes the reflected signal of the sidetrack hole defect to diverge, resulting in low imaging resolution, so that the diverging defect echo signal needs to be focused to image the defect of the part under test.
In a specific embodiment, the step S50 includes the following steps:
s51, carrying out focusing imaging on the defect echo signals according to the following synthetic aperture focusing algorithm:
wherein x and y are respectively the position coordinates of the defect point of the object to be detected on a first coordinate axis arranged along the preset linear path and the position coordinates of the defect point on a second coordinate axis perpendicular to the first coordinate axis, I (x, y) is a reconstructed superposition signal of the defect point at the position (x, y), omega n As the weight coefficient, S (τ n ,u n ) For the omnidirectional ultrasound probe in position (u n 0) the nth defect echo signal received at (x, y) reflected by the defect point at position (x, y), u n Receiving the position coordinates of the defect echo signal for the omnidirectional ultrasonic probe on a first coordinate axis arranged along the preset linear path, (u) n 0) means that the omnidirectional ultrasonic probe moves along the first coordinate axis and the position coordinate on the second coordinate axis is 0, N is the total number of defect echo signals detected by the omnidirectional ultrasonic probe along the preset linear path, and tau n Is the delay time, r n Is the distance, t, between the defect point at the position (x, y) and the defect echo signal received by the omnidirectional ultrasonic probe n For the defect point at the position (x, y), the omnidirectional ultrasonic probe receives the nth defect echo signal, and the time tau n The calculation formula of (2) is as follows:
the synthetic aperture focusing algorithm is simply called SAFT, and because the SAFT algorithm can focus divergent reflection signals and is widely used for improving the transverse resolution of imaging, the SAFT algorithm is used for reconstructing a focused image of a high-precision side drilling defect, and the principle of the SAFT algorithm is shown in figure 5.
By way of example, fig. 6 shows imaging results obtained by removing surface profile echoes and using the SAFT algorithm. The pixel values of the images are normalized and displayed, white circles represent the actual positions of the side holes, and punctiform white on each circle represents the positions of the side hole defects measured by the algorithm. The results show that the imaging positions of the three side drilling holes are well matched with the actual positions, and the imaging accuracy is high.
Therefore, the surface contour is reconstructed by using the SEABED algorithm, then the defect is imaged by using the SAFT algorithm, and the result shows that the surface contour line estimated by the SEABED algorithm has higher precision, and the imaging positioning precision of all side drilling holes is higher after the SAFT algorithm is adopted.
Compared with the prior art, the detection method based on the omnidirectional ultrasonic probe uses the omnidirectional ultrasonic probe and a simple preset linear scanning path to detect the complex-shaped to-be-detected piece, wherein the omnidirectional characteristic of the sound field of the omnidirectional ultrasonic probe ensures that ultrasonic waves always propagate along the surface perpendicular to the to-be-detected piece without adjusting the position and the posture of the probe, and simultaneously ensures that the scanning is performed by using the simple linear scanning path instead of the complex path with continuously changed surface profile, and the scanning path is simple, so that the detection of the large complex-shaped to-be-detected piece can be realized. In addition, the surface profile of the to-be-detected piece is rebuilt through the surface profile echo signal to obtain a surface profile image of the to-be-detected piece, and focusing imaging is carried out according to the defect echo signal to obtain a defect image of the to-be-detected piece, so that comprehensive detection of the to-be-detected piece with the complex shape is realized. Therefore, the application improves the adaptability of the ultrasonic detection method to complex shape structures, simplifies the scanning operation, and improves the detection efficiency and the imaging precision.
Referring to fig. 7, an embodiment of the present application further provides an ultrasonic detection device based on an omnidirectional ultrasonic probe, where the device includes:
the scanning module 101 is used for controlling the omnidirectional ultrasonic probe to move along a preset linear path and performing ultrasonic scanning on the piece to be detected at a plurality of positions;
the surface profile echo extraction module 102 is configured to extract a surface profile echo signal from echo signals received by the omnidirectional ultrasonic probe;
a surface profile reconstructing module 103, configured to reconstruct a surface profile of the object to be detected according to the surface profile echo signal, so as to obtain a surface profile image of the object to be detected;
a defect echo extracting module 104, configured to extract a defect echo signal from echo signals received by the omnidirectional ultrasonic probe;
and the defect imaging module 105 is used for carrying out focusing imaging according to the defect echo signals so as to obtain a defect image of the to-be-detected piece.
