Submerged-arc welding steel pipe welding seam phased array ultrasonic automatic detection method, system and device and medium

Abstract

The invention discloses a submerged-arc welding steel pipe welding seam phased array ultrasonic automatic detection method, system and device and a medium, and the method comprises the steps: carrying out the fan-shaped scanning acoustic beam coverage simulation of a detection surface of a submerged-arc welding steel pipe welding seam structure diagram, and enabling any position of a detection region of the submerged-arc welding steel pipe welding seam structure diagram to be covered by an acoustic beam; the method comprises the following steps: detecting weld defects of a submerged-arc welded steel pipe based on typical artificial defect detection of a simulation test block to obtain an artificial defect map of the simulation test block; and performing defect judgment on the weld defects of the submerged-arc welded steel pipe to obtain the types of the weld defects of the submerged-arc welded steel pipe. According to the method, the covering state of the ultrasonic beam in the submerged-arc welding steel pipe welding seam can be visually displayed, and design and optimization of the phased array ultrasonic automatic detection process for the submerged-arc welding steel pipe welding seam are effectively guided. And the phased array ultrasonic automatic detection method for the submerged-arc welding steel pipe welding seam is established, the acoustic beam direction is flexibly and effectively controlled, accurate detection of damage of components such as the submerged-arc welding steel pipe welding seam is achieved, and good traceability is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of nondestructive testing and relates to a phased array ultrasonic automatic testing method, system, device and medium for welding seams of submerged arc welded steel pipes. Background Art

[0002] The oil and gas pipelines in the long-distance oil and gas pipeline network are mainly submerged arc welded pipes. During the manufacturing process, the internal welding defects of the welds of submerged arc welded pipes are mainly guaranteed by ultrasonic detection technology. Piezoelectric ultrasonic automatic detection technology is usually used. Since piezoelectric ultrasonic automatic detection technology requires more than a dozen sets of probes to fully cover the detection, it places high demands on the stability and reliability of the detection system, and is prone to false alarms and missed alarms, resulting in increased uncertainty in the detection results. The phased array ultrasonic automatic detection technology (PAUT) receives ultrasonic signals according to a certain delay law and displays the internal state of the object being inspected in a graphical manner. It can generate the same sound beam and angle as conventional ultrasound, and can accurately control the angle and focal size of the sound beam electronically. Therefore, there is an urgent need for a phased array ultrasonic automatic detection method that can be used for submerged arc welded steel pipe welds. Summary of the invention

[0003] The purpose of the present invention is to solve the problems of high stability and reliability requirements and frequent false alarms and missed alarms in the detection system in the prior art, and to provide a phased array ultrasonic automatic detection method, system, device and medium for submerged arc welded steel pipe welds.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes, comprising:

[0006] Construct weld structure diagram of submerged arc welded steel pipe;

[0007] Perform a fan-shaped scanning sound beam coverage simulation on the inspection surface of the submerged arc welded steel pipe weld structure diagram, so that any position of the inspection area of ​​the submerged arc welded steel pipe weld structure diagram is covered by the sound beam;

[0008] Based on the artificial defect detection of typical simulated test blocks, the weld defects of submerged arc welded steel pipes are detected to obtain the artificial defect map of the simulated test blocks;

[0009] Obtain the scanning process parameters of the inspection process based on the artificial defect map of the simulated test block;

[0010] Based on the scanning process parameters, the defects of the submerged arc welded steel pipe welds are identified to obtain the types of defects in the submerged arc welded steel pipe welds.

[0011] A further improvement of the present invention is:

[0012] Furthermore, a weld structure diagram of a submerged arc welded steel pipe is constructed, specifically by measuring the groove size and wall thickness of the weld of the submerged arc welded steel pipe to be tested, and drawing weld structures at different positions according to the groove size and wall thickness.

[0013] Furthermore, a fan-shaped scanning sound beam coverage simulation is performed on the inspection surface of the submerged arc welded steel pipe weld structure diagram, which also includes: covering the entire submerged arc welded steel pipe weld by primary reflection and secondary reflection on the outer surface of the inspection surface to obtain various defects; and performing submerged arc welded steel pipe weld defect detection at different positions on the entire inspection surface based on multi-probe scanning coverage and multi-focusing law scanning coverage.

