Nonmetal pipeline nondestructive testing system and method based on terahertz waves

Abstract

The invention relates to the technical field of nondestructive testing, and provides a non-metallic pipeline nondestructive testing system and method based on terahertz waves. The system comprises a terahertz wave module, a driving module, a control module, a signal acquisition module and a signal processing module, wherein the terahertz wave module comprises a terahertz wave light path and a terahertz probe; the driving module is used for driving the terahertz probe to move along a preset path so as to perform multidirectional scanning on the to-be-detected pipeline; the control module is used for adjusting motion parameters of the driving module in real time so as to adjust a motion path of the terahertz probe; the signal acquisition module is used for acquiring a terahertz signal generated after the terahertz wave passes through the to-be-detected pipeline; and the signal processing module is used for processing the terahertz signal and identifying the defect of the to-be-detected pipeline. By automatically adjusting the motion parameters of the driving module, the terahertz probe performs multi-directional scanning on the pipeline put into use, so that all-directional detection is realized, and the detection efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nondestructive testing, and particularly to a non-metallic pipeline nondestructive testing system based on terahertz waves and a non-metallic pipeline nondestructive testing method. Background Art

[0002] With the rapid development of the economic society, non-metallic pipelines are increasingly widely used in oil and gas fields. In addition, non-metallic pipelines are also increasingly used in environmental protection projects, water supply projects, urban gas projects, etc. The safety issues of non-metallic pipelines have also attracted more and more attention. Compared with metal pressure-bearing equipment, there is no systematic and mature non-destructive testing means and standard specifications for non-metallic pipelines, which makes the defect detection of non-metallic pipelines a difficult problem.

[0003] Terahertz waves refer to electromagnetic waves with a frequency range of 0.1 - 10 THz (1 THz = 10^12 Hz), which have characteristics such as high penetrability, low energy level, wide frequency band, rich information, high signal-to-noise ratio, and high resolution. They have strong penetrability for non-metallic materials and are used in the field of non-destructive testing of non-metallic materials, with broad application prospects. Terahertz non-destructive testing technology belongs to non-contact indirect imaging and can perform three-dimensional scanning imaging on structures. However, it requires the terahertz signal emitter to be perpendicular to the surface of the structure during the scanning process and maintain the optimal distance from the surface of the structure. Currently, there are few devices for non-destructively testing non-metallic pipelines using terahertz waves, and the intelligent adjustment function is not considered when the pipe ovality changes greatly, which cannot meet the all-round detection of in-service (already put into use) pipelines. Summary of the Invention

[0004] In order to solve the above technical defects, the present invention provides a non-metallic pipeline non-destructive testing system and method based on terahertz waves.

[0005] The non-metallic pipeline non-destructive testing system based on terahertz waves provided by the present invention includes:

[0006] A terahertz wave module, including a terahertz light path and a terahertz probe. The terahertz light path is used to generate terahertz waves, and the terahertz probe is used to emit and receive terahertz waves;

[0007] A driving module, used to drive the terahertz probe to move along a preset path to perform multi-directional scanning on the pipeline to be tested;

[0008] A control module, used to adjust the motion parameters of the driving module in real time to adjust the motion path of the terahertz probe;

[0009] A signal acquisition module, used to collect the terahertz signals generated after the terahertz waves pass through the pipeline to be tested and store them;

[0010] A signal processing module, configured to process the collected terahertz signals to identify defects in the pipeline to be measured.

[0011] In an embodiment of the present invention, the terahertz probe includes a terahertz emitter and at least one terahertz receiver.

[0012] In an embodiment of the present invention, the terahertz emitter and the terahertz receiver are located on the same side of the pipeline to be measured, and the terahertz receiver receives, on the same side, the reflected wave generated after the terahertz wave emitted by the terahertz emitter passes through the pipeline to be measured.

[0013] In an embodiment of the present invention, the terahertz emitter and the terahertz receiver are respectively located on two sides of the pipeline to be measured, and the terahertz receiver receives, on the other side, the transmitted wave generated after the terahertz wave emitted by the terahertz emitter passes through the pipeline to be measured.

[0014] In an embodiment of the present invention, the driving module includes a circumferential driving mechanism and an axial driving mechanism. A fixture is installed on the axial driving mechanism, and the terahertz probe is installed on the fixture; the axial driving mechanism drives the terahertz probe to move axially along the pipeline to be measured through the fixture for linear scanning; the circumferential driving mechanism drives the entire axial driving mechanism to move circumferentially along the pipeline to be measured in a preset speed step to drive the terahertz probe to perform circumferential scanning on the pipeline to be measured.

