CN111189922B - Three-dimensional visual detection method and device for sleeve grouting compactness - Google Patents

Three-dimensional visual detection method and device for sleeve grouting compactness Download PDF

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CN111189922B
CN111189922B CN201811371841.8A CN201811371841A CN111189922B CN 111189922 B CN111189922 B CN 111189922B CN 201811371841 A CN201811371841 A CN 201811371841A CN 111189922 B CN111189922 B CN 111189922B
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ultrasonic
sleeve
transmitting
matrix
receiving
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CN111189922A (en
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唐孟雄
周治国
孙晓立
卞德存
吴才伍
曹伟东
来静
杨丹
邵继喜
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Guangzhou Construction Co Ltd
Guangzhou Municipal Engineering Testing Co
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Guangzhou Construction Co Ltd
Guangzhou Municipal Engineering Testing Co
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G01N29/0672—Imaging by acoustic tomography
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/07—Analysing solids by measuring propagation velocity or propagation time of acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/223—Supports, positioning or alignment in fixed situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/01—Indexing codes associated with the measuring variable
    • G01N2291/011—Velocity or travel time
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0232—Glass, ceramics, concrete or stone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/028—Material parameters
    • G01N2291/0289—Internal structure, e.g. defects, grain size, texture

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Abstract

The invention discloses a three-dimensional visual detection method and a device for the grouting compactness of a sleeve, which utilize ultrasonic wave opposite measurement and CT technology, wherein an ultrasonic wave transmitting matrix plate and an ultrasonic wave receiving matrix plate are respectively arranged at two sides of a region to be detected of a concrete structure, so that transmitting transducers and receiving transducers are opposite to each other one by one, the detection of matrix type multiple transmission and multiple receiving is realized, the ultrasonic transducers do not need to be frequently moved in the detection process, the detection efficiency is greatly improved, meanwhile, due to the adoption of a matrix type ultrasonic transducer installation mode, a very visual three-dimensional image of the grouting sleeve compactness can be formed, and the accuracy and the readability of the detection result are greatly improved.

Description

Three-dimensional visual detection method and device for sleeve grouting compactness
Technical Field
The invention belongs to the technical field of building quality detection, and particularly relates to a method and a device for detecting the grouting compactness of a sleeve by using ultrasonic transducers arranged in a matrix on the basis of an ultrasonic CT (computed tomography) technology.
Background
The prefabricated concrete structure has the advantages of high industrialization degree, high construction quality reliability, high construction efficiency, energy conservation, environmental protection and the like, and is rapidly popularized and used in China in recent years. The work objective of the "national institute of offices' guidelines for the vigorous development of fabricated structures" (article No. 2016 (71)): the Jingjin Ji, Long triangular and Pearl triangular cities are used as key propulsion areas for developing the prefabricated concrete structure, and the rest cities are active propulsion areas or encouragement propulsion areas, so that about 10 years of time is spent, and the proportion of the prefabricated building in the newly-built building area is up to 30%. Therefore, in the future construction industry, the assembly type building will gradually become the mainstream building form.
The effective connection of the nodes of the prefabricated members is a key technology for smoothly building the prefabricated concrete structure and a key for popularizing and applying the prefabricated concrete structure. At present, the most common joint connection technology of the prefabricated concrete structure is a steel bar sleeve grouting connection technology, and compared with the traditional steel bar welding connection and bolt connection, the joint connection technology can effectively reduce stress concentration, and has the advantages of wide application range, convenience in construction and easiness in operation. The grouting connection reliability of the steel bar sleeve is an important guarantee for structural integrity and good seismic performance. Therefore, the department of living construction promulgated in 2014 "technical code for prefabricated concrete structures" (JGJ1-2014), which requires a total number of tests on the grouting compactness of the steel sleeve. However, at present, a detection system for the grouting compactness of the steel reinforcement sleeve in the fabricated concrete structure is not complete, and a reliable on-site grouting compactness detection method is lacked, especially for some completed fabricated buildings, whether the grouting of the inner sleeve of the fabricated building is compact or not always troubles a large number of engineering detection personnel, which increases the popularization difficulty of the fabricated concrete structure to a certain extent. Therefore, the field detection technology for researching the grouting compactness of the steel sleeve has important practical significance for promoting the development of the prefabricated concrete structure.
For the grouting compactness of the fabricated building sleeve, no effective detection technology and relevant literature reports exist at present. This is mainly caused by the special construction of the grouting sleeve. The traditional ultrasonic detection method has poor detection precision and can not detect the severity of the defect quantitatively; the X-ray method has poor safety due to the existence of rays, and the penetration energy of the instrument is weakened by concrete on the outer side of the sleeve, so that the image is blurred, and the quantitative determination difficulty of defects is increased; the impact echo rule cannot accurately detect through impact echoes because of more interfaces of different media in the grouting sleeve.
