Non-contact corrosion detection system and method based on dynamic adjustment

Abstract

The invention relates to the technical field of nondestructive testing equipment, and particularly provides a non-contact corrosion detection system and method based on dynamic adjustment, and the method comprises the following steps: obtaining an original echo signal, an environment temperature signal and an environment image signal, data of the original echo signal, the environment temperature signal and the environment image signal are uploaded to an upper computer; calculating a gain coefficient of an ultrasonic propagation velocity based on the ambient temperature signal, and calculating the ultrasonic propagation velocity corresponding to the current ambient temperature signal; calculating the thickness of a target workpiece according to the ultrasonic propagation speed after temperature compensation and the original echo signal, and outputting a current adjusting signal for adjusting the amplitude of excitation current and a speed adjusting signal for adjusting the running speed of equipment according to the thickness of the target workpiece and an environment image signal; and outputting the adjusted excitation current amplitude to an electromagnetic ultrasonic probe so as to measure the corrosion degree of the surface of the workpiece. According to the invention, the detection precision of the detection system in a complex environment can be ensured.

Description

Technical Field

[0001] The present application relates to the technical field of non-destructive testing equipment, and particularly to a non-contact corrosion detection system and method based on dynamic adjustment. Background Art

[0002] Corrosion detection, as a key link in the maintenance of industrial equipment and structures, plays a crucial role in fields such as petroleum, chemical industry, offshore engineering, and transportation infrastructure. Metal structures are prone to corrosion when exposed to harsh environments for a long time, resulting in a decline in equipment performance, a shortening of service life, and even safety accidents and environmental pollution. Most of the existing detection equipment uses traditional ultrasonic detection methods, which usually require the use of a coupling medium to transmit ultrasonic signals. The environmental layout steps are cumbersome and the requirements for the on-site environment are relatively high, making it difficult to achieve rapid deployment and efficient detection.

[0003] The ultrasonic detection system in the related art has achieved non-contact detection of industrial equipment and rapid deployment of corrosion detection in complex environments by directly replacing traditional ultrasonic probes with electromagnetic ultrasonic probes.

[0004] However, the traditional ultrasonic detection system has poor intelligent and anti-interference capabilities. In a complex working environment, it is easily interfered by factors such as temperature changes and noise, resulting in more noise in the echo signal and often difficult to meet the high-precision detection requirements, thus affecting the overall detection effect and data reliability.

[0005] Therefore, there is an urgent need for a non-contact corrosion detection system and method based on dynamic adjustment that can dynamically adjust detection parameters according to the detection situation. Summary of the Invention

[0006] In view of the above deficiencies of the prior art, the purpose of the present application is to provide a non-contact corrosion detection system and method based on dynamic adjustment, aiming to solve the problems of low detection accuracy and poor anti-interference ability of the traditional ultrasonic corrosion detection system.

[0007] One technical solution adopted by the present application to solve the technical problem is as follows: A non-contact corrosion detection system based on dynamic adjustment, including a main control module, a sensing module, a communication module, and a motion module. The main control module, the sensing module, and the communication module are all arranged on the motion module. The sensing module is communicatively connected to the main control module, and the communication module and the motion module are respectively communicatively connected to the main control module. The main control module is used to output an adjustment control signal according to the original echo signal, the ambient temperature signal, and the ambient image signal data to control the sensing module and the motion module.

[0008] Optionally, the sensing module includes an ultrasonic electromagnetic probe, a temperature sensor, and a camera unit. The detection ends of the ultrasonic electromagnetic probe, the camera unit, and the temperature sensor are arranged facing the same direction to obtain the original echo signal, the ambient temperature signal, and the ambient image signal on the surface of the workpiece to be detected.

[0009] Optionally, the communication module includes a long-distance unit and a short-distance unit.

[0010] Optionally, the motion module includes a motion platform, universal wheels, a transmission shaft, a drive motor, and an attitude sensor; the universal wheels are relatively arranged on both sides of the motion platform, the drive motor is drivingly connected to the universal wheels through the transmission shaft, and the attitude sensor is fixed on the motion platform to detect the speed and attitude angle of the motion platform.