[0014] Furthermore, submerged arc welded steel pipe weld defects include cracks, lack of fusion, lack of penetration, undercut and misalignment.

[0015] Furthermore, there are three types of weld defects in submerged arc welded steel pipes, namely longitudinal defects, transverse defects and heat-affected zone layer defects; for the detection of longitudinal defects in submerged arc welded steel pipe welds, it is necessary to fan-scan with a large-angle primary wave to cover the lower V-shaped zone of the weld and the inner wall heat-affected zone, and with a small-angle secondary wave to cover the upper V-shaped zone of the weld and the outer wall heat-affected zone, and the small-angle and large-angle sound beams need to cover the weld root; for defects in the blunt edge area, two virtual array elements at different positions are used for serial scanning; for transverse defect detection of submerged arc welded steel pipe welds, a phased array wheel probe is used to achieve full coverage detection of weld defects in submerged arc welded steel pipe welds; for layer defect detection in the heat-affected zone of submerged arc welded steel pipe welds, conventional straight probes or dual crystal probes are used to achieve full coverage detection of weld defects in submerged arc welded steel pipe welds.

[0016] Furthermore, the detection frequency of longitudinal defects and transverse defects is 3MHz, 32 array elements, the size of the rectangular chip group is 14mm×14mm, and the probe shell size is 40mm in diameter; the detection of layered defects in the heat affected zone of submerged arc welded steel pipe welds is a conventional straight probe or dual crystal probe type with an incident angle of 0°; the wheel probe detects transverse defects in welds with a maximum wall thickness of 50mm; the fan scanning angle of submerged arc welded steel pipe welds is 35°~75°, the center angle is 55°, the wedge angle can be selected to be 35°, and the refraction angle in the steel is 53°.

[0017] A submerged arc welded steel pipe weld phased array ultrasonic automatic detection system, comprising:

[0018] A construction module, wherein the construction module constructs a weld structure diagram of a submerged arc welded steel pipe;

[0019] A simulation coverage module, wherein the simulation coverage module performs a fan-shaped scanning sound beam coverage simulation on the detection surface of the submerged arc welded steel pipe weld structure diagram, so that any position of the detection area of ​​the submerged arc welded steel pipe weld structure diagram is covered by the sound beam;

[0020] A detection module, wherein the detection module detects weld defects of submerged arc welded steel pipes based on artificial defect detection of typical simulated test blocks to obtain an artificial defect map of the simulated test blocks;

[0021] An acquisition module, wherein the acquisition module acquires scanning process parameters of the detection process based on the artificial defect map of the simulated test block;

[0022] A discrimination module is provided, wherein the discrimination module discriminates the weld defects of the submerged arc welded steel pipe based on the scanning process parameters, and obtains the types of the weld defects of the submerged arc welded steel pipe.

[0023] A terminal device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0024] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention simulates the coverage of the sound beam by performing a sector scanning on the detection surface of the weld structure diagram of the submerged arc welded steel pipe, so that any position of the detection area of ​​the weld structure diagram of the submerged arc welded steel pipe is covered by the sound beam; detects the weld defects of the submerged arc welded steel pipe based on the artificial defect detection of the typical simulation test block, and obtains the artificial defect spectrum of the simulation test block; and distinguishes the weld defects of the submerged arc welded steel pipe based on the scanning process parameters, and obtains the types of weld defects of the submerged arc welded steel pipe. The present invention simulates the full coverage detection of the sound beam, which can intuitively display the coverage state of the ultrasonic sound beam in the weld of the submerged arc welded steel pipe, and effectively guides the design and optimization of the phased array ultrasonic automatic detection process of the weld of the submerged arc welded steel pipe. In addition, a phased array ultrasonic automatic detection method for the weld of the submerged arc welded steel pipe is established. The phased array ultrasonic automatic detection technology can flexibly and effectively control the direction of the sound beam, realize the accurate detection of damage to components such as the weld of the submerged arc welded steel pipe, and has good traceability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 It is a schematic diagram of the process of the phased array ultrasonic automatic detection method of the weld of the submerged arc welded steel pipe of the present invention;