Among the currently common nondestructive testing techniques for concrete structures, the ultrasonic testing technique is widely applied due to the advantages of simple process, low cost, convenient operation, safe use and the like. Especially, ultrasonic tomography (CT) technology, it utilizes ultrasonic emission transducer and receiving transducer to survey and incline on the multi-angle on same section, can realize the quantitative judgement to this section defect size, shape, position, has improved ultrasonic nondestructive test's imaging accuracy and visual degree, but traditional ultrasonic CT scanning technique is the scanning imaging of two-dimensional section, and this to the sleeve that exists with three-dimensional cylinder form, can not show its holistic grout compactness condition completely. Based on the method, the invention provides a three-dimensional visual detection method and a three-dimensional visual detection device for the sleeve grouting compactness, and the method and the device can realize high-efficiency, high-precision, omnibearing and visual detection on the sleeve grouting compactness.
Disclosure of Invention
The invention aims to provide a three-dimensional visual detection method and a three-dimensional visual detection device for the grouting compactness of a sleeve, which can effectively improve the efficiency, the precision and the visual degree of the detection method.
In order to solve the technical problem, one aspect of the present invention provides a three-dimensional visual detection method for sleeve grouting compactness, which includes the following steps:
step 1, determining a region to be measured according to the position, the distribution direction and the form of a sleeve, arranging an ultrasonic transmitting matrix plate as a transmitting end on one side of the region to be measured, arranging an ultrasonic receiving matrix plate as a receiving end on the other side of the region to be measured, and arranging transmitting transducers on the ultrasonic transmitting matrix plate and receiving transducers on the ultrasonic receiving matrix plate in a one-to-one opposite mode;
step 2, turning on a switch of the ultrasonic exciter to a 'primary judgment' gear, and carrying out transmission-reception ultrasonic butt-test on each group of the transmitting transducer and the receiving transducer which are arranged oppositely;
step 3, judging the specific position of the grouting sleeve according to the head wave time difference measured by each group of the transmitting transducer and the receiving transducer which are arranged oppositely, and moving the ultrasonic transmitting matrix plate and the ultrasonic receiving matrix plate to align the positive center of the ultrasonic transmitting matrix plate and the positive center of the ultrasonic receiving matrix plate with the positive center of the sleeve;
step 4, inputting the thickness d of the area to be measured of the concrete and the ultrasonic wave velocity v in the concrete into system softwarecDiameter r of reinforcing steel bar in concretesUltrasonic wave velocity v in steel barsWall thickness d of the sleevetOuter diameter r of sleevetSpeed v of sound waves in the wall of the sleevetAnd the wave velocity v of sound wave in the grouting materialgThe system software automatically calculates the theoretical wave velocity value of the ultrasonic wave passing through the area to be measured according to the specific positions of the sleeve, the transmitting transducer and the receiving transducer;
step 5, the switch of the ultrasonic exciter is turned to the initial judgment gear again, and the transmitting transducer and the receiving transducer which are arranged opposite to each group are subjected to ultrasonic wave opposite measurement of transmitting and receiving; the system software automatically compares the head wave time difference of each group with PSD (PSD is the product of the slope between two adjacent points of the sound time-depth curve and the sound time difference) by taking the theoretical wave velocity value obtained by calculation in the step 4 as a standard, and preliminarily qualitatively judges whether grouting in the sleeve is compact or not by analyzing; if the grouting in the sleeve is judged to be compact (namely the actual wave velocity is close to the theoretical wave velocity and the PSD does not have sudden change), the detected object is judged to be qualified without carrying out subsequent steps;
step 6, if the situation that the grouting position in the sleeve is not compact is judged according to the ultrasonic opposite measurement result, a tester turns a switch of an ultrasonic exciter to an imaging gear, at the moment, a transmitting transducer on an ultrasonic transmitting matrix plate sequentially and independently transmits ultrasonic waves, all receiving transducers on a row array and a column array where receiving transducers opposite to the transmitting transducer transmitting the ultrasonic waves are located are in a receiving state, and ultrasonic data transmitted by a concrete structure are collected;
step 7, establishing a spatial three-dimensional discretization model of the concrete structure to be detected through system software, and assuming that the ultrasonic speed in the concrete structure is uniform, namely the slowness f (0) is uniform (the slowness is the reciprocal of the speed);
step 8, when a row of transmitting transducers (e.g. a)11～am1) After all the ultrasonic waves are transmitted in sequence, obtaining the propagation path of the sound wave rays in the concrete body with the section containing the sleeve by using a shortest path ray tracing algorithm, and recording the geometric walking distance of each ray in each unit to form a unit walking distance matrix A (0);
step 9, the system software substitutes the walking distance matrix A (0) obtained by calculation in the step 8 into an ART iterative reconstruction algorithm, distributes errors between theoretical sound time and actual sound time to each unit, corrects the unit slowness according to the errors, and then forms a new slowness distribution matrix f (1);
step 10, substituting the new slowness distribution matrix f (1) into the shortest path ray tracing algorithm in the step 8 again to obtain a walking distance matrix A (1);
step 11, the walking distance matrix A (1) replaces A (0) in the step 9 to carry out inversion calculation to obtain a slowness distribution matrix f (2);
step 12, repeating the steps 9 to 11 until f (n) meets the convergence condition;
step 13, drawing the corresponding relation (such as: a) of the measured structure on the single-row transducer according to the slowness distribution matrix f (n) obtained by calculation11～am1) A velocity distribution chromatogram of the longitudinal profile;
step 14, repeating the step 8 to the step 13, and completely drawing all longitudinal section velocity distribution chromatograms divided along the array;
step 15, since in step 6 the same is obtainedAll the row-along arrays (e.g.: a) are obtained11～a1n) Drawing all the transverse section velocity distribution chromatograms divided along the row array according to the method of the step 8 to the step 14 according to the ultrasonic CT scanning data of the divided transverse sections;
and step 16, analyzing the velocity distribution chromatograms of the transverse section and the longitudinal section to obtain a spatial three-dimensional velocity distribution chromatogram of the detection area, further determining the compaction degree of grouting in the sleeve, and quantitatively determining the defect type, size and position of the grouting in the sleeve.