[0011] Another technical solution adopted by this application to solve the technical problem is as follows: a non-contact corrosion detection method based on dynamic adjustment, which is executed by a non-contact corrosion detection system based on dynamic adjustment as described above, includes the following steps:

[0012] Obtain the original echo signal, the ambient temperature signal, and the ambient image signal;

[0013] Query the gain coefficient in the gain temperature compensation table based on the ambient temperature signal, and calculate the corresponding ultrasonic propagation speed through the gain coefficient;

[0014] Calculate the thickness of the target workpiece using the ultrasonic propagation speed and the original echo signal, and output a current adjustment signal and a speed adjustment signal according to the thickness of the target workpiece and the ambient image signal;

[0015] The sensing module adjusts the amplitude of the excitation current through the current adjustment signal to obtain a calibrated echo signal to determine the corrosion degree of the workpiece surface; the motion module adjusts the operating speed of the device through the speed adjustment signal.

[0016] Optionally, querying the gain coefficient in the gain temperature compensation table based on the ambient temperature signal and calculating the corresponding ultrasonic propagation speed through the gain coefficient includes: obtaining the change of the ultrasonic propagation speed with temperature through a temperature compensation formula, and the temperature compensation formula is as follows:

[0017] v(T) = {v0 × (1 + a · (T - T0)}

[0018] Wherein, v(T) is the ultrasonic propagation speed at temperature T (m / s), v0 is the ultrasonic propagation speed at the reference temperature T0 (m / s), a is the temperature coefficient of the sound speed (the relative change per degree Celsius, unit: 1 / ℃), T is the current ambient temperature signal, and T0 is the reference temperature.

[0019] Optionally, in step S1, after obtaining the original echo signal, noise reduction processing is performed on the original echo signal, including the following steps:

[0020] The original echo signal s(t) is decomposed into multi-scale components by the Daubechies wavelet ψ(t), and the decomposition formula is as follows:

[0021]

[0022] where c j,k is the low-frequency approximation coefficient, retaining the main low-frequency information, and d j,k is the high-frequency detail coefficient, containing noise and local variations;

[0023] Set the high-frequency detail component d j,k to 0, only retain the low-frequency component c j,k , remove the high-frequency noise, and reconstruct the low-frequency component c j,k using the inverse fast wavelet transform to obtain the noise-reduced signal The calculation formula is as follows:

[0024]

[0025] Perform a Hilbert transform on the noise-reduced signal to calculate the complex envelope signal, and the calculation formula is as follows:

[0026]

[0027] where is the Hilbert transform of the signal ;

[0028] Calculate the amplitude of the complex envelope signal and extract the envelope signal s′(t), and the calculation formula is as follows:

[0029]

[0030] where s′(t) is the signal envelope after noise reduction;

[0031] Determine the echo arrival time t tot .

[0032] Optionally, calculating the target workpiece thickness by using the ultrasonic propagation speed and the original echo signal, and outputting a current adjustment signal and a speed adjustment signal according to the target workpiece thickness and the environmental image signal, includes: calculating the target workpiece thickness D according to the echo arrival time t tot of the ultrasonic wave and the ultrasonic propagation speed v(T) after temperature compensation, and the calculation formula is as follows:

[0033]

[0034] Among them, D is the thickness of the target workpiece, and v(T) is the ultrasonic propagation velocity;

[0035] The calculation formula for adjusting the amplitude of the excitation current according to the thickness of the target workpiece is as follows:

[0036] I e = k1×D

[0037] Among them, I e is the amplitude of the excitation current, and k1 is the thickness gain coefficient, which is determined through experiments.

[0038] Optionally, the sensing module adjusts the amplitude of the excitation current through the current adjustment signal to obtain a calibrated echo signal for measuring the corrosion degree of the workpiece surface; the motion module adjusts the operating speed of the device through the speed adjustment signal, and further includes the following steps:

[0039] Obtain the corrosion degree of the workpiece surface. When the corrosion degree is greater than or equal to the first threshold, adjust the operating speed of the device to the first speed. When the corrosion degree is less than or equal to the first threshold, adjust the operating speed of the device to the second speed, and the second speed is greater than the first speed.

