CN106918638A - Method, device, system and robot in the multi-functional detection of liquid magnetosonic - Google Patents
Method, device, system and robot in the multi-functional detection of liquid magnetosonic Download PDFInfo
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- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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- 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
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Abstract
The invention discloses a kind of method in the multi-functional detection of liquid magnetosonic, device, system and robot.Wherein, the method includes：The defect area of container is obtained, wherein, container is the canister for storing liquid；Position and form according to where defect area determines defect, wherein, form at least includes：The thickness information of defect area and the characteristic information of defect；Position where defect and form are analyzed, testing result is obtained.The present invention solve it is existing it is single to the method that is detected in liquid container defect, detectability is limited, accuracy of detection is low and the low technical problem of detection efficiency.
Description
Technical field
The present invention relates to detection technique field, in particular to a kind of method, dress in the multi-functional detection of liquid magnetosonic
Put, system and robot.
Background technology
In industrial circle, canister is commonly used to store liquid charging stock and product, but in long-term use canister
During, due to the influence of environment where the corroded by liquid in canister receptor and container, inevitably receive
To corrosion, and then structure of container is caused to fail.Further, since the liquid of container memory storage is generally inflammable and explosive or poisonous oil
Product, and amount of storage once structure of container fails, then can cause the accidents such as liquid leakage, fire, blast than larger, and this is not only
Huge economic loss can be brought, serious environmental pollution can be also caused, in some instances it may even be possible to great human casualty accident can be caused.For
The safe operation of canister is ensured, many countries are all determined canister by the formal compulsion of law in the world at present
Phase can opening is detected.Wherein, the process that container carries out can opening detection is included：The works such as shut-down, turned letter, cleaning, rust cleaning, Non-Destructive Testing
Sequence, the whole process of can opening detection is carried out to container may be needed to spend tens days even time of several months, and whole process is not only
Waste time and energy, and cost is high.Based on above-mentioned situation, it is badly in need of a kind of technology that on-line checking is carried out to container.
Compared with offline inspection technology, the operation such as on-line checking need not stop work, turns, cleans and eliminate rust can keep away
Exempt from the operation of vessel empty, ventilation and cleaning, and detection time is short, testing cost is low.At present, conventional on-line checking side
The main acoustic emission detection technique of method, supersonic guide-wave technology and robot online measuring technique etc..Wherein, robot on-line checking
The various advanced technologies of technological incorporation, including computer vision technique, modern control theory, explosiveproof isolation technology, inertial navigation
Technology, mechanics of communication, the ultrasonic technique scanned for tank bottom and leakage field technology etc..Compared to other online measuring techniques,
Robot online measuring technique can realize the self-action operation of conventional lossless detection technique, can be taken according to different environment
With different sensors, quantitative determination is carried out to Container floor, wall and other positions.Existing on-line checking robot is commonly used
Detection method be ultrasound detection and Magnetic Flux Leakage Inspecting, robot carries corresponding detection sensor according to specific detection method,
Carry out automation scanning detection.But because every kind of detection method is required for independent detecting system to support, and existing online inspection
Only carrying piezo ultrasound transducers carry out simple thickness measuring detection mostly to survey robot, or carry leakage field sensing simultaneously as needed
Device.Thus, the detection method that existing on-line checking robot is used is single, and detectability is limited, it is impossible to realize to checked object
Overall merit, detection reliability it is not high.Additionally, existing online measuring technique is in order to realize sweeping to detection object comprehensively
Look into, it is desirable to control robot to travel through whole checked object, detection efficiency is low.
For the above-mentioned existing method detected to container defect it is single, detectability is limited, accuracy of detection it is low with
And the low problem of detection efficiency, effective solution is not yet proposed at present.
The content of the invention
A kind of method in the multi-functional detection of liquid magnetosonic, device, system and robot are the embodiment of the invention provides, with
At least solve it is existing it is single to the method that is detected in liquid container defect, detectability is limited, accuracy of detection is low and inspection
Survey the low technical problem of efficiency.