As a preferred embodiment of the three-dimensional visual detection method for the grouting compactness of the sleeve, the shortest path ray tracing method in step 8 specifically includes the following steps: firstly, carrying out discretization treatment on a structure to be detected according to the specific size of the structure to be detected, dividing a region to be detected into a series of cells, arranging a plurality of nodes on the boundaries of the cells, and then connecting adjacent nodes in a section to be imaged to form a network; then, selecting all adjacent neighborhood points of a certain grid node to form a calculation grid point; starting from a source point, calculating the transmission travel time, the ray path and the ray length from the source point to the calculation grid point; successively taking all grid points except the seismic source as secondary sources, selecting a calculation grid point corresponding to the node, and calculating the transmission travel time, the ray path and the ray length from the secondary source point to the calculation grid point; and (4) taking the calculated travel time and the travel time from the seismic source to the secondary source as the travel time from the seismic source point to the grid node, and recording the corresponding ray path position and the ray length to finish the shortest path ray tracing of the section.
As the three-dimensional visual detection method for the grouting compactness of the sleeve, in the step 1, a step of coating a coupling agent on a contact surface of the transmitting transducer and the concrete structure and a step of coating a coupling agent on a contact surface of the receiving transducer and the concrete structure are further included.
In step 6, the transmitting transducers sequentially transmit in the sequence (a) according to the three-dimensional visual detection method for the grouting compactness of the sleeve11→am1)→(a12→am2)→...→(a1n→amn) M is an integer greater than 2 and n is an integer greater than 2.
Compared with the prior art, the three-dimensional visual detection method for the grouting compactness of the sleeve has the following beneficial effects:
(1) according to the three-dimensional visual detection method for the grouting compactness of the sleeve, the ultrasonic CT technology is utilized, the detection efficiency is greatly improved in a matrix type multi-sending and multi-receiving mode, and when the cross detection of different slopes is carried out, an ultrasonic transducer does not need to be moved, so that the detection accuracy is greatly improved;
(2) according to the three-dimensional visual detection method for the grouting compactness of the sleeve, the position of the sleeve is determined primarily by integral butt detection, then whether defects exist is judged primarily, and if the defects possibly exist, the type, size and position of the defects are determined quantitatively by CT scanning, so that the detection speed is improved, and the detection precision is ensured;
(3) the three-dimensional visual detection method for the grouting compactness of the sleeve adopts a matrix type ultrasonic transducer arrangement mode, can realize three-dimensional imaging on a part to be detected, enhances the accuracy of ultrasonic CT detection, and simultaneously increases the readability of a detection result.
In addition, the invention also provides a three-dimensional visual detection device for the grouting compactness of the sleeve, which comprises a computer, an image display, an ultrasonic exciter and an ultrasonic data collector, wherein the ultrasonic exciter is connected with an ultrasonic transmitting matrix plate, the ultrasonic data collector is connected with an ultrasonic receiving matrix plate, the ultrasonic transmitting matrix plate is arranged on one side of a region to be detected of the concrete structure, the ultrasonic receiving matrix plate is arranged on the other side of the region to be detected of the concrete structure, the ultrasonic transmitting matrix plate comprises a plurality of transmitting transducers arranged in a rectangular row and column manner, the ultrasonic receiving matrix plate comprises a plurality of receiving transducers arranged in a rectangular row and column manner, and the transmitting transducers and the receiving transducers are arranged in a one-to-one opposite manner;
the ultrasonic exciter is connected with the ultrasonic data acquisition instrument, and the ultrasonic data acquisition instrument can collect ultrasonic data transmitted by the ultrasonic exciter and receive ultrasonic data received by the transducer; the computer is respectively connected with the ultrasonic data acquisition instrument and the image display, and can process the ultrasonic data collected by the ultrasonic data acquisition instrument and generate a three-dimensional image which is shown by the image display.
According to the preferable scheme of the three-dimensional visual detection device for the grouting compactness of the sleeve, the ultrasonic transmitting transducer and the ultrasonic receiving transducer are respectively installed on respective matrix type steel plate frames, and the matrix type steel plate frames are provided with installation holes for installing the steel plate frames on a concrete structure in a matrix type.
