A driving-sensing integrated pipeline inspection software robot

Abstract

The present application discloses a drive-sensing integrated pipeline detection soft robot, which belongs to the field of robot equipment and solves the problem that the traditional electromagnetic ultrasonic detection technology in the prior art is time-consuming and difficult to achieve comprehensive coverage when detecting complex pipelines. In the present application, two expansion-type driving ends are equipped with built-in electromagnetic detection transducers, which are respectively located at the two ends of the elongated driving section and connected to the elongated driving section; the expansion-type driving end has a phase-change expansion unit and a heating module 1, and the heating module 1 drives the phase-change expansion unit to expand after heating; the phase-change expansion unit has a sealed silicone chamber, and a phase-change liquid is encapsulated in the silicone chamber; the elongated driving section has a phase-change extension unit and a heating module 2, and the heating module 2 drives the phase-change extension unit to expand and extend after heating; the phase-change extension unit has a sealed silicone chamber 2, and a phase-change liquid is encapsulated in the silicone chamber 2. The technical solution of the present invention realizes the self-driving and real-time non-destructive detection of the robot.

Description

Technical Field

[0001] The invention relates to a drive-sensing integrated pipeline detection software robot, belonging to the field of robot equipment. Background Art

[0002] When transport pipelines are in harsh environments for a long time, they are prone to a series of defects and safety hazards such as cracks, corrosion, and material performance degradation. Therefore, it is very important to conduct periodic structural health monitoring of transport pipelines. Electromagnetic ultrasonic testing technology, as an efficient non-destructive testing method, has shown significant research value and application potential in the field of pipeline testing because of its unique advantages of being suitable for rough surfaces, not requiring coupling agents, and having a wide range of detection.

[0003] However, limited by the mobility and integration of the equipment, traditional electromagnetic ultrasonic detection technology usually relies on segmented static detection, which is not only time-consuming but also difficult to achieve full coverage of continuous and complex pipeline systems. Summary of the invention

[0004] The present invention provides a drive-sensing integrated pipeline detection soft robot, which realizes self-driving and real-time non-destructive detection of the robot by integrating an electromagnetic ultrasonic transducer and a phase change driver.

[0005] The technical solution adopted by the present invention is a drive-sensing integrated pipeline detection soft robot, including a phase-change soft driver, the phase-change soft driver having two expansion-type driving ends and an extension-type driving section;

[0006] The two expansion-type driving ends are respectively located at two ends of the elongated driving section and connected to the elongated driving section;

[0007] The expansion-type driving end has a phase-change expansion unit and a heating module 1, and the heating module 1 generates heat and drives the phase-change expansion unit to expand; the phase-change expansion unit has a sealed silicone chamber, and a phase-change liquid is encapsulated in the silicone chamber;

[0008] The elongation drive section comprises a phase-change elongation unit and a heating module 2, wherein the heating module 2 generates heat to drive the phase-change elongation unit to expand and elongate; the phase-change elongation unit comprises a sealed silicone chamber 2, in which a phase-change liquid is encapsulated;

[0009] The phase-changing elongation unit has radial expansion constraints.

[0010] Optimized, in the above-mentioned drive-sensing integrated pipeline detection soft robot, the phase change liquid is an electronic fluoride liquid with high vapor pressure.

[0011] Optimally, in the above-mentioned drive-sensing integrated pipeline detection soft robot, the radial expansion constraint includes a woven fiber network, and the fiber network is embedded in the inner wall of the phase change elongation unit of the phase change elongation unit.

[0012] Optimized, in the above-mentioned drive-sensing integrated pipeline detection soft robot, the heating module 1 and the heating module 2 both have a flexible coil transducer, and the flexible coil transducer is a flexible coil with a runway coil structure;

[0013] The flexible coil transducer is constructed on a flexible PCB;

[0014] The flexible coil transducer is connected in series with the capacitor in parallel to perform impedance matching with the signal source.

[0015] Optimized, the above-mentioned drive-sensing integrated pipeline detection soft robot, the expansion-type drive end also has a static magnetic field carrier;

[0016] The static magnetic field carrier is a radial magnetic ring; the radial magnetic ring is arranged on the side of the heating module one;

[0017] A radial magnetic ring is arranged on one side of the heating module 1, or a radial magnetic ring is arranged on both sides of the heating module 1.