A kind of one side according to embodiments of the present invention, there is provided method in the multi-functional detection of liquid magnetosonic, including：Obtain
The defect area of extracting container, wherein, container is the canister for storing liquid；According to where defect area determines defect
Position and form, wherein, form at least includes：The thickness information of defect area and the characteristic information of defect；According to defect
The position at place and form are analyzed to defect, obtain analysis result.
Another aspect according to embodiments of the present invention, additionally provides a kind of device in the multi-functional detection of liquid magnetosonic, including：
Acquisition module, the defect area for obtaining container, wherein, container is the canister for storing liquid；Detection module, uses
Position and form where defect is determined according to defect area, wherein, form at least includes：The thickness information of defect area
And the characteristic information of defect；Analysis module, is analyzed for the position according to where defect and form to defect, obtains
Analysis result.
Another aspect according to embodiments of the present invention, additionally provides a kind of robot in the multi-functional detection of liquid magnetosonic, bag
Include：Detection unit, detects for the defect area to container, and defect to getting is analyzed, wherein, detection is single
Unit be by multiple sensor groups into sensor array；Drive module, for driven machine, people moves in container；Navigation mould
Block, for being positioned to robot and being navigated；Vision module, for obtaining the environmental information inside container.
Another aspect according to embodiments of the present invention, additionally provides a kind of system in the multi-functional detection of liquid magnetosonic, including
The above-mentioned robot in the multi-functional detection of liquid magnetosonic.
In embodiments of the present invention, by the way of on-line checking, by obtaining the defect area of container, and according to defect
Region determine defect where position and form, defect is divided further according to the position where defect and form finally
Analysis, obtains analysis result, has reached the purpose of the reliability for improving detection efficiency, accuracy of detection and detection, it is achieved thereby that
The technique effect of comprehensive Non-Destructive Testing is carried out to canister, and then is solved existing to being examined in liquid container defect
The method of survey is single, detectability is limited, accuracy of detection is low and the low technical problem of detection efficiency.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Fig. 2 is a kind of optional signal in the Rough Inspection of liquid magnetosonic multi-functional detection robot according to embodiments of the present invention
Figure；
Fig. 3 is a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Fig. 4 is a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Fig. 5 is a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Fig. 6 is a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Fig. 7 is a kind of optional signal in the examining of liquid magnetosonic multi-functional detection robot according to embodiments of the present invention
Figure；
Fig. 8 is a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Fig. 9 is a kind of optional showing in the multi-functional fine detection of detection robot of liquid magnetosonic according to embodiments of the present invention
It is intended to；
Figure 10 is a kind of apparatus structure schematic diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Figure 11 is a kind of structural representation of robot in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention；
Figure 12 is the structural representation of a kind of optional detection unit according to embodiments of the present invention；
Figure 13 is the structural representation of a kind of optional magnetosonic Multifunction Sensor according to embodiments of the present invention；
Figure 14 is the structural representation of a kind of optional module of removing contamination according to embodiments of the present invention；
Figure 15 is that the detailed construction of the multi-functional detection robot of a kind of optional magnetosonic according to embodiments of the present invention is illustrated
Figure；And
Figure 16 is a kind of system structure diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention.
Wherein, above-mentioned accompanying drawing is marked including the following drawings：
1101st, detection unit；1103rd, drive module；1105th, navigation module；1107th, vision module；1201st, magnetizer；
1203rd, at least one magneto sensor；1205th, at least one piezo ultrasound transducers；1301st, U-shaped magnet；1303rd, piezoelectric supersonic
Sensor；1305th, Hall element；1307th, package casing；1309th, magnetosonic Multifunction Sensor；1401st, aspirator；1403、
Filter；1405th, reflux；1407th, deposit；1501st, anticollision buffering wheel；1503rd, navigate；1505th, driving wheel；
1507th, sensor array；1509th, cleaning brush；1511st, sewage disposal apparatus；1513rd, camera (lighting device)；1515th, return duct
Road；1517th, remove contamination pipeline；1519th, controller is detected；1521st, transmission line；1603rd, draw off gear；1607th, control terminal is detected；
1609th, testing container；1611st, liquid；20th, defect area；22nd, guided wave；24th, region to be detected；26th, robot；28th, it is mobile
Direction；72nd, defect subregion；70th, sensor array；1001st, acquisition module；1003rd, detection module；1005th, analysis module.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model of present invention protection
Enclose.