As a preferred scheme of the three-dimensional visual detection device for the grouting compactness of the sleeve, the transmitting transducers of all rows on the ultrasonic transmitting matrix plate are arranged at equal intervals along the longitudinal length direction of the sleeve, and the transmitting transducers of all rows are distributed at equal intervals along the transverse direction of the sleeve; and the receiving transducers in all columns on the ultrasonic receiving matrix plate are arranged at equal intervals along the longitudinal length direction of the sleeve, and the receiving transducers in all rows are distributed at equal intervals along the transverse direction of the sleeve.
As the preferable scheme of the three-dimensional visual detection device for the grouting compactness of the sleeve, each transmitting transducer is fixed on the matrix steel plate frame through a loose joint; each receiving transducer is fixed on the matrix steel plate frame through a movable buckle.
As a preferable scheme of the three-dimensional visual detection device for the grouting compactness of the sleeve, scales for calibrating the position of the transmitting transducer or the position of the receiving transducer are arranged on the matrix steel plate frame.
As a preferable scheme of the three-dimensional visual detection device for the grouting compactness of the sleeve, a coupling agent is coated on the contact surface of the transmitting transducer and the concrete structure; and a coupling agent is coated on the contact surface of the receiving transducer and the concrete structure.
As a preferable scheme of the three-dimensional visual detection device for the grouting compactness of the sleeve, the ultrasonic exciter is connected with the ultrasonic data collector, and the ultrasonic data collector can collect ultrasonic data transmitted by the ultrasonic exciter and ultrasonic data received by the ultrasonic receiving transducer.
As a preferable embodiment of the three-dimensional visual detection device for the grouting compactness of the sleeve, the computer is respectively connected with the ultrasonic data collector and the image display, and the computer can process the ultrasonic data collected by the ultrasonic data collector and generate a three-dimensional image, and the image is displayed by the image display.
Compared with the prior art, the three-dimensional visual detection device for the grouting compactness of the sleeve has the following beneficial effects:
according to the three-dimensional visual detection device for the grouting compactness of the sleeve, the ultrasonic transmitting matrix plate and the ultrasonic receiving matrix plate are arranged, so that the detection of multiple transmission and multiple reception of the matrix type can be realized, the detection efficiency is greatly improved, when the cross detection of different slopes is carried out, the three-dimensional imaging of the sleeve part can be realized without moving an ultrasonic transducer, and the detection accuracy of the grouting compactness of the sleeve is greatly improved; meanwhile, a matrix type ultrasonic transducer arrangement mode is adopted, three-dimensional imaging of the part to be detected can be achieved, and the readability of the detection result is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a schematic diagram of primary identification when a three-dimensional visual detection method for sleeve grouting compactness is used for transmitting and receiving according to the present invention;
FIG. 2 is a schematic diagram of detection when multiple transmissions are carried out by the sleeve grouting compactness three-dimensional visual detection method provided by the invention;
fig. 3 is a schematic structural diagram of a three-dimensional visual detection device for sleeve grouting compactness provided by the invention;
wherein the figures are labeled: the ultrasonic image acquisition device comprises a sleeve 1, an ultrasonic wave transmitting matrix plate 2, a transmitting transducer 21, an ultrasonic wave receiving matrix plate 3, a receiving transducer 31, a concrete structure 4, an ultrasonic wave exciter 5, an ultrasonic wave data acquisition instrument 6, a computer 7, an image display 8, a matrix steel plate frame 9 and a mounting hole 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, one aspect of the present invention provides a preferred embodiment of a three-dimensional visual inspection method for sleeve grouting compactness, which includes the following steps:
step 1, determining a region to be measured according to the position, the distribution direction and the form of a sleeve 1, arranging an ultrasonic transmitting matrix plate 2 as a transmitting end on one side of the region to be measured, arranging an ultrasonic receiving matrix plate 3 as a receiving end on the other side of the region to be measured, and arranging transmitting transducers 21 on the ultrasonic transmitting matrix plate 2 and receiving transducers 31 on the ultrasonic receiving matrix plate 3 in a one-to-one opposite mode;
it should be further noted that, in the step 1, the step of applying the coupling agent on the contact surface between the transmitting transducer 21 and the concrete structure 4 and the step of applying the coupling agent on the contact surface between the receiving transducer 31 and the concrete structure 4 are further included, so that the air between the transmitting transducer 21 and the air between the receiving transducer 31 and the concrete structure 4 can be effectively eliminated by using the coupling agent, the ultrasonic wave has good penetrability, and the ultrasonic wave can effectively penetrate into the concrete structure 4 to achieve the purpose of effective detection.