[0018] Optimized, in the above-mentioned drive-sensing integrated pipeline detection soft robot, the radial magnetic ring is sintered by nebium iron boron material;

[0019] The magnetic ring cross section of the radial magnetic ring is arranged perpendicularly to the length extension direction of the pipeline detection soft robot.

[0020] Optimized, the above-mentioned drive-sensing integrated pipeline inspection soft robot, the expansion-type drive end and the extension-type drive section both have storage units;

[0021] The storage unit adopts porous metal conductive sponge; the storage unit is tightly attached to the flexible coil transducer; the storage unit of the expansion drive end is located between the flexible coil transducer and the phase change expansion unit, and the storage unit of the extension drive section is located between the flexible coil transducer and the phase change extension unit.

[0022] Optimized, the above-mentioned drive-sensing integrated pipeline detection soft robot, the phase change soft driver is connected to a motion control and signal acquisition system; the motion control and signal acquisition system includes a computer, a signal generator, a high-voltage amplifier, an ultrasonic amplifier and an acoustic emission collector;

[0023] The detected excitation signal and the robot's motion signal are generated by a signal generator, amplified by a high-voltage amplifier and act on the phase-change soft actuator;

[0024] The generated guided wave signal is optimized and amplified by the ultrasonic amplifier, and finally collected and stored by the acoustic emission collector to analyze the time and amplitude information of the ultrasonic guided wave propagating to the end face or defect.

[0025] The advantages of this application are:

[0026] Traditional pipeline inspection technology usually relies on segmented static inspection, which is not only time-consuming, but also difficult to achieve full coverage for continuous and complex pipeline systems. EMAT technology, due to its non-contact characteristics, can perform inspections without damaging the pipeline surface, but its application is limited by the mobility and integration of the equipment. The pipeline inspection robot of the present invention breaks through these limitations and can realize inspection while moving. It is a new type of inspection solution with high integration and autonomous action.

[0027] The present application expands the function of the EMAT coil, making it not only serve as an ultrasonic excitation and receiving device, but also simultaneously serve as a driving component of the robot, thereby completing high-precision detection while self-propulsion in the pipeline, greatly improving the detection speed and continuity, reducing the equipment installation time of the detection operation, and improving the overall detection efficiency.

[0028] The pipeline inspection robot of the present application is a phase-change driven soft robot. Compared with rigid robots, the design of soft materials gives it significant technical advantages, including flexible adaptation to pipelines of various shapes and sizes, reduced physical damage to pipelines, adaptability to bends and obstacles without complex guide systems, low friction through narrow spaces, and ability to maintain performance in harsh environments. These features enable the pipeline inspection soft robot of the present invention to complete inspection tasks more efficiently and comprehensively, while reducing maintenance costs and operational difficulties.

[0029] Compared with the traditional soft robot driving method that relies on complex components such as pumps, pipes and valves, the phase change driven robot shows a significant simplification. Under the premise of keeping the deformation and output force unchanged, it can complete the driving task through a very thin power line, which greatly simplifies the system composition and reduces the dependence on external components. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the pipeline detection software robot described in this application;

[0031] Figure 2 is a pipeline group velocity dispersion curve diagram of the pipeline detection software robot described in this application;

[0032] Figure 3 It is a motion diagram of the pipeline detection software robot described in this application. DETAILED DESCRIPTION

[0033] The technical features of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] like Figure 1As shown, the present invention is a drive-sensing integrated pipeline detection soft robot, including a phase change soft driver, motion control and signal acquisition system. The self-driving and real-time detection functions of the pipeline detection soft robot are completed by the above components.

[0035] The phase-change soft actuator comprises two expansion-type driving ends and an extension-type driving section. The two expansion-type driving ends are respectively located at two ends of the extension-type driving section and connected to the extension-type driving section.

[0036] The expansion type driving end has a phase change expansion unit 4 and a heating module 1. The heating module 1 generates heat to drive the phase change expansion unit 4 to expand. The phase change expansion unit 4 has a sealed silica gel chamber in which a phase change liquid is encapsulated.