[0015] In an embodiment of the present invention, the system further includes an optical detector, which is installed on the fixture and is located in front of the terahertz probe;

[0016] The optical detector is configured to scan the surface of the pipeline to be measured before the terahertz probe reaches the pipeline to be measured, obtain the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feed it back to the control module in real time.

[0017] In an embodiment of the present invention, the control module is further configured to adjust the movement path of the terahertz probe in real time according to the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe.

[0018] In an embodiment of the present invention, the control module adjusts the movement path of the terahertz probe by adjusting the axial movement speed of the axial driving mechanism and the circumferential movement speed of the circumferential driving mechanism.

[0019] In an embodiment of the present invention, the driving module includes a robotic arm. A fixture is installed at the end of the robotic arm, and the terahertz probe is installed on the fixture; the robotic arm drives the terahertz probe to scan the pipeline to be measured along a predetermined trajectory through the fixture.

[0020] In an embodiment of the present invention, the system further includes an optical detector, which is installed on a fixture and located in front of the terahertz probe; the optical detector is used to scan the surface of the pipeline to be measured before the terahertz probe reaches the pipeline to be measured, obtain the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feedback it to the control module in real time; the control module is further used to adjust the movement trajectory of the robotic arm according to the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, so as to adjust the movement path of the terahertz probe.

[0021] In an embodiment of the present invention, the signal processing module is specifically configured to read the terahertz signal from the signal acquisition module, identify the defects of the pipeline to be measured according to the terahertz signal and the defect data in the defect database, calculate the three-dimensional size of the defects, and perform three-dimensional reconstruction on the defects.

[0022] The present invention also provides a non-destructive testing method for non-metallic pipelines, which is applied to the above-mentioned non-destructive testing system for non-metallic pipelines based on terahertz waves. The method includes:

[0023] Connect the terahertz wave module, the drive module, the control module, the signal acquisition module and the signal processing module through signal lines and connect them to the power supply;

[0024] Set the movement parameters of the drive module in the control module and drive the terahertz wave module to move to the scanning starting point;

[0025] The drive module drives the optical detector to scan the surface of the pipeline to be measured before the terahertz probe reaches the pipeline to be measured, obtains the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feedbacks it to the control module in real time. The control module adjusts the height, angle or movement direction of the terahertz probe relative to the surface of the pipeline to be measured according to the feedback information to complete the omnidirectional scanning of the pipeline to be measured;

[0026] The signal acquisition module collects the terahertz signals generated during the detection process. The signal processing module identifies the defects of the pipeline to be measured according to the terahertz signals, calculates the three-dimensional size of the defects, performs three-dimensional reconstruction on the defects, and generates a detection report.

[0027] In the present invention, the drive module drives the terahertz probe to move along a preset path to perform multi-directional scanning on the pipeline to be measured, and the control module controls the movement parameters of the drive module to adjust the movement path of the terahertz probe. Even for a pipeline in use with a large change in ovality, it is possible to automatically adjust the movement parameters of the drive module to make the terahertz probe perform multi-directional scanning on the pipeline, realizing omnidirectional detection and improving the detection efficiency and accuracy.

[0028] Other features and advantages of the technical solution of the present invention will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0030] Figure 1 is a schematic diagram of the modules of the non-metallic pipeline non-destructive testing system based on terahertz waves provided by an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of the module connection of the non-metallic pipeline non-destructive testing system based on terahertz waves provided by an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of the structure of the non-metallic pipeline non-destructive testing system based on terahertz waves provided by Embodiment 1 of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of the non-metallic pipeline non-destructive testing system based on terahertz waves provided by Embodiment 2 of the present invention;

[0034] Figure 5 is a flowchart of the non-metallic pipeline non-destructive testing method provided by an embodiment of the present invention.

[0035] DESCRIPTION OF THE REFERENCE NUMERALS

[0036] 1 - Terahertz light path, 2 - Terahertz probe, 3 - Driving module, 4 - Pipeline to be tested, 5 - Control module,

[0037] 6 - Signal acquisition module, 7 - Signal processing module, 8 - Power supply, 9 - Optical detector,

[0038] 10 - Fixture, 11 - Axial driving mechanism, 12 - Circumferential driving mechanism, 13 - Manipulator. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the technical solutions and advantages in the embodiments of the present invention clearer and more understandable, the following further describes the exemplary embodiments of the present invention in detail with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than an exhaustive list of all embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0041] In the present invention, unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the process of implementing the present invention, the inventor found that for in-service non-metallic pipes (installed in a specific environment and in use), when using a detection device based on terahertz waves for non-destructive testing, only local testing can be achieved, and it is difficult to achieve full-range testing. Especially for pipe sections with a large change in ovality, the detection efficiency and accuracy are relatively low.