Step 2, turning on a switch of the ultrasonic exciter 5 to a 'preliminary judgment' gear, and carrying out one-to-one ultrasonic testing on each group of the transmitting transducer 21 and the receiving transducer 31 which are arranged oppositely;
step 3, judging the specific position of the grouting sleeve 1 according to the head wave time difference measured by each group of the transmitting transducer 21 and the receiving transducer 31 which are arranged oppositely, and moving the ultrasonic transmitting matrix plate 2 and the ultrasonic receiving matrix plate 3 to align the positive center of the ultrasonic transmitting matrix plate 2 and the positive center of the ultrasonic receiving matrix plate 3 with the positive center of the sleeve;
step 4, inputting the thickness d of the area to be measured of the concrete structure 4 and the speed v of the ultrasonic waves in the concrete into system softwarecDiameter r of reinforcing steel bar in concretesUltrasonic wave velocity v in steel barsWall thickness d of the sleeve 1tAnd the outer diameter r of the sleeve 1tThe wave velocity v of the sound waves in the wall of the sleeve 1tAnd the wave velocity v of sound wave in the grouting materialgThe system software automatically calculates the theoretical wave velocity value of the ultrasonic wave passing through the area to be measured according to the specific positions of the sleeve 1, the transmitting transducer 21 and the receiving transducer 31;
step 5, the switch of the ultrasonic exciter 5 is turned to the initial judgment gear again, and the transmitting transducer 21 and the receiving transducer 31 which are arranged opposite to each group are subjected to ultrasonic butt-testing of transmitting and receiving one by one; the system software automatically compares the head wave time difference of each group with PSD (PSD is the product of the slope between two adjacent points of the sound time-depth curve and the sound time difference) by taking the theoretical wave velocity value obtained by calculation in the step 4 as a standard, and preliminarily qualitatively judges whether grouting in the sleeve 1 is compact or not by analyzing; if the grouting in the sleeve 1 is judged to be compact (namely the actual wave velocity is close to the theoretical wave velocity and the PSD does not have sudden change), the detected object is qualified and the subsequent steps are not needed;
step 6, if the grouting position in the sleeve 1 is judged to have an incompact phenomenon according to the ultrasonic wave pair measurement result, a tester turns a switch of the ultrasonic wave exciter 5 to an imaging gear, at the moment, the transmitting transducers 21 on the ultrasonic wave transmitting matrix plate 2 sequentially and independently transmit ultrasonic waves, all receiving transducers 31 on the row array and the column array where the receiving transducers 31 opposite to the transmitting transducers 21 transmitting the ultrasonic waves are located are in a receiving state, and ultrasonic wave data transmitted by the concrete structure are collected;
step 7, establishing a spatial three-dimensional discretization model of the measured concrete structure 4 through system software, and assuming that the ultrasonic speed in the concrete structure 4 is uniform, namely the slowness f (0) is uniform (the slowness is the reciprocal of the speed);
step 8, when a row of transmitting transducers 21 (e.g.: a)11～am1) After all the ultrasonic waves are transmitted in sequence, obtaining the propagation path of the sound wave rays in the concrete body 4 with the section containing the sleeve by using a shortest path ray tracing algorithm, and recording the geometric walking distance of each ray in each unit to form a unit walking distance matrix A (0);
in this embodiment, the shortest path ray tracing method includes the specific steps of: firstly, discretizing a detected concrete structure 4 according to the specific size of the structure, dividing a region to be detected into a series of cells, arranging a plurality of nodes on the boundaries of the cells, and then connecting adjacent nodes in a section to be imaged to form a network; then, selecting all adjacent neighborhood points of a certain grid node to form a calculation grid point; starting from a source point, calculating the transmission travel time, the ray path and the ray length from the source point to the calculation grid point; successively taking all grid points except the seismic source as secondary sources, selecting a calculation grid point corresponding to the node, and calculating the transmission travel time, the ray path and the ray length from the secondary source point to the calculation grid point; and (4) taking the calculated travel time and the travel time from the seismic source to the secondary source as the travel time from the seismic source point to the grid node, and recording the corresponding ray path position and the ray length to finish the shortest path ray tracing of the section.
Step 9, the system software substitutes the walking distance matrix A (0) obtained by calculation in the step 8 into an ART iterative reconstruction algorithm, distributes errors between theoretical sound time and actual sound time to each unit, corrects the unit slowness according to the errors, and then forms a new slowness distribution matrix f (1);
step 10, substituting the new slowness distribution matrix f (1) into the shortest path ray tracing algorithm in the step 8 again to obtain a walking distance matrix A (1);
step 11, the walking distance matrix A (1) replaces A (0) in the step 9 to carry out inversion calculation to obtain a slowness distribution matrix f (2);
step 12, repeating the steps 9 to 11 until f (n) meets the convergence condition;
step 13, drawing the corresponding relation (such as: a) of the measured structure on the single-row transducer according to the slowness distribution matrix f (n) obtained by calculation11～am1) A velocity distribution chromatogram of the longitudinal profile;
step 14, repeating the step 8 to the step 13, and completely drawing all longitudinal section velocity distribution chromatograms divided along the array;
step 15, since all the arrays along the row are also obtained in step 6 (e.g.: a)11～a1n) Drawing all the transverse section velocity distribution chromatograms divided along the row array according to the method of the step 8 to the step 14 according to the ultrasonic CT scanning data of the divided transverse sections;
and step 16, analyzing the velocity distribution chromatograms of the transverse section and the longitudinal section to obtain a spatial three-dimensional velocity distribution chromatogram of the detection area, further determining the compactness of the grouting in the sleeve 1, and quantitatively determining the defect type, size and position of the grouting in the sleeve 1.
