CN-122016108-A - Lining pipeline interface contact pressure distribution testing device and method

CN122016108ACN 122016108 ACN122016108 ACN 122016108ACN-122016108-A

Abstract

The invention discloses a lining pipeline interface contact pressure distribution testing device and method, relates to the technical field of pipeline detection, and aims to solve the problem that the interface contact pressure distribution is difficult to quantitatively characterize in a lossless manner in the prior art. The device comprises a testing machine moving platform, an overground control moving platform, a lining pipe wall testing claw, an ultrasonic signal transceiver and a three-dimensional imaging module, wherein the testing claw is provided with four curved surface ultrasonic probes, a single-generation multi-reception mode controlled by an FPGA is adopted to collect signals, and the method realizes interface pressure distribution visualization by self-adaptive positioning, signal excitation and processing, construction of a contact pressure characterization model and combination of a three-dimensional imaging technology. The invention can accurately capture the distribution characteristics of the contact pressure space without damaging the pipeline structure, is suitable for the conventional detection of long-distance pipelines, provides scientific basis for the lining repair quality evaluation and the pipeline operation safety, and has convenient operation and strong applicability.

Inventors

WANG LONG
CHEN ZAITIE
TAO WEIFENG
MO DI
CHENG JUN
MENG LONGFEI

Assignees

沙洲职业工学院

Dates

Publication Date: 20260512
Application Date: 20260129

Claims (9)