[0029] Figure 2 Schematic diagram of the phased array ultrasonic automatic inspection system for submerged arc welded steel pipe welds of the present invention;

[0030] Figure 3 Schematic diagram of the PAUT detection principle;

[0031] Figure 4 Schematic diagram of typical defects in submerged arc welded steel pipe welds; Figure 4 (a) Schematic diagram of cracks in the heat affected zone of the weld; Figure 4 (b) Schematic diagram of incomplete penetration in the middle of the weld; Figure 4 (c) Schematic diagram of pores or slag inclusions inside the weld; Figure 4 (d) Schematic diagram of weld toe cracks;

[0032] Figure 5 Schematic diagram of sound beam coverage simulation for submerged arc welded steel pipe welds; Figure 5 (a) Schematic diagram of sound path scan coverage; Figure 5 (b) Schematic diagram of primary and secondary reflection wave scan coverage; Figure 5 (c) Schematic diagram of multi-probe scan coverage; Figure 5 (d) Schematic diagram of multi-focus law scan coverage;

[0033] Figure 6 Schematic diagram of the design of simulation test blocks and artificial defects; Figure 6 (a) and Figure 6 (b) are schematic diagrams of artificial defects and longitudinal defects on the comparison test block with a wall thickness range of 6mm < t ≤ 18mm respectively; Figure 6 (c) and Figure 6 (d) are schematic diagrams of artificial defects and longitudinal defects on the comparison test block with a wall thickness range of 18mm < t ≤ 40mm;

[0034] Figure 7 Schematic diagram of probe arrangement and layout;

[0035] Figure 8 Schematic diagram of primary and secondary reflection wave fan scan;

[0036] Fig. 9 Schematic diagram of TR mode scan;

[0037] Fig.10 Schematic diagram of the spontaneous self-receiving mode scan for defects in the upper half of the weld;

[0038] Fig.11 Schematic diagram of the spontaneous self-receiving mode scan for defects in the lower half of the weld;

[0039] Fig.12 Schematic diagram of on-bead wheel probe scan;

[0040] Fig.13It is a schematic diagram of scanning with a straight probe or a dual crystal probe;

[0041] Fig.14 This is a schematic diagram of the artificial defect spectrum of a typical simulated test block; Fig.14 (a) is a schematic diagram of the longitudinal groove on the outer side of the weld; Fig.14 (b) is a schematic diagram of the longitudinal groove inside the weld; Fig.14 (c) is a schematic diagram of the vertical through hole in the middle of the weld; Fig.14 (d) is a schematic diagram of the flat-bottom hole in the center of the weld wall thickness. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0046] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0049] See also Figure 1 The present invention discloses a phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes, comprising:

[0050] S101, construct the weld structure diagram of submerged arc welded steel pipe.

[0051] Measure the groove size and wall thickness of the submerged arc welded steel pipe to be tested, and draw the weld structure at different positions based on the groove size and wall thickness.

[0052] S102, performing a fan-shaped scanning sound beam coverage simulation on the detection surface of the submerged arc welded steel pipe weld structure diagram, so that any position of the detection area of ​​the submerged arc welded steel pipe weld structure diagram is covered by the sound beam.

[0053] The outer surface of the inspection surface is covered with the entire submerged arc welded steel pipe weld by primary wave reflection and secondary wave reflection to obtain various defects; at the same time, based on multi-probe scanning coverage and multi-focusing law scanning coverage, the submerged arc welded steel pipe weld defect detection at different positions of the entire inspection surface is carried out.

[0054] S103, detecting the weld defects of the submerged arc welded steel pipe based on the artificial defect detection of the typical simulation test block, and obtaining the artificial defect map of the simulation test block.

[0055] Submerged arc welded steel pipe weld defects include cracks, lack of fusion, incomplete penetration, undercut and misalignment.