The specific limitation regarding the ultrasound detection apparatus based on the omnidirectional ultrasound probe may be referred to as the limitation regarding the detection method based on the omnidirectional ultrasound probe hereinabove, and will not be described herein. The modules in the above-described omnidirectional ultrasonic probe-based ultrasonic detection apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Referring to fig. 8, an embodiment of the present application further provides an ultrasonic detection system, including:
one or more processors;
a memory coupled to the processor for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the omnidirectional ultrasound probe-based detection method as described in any of the embodiments above.
The processor is used for controlling the whole operation of the terminal equipment so as to complete all or part of the steps of the detection method based on the omnidirectional ultrasonic probe. The memory is used to store various types of data to support operation at the terminal device, which may include, for example, instructions for any application or method operating on the terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk or optical disk.
In an exemplary embodiment, the terminal device may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), a digital signal processor (Digital Signal Processor, abbreviated as DSP), a digital signal processing device (Digital Signal Processing Device, abbreviated as DSPD), a programmable logic device (Programmable Logic Device, abbreviated as PLD), a field programmable gate array (Field Programmable Gate Array, abbreviated as FPGA), a controller, a microcontroller, a microprocessor, or other electronic components for performing the omnidirectional ultrasound probe-based detection method according to any of the above embodiments, and achieving technical effects consistent with the method described above.
In another exemplary embodiment, there is also provided a computer readable storage medium comprising a computer program which, when executed by a processor, implements the steps of the omnidirectional ultrasound probe-based detection method according to any of the embodiments described above. For example, the computer readable storage medium may be a memory including a computer program, where the computer program may be executed by a processor of a terminal device to perform the detection method based on the omnidirectional ultrasound probe according to any one of the embodiments, and achieve technical effects consistent with the method.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in other related arts, either directly or indirectly, which fall within the scope of the present application.
Claims (8)
1. The detection method based on the omnidirectional ultrasonic probe is characterized by comprising the following steps of:
controlling the omnidirectional ultrasonic probe to move along a preset linear path and carrying out ultrasonic scanning on a piece to be detected in a complex shape at a plurality of positions;
extracting a surface profile echo signal from echo signals received by the omnidirectional ultrasonic probe;
reconstructing the surface profile of the to-be-detected piece according to the surface profile echo signal so as to obtain a surface profile image of the to-be-detected piece; comprising the following steps:
reconstructing the surface profile of the object to be detected according to the following transformation formula:
wherein X and Y are respectively the position coordinates of a position point of the surface profile of the object to be detected, which vertically reflects the echo signal, on a first coordinate axis arranged along the preset linear path and the position coordinates of a position point of the surface profile of the object to be detected, which is perpendicular to the first coordinate axis, on a second coordinate axis, and X and Y are respectively the position coordinates of the omnidirectional ultrasonic probe on the first coordinate axis and the transmission distance of the echo signal, which are determined according to the echo signal of the surface profile, and the transmission distance Y is obtained by calculating the delay time and the transmission speed of the echo signal;
extracting a defect echo signal in echo signals received by the omnidirectional ultrasonic probe;
focusing imaging is carried out according to the defect echo signals so as to obtain a defect image of the to-be-detected piece; comprising the following steps:
performing focusing imaging on the defect echo signals according to the following synthetic aperture focusing algorithm:
wherein x and y are respectively the position coordinates of the defect point of the object to be detected on a first coordinate axis arranged along the preset linear path and the position coordinates of the defect point on a second coordinate axis perpendicular to the first coordinate axis, I (x, y) is a reconstructed superposition signal of the defect point at the position (x, y), omega n As the weight coefficient, S (τ n ,u n ) For the omnidirectional ultrasound probe in position (u n 0) the nth defect echo signal received at (x, y) reflected by the defect point at position (x, y), u n Receiving the position coordinates of the defect echo signal for the omnidirectional ultrasonic probe on a first coordinate axis arranged along the preset linear path, (u) n 0) means that the omnidirectional ultrasonic probe moves along the first coordinate axis and the position coordinate on the second coordinate axis is 0, N is the total number of defect echo signals detected by the omnidirectional ultrasonic probe along the preset linear path, and tau n Is the delay time, r n Is the distance, t, between the defect point at the position (x, y) and the defect echo signal received by the omnidirectional ultrasonic probe n For the defect point at the position (x, y), the time when the omnidirectional ultrasonic probe receives the nth defect echo signal is v the propagation speed of ultrasonic wave in water, τ n The calculation formula of (2) is as follows:
2. the method for detecting an omnidirectional ultrasound probe of claim 1, wherein the extracting a surface profile echo signal from echo signals received by the omnidirectional ultrasound probe comprises:
acquiring an echo signal received by the omnidirectional ultrasonic probe;
performing energy compensation on the echo signals;
and extracting an envelope peak value larger than a global threshold value from the echo signals after energy compensation as the surface profile echo signals.