1. The lining pipe interface contact pressure distribution testing device is characterized by comprising a testing machine moving platform, an overground control moving platform, a mobile power supply system, a WiFi control module and a three-dimensional imaging module, wherein the testing machine moving platform is provided with lining pipe wall testing claws and an ultrasonic signal transceiver, the overground control moving platform is integrated with an upper computer master control module, control connection is established with the testing machine moving platform through the WiFi control module, the mobile power supply system supplies power for all the modules, and the three-dimensional imaging module is in communication connection with the ultrasonic signal transceiver.
2. The lining pipe interface contact pressure distribution testing device according to claim 1, wherein the testing machine moving platform is further provided with a multi-axis mechanical arm and a laser calibration system, the bottom end of the multi-axis mechanical arm is fixed in the center of the testing machine moving platform, the lining pipe wall testing claw is arranged at the top end of the multi-axis mechanical arm, and the laser calibration system is matched with a calibration prism arranged outside the testing machine moving platform.
3. The lining pipe interface contact pressure distribution testing device according to claim 1, wherein the lining pipe wall testing claw comprises a testing claw supporting frame, four rotary joints, four electric telescopic rods and four curved surface ultrasonic probes, wherein the testing claw supporting frame is in a cross shape, a mechanical arm mounting plate and a probe mounting plate are respectively arranged on two sides of the center of the testing claw supporting frame, the testing claw supporting frame is connected with a multi-shaft mechanical arm through the mechanical arm mounting plate, and a visual probe and an ultrasonic ranging probe are arranged on the probe mounting plate; The tail end of the test claw supporting frame extends to the periphery and is rotationally connected with one end of a rotary joint, a mounting hole is formed in the other end of the rotary joint, the middle of the electric telescopic rod is fixed in the mounting hole, a curved surface ultrasonic probe is arranged at one end of the electric telescopic rod, a pressure sensor is arranged between the curved surface ultrasonic probe and the electric telescopic rod, and the curved surface ultrasonic probe and the probe mounting disc are both located on one side far away from the multi-axis mechanical arm.
4. The lining pipeline interface contact pressure distribution testing device is characterized in that the curved ultrasonic probe comprises a piezoelectric sheet, a cylindrical groove is formed in the top end of the piezoelectric sheet, a curved hard piezoelectric sheet protective shell, a high-density rubber gasket, a low-density rubber gasket, a hard alloy gasket and a belleville spring are sequentially arranged in the cylindrical groove from top to bottom, an ultrasonic probe sleeve is arranged between the curved hard piezoelectric sheet protective shell and the high-density rubber gasket, the side face of the piezoelectric sheet is connected with an ultrasonic transmission shielding wire, a fixing hole is formed in the bottom end of the piezoelectric sheet, the piezoelectric sheet is connected with a pressure sensor through the fixing hole, and the pressure sensor is electrically connected with an ultrasonic signal transceiver.
5. The lining pipeline interface contact pressure distribution testing device according to claim 4, wherein the ultrasonic signal transceiver is controlled by an FPGA, the four curved-surface ultrasonic probes are electrically connected with the ultrasonic signal transceiver through ultrasonic transmission shielding wires, one of the four curved-surface ultrasonic probes is circularly switched to serve as an excitation end, the other three ultrasonic probes serve as receiving ends, and total received signals are recorded in a matrix form as follows: (1) wherein: Is a test signal matrix; For each test to receive a signal, In order to receive the probe number, The transmitting probe is numbered.
6. A lining pipe interface contact pressure distribution testing method, which is applied to the lining pipe interface contact pressure distribution testing device according to any one of claims 1-5, and is characterized by comprising the following steps: S1, deploying a testing system, namely carrying a lining pipe wall testing claw on a testing machine moving platform to finish positioning and walking path planning of the testing machine moving platform and a prism, and establishing communication connection between an upper computer master control module and an ultrasonic signal transceiver through a WiFi control module; S2, positioning measuring points, namely sequentially completing the positioning of the axis of the pipeline, the positioning of the measuring points of the section of the pipeline and the accurate positioning of the ultrasonic detecting heads of the curved surface by the linkage of the multi-axis mechanical arm and the pipe wall testing claw of the lining pipe, and arranging a plurality of measuring points on each measuring section at intervals along the direction of the pipeline; S3, calibrating a contact pressure standard value, and taking a pressure value with a preset guarantee rate of the contact pressure of the pipe wall in the plurality of measuring points as a standard value ; S4, single-measuring-point ultrasonic signal excitation and reception are performed, four curved-surface self-adaptive ultrasonic probes are controlled to be attached to the wall of the lining pipe with the same compaction force through pressure sensor feedback data, an ultrasonic signal transceiver is controlled to adopt a one-transmission-multiple-reception mode, one probe is circularly switched to serve as an excitation end, the other three probes serve as receiving ends, piezoelectric ultrasonic contact pressure test is performed, and the total received signals are recorded in a matrix form and temporarily stored in the ultrasonic signal transceiver; s5, ultrasonic signal processing and analysis, wherein the ultrasonic signal transceiver transmits the temporarily stored received signals to a data processing unit of the three-dimensional imaging module, and ultrasonic signal characteristic indexes are extracted to form a measuring point index matrix, and the measuring point index matrix is expressed as: (2) wherein: Is a test signal matrix; for each characteristic index value of the test signal, In order to receive the probe number, Numbering the transmitting probes; Calculating a2 norm L of the matrix D as an evaluation index of the measuring point; S6, constructing a contact pressure characterization model, based on a piezoelectric ultrasonic coupling principle, assuming an interface to be a one-dimensional elastic contact model, neglecting nonlinear behavior of materials, establishing a quantitative relation between ultrasonic signal characteristic parameters and contact pressure, and carrying out normalization processing by adopting a 0% contact pressure working condition as a base value; S7, after the whole tube test is finished, the position of the test claw is adjusted to cover all the measuring points, and the upper computer master control module instructs the test machine mobile platform to automatically walk to the next test section through the WiFi control module, and the steps S4-S6 are repeated to finish the whole tube test and save data; S8, three-dimensional imaging characterization, wherein the three-dimensional imaging module uniformly processes the whole tube test data, and converts the whole tube test data into a three-dimensional image through visual software to realize three-dimensional imaging characterization of interface contact pressure distribution.
7. The method for testing interface contact pressure distribution of lining pipes according to claim 6, wherein in step S6, a quantitative relation between ultrasonic signal characteristic parameters and contact pressure is established, and the method specifically comprises the following steps: the reflection coefficient R and transmission coefficient T of the ultrasonic wave at the interface are expressed as: (3) wherein: And Acoustic impedances of the lining material and the original pipeline material respectively, , In order to achieve a material density of the material, Is the sound velocity; When the interface has contact pressure, the change of acoustic impedance satisfies: (4) wherein: for experimental calibration constants related to material properties, The contact pressure is the interface contact pressure of the pipe wall; Define contact pressure ratio as The working condition of 0% contact pressure is adopted as a basic value for normalization treatment, and a quantitative relation is established through a fitting function, and is expressed as follows: (5) and solving a function of inverse fitting function to realize single-measuring-point contact pressure evaluation: (6) wherein: for evaluation index a, b, c, d is the fitting parameter.
8. The method for testing interface contact pressure distribution of lining pipes according to claim 6, wherein in step S4, the pressing force error is controlled within a preset range, the pressing force meets testing requirements, the excitation signal is a sweep frequency signal or a pulse signal, and the excitation and receiving time sequences are synchronously controlled by an ultrasonic signal transceiver.
9. The method of claim 6, wherein the characteristic index in step S5 comprises at least one of shannon entropy, signal energy, time reversal focusing peak value, and multi-scale sample entropy.