Therefore, the three-dimensional visual detection method for the grouting compactness of the sleeve greatly improves the detection efficiency by utilizing the arrangement mode of the multiple-transmitting and multiple-receiving ultrasonic transducers arranged in a matrix form, and greatly improves the detection accuracy without moving the ultrasonic transducers when carrying out cross detection on different slopes in the detection process; firstly, overall alignment measurement is adopted to preliminarily determine the position of the sleeve, then the center of the matrix plate and the center of the sleeve are aligned, alignment measurement is carried out to determine whether defects exist, if defects exist, the sizes of the defects are quantified through CT scanning, and therefore the detection speed is improved, and the detection precision is ensured; meanwhile, due to the adoption of a matrix transducer arrangement mode, three-dimensional imaging of a part to be detected can be realized, the accuracy of ultrasonic CT detection is enhanced, and meanwhile, the readability of a detection result is also improved.
In addition, as shown in fig. 1 to 3, another aspect of the present invention further provides a three-dimensional visual inspection device for sleeve grouting compactness, which comprises an ultrasonic exciter 5, an ultrasonic data collector 6, a computer 7 and an image display 8.
The ultrasonic exciter 5 is connected with an ultrasonic transmitting matrix plate 2, the ultrasonic data collector 6 is connected with an ultrasonic receiving matrix plate 3, the ultrasonic transmitting matrix plate 2 is arranged on one side of a region to be detected of a concrete structure 4, the ultrasonic receiving matrix plate 3 is arranged on the other side of the region to be detected of the concrete structure 4, the ultrasonic transmitting matrix plate 2 comprises a plurality of transmitting transducers 21 which are arranged in a rectangular row and column mode, the ultrasonic receiving matrix plate 3 comprises a plurality of receiving transducers 31 which are arranged in a rectangular row and column mode, and the transmitting transducers 21 and the receiving transducers 31 are arranged in a one-to-one opposite mode.
The ultrasonic exciter 5 is connected with the ultrasonic data collector 6, and the ultrasonic data collector 6 can collect ultrasonic data transmitted by the ultrasonic exciter 5 and ultrasonic data received by the receiving transducer 31; the computer 7 is connected to the ultrasonic data collector 6 and the image display 8, respectively, and the computer 7 can process the ultrasonic data collected by the ultrasonic data collector 6 and generate a three-dimensional image, which is shown by the image display 8.
Therefore, the three-dimensional visual detection device for the grouting compactness of the sleeve can realize the detection of multiple times of matrix type transmission through the arrangement of the ultrasonic transmitting matrix plate 2 and the ultrasonic receiving matrix plate 3, greatly improves the detection efficiency, does not need to move the ultrasonic transducers 21 and 31 when carrying out the cross detection of different slopes in the detection process, and greatly improves the detection accuracy; meanwhile, a matrix type ultrasonic transducer arrangement mode is adopted, three-dimensional imaging of the part to be detected can be achieved, and the readability of the detection result is improved.
Exemplarily, ultrasonic emission matrix board 2 with ultrasonic wave receiving matrix board 3 is installed respectively on respective matrix steel grillage 9, be equipped with on the matrix steel grillage 9 and supply matrix steel grillage 9 to install the mounting hole 10 on concrete structure 4, let ultrasonic emission array 2 and ultrasonic wave receiving array 3 more convenient loading and unloading.
Illustratively, the ultrasonic transmission matrix plate 2 has a plurality of columns of transmission transducers 21 (e.g., a)11～am1) Equally spaced along the longitudinal length of the sleeve 1, rows of transmitting transducers 21 (e.g.: a is11～a1n) Are distributed at equal intervals along the transverse direction of the sleeve 1; each row of receiving transducers 31 on the ultrasonic receiving matrix plate 3 are arranged along the longitudinal length direction of the sleeve 1 at equal intervals, and each row of receiving transducers 31 are distributed along the transverse direction of the sleeve 1 at equal intervals, so that the ultrasonic transducers can transmit and receive ultrasonic waves more uniformly, and the detection result is more accurate.
Illustratively, each transmitting transducer 21 is fixed on the matrix steel plate frame 9 through a buckle; each receiving transducer 31 is fixed on the matrix steel plate frame 9 through a slipknot. Therefore, the positions, the intervals and the quantity of the transmitting transducer 21 and the receiving transducer 31 can be specifically adjusted according to the object to be measured, and the ultrasonic transducers are more convenient to assemble and disassemble by using a mode of fixing the slipknots.
For example, in order to position the transmitting transducer 21 and the receiving transducer 31 more conveniently and accurately, the matrix type steel plate frame 9 is provided with a scale for calibrating the position of the transmitting transducer or the position of the receiving transducer.