[0040] Optionally, the detection method further includes: obtaining the corrosion area in the environmental image signal through a visual recognition algorithm, outputting the first motor speed and the second motor speed, and controlling the device to perform differential steering.

[0041] Compared with the prior art, the present application replaces the traditional ultrasonic detection method that relies on a coupling medium with an electromagnetic ultrasonic probe to achieve non-contact detection, thereby greatly simplifying the operation process. By integrating an electromagnetic ultrasonic excitation module into the detection system, electromagnetic force is used to excite ultrasonic waves and echo signals are collected in a non-contact manner, ensuring that no coupling medium is required during the detection process, and achieving efficient and convenient on-site detection. When performing digital signal processing on the electromagnetic ultrasonic echo signal, a closed-loop control of the electromagnetic ultrasonic probe is achieved through a temperature compensation algorithm, effectively eliminating errors caused by factors such as the thickness of the target workpiece and environmental temperature, and ensuring that the detection system can maintain high detection accuracy and data reliability in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic framework diagram of a non-contact corrosion detection system based on dynamic adjustment proposed by the present application;

[0043] Figure 2 is a schematic step diagram of a non-contact corrosion detection method based on dynamic adjustment proposed by the present application;

[0044] Figure 3 It is a schematic diagram of the operation logic of a non-contact corrosion detection method based on dynamic adjustment proposed in this application.

[0045] Explanation of the reference numerals in the drawings:

[0046] 10. Main control module; 20. Sensing module; 30. Communication module; 40. Motion module. Detailed implementation manners

[0047] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0048] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application 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 thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "plurality" is two or more.

[0049] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0050] Such as Figure 1As shown in the figure, this application proposes a non-contact corrosion detection system based on dynamic adjustment, including a main control module 10, a sensing module 20, a communication module 30, and a motion module 40. The main control module 10, the sensing module 20, and the communication module 30 are all arranged on the motion module 40. The sensing module 20 is communicatively connected to the main control module 10, and the communication module 30 and the motion module 40 are respectively communicatively connected to the main control module 10. The main control module 10 is used to output an adjustment control signal according to the original echo signal, the ambient temperature signal, and the ambient image signal data to control the sensing module 20 and the motion module 40. This system is mainly divided into four major functional units: the sensing module 20, the main control module 10, the communication module 30, and the motion module 40. Each unit interacts through data or control signals to form a complete electromagnetic ultrasonic corrosion detection control system. Among them, the main control module 10 serves as the main control core. The sensing module 20 includes a high-definition camera, an electromagnetic ultrasonic (EMAT) probe, and a temperature measurement probe. The motion module 40 includes two servo reduction motors, a transmission shaft, a fixed universal wheel structure, and an attitude sensor. The communication module 30 includes a variety of wireless transmission modules. Through the organic combination of the sensing module 20, the main control module 10, the communication module 30, and the motion module 40, the present invention forms a comprehensive corrosion detection system integrating electromagnetic ultrasonic detection, multi-sensor information acquisition, real-time communication, intelligent control, and automatic movement. Each unit can not only independently complete its respective functions but also work collaboratively through data and instruction interaction, providing an efficient, reliable, and flexible solution for the corrosion detection of industrial equipment and structures. The following will be described separately:

[0051] The main control module 10 uses a high-performance MCU as the control core, responsible for coordinating the work processes of each functional module and executing the instructions issued by the host computer. This unit usually runs a real-time operating system or embedded firmware, and can initially collect, filter, and cache the echo signal of the EMAT probe, the temperature data, and the image information of the camera module, and then analyze and process these data according to the set algorithm or the host computer command.

[0052] In practical applications, the main control module 10 not only needs to complete data collection and simple operations but also is responsible for the management of the system security and fault tolerance mechanism. For example, when an abnormal electromagnetic ultrasonic signal or a temperature limit is detected, the MCU can issue an alarm in time or actively adjust the detection parameters to ensure the continuity and reliability of the detection process. At the same time, the main control module 10 will also calculate and send the control quantity to the motion module 40 in real time according to the motion instructions issued by the host computer, forming a closed-loop control process from data collection to execution of operations. Through this hierarchical and modular design, the main control module 10 plays the role of the "brain" in the whole system, ensuring the efficiency and stability of electromagnetic ultrasonic corrosion detection.