[0043] In view of the above problems, an embodiment of the present invention provides a non-destructive testing system for non-metallic pipes based on terahertz waves. As Figure 1 shown, the system includes: a terahertz wave module, a driving module, a control module, a signal acquisition module, and a signal processing module. The terahertz wave module includes a terahertz optical path and a terahertz probe. The terahertz optical path is used to generate terahertz waves, and the terahertz probe is used to emit and receive terahertz waves. The driving module is used to drive the terahertz probe to move along a preset path to perform multi-directional scanning on the pipeline to be tested. The control module is used to adjust the motion parameters of the driving module in real time to adjust the motion path of the terahertz probe. The signal acquisition module is used to collect the terahertz signals generated after the terahertz waves pass through the pipeline to be tested and store them. The signal processing module is used to process the collected terahertz signals to identify the defects of the pipeline to be tested. In the present invention, the driving module drives the terahertz probe to move along a preset path to perform multi-directional scanning on the pipeline to be tested, and the control module controls the motion parameters of the driving module to adjust the motion path of the terahertz probe. Even for in-service pipelines with a large change in ovality, the motion parameters of the driving module can be automatically adjusted to enable the terahertz probe to perform multi-directional scanning on the pipeline, achieving full-range testing and improving the detection efficiency and accuracy.

[0044] Embodiment 1

[0045] As Figure 2 and Figure 3 shown, the non-destructive testing system for non-metallic pipelines based on terahertz waves provided in this embodiment includes: a terahertz wave module, a driving module 3, a control module 5, a signal acquisition module 6, and a signal processing module 7. The terahertz wave module, the driving module 3, the control module 5, the signal acquisition module 6, and the signal processing module 7 are connected by signal lines and connected to a power supply 8. The terahertz wave module includes a terahertz optical path 1 and a terahertz probe 2. The terahertz optical path 1 is an optical system for generating terahertz waves, and generates terahertz waves through special optical design. The terahertz probe 2 is a terahertz wave transmitting and receiving structure, including a terahertz transmitter and at least one terahertz receiver, which can be an integrated component or two or more separate components. The integrated terahertz probe 2 synthesizes the terahertz transmitter and the terahertz receiver on the same component and can perform reflective detection. For the integrated terahertz probe 2, during detection, the terahertz transmitter and the terahertz receiver are on the same side of the pipeline under test 4, and the terahertz receiver receives the reflected wave generated after the terahertz wave emitted by the terahertz transmitter passes through the pipeline under test 4 on the same side, thereby realizing reflective detection. The terahertz probe in the form of separate components includes a terahertz transmitter and one or more terahertz receivers. During detection, the terahertz transmitter and the terahertz receiver are respectively on both sides of the pipeline under test. The terahertz receiver receives the transmitted wave generated after the terahertz wave emitted by the terahertz transmitter passes through the pipeline under test on the other side, thereby realizing transmissive detection.

[0046] In this embodiment, the driving module 3 adopts a double-track structure, including an axial driving mechanism 11 and a circumferential driving mechanism 12. A fixture 10 is installed on the track of the axial driving mechanism 11, and the terahertz probe 2 is installed on the fixture 10. The axial driving mechanism 11 drives the terahertz probe 2 to move axially along the pipeline under test 4 through the fixture 10 for linear scanning, and the circumferential driving mechanism 12 drives the entire axial driving mechanism 11 to move circumferentially along the pipeline under test 4 in steps at a preset speed to drive the terahertz probe 2 to perform circular scanning on the pipeline under test 4. The combination of the movements of the circumferential driving mechanism 12 and the axial driving mechanism 11 can drive the terahertz probe 2 to perform a full-range scan on the pipeline under test 4 that has been put into use.

