CN103605361A - Intelligent vehicle motion control device of X-ray pipeline crawler based on differential GPS positioning - Google Patents
Intelligent vehicle motion control device of X-ray pipeline crawler based on differential GPS positioning Download PDFInfo
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- CN103605361A CN103605361A CN201310601838.1A CN201310601838A CN103605361A CN 103605361 A CN103605361 A CN 103605361A CN 201310601838 A CN201310601838 A CN 201310601838A CN 103605361 A CN103605361 A CN 103605361A
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Abstract
An intelligent vehicle motion control device of an X-ray pipeline crawler based on differential GPS positioning is composed of a central controller, a GPS receiver module, a wireless transmission input module, a rotation encoding position detecting module, a pipeline crawler drive module, a ray device control module, a data storage module and a parameter inputting, displaying, indicating and outputting device. The intelligent vehicle motion control device overcomes the defects of a control device of the interior positioning technology of an original pipeline, and the positioning precision of the interior and exterior of the pipeline is improved. The intelligent vehicle motion control device has the advantages that multi-point positioning information can be input at a time, intelligent continuous driving detection can be achieved, time is saved, labor intensity is reduced, and the vehicle motion control device is intelligent and high in efficiency. The intelligent vehicle motion control device can be widely applied to the field of pipeline X-ray nondestructive detecting, and has wide development space.
Description
Technical field
The present invention relates to a kind of X-ray tube pipeline crawler intelligent travelling crane control device, relate to specifically a kind of X-ray tube pipeline crawler intelligent travelling crane control device based on differential GPS location technology.
Background technology
Along with gps satellite location technology has obtained development and application at a high speed, X ray Dynamic Non-Destruction Measurement also needs to combine with gps satellite location technology, to robotization, sequencing, intellectuality, develops further in recent years.Existing X-ray tube pipeline crawler position control device is a kind of easy semi-automatic positioning control technology, positioning precision is not high, weld seam can only be detected one in artificial location at every turn, exist workload large, labour intensity is high, cannot intelligent continuity work etc. defect, and the real time execution situation of crawl device in cannot implementing monitoring pipeline, cannot carry out macroscopical Intelligent Measurement of overall importance.
Summary of the invention
The defect existing for existing ray detection method, the present invention proposes a kind of by GPS hi-Fix position while welding to be detected, realizes the differential GPS location X-ray tube pipeline crawler intelligent travelling crane control device of the Intelligent Measurement of overall importance of the many weld seams of long distance.
The concrete technical scheme solving the problems of the technologies described above is: the X-ray tube pipeline crawler intelligent travelling crane control device of a kind of differential GPS location, it is characterized in that: by 224XPCN central control unit 31, GPS receiver module 32, wireless transmission load module 33, rotary coding location module 34, pipe crawling device driver module 35, X-ray machine X control module 36, data memory module 37 and parameter input show that indication output device 38 forms, the annexation of each parts is: the Output1 of GPS receiver module 32 is connected with the input interface I00 interface of 224XPCN central control unit 31, the Output2 of LAND-PAK type GPS receiver module 32, Output3, Output4, Output5 respectively with the input interface I01 of 224XPCN type central control unit 31, I02, I03, I04 interface connects, the Output1 of wireless transmission load module 33 is connected with the input interface I05 interface of 224XPCN central control unit 31, and the Output2 of wireless transmission load module 33, Output3 are connected with input interface I06, the I07 interface of 224XPCN type central control unit 31 respectively, the Output1 of rotary coding location module 34 is connected with the input interface I08 interface of 224XPCN central control unit 31, parameter input shows that the input end in indication output device 38 is connected with the input interface I09 interface of 224XPCN central control unit 31, the output interface Q01 of 224XPCN central control unit 31 is connected with pipe crawling device driver module 35, the output interface Q02 of 224XPCN central control unit 31 is connected with X-ray machine X control module 36, the output interface Q03 of 224XPCN central control unit 31 is connected with data memory module 37, and the output interface Q04 of 224XPCN central control unit 31 shows that with parameter input the output device in indication output device 38 is connected.
Beneficial effect of the present invention: the present invention has overcome the defect of original pipe interior location technology control device, has improved the inside and outside positioning precision of pipeline and has arrived grade precision.The defects such as original position control device can only be located a weld seam at every turn and start and be detected, and then staff arrives lower one commissure detection and localization again, exists workload large, and labour intensity is high, and intelligent continuity ability to work is poor.X-ray tube pipeline crawler intelligent travelling crane control device can be according to the multipoint positioning information of disposable input, and intelligent continuous drive crawl device detects, and has not only saved the time, and has alleviated labour intensity, is a kind of intelligentized high efficiency running crane control device.Can be widely used in the harmless pipe detection of X ray field, there is wide development space.