[0056] There are three types of weld defects in submerged arc welded steel pipes, namely longitudinal defects, transverse defects and heat-affected zone layer defects; for the detection of longitudinal defects in submerged arc welded steel pipes, it is necessary to fan-scan with a large-angle primary wave to cover the lower V-shaped zone of the weld and the heat-affected zone of the inner wall, and a small-angle secondary wave to cover the upper V-shaped zone of the weld and the heat-affected zone of the outer wall. The small-angle and large-angle sound beams need to cover the weld root; for defects in the blunt edge area, two virtual array elements at different positions are used for serial scanning; for the detection of transverse defects in submerged arc welded steel pipe welds, a phased array wheel probe is used to achieve full coverage detection of weld defects in submerged arc welded steel pipes; for the detection of layer defects in the heat-affected zone of submerged arc welded steel pipe welds, conventional straight probes or dual crystal probes are used to achieve full coverage detection of weld defects in submerged arc welded steel pipes.

[0057] S104, obtaining scanning process parameters of the detection process based on the artificial defect map of the simulated test block.

[0058] The detection frequency of longitudinal defects and transverse defects is 3MHz, with 32 array elements, the size of the rectangular chip group is 14mm×14mm, and the size of the probe shell is 40mm in diameter; for the detection of layered defects in the heat affected zone of submerged arc welded steel pipe welds, conventional straight probes or dual crystal probe types are used, with an incident angle of 0°; for the detection of transverse defects in welds with wheel probes, the maximum wall thickness is 50mm; for the detection of submerged arc welded steel pipe welds, the fan scanning angle is 35°~75°, the center angle is 55°, the wedge angle can be selected to be 35°, and the refraction angle in the steel is 53°.

[0059] S105, performing defect identification on the weld defects of the submerged arc welded steel pipe based on the scanning process parameters to obtain the types of the weld defects of the submerged arc welded steel pipe.

[0060] See also Figure 2 The present invention discloses a submerged arc welded steel pipe weld phased array ultrasonic automatic detection system, comprising:

[0061] A construction module, wherein the construction module constructs a weld structure diagram of a submerged arc welded steel pipe;

[0062] A simulation coverage module, wherein the simulation coverage module performs a fan-shaped scanning sound beam coverage simulation on the detection surface of the submerged arc welded steel pipe weld structure diagram, so that any position of the detection area of ​​the submerged arc welded steel pipe weld structure diagram is covered by the sound beam;

[0063] A detection module, wherein the detection module detects weld defects of submerged arc welded steel pipes based on artificial defect detection of typical simulated test blocks to obtain an artificial defect map of the simulated test blocks;

[0064] An acquisition module, wherein the acquisition module acquires scanning process parameters of the detection process based on the artificial defect map of the simulated test block;

[0065] A discrimination module is provided, wherein the discrimination module discriminates the weld defects of the submerged arc welded steel pipe based on the scanning process parameters, and obtains the types of the weld defects of the submerged arc welded steel pipe.

[0066] Example:

[0067] The phased array ultrasonic testing technology adopted in the present invention is based on the principle of phase delay control. A one-dimensional array probe is formed through multiple piezoelectric chips. Each chip can be excited individually as an independent array element. The excitation sequence and delay of the chips are controlled to achieve the deflection and focusing of the sound beam to complete the focused detection of the relevant area, realize the detection of specific angles and depth areas inside the workpiece being tested, and perform imaging based on the obtained echo data to achieve non-destructive detection and evaluation of defects. Figure 3 shown.

[0068] Due to the structural characteristics of the submerged arc welded steel pipe weld, an X-shaped groove is generally used for welding. The welding defects generated are divided into three categories: longitudinal defects, transverse defects, and lamination defects. The detected defects include defects such as incomplete fusion of the groove, incomplete penetration in the middle, weld toe cracks, heat affected zone cracks, and undercut, as Figure 4 shown. Focusing on the coverage of longitudinal defects, it is easy to achieve full beam coverage for transverse defects and lamination defects.