[0047] In this embodiment, the motion parameters of the driving module 3 can be automatically adjusted by the control module 5, including the starting position of the terahertz probe 2, the moving speed of the circumferential driving mechanism 12 and the axial driving mechanism 11, etc. Specifically, an optical detector 9 is installed on the fixture 10 for installing the terahertz probe 2, and the optical detector 9 is located in front of the terahertz probe 2. During the detection process, the optical detector 9 can scan the surface of the pipeline 4 to be tested before the terahertz probe 2 reaches the pipeline 4 to be tested, obtain the distance, angle or curvature change law of the surface of the pipeline 4 to be tested relative to the terahertz probe, and feed it back to the control module 5 in real time. The control module 5 adjusts the motion path of the terahertz probe 2 that arrives later in real time according to the distance, angle or curvature change law of the surface of the pipeline 4 to be tested relative to the terahertz probe. Specifically, the control module 5 adjusts the height, angle, movement direction, etc. of the terahertz probe 2 by adjusting the axial moving speed of the axial driving mechanism 11 and the circumferential moving speed of the circumferential driving mechanism 12, so as to realize intelligent detection and control of the pipeline or structure.

[0048] In this embodiment, the signal acquisition module 6 acquires the terahertz signal generated during the detection process and stores the terahertz signal in a certain format. The signal processing module 7 reads the terahertz signal from the signal acquisition module 6, identifies the defect of the pipeline 4 to be tested according to the terahertz signal and the defect data in the defect database, calculates the three-dimensional size of the defect, and reconstructs the defect in three dimensions. Specifically, the signal processing module has the following functions: signal reading, defect database, defect property identification function, defect three-dimensional size calculation function, defect three-dimensional reconstruction function, and report generation function.

[0049] In the specific application example, the system adopts an automatically adjustable drive module, and the drive structure is a dual-track structure including a circumferential drive mechanism and an axial drive mechanism. The terahertz probe adopts the T-ray5000 integrated reflection probe, the terahertz wave optical path adopts the terahertz optical path system of T-ray5000, the signal acquisition module and the control module are implemented by the software of T-ray5000, and the signal processing module is implemented by software. The pipeline is a polyethylene pipeline for urban gas, with a diameter of 300mm and a wall thickness of 30mm. There are pore defects inside the pipe body. The defect distribution area is 100mm in the axial length and 12:00 to 2:00 in the circumferential distribution. The optical detector uses a laser source for detection, and completes the detection of the local surface through a three-point light source. The circumferential drive mechanism adopts a ring linear motor, whose circumference is consistent with the outer circumference of the pipeline and the width is 20mm. The axial drive mechanism adopts a linear motor, and the fixture is installed on the linear motor. The fixture has an automatic adjustment function. The linear motor track length is 300mm and the width is 20mm. The power supply adopts 240V industrial AC motor.

[0050] Embodiment 2

[0051] As Figure 2 and Figure 4 shown, the non-destructive testing system for non-metallic pipelines based on terahertz waves provided in this embodiment includes: a terahertz wave module, a driving module 3, a control module 5, a signal acquisition module 6, and a signal processing module 7. The terahertz wave module includes a terahertz optical path 1 and a terahertz probe 2. The terahertz optical path 1 is an optical system for generating terahertz waves, which generates terahertz waves through special optical design. The terahertz probe 2 is a terahertz wave transmitting and receiving structure, including a terahertz transmitter and at least one terahertz receiver, which can be an integrated component, or two or more separate components. For the integrated terahertz probe 2, during detection, the terahertz transmitter and the terahertz receiver are located on the same side of the pipeline 4 to be measured, and the terahertz receiver receives the reflected wave generated after the terahertz wave emitted by the terahertz transmitter passes through the pipeline 4 to be measured on the same side, so as to realize reflection detection. The terahertz probe in the form of separate components includes a terahertz transmitter and one or more terahertz receivers. During detection, the terahertz transmitter and the terahertz receiver are respectively located on both sides of the pipeline to be measured, and the terahertz receiver receives the transmitted wave generated after the terahertz wave emitted by the terahertz transmitter passes through the pipeline to be measured on the other side, so as to realize transmission detection.

[0052] In this embodiment, the driving module 3 includes a robotic arm structure. A fixture 10 is installed at the end of the robotic arm 13, and the terahertz probe 2 is installed on the fixture 10. An optical detector 9 is further installed on the fixture 10 where the terahertz probe 2 is installed, and the optical detector 9 is located in front of the terahertz probe 2. During the detection process, the optical detector 9 can scan the surface of the pipeline 4 to be measured before the terahertz probe 2 reaches it, obtain the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feedback it to the control module 5 in real time. The control module 5 adjusts the movement trajectory of the robotic arm 13 according to the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, so as to adjust the movement path of the terahertz probe 2.