[0037] The elongation drive section has a phase change elongation unit 3 and a heating module 2. After the heating module 2 generates heat, it drives the phase change elongation unit 3 to expand and elongate. The phase change elongation unit 3 has a sealed silicone chamber 2, and a phase change liquid is encapsulated in the silicone chamber 2. The phase change elongation unit 3 has a radial expansion constraint. The radial expansion constraint includes a woven fiber network 6, and the fiber network 6 is embedded in the inner wall of the phase change elongation unit 3 of the phase change elongation unit 3. In this embodiment, the phase change liquid used is an electronic fluoride liquid with a high vapor pressure. The heating module 1 and the heating module 2 both have a flexible coil transducer 1, and the flexible coil transducer 1 is a flexible coil with a runway coil structure.

[0038] The excitation signal of the transducer and the driving signal of the robot are generated by the signal generator, amplified by the high-voltage power amplifier, and then passed into the excitation flexible coil transducer 1, so that high-frequency ultrasonic guided waves are generated in the pipeline. This signal is finally received by the flexible coil transducer 1 at the other end, and finally collected and analyzed by the acquisition system to realize structural health monitoring based on electromagnetic ultrasound. At the same time, the phase change driver will also produce action, and the robot will move forward or backward along the pipeline to realize detection while moving.

[0039] The pipeline detection soft robot of the present application adopts electromagnetic ultrasonic detection technology. Regarding the guided wave excitation and reception of EMAT, the electromagnetic coil of the flexible coil transducer 1 generates an alternating electromagnetic field in the pipeline under the excitation of high-frequency and high-power transmission current, and induces eddy currents within the skin depth of the pipe wall. When a static magnetic field is applied to the eddy currents, the eddy currents are acted upon by the Lorentz force and induce high-frequency vibration of the particles on the surface of the pipeline, thereby generating electromagnetic ultrasonic surface waves propagating along the surface of the pipeline.

[0040] The reception of surface waves is the reverse process of their emission. These ultrasonic waves propagate inside the pipeline. When the excitation waveguide propagates to the defect position of the pipeline, the reflected wave will be generated due to the sudden change of the acoustic impedance of the material. When the ultrasonic wave travels below the transducer, the particle vibration will cut the static magnetic field generated in the EMAT, induce induced electromotive force and induced current in the specimen, and then generate an induced magnetic field near the transducer. When the receiving coil is in a changing magnetic field, a voltage will be induced in the coil. The EMAT will receive these reflected waves and convert them into electrical signals. According to the propagation time and wave velocity information of the guided wave, the defect reflected wave can be judged, the defect reflected wave signal and the direct signal can be analyzed, and the experimental data can be processed by algorithms such as the Hilbert amplitude discrimination method and the time reversal method in combination with the relative position of the excitation and receiving sensors, so as to locate the pipeline defects.

[0041] The design of the transducer coil is the key to the design of pipeline EMAT (electromagnetic acoustic transducer). Reasonable selection of the material, structure and wiring parameters of the transducer coil can effectively improve the excitation performance of ultrasonic guided waves. The coil used to excite or receive ultrasonic guided waves needs to have good electrical conductivity. Copper is the preferred material for transducer coils because of its excellent electrical and thermal conductivity and relatively low cost. In addition, in order to reduce the crosstalk of the coil, an enameled copper coil with an insulating layer is selected as the transducer coil in the design of EMAT.

[0042] Transducer coils are usually made of enameled copper wire, hard PCB or flexible PCB. Enameled copper wire coils include hand-wound and machine-wound coils, which are low-cost and highly flexible. However, it is more difficult to make more complex coil forms. Hard and flexible PCBs are printed circuit boards made through copper deposition, lamination, etching and other processing techniques. They can carry complex and delicate coil arrangements, and flexible PCBs can be used for structures with curved surfaces, which are suitable as coil transducers in pipeline ultrasonic detection scenarios.

[0043] Regarding the structural type of the transducer coil, the coil structure usually includes a folded type, a spiral type, and a racetrack type. Since the pipelines on both sides of the EMAT need to be inspected during the actual detection process, it is necessary to excite guided waves in the pipeline in both the positive and negative directions along the central axis. If a spiral coil is used as a transducer coil, a 360° guided wave will be generated on the pipeline surface, and an axial guided wave cannot be excited. The currents of adjacent wires of the folded coil are in opposite directions, and it is impossible to achieve the convergence of the actuating forces in the same direction. The currents of adjacent wires of the racetrack coil are the same, and a more concentrated ultrasonic guided wave actuating force can be generated on the left and right runways, respectively, thereby exciting ultrasonic guided waves propagating along the central axis to both sides of the pipeline. Therefore, the racetrack coil is selected as the transducer coil for the pipeline EMAT.