3. The method for detecting an omnidirectional ultrasound probe according to claim 2, wherein said extracting an envelope peak value greater than a global threshold from the echo signals after energy compensation as the surface profile echo signals comprises:
extracting a signal satisfying the following condition from the echo signals S (X, Y) after energy compensation as a surface profile echo signal:
λ=β·max|S(X,Y)| (2)
wherein λ is a global threshold, β is an empirical value, S (X, Y) represents a variation relationship of the amplitude of the echo signal along with a position coordinate X of the omnidirectional ultrasonic probe on a first coordinate axis set along the preset linear path and a transmission distance Y of the echo signal, where the transmission distance Y is obtained by calculating a delay time and a transmission speed of the echo signal, and max is a maximum function.
4. The method for detecting an omnidirectional ultrasound probe according to claim 3, wherein said extracting a defective echo signal from echo signals received by said omnidirectional ultrasound probe comprises:
and removing the surface profile echo signal from the echo signal after energy compensation to extract a defect echo signal.
5. The method of claim 4, further comprising, after the extracting the defect echo signal:
and carrying out noise reduction treatment on the defect echo signals.
6. An ultrasonic testing device based on an omnidirectional ultrasonic probe, comprising:
the scanning module is used for controlling the omnidirectional ultrasonic probe to move along a preset linear path and carrying out ultrasonic scanning on the to-be-detected piece with the complex shape at a plurality of positions;
the surface profile echo extraction module is used for extracting a surface profile echo signal in echo signals received by the omnidirectional ultrasonic probe;
the surface profile reconstruction module is used for reconstructing the surface profile of the to-be-detected piece according to the surface profile echo signal so as to obtain a surface profile image of the to-be-detected piece; the method specifically comprises the following steps of reconstructing the surface profile of the to-be-detected piece according to the following transformation formula:
wherein X and Y are respectively the position coordinates of a position point of the surface profile of the object to be detected, which vertically reflects the echo signal, on a first coordinate axis arranged along the preset linear path and the position coordinates of a position point of the surface profile of the object to be detected, which is perpendicular to the first coordinate axis, on a second coordinate axis, and X and Y are respectively the position coordinates of the omnidirectional ultrasonic probe on the first coordinate axis and the transmission distance of the echo signal, which are determined according to the echo signal of the surface profile, and the transmission distance Y is obtained by calculating the delay time and the transmission speed of the echo signal;
the defect echo extraction module is used for extracting defect echo signals in echo signals received by the omnidirectional ultrasonic probe;
the defect imaging module is used for carrying out focusing imaging according to the defect echo signal so as to obtain a defect image of the piece to be detected; the method specifically comprises the following steps of focusing and imaging the defect echo signals according to a synthetic aperture focusing algorithm:
wherein x and y are respectively the position coordinates of the defect point of the object to be detected on a first coordinate axis arranged along the preset linear path and the position coordinates of the defect point on a second coordinate axis perpendicular to the first coordinate axis, I (x, y) is a reconstructed superposition signal of the defect point at the position (x, y), omega n As the weight coefficient, S (τ n ,u n ) For the omnidirectional ultrasound probe in position (u n 0) the nth defect echo signal received at (x, y) reflected by the defect point at position (x, y), u n Receiving the position coordinates of the defect echo signal for the omnidirectional ultrasonic probe on a first coordinate axis arranged along the preset linear path, (u) n 0) means that the omnidirectional ultrasonic probe moves along the first coordinate axis and the position coordinate on the second coordinate axis is 0, N is the total number of defect echo signals detected by the omnidirectional ultrasonic probe along the preset linear path, and tau n Is the delay time, r n Is the distance, t, between the defect point at the position (x, y) and the defect echo signal received by the omnidirectional ultrasonic probe n For the defect point at the position (x, y), the time when the omnidirectional ultrasonic probe receives the nth defect echo signal is v the propagation speed of ultrasonic wave in water, τ n The calculation formula of (2) is as follows:
7. an ultrasonic detection system, comprising:
one or more processors;
a memory coupled to the processor for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the omnidirectional ultrasound probe-based detection method of any of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the omnidirectional ultrasound probe-based detection method according to any of claims 1-5.
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