[0053] The sensing module 20 mainly includes a camera module, an EMAT (electromagnetic ultrasonic probe), and a temperature measurement module, etc. The camera module is used to collect real-time image information of the detection environment, provide visual reference for operators or the upper computer, and assist in completing positioning, navigation, and on-site assessment of detection. As the core detection component of this system, the EMAT uses electromagnetic force to excite and receive ultrasonic signals, and has the advantages of no coupling medium, convenient operation, and strong adaptability. It can accurately detect corrosion and defects inside or on the surface of metal materials. The temperature measurement module monitors the temperature of the working environment or the surface of the workpiece, and corrects the change in the ultrasonic propagation speed caused by temperature fluctuations through a temperature compensation algorithm in the subsequent data processing stage, thereby effectively improving the detection accuracy and data reliability.

[0054] The communication module 30 adopts a multi-channel transmission design in this system, including a short-distance unit and a long-distance unit. The long-distance unit is configured for 4G remote communication, and the short-distance unit is configured for short-distance communication of Wi-Fi AP stations. The two methods are used in parallel, combining the flexibility of long-distance and short-distance data transmission. When the system is outdoors or requires long-distance control, the 4G network can be enabled to achieve remote real-time communication; when the system is indoors or in a relatively narrow working environment, a short-distance high-speed connection can be established with the upper computer or mobile device through the Wi-Fi AP station mode. In addition, the advantage of multi-channel transmission is that it can dynamically switch or use different communication links in parallel according to changes in the network environment to ensure stable data transmission and system reliability. On the upper computer side, the present invention supports both mobile operation through an Android App and can also be controlled using a dedicated remote control or a PC client. Operators can obtain real-time video transmission and detection data through the above-mentioned various upper computer forms, and issue motion commands or detection parameter adjustment commands. Such a design not only meets the convenience of on-site operation but also makes remote unattended detection possible, providing a wider adaptability for multi-scenario applications.

[0055] It can be understood that the existing centralized data transmission and processing scheme can also be replaced by a distributed or edge computing architecture to make data processing more efficient, reduce network latency at the same time, and improve the ability of real-time feedback.

[0056] The motion module 40 mainly consists of a motion platform, chassis motors, and their supporting transmission mechanisms. It uses a two-wheel kinematic model to drive and control the chassis motors, that is, to achieve forward, backward, and turning through differential speed. The MCU calculates the rotational speed difference between the left and right motors in real time according to the upper computer instructions or the autonomous path planning algorithm, thereby accurately controlling the traveling direction and speed of the robot chassis.

[0057] It can be understood that the motion module 40 usually cooperates with attitude sensors such as encoders or gyroscopes for closed-loop control, real-time monitoring of wheel speed and attitude angle, ensuring that the motion trajectory is consistent with the expected path. If the detection scenario is relatively complex or functions such as climbing slopes and crossing obstacles are required, auxiliary support wheels, tracked mechanisms, or multi-degree-of-freedom robotic arms can be added on the basis of the two-wheel differential chassis to meet higher-level operation requirements. Through close cooperation with the main control module 10, the motion module 40 can automatically move to the designated position and complete the measurement during the detection process, greatly reducing the workload of manual operation and improving the efficiency and accuracy of the detection operation.