[0044] The wiring method of the transducer coil mainly includes parameters such as wire diameter, number of turns and center distance. The wiring method is related to the transducer efficiency of the EMAT, which will eventually affect the accuracy and sensitivity of detection or sensing. If the wiring method of the EMAT is unreasonable, the signal-to-noise ratio may not meet the use requirements when the excitation source energy is low or a weak signal is received.

[0045] When designing the wiring, the impedance matching problem with the signal source must be considered. By adjusting the wiring dimensions such as the wire diameter and number of turns of the coil, electrical energy can be converted into acoustic energy more efficiently, and this energy can be effectively transferred to the object being detected. In addition, after the coil design and processing is completed, it can also be impedance matched by connecting capacitors in series or in parallel. Regarding the size of the series-parallel capacitors, first use an impedance analyzer to measure the resistance and inductance of the transducer coil. After the series-parallel capacitors are connected, the impedance of the transducer coil and the impedance of the high-voltage power amplifier should satisfy a conjugate relationship. Based on this characteristic, the required series-parallel capacitance value can be inferred.

[0046] Regarding the determination of the center spacing of the transducer coils, the speed of the waveguide at the operating frequency is equal to twice the product of the corresponding wavelength and the center distance of the coils. Based on this relationship, the center distance of the transducer can be determined. The first step is to obtain the dispersion curve of the measured pipeline. The key parameters of this step include the inner diameter, outer diameter, material density, Poisson's ratio and elastic modulus of the pipeline. Taking the aluminum tube as an example, the inner diameter is 30mm, the outer diameter is 32mm, the density is 8900kg / m3, the Poisson's ratio is 0.33, and the elastic modulus is 108GPa. Figure 2 By analyzing the dispersion curve of the pipeline, we can select the excitation frequency. The ideal excitation frequency range should show a weak dispersion effect and maintain a large interval with the group velocity of other modes to ensure the clarity and effectiveness of the detection signal.

[0047] According to the data information in the pipeline group velocity dispersion curve, it can be found that the L(0,2) mode guided wave dispersion phenomenon is weak at 100~200kHz, and the spacing of other L mode group velocities is large, so this frequency range is the best excitation frequency segment. Therefore, in this frequency range, 100kHz is used as the starting excitation frequency and 10kHz is used as the interval frequency. The lossless pipeline is excited using the studied EMAT, and the best excitation frequency is obtained by comparison. Based on this excitation frequency and phase velocity, the center spacing of the transducer coil can be determined.

[0048] The center distance corresponding to 100kHz is 18.335mm, and that for 200Khz is 9.1675mm. The coil parameters are preliminarily set based on this, and the optimal parameters can be determined based on experiments later.

[0049] Regarding the excitation signal, the five-peak signal is used as a preferred detection signal in the present invention due to its unique propagation characteristics, defect recognition ability, anti-noise interference ability and easy automated processing. The transducer is directly related to the excitation signal, and the characteristic information of the excitation signal has been described in detail in the above-mentioned transducer design.

[0050] In the phase-change soft actuator of the present application, the coil of the flexible coil transducer 1 can excite ultrasonic waves and also generate enough heat to drive the phase change of the low-boiling-point liquid. The phase-change liquid is encapsulated in a silicone chamber, and the structure of the soft actuator is designed to produce expansion-type and extension-type actuators. The combination of actuators of different deformation types can convert the energy generated by the phase change into the actual movement of the robot.

[0051] The flexible coil transducer 1 is constructed on a flexible PCB. The expansion drive end also has a static magnetic field carrier. The static magnetic field carrier is a radial magnetic ring 5. The radial magnetic ring 5 is arranged on the side of the heating module 1. A radial magnetic ring 5 is arranged on one side of the heating module 1, or a radial magnetic ring 5 is arranged on both sides of the heating module 1. The radial magnetic ring 5 is sintered from a nebium iron boron material. The magnetic ring cross section of the radial magnetic ring 5 is arranged perpendicular to the length extension direction of the pipeline detection soft robot.