Accompanying drawing explanation
Fig. 1 is the structural representation of X-ray tube pipeline crawler intelligent travelling crane control device;
Fig. 2 is applied system equipment structural representation of the present invention.
Embodiment
Below in conjunction with accompanying drawing, intelligent travelling crane control device structure of the present invention and application principle are described.
The X-ray tube pipeline crawler intelligent travelling crane control device of a kind of differential GPS location, its structure forms as shown in Figure 1, this X-ray tube pipeline crawler intelligent travelling crane control device, it is the GPS positioning function of utilizing the GPS receiver module advanced person in control device, effectively innovate combination with the X ray Dynamic Non-Destruction Measurement of long distance line, solve long distance line multiple spot one-time positioning, driven a difficult problem for X-ray tube pipeline crawler autonomous detection.This X-ray tube pipeline crawler intelligent travelling crane control device is by the electronic devices and components 224XPCN central control unit 31 of commercial goods, GPS receiver module 32, wireless transmission load module 33, rotary coding location module 34, pipe crawling device driver module 35, X-ray machine X control module 36, data memory module 37 and parameter input show that the devices such as indication output device 38 form, each parts are used its annexation of mode of mounting list to be by parts: the Output1 of GPS receiver module 32 is connected with the input interface I00 interface of 224XPCN central control unit 31, the Output2 of GPS receiver module 32, Output3, Output4, Output5 respectively with the input interface I01 of 224XPCN central control unit 31, I02, I03, I04 interface connects, the Output1 of wireless transmission load module 33 is connected with the input interface I05 interface of 224XPCN central control unit 31, and the Output2 of wireless transmission load module 33, Output3 are connected with input interface I06, the I07 interface of 224XPCN central control unit 31 respectively, the Output1 of rotary coding location module 34 is connected with the input interface I08 interface of 224XPCN central control unit 31, and parameter input shows that the input end in indication output device 38 is connected with the input interface I09 interface of 224XPCN central control unit 31, the output interface Q01 of 224XPCN central control unit 31 is connected with pipe crawling device driver module 35, the output interface Q02 of 224XPCN central control unit 31 is connected with X-ray machine X control module 36, the output interface Q03 of 224XPCN central control unit 31 is connected with data memory module 37, and the output interface Q04 of 224XPCN central control unit 31 shows that with parameter input the output device in indication output device 38 is connected.
Applied system equipment of the present invention is as shown in Figure 2: be by vehicle-mounted reference base station 1, and position location satellite 2, intelligent travelling crane control device 3, X-ray tube pipeline crawler 4, handhold GPS receiver user 5, ray detection warning device 6, detects pipeline 7 and exposed plate 8 forms.On a known position, build a reference base station, the present embodiment is vehicle-mounted reference base station 1, vehicle-mounted reference base station 1 ceaselessly receives the gps signal of position location satellite 2 and calculates coordinate, and by the coordinate calculating and actual coordinate relatively and draw the deviation occurring in gps signal transmitting procedure, in 200 kilometers of circumferences, the deviation of the signal that all GPS receivers (being receiver and handhold GPS receiver user 5 in intelligent travelling crane control device 3 in the present embodiment) receive can be regarded as the same, so the deviation that vehicle-mounted reference base station 1 is calculated is passed through radio transmission, its GPS receiver user (being receiver and handhold GPS receiver user 5 in intelligent travelling crane control device 3 in the present embodiment) around receives this signal and deviation is deducted from calculate, thereby may calculate very accurately the coordinate of self.According to this principle, can complete the work location that is accurate to several millimeters of high precision crawl devices.
The program that intelligent travelling crane is controlled is: GPS receiver module 32 is that LAND-PAK type GPS receives location module, its input end connects position location satellite by Signal Booster and receives transmission GPS locating information, location crawl device position coordinates, control center connects with cell on wheels, GPS locating information is sent to cell on wheels control center, and receive deviations information that cell on wheels control center sends and the handhold GPS elements of a fix of commissure to be detected, to receive current position coordinates, the handhold GPS elements of a fix information of base station location deviation data and each position while welding to be detected outputs in central control unit.
Wireless transmission load module 33 its input ends are connected and are connected with cell on wheels control center by wireless signal booster, detection steel pipe essential information data, pipe crawling device basic parameter information and the ray tube exposure parameter information of the manual input of Jiang cell on wheels control center, by Radio Transmission Technology, be input to wireless transmission load module 33, then outputed in central control unit by module 33.