[0069] Use simulation software to establish a cross-section model of the submerged arc welded steel pipe weld. Select the corresponding detection surface according to the detection process and conduct a fan-shaped scan beam coverage simulation. The detection process settings should ensure that any position in the detection area of the weld cross-section is covered by the beam. The simulation software can verify the rationality of the detection process, thus providing theoretical guidance for detecting the submerged arc welded steel pipe weld. Therefore, various defects may be generated by covering the entire submerged arc welded steel pipe weld through primary and secondary reflections on the outer surface, and multi-probe and multi-focus law scans are also required; as Figure 5 shown.

[0070] Based on the simulation, use a simulation test block to detect and verify the defects, and further confirm the detection rate and accuracy of phased array ultrasound for various defects generated in the submerged arc welded steel pipe weld.

[0071] According to the different wall thicknesses of the submerged arc welded steel pipe weld, artificial defects for longitudinal defects, transverse defects, and lamination defects are designed according to the different positions of the detected defects. According to the actual situation, the detected wall thickness can be divided into two wall thickness ranges: 6mm < t ≤ 18mm and 18mm < t ≤ 40mm, as Figure 6 shown in the schematic diagram of the simulation test block and artificial defects. By detecting the artificial defects on the simulation test block and simulating the beam coverage, various welding defects generated in the submerged arc welded steel pipe weld can be detected, thus verifying the detection rates of various defects in the phased array ultrasonic automatic detection of the submerged arc welded steel pipe weld.

[0072] The phased array ultrasonic automatic detection of the submerged arc welded steel pipe weld cannot achieve full coverage detection within the detected range (such as in the width direction, depth direction, etc.) through various scanning methods such as moving the probe forward and backward, left and right, rotating, and surrounding like manual ultrasonic detection. Therefore, to achieve full coverage detection by phased array ultrasound, the arrangement of the probes is very important. The arrangement of the probes mainly considers ensuring that the ultrasonic beam covers the entire area of the submerged arc welded steel pipe weld. According to the simulation results and combined with the groove form used in the welding process, the most easily occurring defect types during the welding of the submerged arc welded steel pipe can be divided into longitudinal defects, transverse defects, and heat affected zone lamination defects. The main defects include cracks, incomplete fusion, incomplete penetration, undercut, and misalignment. The arrangement of the probes, the beam coverage of the probes, and the transmission path are as Figure 7 shown. Figure 7In (a), TA1-TA2 / TA3-TA4, TA5-TA6 / TA7-TA8 are serial probes, H1-H2 are dual-crystal or single-crystal longitudinal wave straight probes, and WTS2 is a tracker. Figure 7 In (b), L1-L2, L3-L4, L5-L6, L7-L8 are angle probes, T1-T2 are angle probes, and WTS1 is a tracker. Figure 7 (c) shows the acoustic beam coverage and transmission path of TA1-TA2 / TA3-TA4, TA5-TA6 / TA7-TA8 as tandem probes and H1-H2 as dual-crystal or single-crystal longitudinal wave straight probes. Figure 7 (d) shows the sound beam coverage and transmission path of L1-L2, L3-L4, L5-L6, L7-L8 as angle probes and T1-T2 as angle probe.

[0073] It is very necessary to formulate a reasonable detection process to effectively detect various defects in the welds of submerged arc welded steel pipes using phased array ultrasonic automatic detection technology. Figures 8 to 13 The figure shows the acoustic beam coverage and transmission path of longitudinal defects, transverse defects and delamination defects in the weld of submerged arc welded steel pipe. By simulating the design of the acoustic beam coverage and transmission path of defects in different parts of the weld of submerged arc welded steel pipe, various defects in the weld of submerged arc welded steel pipe can be effectively detected.