[0052] In the construction of the static magnetic field in this application, commonly used static magnetic field carriers include rigid permanent magnets, flexible permanent magnets, and electromagnets, which are used to generate a static magnetic field inside the tested piece in a direction perpendicular or horizontal to the outer surface of the test piece. Among them, the rigid permanent magnet is usually sintered with nebium iron boron material, which has the advantages of low price, strong magnetism, and high stability. The pipeline detection software robot of the present invention uses a rigid permanent magnet as a static magnetic field carrier.

[0053] The main functional components of the phase change flexible actuator are the phase change unit and the deformation unit. The phase change unit is the energy source of the actuator. It generates gas of a certain pressure through a specific phase change process. This process is the driving force for the operation of the actuator. The deformation unit undergoes the expected deformation under the action of the gas pressure. The radial expansion-constrained fibers are embedded in the silicone wall, which plays the role of motion constraint. The volume expansion of the gas is efficiently converted into a controllable deformation of the actuator, covering various forms such as expansion type and extension type. The expansion-type drive end and the extension-type drive segment serve as the anchor and telescopic units of the robot respectively.

[0054] This application designs an innovative phase change unit structure to enhance the thermal management performance of the system, which consists of three key parts: a heating module, a phase change liquid and its storage unit 2. In this design, the function of the electromagnetic ultrasonic transducer is expanded, and the flexible coil transducer 1 is used as the heating module 1 of the expansion drive end and the heating module 2 of the extension drive section, thereby simplifying the system structure and improving the integration.

[0055] The phase change liquid is made of safe, low-temperature phase change material with high vapor pressure, specifically electronic fluoride liquid, which exhibits excellent performance in cooling liquid. Storage unit 2 uses a porous metal conductive sponge with absorption and latching functions, which has good thermal conductivity. This material is tightly attached to the transducer coil, which not only enhances the contact area with the heating unit, but also significantly reduces the required phase change liquid content. By carefully designing and optimizing the structure of the phase change unit, a significant improvement in heat exchange efficiency is achieved, ensuring the efficient operation of the phase change driver.

[0056] The phase change liquid is sealed in the silicone chamber of the phase change expansion unit 4 made of low modulus silicone material. When the fluorinated liquid undergoes a phase change, it can expand and deform. This is the expansion drive end used for anchoring.

[0057] In order to obtain efficient axial telescopic deformation, the chamber of the telescopic actuator needs to be radially constrained, which is achieved by fiber weaving, and the constraining fibers are embedded in the inner wall of the silicone.

[0058] The deformation unit converts the gas expansion of the phase change unit into the morphological change of the actuator. The pipeline robot uses creeping to achieve forward motion, and is specifically composed of front and rear anchoring modules and a middle telescopic module, which are composed of an expansion actuator 5 and an extension actuator 4. In order to achieve efficient axial telescopic deformation, the chamber of the telescopic actuator needs to be constrained in the radial direction, and this constraint is achieved by fiber weaving, wherein the constraining fiber is embedded in the inner wall of the silicone.

[0059] The core of the motion module is to efficiently convert the deformation of the actuator into the directional motion of the robot. Figure 3 As shown in the motion diagram, the robot adopts a composite structure of front and rear anchoring and middle telescopic, in which the two expansion-type drive ends serve as the front anchoring module C and the rear anchoring module A, and the elongated drive section serves as the middle telescopic module B. The front anchoring module C and the rear anchoring module A use phase-change expansion units to achieve stable fixation, while the middle telescopic module B achieves length change through phase-change elongation units.

[0060] The workflow is as follows: When the rear anchor module A is firmly fixed to the inner wall of the pipe, the middle telescopic module B begins to extend, pushing the front anchor module C forward; when it reaches the maximum extension state, the phase change expansion unit of the front anchor module C starts to firmly grasp the inner wall of the pipe to prevent the robot from retreating; then, the phase change expansion unit of the rear anchor module A contracts, releasing the anchoring state, and the middle telescopic module B contracts accordingly, pulling the rear anchor module A forward. Through this series of coordinated actions, the robot achieves smooth and effective movement in a creeping manner. The movement direction of the robot can be adjusted by flexibly controlling the drive sequence of each part, thereby achieving forward and backward movement.