It should be noted that term " first ", " in description and claims of this specification and above-mentioned accompanying drawing
Two " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.Additionally, term " comprising " and " having " and their any deformation, it is intended that cover
Lid is non-exclusive to be included, for example, the process, method, system, product or the equipment that contain series of steps or unit are not necessarily limited to
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or other intrinsic steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, there is provided a kind of embodiment of the method in the multi-functional detection of liquid magnetosonic.
Fig. 1 is the method flow diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention, as shown in figure 1, the party
Method comprises the following steps：
Step S102, obtains the defect area of container, wherein, container is the canister for having liquid.
In above-mentioned steps S102, said vesse is canister, in the industrial production, storage liquid charging stock and
Product, drawbacks described above region is located in canister.Because during industrial production, the defect inside canister may
Storage can be caused inflammable and explosive or the container of poisonous oil product is leaked, be likely to result in the accidents such as fire, blast, therefore need
Detect the defect area inside canister.
In a kind of optional embodiment, a robot for detecting canister defect is placed inside canister, should
Robot includes magnetosonic multifunctional array sensor, and the sensor can coordinate robot to complete the automatic scanning to canister
Operation, the process is Rough Inspection process.Wherein, Fig. 2 shows a kind of optionally in the Rough Inspection of liquid magnetosonic multi-functional detection robot
Schematic diagram, as shown in Fig. 2 20 represent the defect area inside canister, 22 is the magnetosonic multifunctional array biography in robot
The guided wave that sensor sends, 24 is region to be detected, and 26 is robot, and 28 is the direction that robot is moved in canister,
The robot 27 of dotted line is the position at place after robot movement in Fig. 2.In fig. 2, magnetosonic multifunctional array sensor coordinates
Robot completes automatic scanning, carries out ultrasonic guided wave detecting, and control sensor to receive ultrasonic guided wave signals, the inspection in robot
Survey unit to transmit to signal transacting center the ultrasonic guided wave signals that sensor array is received, signal transacting center is to receiving
Signal carry out fast imaging treatment, such that it is able to realize, detection of large area quick to the carrying out of canister.Wherein, machine
The scanning scope of device people is the region of single sensor array both sides.
It should be noted that the excitation of above-mentioned magnetosonic multifunctional array sensor, reception mode can be according to specific detections
The excitation of policy control sensor array and receive aperture.Additionally, Rough Inspection process is that to carry out large area to canister quick
The process of imaging, the Rough Inspection by robot to canister, the region where acquisition defect that can be rough.
By above-mentioned steps S102, the region of acquisition defect that can be rough in canister, detection container defect
Robot can be according to where defect region determine defect where position, and then reduce robot it is determined that where defect
The scope of position, improves the efficiency of detection.
Step S104, position and form according to where defect area determines defect, wherein, form at least includes：Lack
Fall into the thickness information in region and the characteristic information of defect.
In above-mentioned steps S104, where the rough determination canister defect of the robot by detection container defect
Region after, defect area of the robot again to detecting carries out examining, i.e. robot carries out middling speed, small area to defect area
The scanning of (relative to the area of canister).Specifically, robot is encouraged and receives super by controlling two row array sensors
Guided Waves signal, and tomography is carried out to the region between two row array sensors of robot, according to the knot of tomography
Fruit determines the thickness information and the characteristic information of defect of particular location and defect in canister where defect.Its
In, the characteristic information of defect can include but is not limited to the defect area with the presence or absence of corrosion cracking or crackle.
Step S106, is analyzed to the position where defect and form, obtains testing result.
In a kind of optional embodiment, after Rough Inspection and examining is carried out to canister, defect is obtained in container
The particular location in portion, then the position of defect of the robot again to detecting finely detected that is, robot is according to where defect
Position and form use ultrasonic thickness measurement detection and Magnetic Flux Leakage Inspecting, qualitative, quantitative detection is carried out to defect, and then accurately
Get the thickness information of defect region and the characteristic information of corresponding defect.Wherein, thickness measuring inspection is being carried out to defect
Thickness measuring detection can be carried out to defect using the method for C-scan during survey, C-scan technology is to control and microcomputer ultrasound detection and microcomputer
Carry out data acquisition, storage, treatment, image and show the technology for gathering together.