Illustratively, a coupling agent is coated on the contact surface of the transmitting transducer 21 and the concrete structure 4, and a coupling agent is coated on the contact surface of the receiving transducer 31 and the concrete structure 4, so that air between the transmitting transducer 21 and the receiving transducer 31 and the concrete structure 4 can be effectively removed by using the coupling agent, the ultrasonic waves have good penetrability, and the ultrasonic waves can effectively penetrate into the concrete structure 4 for the purpose of effective detection.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims (10)

1. The three-dimensional visual detection method for the grouting compactness of the sleeve is characterized by comprising the following steps of:
step 1, determining a region to be measured according to the position, the distribution direction and the form of a sleeve, arranging an ultrasonic transmitting matrix plate as a transmitting end on one side of the region to be measured, arranging an ultrasonic receiving matrix plate as a receiving end on the other side of the region to be measured, and arranging transmitting transducers on the ultrasonic transmitting matrix plate and receiving transducers on the ultrasonic receiving matrix plate in a one-to-one opposite mode;
step 2, turning on a switch of the ultrasonic exciter to a 'primary judgment' gear, and carrying out transmission-reception ultrasonic butt-test on each group of the transmitting transducer and the receiving transducer which are arranged oppositely;
step 3, judging the specific position of the grouting sleeve according to the head wave time difference measured by each group of the transmitting transducer and the receiving transducer which are arranged oppositely, and moving the ultrasonic transmitting matrix plate and the ultrasonic receiving matrix plate to align the positive center of the ultrasonic transmitting matrix plate and the positive center of the ultrasonic receiving matrix plate with the positive center of the sleeve;
step 4, inputting the thickness d of the area to be measured of the concrete, the ultrasonic wave velocity vc in the concrete, the diameter rs of a steel bar in the concrete, the ultrasonic wave velocity vs in the steel bar, the wall thickness dt of the sleeve, the outer diameter rt of the sleeve, the acoustic wave velocity vt in the sleeve wall and the acoustic wave velocity vg in the grouting material into system software, and automatically calculating the theoretical wave velocity value of the ultrasonic wave passing through the area to be measured according to the specific positions of the sleeve, the transmitting transducer and the receiving transducer by the system software;
step 5, the switch of the ultrasonic exciter is turned to the initial judgment gear again, and the transmitting transducer and the receiving transducer which are arranged opposite to each group are subjected to ultrasonic wave opposite measurement of transmitting and receiving; the system software automatically compares the head wave time difference of each group and the product of the slope and the sound time difference between two adjacent points of the sound time-depth curve by taking the theoretical wave velocity value obtained by calculation in the step 4 as a standard, and preliminarily and qualitatively judges whether the grouting in the sleeve is compact or not by analyzing; if the grouting in the sleeve is judged to be compact, the detected object is qualified, and subsequent steps are not needed;
step 6, if the situation that the grouting position in the sleeve is not compact is judged according to the ultrasonic opposite measurement result, a tester turns a switch of an ultrasonic exciter to an imaging gear, at the moment, a transmitting transducer on an ultrasonic transmitting matrix plate sequentially and independently transmits ultrasonic waves, all receiving transducers on a row array and a column array where receiving transducers opposite to the transmitting transducer transmitting the ultrasonic waves are located are in a receiving state, and ultrasonic data transmitted by a concrete structure are collected;
step 7, establishing a spatial three-dimensional discretization model of the concrete structure to be measured through system software, and assuming that the ultrasonic speed in the concrete structure is uniform, namely the slowness f (0) is uniform;
step 8, after the ultrasonic waves are all sequentially emitted by a row of emitting transducers, obtaining the propagation path of the sound wave ray in the concrete body with the corresponding section containing the sleeve by using a shortest path ray tracing algorithm, and recording the geometric walking distance of each ray in each unit to form a unit walking distance matrix A (0);
step 9, the system software substitutes the walking distance matrix A (0) obtained by calculation in the step 8 into an ART iterative reconstruction algorithm, distributes errors between theoretical sound time and actual sound time to each unit, corrects the unit slowness according to the errors, and then forms a new slowness distribution matrix f (1);
step 10, substituting the new slowness distribution matrix f (1) into the shortest path ray tracing algorithm in the step 8 again to obtain a walking distance matrix A (1);
step 11, the walking distance matrix A (1) replaces A (0) in the step 9 to carry out inversion calculation to obtain a slowness distribution matrix f (2);
step 12, repeating the steps 9 to 11 until f (n) meets the convergence condition;
step 13, drawing a velocity distribution chromatogram of the measured structure on the longitudinal section corresponding to the single-row transducer according to the slowness distribution matrix f (n) obtained by calculation;
step 14, repeating the step 8 to the step 13, and completely drawing all longitudinal section velocity distribution chromatograms divided along the array;
step 15, because the ultrasonic data of all the transverse sections divided along the row array are obtained in the step 6, all the transverse section velocity distribution chromatograms divided along the row array are drawn according to the method from the step 8 to the step 14;
and step 16, analyzing the velocity distribution chromatograms of the transverse section and the longitudinal section to obtain a spatial three-dimensional velocity distribution chromatogram corresponding to the detection area, further determining the compaction degree of grouting in the sleeve, and quantitatively determining the defect type, size and position of the grouting in the sleeve.