Rotary coding location module 34, be will to climb velocity of rotation number of turns input information that car travels in the rotary coding location module 34 of intelligent travelling crane control device by being connected to scrambler on crawl device axletree, rotary coding location module 34 outputs to rotary speed information in central control unit.In central control unit in conjunction with the wheelspan of crawl device, effectively take turns footpath and calculate real-time crawl device run trace distance.
Pipe crawling device driver module 35, connect Electric Machine Control power supply, be connected with the output terminal of central control unit, by the known steel pipe parameter of system, crawl device wheelspan parameter etc., determine creep drive speed, by central control unit output control tube pipeline crawler driver module 35, thereby drive control tube pipeline crawler to drive movable motor to rotate, thereby drive crawl device and ray tube at pipeline internal, to walk together.Central control unit is by processing the positional information that respectively detects weld seam of GPS receiver module 32 inputs and the real-time crawl device run trace range information of rotary coding location module 34 inputs, and control crawl device drags X-ray machine X and stops to position while welding accurately.After exposure, central control unit has judged whether down weld seam to be detected together, and control tube pipeline crawler driver module 35 drive motor walk on.If detect completely, without next spot check measurement information, control tube pipeline crawler driver module 35 drive motor retreat walking, are back to the initial end of the mouth of pipe.
X-ray machine X control module 36 is connected with the output terminal of central control unit, according to the instruction of central control unit, controls X-ray machine X and opens the high pressure weld seam detection of exposing.After the position while welding to be detected of crawl device arrival appointment stops; the steel pipe information that central control unit is inputted according to wireless transmission load module 33; as wall thickness, diameter etc.; parameter in conjunction with X-ray machine X; specify the parameters such as time shutter, exposure electric current, voltage; by X-ray machine X control module 36, control X-ray machine X and carry out exposure tests, after exposure, shut down, to lower one commissure, carry out again exposure tests.
Other parameter input shows that indication output device 38 is as the input display unit of X-ray tube pipeline crawler intelligent travelling crane control device, also be the interface of adjusting process of compilation central control unit, by button, LCDs etc., formed, input crawl device program, the effective interface of operation adjustment crawl device and whole system.
The PLC of 224XPCN central control unit 31Wei Siemens S7-200 series, model is: 224XPCN, input point is: I0.0-0.9 is output as: 0.0-0.7.Core as whole intelligent travelling crane control device, played the effect of maincenter brain, by being connected with GPS receiver module 32, wireless transmission load module 33, rotary coding location module 34, input various GPS locating information, steel pipe, X-ray machine X, crawl device information, and the real-time run trace information of crawl device.Various information is carried out to process of compilation, issue drives instruction, driving tube pipeline crawler driver module 35 drives the crawl devices action such as walk, stop, walking and return, coordinate simultaneously and drive X-ray machine X control module 36 control X-ray machine Xs to detect exposure, complete the disposable ray film making of pipe interior multiple spot testing process.Finally by 37 pairs of various information of data memory module, carry out real-time storage.
Claims (1)
1. the X-ray tube pipeline crawler intelligent travelling crane control device of differential GPS location, it is characterized in that: by central control unit (31), GPS receiver module (32), wireless transmission load module (33), rotary coding location module (34), pipe crawling device driver module (35), X-ray machine X control module (36), data memory module (37) and parameter input show that indication output device (38) forms, the annexation of each parts is: the Output1 of GPS receiver module (32) is connected with the input interface I00 interface of central control unit (31), the Output2 of GPS receiver module (32), Output3, Output4, Output5 respectively with the input interface I01 of central control unit (31), I02, I03, I04 interface connects, the Output1 of wireless transmission load module (33) is connected with the input interface I05 interface of central control unit (31), and Output2, the Output3 of wireless transmission load module (33) is connected with input interface I06, the I07 interface of central control unit (31) respectively, the Output1 of rotary coding location module (34) is connected with the input interface I08 interface of central control unit (31), and parameter input shows that the input end in indication output device (38) is connected with the input interface I09 interface of central control unit (31), the output interface Q01 of central control unit (31) is connected with pipe crawling device driver module (35), the output interface Q02 of central control unit (31) is connected with X-ray machine X control module (36), the output interface Q03 of central control unit (31) is connected with data memory module (37), and the output interface Q04 of central control unit (31) shows that with parameter input the output device in indication output device (38) is connected.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105784730A (en) * | 2016-03-15 | 2016-07-20 | 安阳中科工程检测有限公司 | Digital pipeline weld joint positioning device and positioning method |
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Application publication date: 20140226 |