[0058] In the existing electromagnetic ultrasonic corrosion detection system, the ultrasonic probe in the traditional ultrasonic detection system is usually directly replaced with an electromagnetic ultrasonic probe. The excitation of the traditional ultrasonic probe relies on the inverse piezoelectric effect of the piezoelectric crystal: applying a high-frequency voltage pulse (instead of current) to make the crystal expand and contract to generate ultrasonic waves. The electromagnetic ultrasonic probe induces eddy currents on the surface of the conductive material through an alternating current, and the eddy currents are subjected to the Lorentz force in the alternating magnetic field to generate mechanical vibrations, thereby exciting ultrasonic waves. The traditional ultrasonic detection system cannot flexibly adjust the current according to the ambient temperature and the thickness of the workpiece to be detected, and then adjust the penetration performance of the electromagnetic ultrasonic probe. In this regard, the present application also proposes a non-contact corrosion detection method based on dynamic adjustment, such as Figure 2 and Figure 3 shown, the method includes the following steps:

[0059] Step S1: Obtain the original echo signal, ambient temperature signal, and ambient image signal;

[0060] In this embodiment, the original echo signal, ambient temperature signal, and ambient image signal can be directly processed in the main control module or the data can be uploaded to the upper computer for processing. The original data is directly uploaded to the upper computer for higher-precision or more complex subsequent analysis. The ambient image signal obtained by the camera unit is transmitted to the upper computer in real time for the monitoring personnel or the automated system to view the on-site environment. The ambient temperature signal data is uploaded to facilitate uploading the key environmental parameters to the upper computer for archiving or comprehensive analysis during or after the detection process.

[0061] The uplink transmission path of the original echo signal, ambient temperature signal, and ambient image signal directly uploads the signals to the upper computer. With higher computing power, the upper computer can perform more complex and refined noise reduction processing on the original signals and complete high-precision corrosion analysis calculations, which is suitable for scenarios that require higher detection accuracy. However, it may introduce delays due to data transmission and processing time. For scenarios with high timeliness requirements, it can be directly processed by the main control module 10 carried on the system to quickly obtain the detection results and achieve flexible switching between different detection requirements.

[0062] In some embodiments, to avoid the influence of data noise, the original echo signal needs to be denoised before analyzing the original echo signal. Through the fast wavelet transform technology, combined with the wavelet basis function decomposition, the low-frequency components of the signal are retained, and the high-frequency noise is removed through the Hilbert transform and envelope extraction technology, significantly improving the quality of the signal, including the following steps:

[0063] Decompose the original echo signal s(t) into multi-scale components by the Daubechies wavelet ψ(t), and the decomposition formula is as follows:

[0064]

[0065] where c j,k is the low-frequency approximation coefficient, retaining the main low-frequency information, and d j,k is the high-frequency detail coefficient, containing noise and local variations;

[0066] Set the high-frequency detail component d j,k to 0, only retain the low-frequency component c j,k , remove the high-frequency noise, and reconstruct the low-frequency component c j,k by using the inverse fast wavelet transform to obtain the denoised signal The calculation formula is as follows:

[0067]

[0068] Perform the Hilbert transform on the denoised signal to calculate the complex envelope signal, and the calculation formula is as follows:

[0069]

[0070] where is the Hilbert transform of the signal ;

[0071] Calculate the amplitude of the complex envelope signal and extract the envelope signal s′(t), and the calculation formula is as follows:

[0072]

[0073] where s′(t) is the signal envelope after denoising, and the echo arrival time t tot .

[0074] In some embodiments, before uploading the environmental image signal to the host computer, encoding or compression is required to reduce the load of wireless transmission. The H.264 / AVC encoding technology can be used to compress or encode the environmental image signal to improve the response speed of the system.

[0075] Step S2: Query the gain coefficient in the gain temperature compensation table based on the environmental temperature signal, and calculate the corresponding ultrasonic propagation speed through the gain coefficient;

[0076] In some embodiments, the variation of the ultrasonic propagation speed v with temperature T is obtained through a temperature compensation formula, and the temperature compensation formula is as follows:

[0077] v(T) = {v0×(1 + a·(T - T0)}

[0078] Wherein, v(T) is the ultrasonic propagation speed (m / s) at temperature T, v0 is the ultrasonic propagation speed (m / s) at the reference temperature T0, a is the temperature coefficient of the sound speed (the relative change per degree Celsius, unit: 1 / °C), T is the current environmental temperature signal, and T0 is the reference temperature.