2. The three-dimensional visual detection method for the grouting compactness of the sleeve according to claim 1, wherein the shortest path ray tracing method in the step 8 comprises the following specific steps: firstly, discretizing a detected structure according to the specific size of the detected structure, dividing a region to be detected into a series of cells, arranging a plurality of nodes on the boundaries of the cells, and then connecting adjacent nodes in a section to be imaged to form a network; then, selecting all adjacent neighborhood points of a certain grid node to form a calculation grid point; starting from a source point, calculating the transmission travel time, the ray path and the ray length from the source point to the calculation grid point; successively taking all grid points except the seismic source as secondary sources, selecting a calculation grid point corresponding to the node, and calculating the transmission travel time, the ray path and the ray length from the secondary source point to the calculation grid point; and (4) taking the calculated travel time and the travel time from the seismic source to the secondary source as the travel time from the seismic source point to the grid node, and recording the corresponding ray path position and the ray length to finish the shortest path ray tracing of the section.
3. The method for three-dimensionally visually detecting the grouting compactness of the sleeve according to claim 1, wherein the step 1 further comprises a step of coating a coupling agent on a contact surface of the transmitting transducer and the concrete structure, and a step of coating a coupling agent on a contact surface of the receiving transducer and the concrete structure.
4. The three-dimensional visual inspection method for the grouting compactness of the sleeve according to claim 1, wherein in the step 6, the transmitting transducers sequentially transmit in sequence of (a11 → am1) → (a12 → am2) →.. → (a1n → ann), m is an integer greater than 2, and n is an integer greater than 2; a11 is the transmitting transducer located in row 1, column 1, am1 is the transmitting transducer located in row m, column 1, a12 is the transmitting transducer located in row 1, column 2, am2 is the transmitting transducer located in row m, column 2, a1n is the transmitting transducer located in row 1, column n, and am is the transmitting transducer located in row m, column n.
5. The three-dimensional visual detection device for the grouting compactness of the sleeve according to the detection method of claim 1, comprising a computer, an image display, an ultrasonic exciter and an ultrasonic data collector, wherein the ultrasonic exciter is connected with an ultrasonic transmitting matrix plate, the ultrasonic data collector is connected with an ultrasonic receiving matrix plate, the ultrasonic transmitting matrix plate is arranged on one side of a region to be detected of the concrete structure, the ultrasonic receiving matrix plate is arranged on the other side of the region to be detected of the concrete structure, the ultrasonic transmitting matrix plate comprises a plurality of transmitting transducers arranged in a rectangular row and column manner, the ultrasonic receiving matrix plate comprises a plurality of receiving transducers arranged in a rectangular row and column manner, and the transmitting transducers and the receiving transducers are arranged in a one-to-one opposite manner;
the ultrasonic exciter is connected with the ultrasonic data acquisition instrument, and the ultrasonic data acquisition instrument can collect ultrasonic data transmitted by the ultrasonic exciter and receive ultrasonic data received by the transducer; the computer is respectively connected with the ultrasonic data acquisition instrument and the image display, and can process the ultrasonic data collected by the ultrasonic data acquisition instrument and generate a three-dimensional image which is shown by the image display.
6. The apparatus according to claim 5, wherein the ultrasonic transmitter matrix board and the ultrasonic receiver matrix board are respectively mounted on a respective steel matrix frame, and the steel matrix frame is provided with mounting holes for mounting the steel matrix frame on a concrete structure.
7. The three-dimensional visual inspection device for the grouting compactness of the sleeve according to claim 5, wherein the transmitting transducers of the ultrasonic transmitting matrix plate are arranged at equal intervals along the longitudinal length direction of the sleeve, and the transmitting transducers of each row are distributed at equal intervals along the transverse direction of the sleeve; and the receiving transducers in all columns on the ultrasonic receiving matrix plate are arranged at equal intervals along the longitudinal length direction of the sleeve, and the receiving transducers in all rows are distributed at equal intervals along the transverse direction of the sleeve.
8. The three-dimensional visual detection device for the grouting compactness of the sleeve according to claim 6, wherein each transmitting transducer is fixed on the matrix steel plate frame through a loose joint; each receiving transducer is fixed on the matrix steel plate frame through a movable buckle.
9. The three-dimensional visual inspection device of the grouting compactness of the sleeve of claim 6, wherein the matrix steel plate frame is provided with a scale for calibrating the position of the transmitting transducer or the position of the receiving transducer.
10. The three-dimensional visual detection device for the grouting compactness of the sleeve according to claim 5, wherein a coupling agent is coated on the contact surface of the transmitting transducer and the concrete structure; and a coupling agent is coated on the contact surface of the receiving transducer and the concrete structure.
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