[0061] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Any changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should fall within the protection scope of the present invention.

Claims

1. A driving-sensing integrated pipeline detection software robot, characterized in that: The invention comprises a phase-change soft actuator, wherein the phase-change soft actuator has two expansion-type driving ends and an extension-type driving section; The two expansion-type driving ends are respectively located at two ends of the elongated driving section and connected to the elongated driving section; The expansion-type driving end comprises a phase-change expansion unit (4) and a heating module 1, and the heating module 1 generates heat to drive the phase-change expansion unit (4) to expand; the phase-change expansion unit (4) comprises a sealed silica gel chamber, and a phase-change liquid is encapsulated in the silica gel chamber; The elongation drive section comprises a phase change elongation unit (3) and a second heating module, wherein the second heating module generates heat and drives the phase change elongation unit (3) to expand and elongate; the phase change elongation unit (3) comprises a second sealed silica gel chamber, wherein a phase change liquid is encapsulated in the second silica gel chamber; The phase change elongation unit (3) has radial expansion constraints; The heating module 1 and the heating module 2 both have a flexible coil transducer (1), and the flexible coil transducer (1) is a flexible coil with a runway coil structure; The flexible coil transducer (1) is constructed on a flexible PCB; The flexible coil transducer (1) is connected in series with a capacitor in parallel to perform impedance matching with a signal source; The expansion type driving end and the extension type driving section both have a storage unit (2); The storage unit (2) is made of a porous metal conductive sponge; the storage unit (2) is tightly attached to the flexible coil transducer (1); the storage unit (2) of the expansion-type driving end is located between the flexible coil transducer (1) and the phase-change expansion unit (4), and the storage unit (2) of the extension-type driving section is located between the flexible coil transducer (1) and the phase-change extension unit (3); The phase change software driver is connected to a motion control and signal acquisition system; In the phase change soft actuator, the coil of the flexible coil transducer (1) excites ultrasonic waves and also generates heat to drive the phase change of the phase change liquid; The flexible coil transducer (1) of the heating module 1 receives an excitation signal and emits a high-frequency ultrasonic guided wave into the pipeline. The high-frequency ultrasonic guided wave propagates in the pipeline and is received by the flexible coil transducer (1) of the heating module 2 and processed by the motion control and signal acquisition system, thereby performing electromagnetic ultrasonic-based structural health monitoring on the pipeline. The flexible coil transducer (1) also generates heat to drive the phase change of the phase change liquid, thereby driving the robot to move forward or backward along the pipeline, and performing detection while moving.

2. The driving-sensing integrated pipeline detection software robot according to claim 1, characterized in that: The phase change liquid is an electronic fluoride liquid with high vapor pressure.

3. The driving-sensing integrated pipeline detection software robot according to claim 1, characterized in that: The radial expansion constraint comprises a woven fiber network (6) which is embedded in the inner wall of the phase-changing elongation unit (3).

4. The drive-sensing integrated pipeline detection software robot according to claim 1, characterized in that: The expansion type driving end also has a static magnetic field carrier; The static magnetic field carrier is a radial magnetic ring (5); the radial magnetic ring (5) is arranged on the side of the heating module one; A radial magnetic ring (5) is arranged on one side of the heating module one, or a radial magnetic ring (5) is arranged on both sides of the heating module one.

5. The driving-sensing integrated pipeline detection software robot according to claim 4, characterized in that: The radial magnetic ring (5) is sintered from a nebium iron boron material; The magnetic ring cross section and surface of the radial magnetic ring (5) are arranged perpendicularly to the length extension direction of the pipeline detection soft robot.

6. The driving-sensing integrated pipeline detection software robot according to claim 1, characterized in that: The motion control and signal acquisition system includes a computer, a signal generator, a high-voltage amplifier, an ultrasonic amplifier, and an acoustic emission acquisition instrument; The detected excitation signal and the robot's motion signal are generated by a signal generator, amplified by a high-voltage amplifier and act on the phase-change soft actuator; The generated guided wave signal is optimized and amplified by the ultrasonic amplifier, and finally collected and stored by the acoustic emission collector to analyze the time and amplitude information of the ultrasonic guided wave propagating to the end face or defect.

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