[0079] Through temperature compensation, the system can accurately obtain the propagation speed of ultrasonic waves in the workpiece at the current temperature, and based on this propagation speed and the echo arrival time t tot Precisely calculate the thickness of the target workpiece, and finally output the excitation current amplitude matching the thickness of the target workpiece, so that the electromagnetic ultrasonic probe can penetrate the workpiece smoothly, greatly improving the detection accuracy.

[0080] Step S3: Calculate the thickness of the target workpiece using the ultrasonic propagation speed and the original echo signal, and output a current adjustment signal and a speed adjustment signal according to the thickness of the target workpiece and the environmental image signal;

[0081] In some embodiments, by performing noise reduction processing and temperature compensation processing on the original echo signal in steps S1 and S2, an accurate echo arrival time t tot and the temperature-compensated ultrasonic propagation speed v(T) are obtained, effectively avoiding errors in subsequent calculation of the thickness D of the target workpiece. The calculation formula for the workpiece D is as follows:

[0082]

[0083] Wherein, D is the thickness of the target workpiece, and v(T) is the ultrasonic propagation speed;

[0084] Furthermore, the working principle of the current adjustment signal is to adjust the magnitude of the excitation current amplitude of the electromagnetic ultrasonic probe according to the thickness of the target workpiece, so that the penetration ability of the ultrasonic wave matches the thickness of the target workpiece. The calculation formula for adjusting the excitation current amplitude according to the thickness of the target workpiece is as follows:

[0085] I e = k1×D

[0086] Wherein, I eI is the amplitude of the excitation current, and k1 is the thickness gain coefficient, which is determined through experiments.

[0087] In some embodiments, when adjusting the amplitude of the excitation current, it can also be adjusted according to the detected corrosion degree of the workpiece surface. The calculation formula is as follows:

[0088] I e = k1×D + k2×d c + I0

[0089] where d c is the corrosion degree, and k2 is the gain coefficient related to the corrosion degree adjustment, indicating the contribution of corrosion to the excitation current.

[0090] The corrosion degree is the corroded thickness of the workpiece, which can also be calculated from the thickness of the target workpiece during electromagnetic ultrasonic detection. Calculate the difference between the thickness of the target workpiece when not corroded and the currently detected thickness of the target workpiece. This difference is the corroded thickness of the workpiece, that is, the corrosion degree.

[0091] It can be understood that both k1 and k2 are constants determined through experiments, and those skilled in the art can adjust them according to actual detection requirements. When the target is thicker (D increases), the excitation current needs to be increased to enhance the ultrasonic penetration ability; when the corrosion degree is higher (d c increases), the current needs to be increased to improve the signal strength and overcome signal attenuation.

[0092] In other embodiments, the excitation frequency can also be adjusted to adapt to the material characteristics, thereby improving the signal resolution or changing the excitation pulse width and waveform to adapt to the detection requirements of different depths or complex surfaces.

[0093] Step S4: The sensing module adjusts the amplitude of the excitation current through the current adjustment signal to obtain a calibrated echo signal for measuring the corrosion degree of the workpiece surface; the motion module adjusts the operating speed of the device through the speed adjustment signal.

[0094] Specifically, the calibrated echo signal refers to the echo signal received after the electromagnetic ultrasonic probe sends detection ultrasonic waves to the workpiece to be detected again after adjusting the amplitude of the excitation current according to the current adjustment signal. The corrosion degree of the workpiece can be obtained by analyzing the characteristics of this echo signal.

[0095] In this embodiment, the working principle of the speed adjustment signal is to slow down the device in the critical area to increase the sampling density, while accelerating in the area without obvious defects to improve the efficiency. Specifically, first, obtain the corrosion degree of the workpiece surface. When the corrosion degree is greater than or equal to the first threshold, adjust the device operation speed to the first speed. When the corrosion degree is less than or equal to the first threshold, adjust the device operation speed to the second speed, and the second speed is greater than the first speed.

[0096] It can be understood that during the detection process, the above detection steps will be cycled to achieve closed-loop control. The main control module 10 obtains the original data through the sensing module 20, the host computer analyzes it, the host computer issues an instruction to the main control module 10, and the main control module 10 outputs a signal to control the motion module 40 and the sensing module 20 collects data again in sequence and cycles. This closed-loop design ensures that the system has real-time performance and flexibility, can be quickly adjusted according to the detection results or environmental changes, and improves the detection efficiency and accuracy.