[0053] In this embodiment, the signal acquisition module 6 acquires the terahertz signals generated during the detection process and stores the terahertz signals in a certain format. The signal processing module 7 reads the terahertz signals from the signal acquisition module 6, identifies the defects of the pipeline 4 to be measured according to the terahertz signals and the defect data in the defect database, calculates the three-dimensional dimensions of the defects, and performs three-dimensional reconstruction on the defects.

[0054] In the specific application example, the system adopts an automatically adjustable driving module, and the driving structure is a robotic arm structure. The terahertz probe adopts the T-ray5000 integrated reflection probe, and the terahertz wave optical path adopts the terahertz optical path system of T-ray5000. The pipeline is a polyethylene pipeline for urban gas, with a diameter of 300mm and a wall thickness of 30mm. There are pore defects inside the pipe body. The defect distribution area is 100mm in axial length and 12:00 to 2:00 in annular distribution. The optical detector uses a laser source for detection, and completes the detection of local surfaces through three-point light sources. The robotic arm uses Elite Robot CS620-Ex. The power supply uses a 240V industrial AC motor.

[0055] The non-metallic pipeline non-destructive testing system based on terahertz waves proposed in the embodiment of the present invention is designed from the aspects of testing tooling, control system, signal acquisition system, signal processing system, etc., fully utilizing the unique advantages of terahertz non-destructive testing technology, and combining with the working conditions of pipeline on-site detection, the terahertz probe is driven by the driving module to move along a preset path to perform multi-directional scanning of the pipeline to be tested, and the motion parameters of the driving module are controlled by the control module to adjust the motion path of the terahertz probe. Even for a pipeline with a large change in ellipticity, the motion parameters of the driving module can be automatically adjusted so that the terahertz probe can perform multi-directional scanning of the pipeline, thereby realizing all-round detection, meeting various uncertain conditions of on-site detection, and improving detection efficiency and accuracy.

[0056] In addition, the present invention can realize on-site terahertz non-destructive testing and three-dimensional qualitative, quantitative calculation and reconstruction of non-metallic pipelines, laying a foundation for defect detection, evaluation and life prediction of non-metallic pipelines. The present invention can also realize terahertz non-destructive testing of other non-metallic structures.

[0057] The embodiment of the present invention further provides a non-metallic pipeline non-destructive testing method, which is applied to the non-metallic pipeline non-destructive testing system based on terahertz waves in the above embodiment. Figure 5 As shown, the non-metallic pipeline non-destructive testing method mainly includes system installation, scanning parameter setting, defect scanning, data processing and report generation, as follows:

[0058] Step S100, system installation: connect the terahertz wave module, driving module, control module, signal acquisition module and signal processing module through signal lines and connect them to the power supply. Specifically, the focal size of the terahertz probe is 100mm, and the clamping angle and clamping height of the terahertz probe are adjusted so that the terahertz signal is incident perpendicular to the pipeline surface, and the distance between the bottom of the probe and the pipeline surface is 85mm.

[0059] Step S200, Scanning Parameter Setting: Set the motion parameters of the driving module in the control module, and drive the terahertz wave module to move to the scanning starting point. Specifically, take the vertex of the pipeline as the scanning starting point, set the axial scanning rate to 0.1 m / s, and the circumferential stepping speed to 0.67 m / s.

[0060] Step S300, Defect Scanning: The driving module drives the terahertz wave module to scan the pipeline to be measured; during this process, the driving module drives the optical detector to scan the surface of the pipeline to be measured before the terahertz probe reaches the pipeline to be measured, obtains the variation law of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feeds it back to the control module in real time. The control module adjusts the height, angle or movement direction of the terahertz probe from the surface of the pipeline to be measured in real time according to the feedback information to complete the omnidirectional scanning of the pipeline to be measured.

[0061] Step S400, Data Processing and Report Generation: The signal acquisition module collects the terahertz signals generated during the detection process. The signal processing module identifies the defects and defect types of the pipeline to be measured according to the terahertz signals, calculates the three-dimensional dimensions of the defects, and performs three-dimensional reconstruction on the defects. Input the following information into the system: detection time, detection personnel, detection location, non-metallic pipeline characteristics, detection purpose, etc., and automatically generate a detection report.

[0062] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented in various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript.

[0063] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0064] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the function specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in the block or blocks.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the function specified in one or more of the processes and / or blocks Figure 1 in one or more of the processes and / or blocks Figure 1 specified in the block or blocks.