Description

Lining pipeline interface contact pressure distribution testing device and method Technical Field The invention relates to the technical field of pipeline detection, in particular to a lining pipeline interface contact pressure distribution testing device and method. Background In urban drainage and municipal pipe network restoration engineering, the lining method has become a mainstream technology for structural reinforcement and functional restoration of old and old pipes by virtue of the remarkable advantages of non-excavation construction, small disturbance to the original pipes, high restoration efficiency and the like. The technology forms a composite pipe-in-pipe structure by arranging the lining pipe inside the original pipeline, and the long-term service performance and the safety stability of the composite pipe-in-pipe structure are greatly dependent on the interface contact state between the lining pipe and the inner wall of the original pipeline. The core factor directly determines the rationality of a structural force transmission path, the reliability of seepage prevention performance and the degree of local stress concentration, and is a key parameter for evaluating the repair quality of the lining and the service safety of the pipeline. Engineering practices have shown that the interface between the liner tube and the parent tube is not simply a binary state of "full fit" or "full collapse", but rather generally exhibits a spatially non-uniform distribution of contact pressure. For a pressure pipeline, the non-uniformity of interface contact pressure can accelerate fatigue damage of the lining pipe under the repeated medium pressure effect, and the service life of the lining pipe is obviously shortened. However, the current engineering field is still mainly dependent on construction experience judgment or theoretical calculation of the diameter of the pipeline before and after repair, and lacks an effective technical means capable of realizing nondestructive and quantitative characterization of interface contact pressure distribution on the premise of not damaging the pipeline structure, so that scientificity and accuracy of lining repair quality evaluation are severely restricted. The existing related detection methods have obvious defects, and are difficult to meet the actual requirements of engineering: The traditional methods such as visual inspection, CCTV detection, endoscope detection, pressure test and the like can only qualitatively judge the integrity and the overall tightness of the lining structure or acquire the overall index, can not capture microscopic changes of interface contact pressure and spatial distribution characteristics thereof, and can not realize the fine characterization and imaging display of interface states; Although imaging technologies such as X-rays and CT (computed tomography) have certain penetrating capacity and can acquire the geometric characteristics of a hidden area, the equipment cost is high, the operation flow is complex, obvious radiation safety hidden dangers exist, the method is difficult to be applied to conventional detection of long-distance pipelines, and the contact pressure between a lining pipe and an original pipe cannot be directly represented; the ultrasonic detection technology has good application prospect in the fields of multilayer structures and interface detection because of the advantages of non-destructiveness, sensitivity to interface states and the like, but the existing ultrasonic detection technology is mostly based on single propagation paths or single echo characteristics for analysis, and detection targets are only concentrated on judging whether cavities exist or not, so that continuous distribution characteristics of interface contact pressure are difficult to reflect. Especially under the pipeline internal running detection working condition, the probe gesture, the contact condition and the interface state continuously change along the axial direction and the circumferential direction of the pipeline, the interface coupling characteristic cannot be comprehensively described by single ultrasonic response, and the accurate detection requirement is difficult to meet. Therefore, a novel detection technology for lining pipeline advancing detection working conditions is needed, an interface equivalent contact pressure distribution parameter is constructed through multi-source excitation and multi-path received piezoelectric ultrasonic coupling response, and three-dimensional imaging representation of an interface state is further realized, so that the bottleneck of the prior art is broken through, and the scientificity and reliability of lining pipeline repair quality assessment are improved. Disclosure of Invention The invention aims to provide a device and a method for testing interface contact pressure distribution of a lining pipeline, which realize nondestructive quantitative characterization and three-dimensional imag