[0097] Optionally, the host computer can also adjust the sampling parameters, such as increasing the sampling frequency to capture more signal details, or adjusting the sampling time window to reduce noise interference. For scenarios with a low signal-to-noise ratio, the host computer can request multiple samplings and perform signal superposition processing to further improve the detection accuracy. At the same time, the host computer optimizes the detection strategy according to the real-time analysis results, finely adjusts the probe position to ensure the detection accuracy. Through flexible dynamic adjustment, the collaborative work of the host computer and the detection device effectively improves the detection efficiency and reliability.

[0098] Specifically, after the environmental image signal data is uploaded to the host computer, the following steps are further included:

[0099] Obtain the corrosion area in the environmental image signal through the visual recognition algorithm, output the first motor speed and the second motor speed, and control the two universal wheels of the device respectively to achieve differential steering. This enables the system to re-plan the position of the device. When a severely corroded area is found, the device can be instructed to perform high-density sampling or repeated detection, and the temperature compensation parameters can be dynamically adjusted according to the change of the environmental temperature to ensure the accuracy of the detection result.

[0100] The non-contact corrosion detection method based on dynamic adjustment proposed in this application obtains the original echo signal through an electromagnetic ultrasonic probe, obtains the ambient temperature signal through a temperature sensor, and obtains the ambient image signal through a camera unit. All these original data are first preliminarily collected and cached by the main control module 10, and then the time of flight (TOF) of the original echo signal is calculated to determine the time for the ultrasonic wave to propagate in the metal material, thereby inferring the material thickness or defect depth. Then, combined with the ambient temperature signal collected by the temperature sensor, the difference in the propagation speed of the ultrasonic wave in different temperature environments is corrected, and then the thickness of the target workpiece is calculated, and the amplitude of the excitation current of the electromagnetic ultrasonic probe is dynamically adjusted to improve the accuracy of corrosion detection.

[0101] Meanwhile, the host computer analyzes the ambient image signal to direct the device to turn to the corrosion area for detection, decelerate in the key area to increase the sampling density, and accelerate in the area without obvious defects to improve the efficiency.

[0102] It should be understood that the application of this application is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all these improvements and transformations should fall within the protection scope of the appended claims of this application.

Claims

1. A non-contact corrosion detection system based on dynamic adjustment, characterized in that: It includes a main control module, a perception module, a communication module and a motion module. The main control module, the perception module and the communication module are all arranged on the motion module. The perception module is communicatively connected to the main control module. The communication module and the motion module are respectively communicatively connected to the main control module. The main control module is used to output an adjustment control signal according to the original echo signal, the ambient temperature signal and the ambient image signal data to control the perception module and the motion module.

2. The non-contact corrosion detection system based on dynamic adjustment according to claim 1 is characterized in that: The sensing module includes an ultrasonic electromagnetic probe, a temperature sensor and a camera unit. The detection ends of the ultrasonic electromagnetic probe, the camera unit and the temperature sensor are arranged in the same direction to obtain the original echo signal, the ambient temperature signal and the ambient image signal of the surface of the workpiece to be detected.

3. The non-contact corrosion detection system based on dynamic adjustment according to claim 2 is characterized in that: The communication module includes a long-distance unit and a short-distance unit.

4. The non-contact corrosion detection system based on dynamic adjustment according to claim 3 is characterized in that: The motion module includes a motion platform, universal wheels, a transmission shaft, a transmission motor and a posture sensor; the universal wheels are relatively arranged on both sides of the motion platform, the transmission motor is connected to the universal wheels through the transmission shaft, and the posture sensor is fixed to the motion platform to detect the speed and posture angle of the motion platform.