[0074] For longitudinal defect detection of submerged arc welded steel pipes, it is necessary to ensure that the large-angle primary wave of the fan scan covers the lower V-shaped zone of the weld and the heat-affected zone of the inner wall, and the small-angle secondary wave covers the upper V-shaped zone of the weld and the heat-affected zone of the outer wall. At the same time, the small-angle and large-angle sound beams also need to cover the weld root. The serial mode is used to detect defects in the blunt edge area. For defects in the blunt edge area (mainly middle penetration, etc.), two virtual array elements at different positions are used for serial scanning. For transverse defect detection of submerged arc welded steel pipe welds, a phased array (on-bead) wheel probe is used, which can easily achieve full coverage detection of submerged arc welded steel pipe weld defects. For layered defect detection in the heat-affected zone of submerged arc welded steel pipe welds, conventional straight probes or dual crystal probes are used.

[0075] Through the analysis of the phased array ultrasonic automatic detection process of the weld seam of submerged arc welded steel pipe, the phased array ultrasonic automatic detection procedure of the weld seam of submerged arc welded steel pipe is obtained:

[0076] (1) Draw the weld structure diagram of the submerged arc welded steel pipe. Understand and measure the weld structure to be inspected, such as groove size (usually X groove) and wall thickness, and draw the weld structure at different positions based on this size.

[0077] (2) Full coverage simulation of acoustic beams. The simulation software is used to complete the simulation of phased array ultrasonic beam coverage and determine the focal law and probe location for detecting submerged arc welded steel pipe welds at different locations.

[0078] (3) Develop a testing process. Through the simulation of the acoustic beam coverage using simulation software, the weld seam of the submerged arc welded steel pipe being tested can be fully covered.

[0079] (4) Complete the design of scanning process parameters based on simulation software. For example, the wall thickness, gap, groove angle, and blunt edge size of the submerged arc welded steel pipe can be obtained based on the simulation software.

[0080] Used for the detection of longitudinal and transverse defects, the detection frequency is 3MHz, 32 array elements, the rectangular chip group size is 14mm×14mm, and the probe shell size is 40mm in diameter.

[0081] Used for weld center defect detection in serial mode, detection frequency 3MHz, 20 array elements, rectangular chip group size 8mm×9mm, probe shell size 24mm diameter.

[0082] Used for heat affected zone delamination defect detection, conventional straight probe or dual crystal probe type, incident angle 0°.

[0083] On-bead wheel probe for detecting transverse defects in welds (internal and external transverse grooves, drill holes). The wheel probe can detect a maximum wall thickness of 50 mm. Compared with the X configuration, the main advantages are high signal-to-noise ratio, easier and faster detection setup, and no need to change wear shoes.

[0084] For submerged arc welded steel pipe weld inspection, the fan scanning angle is usually 35°~75°, the center angle is 55°, the wedge angle can be selected as 35°, and the refraction angle in the steel is 53°.

[0085] (5) Defect identification and evaluation.

[0086] The test object is the straight seam submerged arc welded pipe with the specification of Ф1016×17.5mm and steel grade X70. The simulation test block is selected Figure 6 (a) and Figure 6 (b) Phased array ultrasonic testing uses a probe with a frequency of 3MHz, 32 array elements, and a spacing of 0.5mm; the shear wave wedge has an inclination angle of 35 degrees, a sound velocity of 2338m / s, and a maximum deflection range of 37 to 75 degrees. The artificial defect spectrum of the simulated test block is as follows Fig.14 (a) Fig.14 (b) Fig.14 (c) and Fig.14 (d) As shown in the test results, it can be seen that the artificial defects of the designed simulation test block can be effectively detected, thus verifying the feasibility of automatic detection by phased array ultrasonic testing technology, thus solving the problem of automatic detection of weld seams of submerged arc welded steel pipes by phased array ultrasonic testing technology.

[0087] A terminal device is provided in one embodiment of the present invention. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor executes the computer program, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0088] The computer program may be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to accomplish the present invention.

[0089] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0090] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0091] The memory may be used to store the computer programs and / or modules, and the processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0092] If the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0093] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes, characterized in that: include: Construct weld structure diagram of submerged arc welded steel pipe; Perform a fan-shaped scanning sound beam coverage simulation on the inspection surface of the submerged arc welded steel pipe weld structure diagram, so that any position of the inspection area of ​​the submerged arc welded steel pipe weld structure diagram is covered by the sound beam; Based on the artificial defect detection of typical simulated test blocks, the weld defects of submerged arc welded steel pipes are detected to obtain the artificial defect map of the simulated test blocks; Obtain the scanning process parameters of the inspection process based on the artificial defect map of the simulated test block; Based on the scanning process parameters, the defects of the submerged arc welded steel pipe welds are identified to obtain the types of defects in the submerged arc welded steel pipe welds.