[0066] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A non-metallic pipeline non-destructive testing system based on terahertz waves, characterized in that, Comprising: A terahertz wave module, including a terahertz light path and a terahertz probe. The terahertz light path is used to generate terahertz waves, and the terahertz probe is used to transmit and receive terahertz waves; A driving module, used to drive the terahertz probe to move along a preset path for multi-directional scanning of the pipeline to be measured; A control module, used to adjust the motion parameters of the driving module in real time to adjust the motion path of the terahertz probe; A signal acquisition module, used to acquire the terahertz signals generated after the terahertz waves pass through the pipeline to be measured and store them; A signal processing module, used to process the acquired terahertz signals to identify the defects of the pipeline to be measured.

2. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 1, characterized in that, The terahertz probe includes a terahertz transmitter and at least one terahertz receiver.

3. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 2, characterized in that, The terahertz transmitter and the terahertz receiver are located on the same side of the pipeline to be measured, and the terahertz receiver receives the reflected wave generated after the terahertz wave emitted by the terahertz transmitter passes through the pipeline to be measured on the same side.

4. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 2, characterized in that, The terahertz transmitter and the terahertz receiver are respectively located on both sides of the pipeline to be measured, and the terahertz receiver receives the transmitted wave generated after the terahertz wave emitted by the terahertz transmitter passes through the pipeline to be measured on the other side.

5. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 1, characterized in that, The driving module includes an axial driving mechanism and a circumferential driving mechanism; A fixture is installed on the track of the axial driving mechanism, and the terahertz probe is installed on the fixture; The axial driving mechanism drives the terahertz probe to move axially along the pipeline to be measured for linear scanning; The circumferential driving mechanism drives the entire axial driving mechanism to move circumferentially along the pipeline to be measured in steps at a preset speed to drive the terahertz probe to perform circumferential scanning of the pipeline to be measured.

6. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 5, characterized in that, It further includes an optical detector; The optical detector is installed on the fixture and is located in front of the terahertz probe; The optical detector is used to scan the surface of the pipeline to be measured before the terahertz probe reaches the pipeline to be measured, obtain the variation rules of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feedback them to the control module in real time.

7. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 6, characterized in that, The control module is further used to adjust the motion path of the terahertz probe in real time according to the variation rules of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe.

8. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 7, characterized in that, The control module adjusts the motion path of the terahertz probe by adjusting the axial moving speed of the axial driving mechanism and the circumferential moving speed of the circumferential driving mechanism.

9. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 1, characterized in that, The driving module includes a robotic arm; A fixture is installed at the end of the robotic arm, and the terahertz probe is installed on the fixture; The robotic arm drives the terahertz probe to scan the pipeline to be measured along a predetermined trajectory through the fixture.

10. The non-metallic pipeline non-destructive testing system based on terahertz waves according to claim 9, characterized in that, It further includes an optical detector; The optical detector is installed on the fixture and is located in front of the terahertz probe; The optical detector is used to scan the surface of the pipeline to be measured before the terahertz probe reaches the pipeline to be measured, obtain the variation rules of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feedback them to the control module in real time; The control module is further used to adjust the motion trajectory of the robotic arm according to the variation rules of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe to adjust the motion path of the terahertz probe.

11. The non-destructive testing system for non-metallic pipelines based on terahertz waves according to claim 1, characterized in that The signal processing module is specifically configured to read the terahertz signal from the signal acquisition module, identify the defects of the pipeline to be measured according to the terahertz signal and the defect data in the defect database, calculate the three-dimensional size of the defects, and perform three-dimensional reconstruction on the defects.

12. A non-destructive testing method for non-metallic pipelines, characterized in that The method is applied to the non-destructive testing system for non-metallic pipelines based on terahertz waves described in claim 1, and the method includes: Connect the terahertz wave module, the driving module, the control module, the signal acquisition module, and the signal processing module through signal lines and connect them to the power supply; Set the motion parameters of the driving module in the control module and drive the terahertz wave module to move to the scanning starting point; Before the terahertz probe reaches the pipeline to be measured, the driving module drives the optical detector to scan the surface of the pipeline to be measured, obtains the change rules of the distance, angle or curvature of the surface of the pipeline to be measured relative to the terahertz probe, and feeds them back to the control module in real time. The control module adjusts the height, angle or motion direction of the terahertz probe from the surface of the pipeline to be measured according to the feedback information in real time to complete the omnidirectional scanning of the pipeline to be measured; The signal acquisition module collects the terahertz signals generated during the detection process. The signal processing module identifies the defects of the pipeline to be measured according to the terahertz signals, calculates the three-dimensional size of the defects, performs three-dimensional reconstruction on the defects, and generates a detection report.

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