5. A non-contact corrosion detection method based on dynamic adjustment, characterized in that: The method is performed using a non-contact corrosion detection system based on dynamic adjustment as claimed in any one of claims 1 to 4, comprising the following steps: Acquire original echo signal, ambient temperature signal and ambient image signal; Based on the ambient temperature signal, a gain coefficient is searched in a gain temperature compensation table, and a corresponding ultrasonic wave propagation velocity is calculated by the gain coefficient; Calculating the target workpiece thickness by using the ultrasonic wave propagation velocity and the original echo signal, and outputting a current adjustment signal and a velocity adjustment signal according to the target workpiece thickness and the environmental image signal; The sensing module adjusts the excitation current amplitude through the current adjustment signal to obtain a calibration echo signal to measure the corrosion degree of the workpiece surface; the motion module adjusts the equipment running speed through the speed adjustment signal.

6. The non-contact corrosion detection method based on dynamic adjustment according to claim 5, characterized in that: The step of querying a gain coefficient in a gain temperature compensation table based on the ambient temperature signal and calculating a corresponding ultrasonic wave propagation velocity by using the gain coefficient includes: The change of the ultrasonic propagation velocity with temperature is obtained by the temperature compensation formula, and the temperature compensation formula is as follows: v(T)=v0×(1+a·(T-T0) Wherein, v(T) is the ultrasonic propagation velocity at temperature T (m / s), v0 is the ultrasonic propagation velocity at reference temperature T0 (m / s), a is the temperature coefficient of the sound velocity (relative change per degree Celsius, unit is 1 / ℃), T is the current ambient temperature signal, and T0 is the reference temperature.

7. The non-contact corrosion detection method based on dynamic adjustment according to claim 6 is characterized in that: After acquiring the original echo signal, performing noise reduction processing on the original echo signal includes: The original echo signal s(t) is decomposed into multi-scale components by Daubechies wavelet ψ(t), and the decomposition formula is as follows: Among them, c j,k is the low-frequency approximation coefficient, retaining the main low-frequency information, d j,k is the high-frequency detail coefficient, including noise and local changes; The high frequency detail component d j,k Set to 0 to keep only the low-frequency component c j,k , remove high-frequency noise, and use inverse fast wavelet transform to transform the low-frequency component c j,k Reconstruct and get the noise-reduced signal The calculation formula is as follows: For noise reduction signal Perform Hilbert transform and calculate the complex envelope signal. The calculation formula is as follows: in, For signal Hilbert transform; Calculate the amplitude of the complex envelope signal and extract the envelope signal s′(t). The calculation formula is as follows: Among them, s′(t) is the signal envelope after noise reduction; The echo arrival time t is determined by the signal envelope s′(t) after noise reduction. tot .

8. The non-contact corrosion detection method based on dynamic adjustment according to claim 7, characterized in that: The method of calculating the target workpiece thickness by using the ultrasonic wave propagation velocity and the original echo signal, and outputting a current adjustment signal and a velocity adjustment signal according to the target workpiece thickness and the environmental image signal, comprises: According to the ultrasonic echo arrival time t tot and the ultrasonic propagation velocity v(T) after temperature compensation, calculate the target workpiece thickness D, the calculation formula is as follows: Where D is the target workpiece thickness, v(T) is the ultrasonic propagation velocity; The calculation formula for calculating the adjusted excitation current amplitude according to the target workpiece thickness is as follows: I e =k1×D Among them, I e is the excitation current amplitude, k1 is the thickness gain coefficient, which is determined by experiment.

9. The non-contact corrosion detection method based on dynamic adjustment according to any one of claims 5 to 8, characterized in that: The sensing module adjusts the excitation current amplitude through the current adjustment signal to obtain a calibration echo signal to determine the corrosion degree of the workpiece surface; the motion module adjusts the equipment running speed through the speed adjustment signal, and further includes the following steps: The corrosion degree of the workpiece surface is obtained. When the corrosion degree is greater than or equal to a first threshold, the equipment operating speed is adjusted to a first speed. When the corrosion degree is less than or equal to the first threshold, the equipment operating speed is adjusted to a second speed, and the second speed is greater than the first speed.

10. The non-contact corrosion detection method based on dynamic adjustment according to any one of claims 5 to 8, characterized in that: The detection method further comprises: The corrosion area in the environmental image signal is acquired through a visual recognition algorithm, the first motor speed and the second motor speed are output, and the control device performs differential steering.

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