2. The phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes according to claim 1 is characterized in that: The construction of the weld structure diagram of the submerged arc welded steel pipe specifically comprises: measuring the groove size and wall thickness of the weld of the submerged arc welded steel pipe to be tested, and drawing the weld structure at different positions according to the groove size and wall thickness.

3. The phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes according to claim 2 is characterized in that: The fan-shaped scanning sound beam coverage simulation of the inspection surface of the submerged arc welded steel pipe weld structure diagram also includes: covering the entire submerged arc welded steel pipe weld by primary reflection and secondary reflection on the outer surface of the inspection surface to obtain various defects; and performing submerged arc welded steel pipe weld defect detection at different positions on the entire inspection surface based on multi-probe scanning coverage and multi-focusing law scanning coverage.

4. The phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes according to claim 3 is characterized in that: The weld defects of the submerged arc welded steel pipe include cracks, lack of fusion, lack of penetration, undercut and misalignment.

5. The phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes according to claim 4 is characterized in that: The weld defects of the submerged arc welded steel pipe include three types, namely longitudinal defects, transverse defects and heat-affected zone layer defects; for the longitudinal defect detection of the submerged arc welded steel pipe weld, it is necessary to fan-scan with a large-angle primary wave to cover the lower V-shaped zone of the weld and the inner wall heat-affected zone, and with a small-angle secondary wave to cover the upper V-shaped zone of the weld and the outer wall heat-affected zone, and the small-angle and large-angle sound beams need to cover the weld root; for defects in the blunt edge area, two virtual array elements at different positions are used for serial scanning; the transverse defect detection of the submerged arc welded steel pipe weld adopts a phased array wheel probe to achieve full coverage detection of the weld defects of the submerged arc welded steel pipe; the layered defect detection of the heat-affected zone of the submerged arc welded steel pipe weld adopts a conventional straight probe or a dual crystal probe to achieve full coverage detection of the weld defects of the submerged arc welded steel pipe.

6. The phased array ultrasonic automatic detection method for weld seams of submerged arc welded steel pipes according to claim 1 is characterized in that: The detection frequency of the longitudinal defects and transverse defects is 3MHz, 32 array elements, the size of the rectangular chip group is 14mm×14mm, and the probe shell size is 40mm in diameter; the detection of layered defects in the heat affected zone of the submerged arc welded steel pipe weld is a conventional straight probe or dual crystal probe type, with an incident angle of 0°; the wheel probe detects transverse defects in the weld, with a maximum wall thickness of 50mm; for the detection of submerged arc welded steel pipe welds, the fan scanning angle is 35°~75°, the center angle is 55°, the wedge angle can be selected to be 35°, and the refraction angle in the steel is 53°.

7. A submerged arc welded steel pipe weld phased array ultrasonic automatic detection system, characterized in that: include: A construction module, wherein the construction module constructs a weld structure diagram of a submerged arc welded steel pipe; A simulation coverage module, wherein the simulation coverage module performs a fan-shaped scanning sound beam coverage simulation on the detection surface of the submerged arc welded steel pipe weld structure diagram, so that any position of the detection area of ​​the submerged arc welded steel pipe weld structure diagram is covered by the sound beam; A detection module, wherein the detection module detects weld defects of submerged arc welded steel pipes based on artificial defect detection of typical simulated test blocks to obtain an artificial defect map of the simulated test blocks; An acquisition module, wherein the acquisition module acquires scanning process parameters of the detection process based on the artificial defect map of the simulated test block; A discrimination module is provided, wherein the discrimination module discriminates the weld defects of the submerged arc welded steel pipe based on the scanning process parameters, and obtains the types of the weld defects of the submerged arc welded steel pipe.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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