Can realize carrying out multi-faceted detection to canister by step S106, and then according to testing result to defect
Region accurately, synthetically evaluate.
Based on the scheme disclosed in above-described embodiment step S102 to step S106, can know by obtaining lacking for container
Fall into region, and the position according to where defect area determines defect and form, finally further according to the position where defect and
Form is analyzed to defect, obtains analysis result, is easily noted that, because the robot of detection container defect is first to holding
Device carries out rough detection, the region where determining defect, then carries out examining to the region where defect again, and then determines to lack
Particular location where falling into, therefore, by reducing the scanning zone of robot, that is, the scope of defect region is reduced, and then
The detection efficiency of robot detection defect position can be improved, raising detection efficiency, accuracy of detection and detection has been reached
Reliability purpose, it is achieved thereby that carrying out the technique effect of comprehensive Non-Destructive Testing to canister, and then solve
It is existing it is single to the method that is detected in liquid container defect, detectability is limited, accuracy of detection is low and detection efficiency is low
Technical problem.
Optionally, Fig. 3 shows a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic, as shown in figure 3, obtaining
The defect area of extracting container comprises the following steps：
Step S302, obtains the working frequency of guided wave；
Step S304, sensor array is encouraged according to working frequency, wherein, sensor array includes at least one sensing
Device；
Step S306, the detection signal received according to sensor array determines the defect area of container.
In above-mentioned steps S302 to step S306, above-mentioned guided wave is supersonic guide-wave, and above-mentioned sensor array is that magnetosonic is more
Function array sensor.In a kind of optional embodiment, sonac is encouraged using linear chirp signals, obtain ultrasound
Guided wave work dominant frequency, i.e. supersonic guide-wave centre frequency, then according to certain incentives strategy, using supersonic guide-wave center frequently
Rate encourages magnetosonic multifunctional array sensor, coordinates robot automatic scanning, carries out ultrasonic guided wave detecting to canister, and adopt
The sensor in ultrasonic guided wave signals, i.e. magnetosonic multifunctional array sensor is received with certain reception policy control sensor to connect
The detection signal for receiving, is finally processed above-mentioned detection signal, and then determines the defect area of container.
It should be noted that when the canister to different-thickness, unlike material is detected, it is necessary to reacquire super
The centre frequency of guided Waves.
Optionally, Fig. 4 shows a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic, as shown in figure 4, root
The detection signal received according to sensor array determines that the defect area of container comprises the following steps：
Step S402, controls sensor array to obtain imaging data according to detection signal；
Step S404, is imaged using imaging method to the region to be detected in container, obtains imaging results；
Step S406, the defect area of container is determined according to imaging results.
In a kind of optional embodiment, above-mentioned imaging data is complete matrix data, using fully sampled method (FMC, Full
Matrix Capture), i.e., each sensor successively in excitation magnetosonic multifunctional array sensor, while in excitation magnetosonic
After each sensor in multifunctional array sensor, control all the sensors all receive the complete matrix data of N × N, its
In, N is the array number of sensor array.On the basis of complete matrix data, using total focus imaging method (TFM, Total
Focus Method) treat detection zone and be imaged, and then judge the position of defect.Wherein, above-mentioned region to be detected is machine
The region of device people detection.
In an alternative embodiment, Fig. 5 shows a kind of optional method stream in the multi-functional detection of liquid magnetosonic
Cheng Tu, as shown in figure 5, being imaged to the region to be detected in container using imaging method, obtains imaging results including as follows
Step：
Step S502, the signal amplitude of each focus point in region to be detected is determined according to imaging data, wherein, it is imaged number
It is one of following according at least including：Complete matrix data；
Step S504, the signal amplitude according to each focus point determines the image in region to be detected.
Specifically, array element in each sensor in magnetosonic multifunctional array sensor is in region to be detected
The wave-path relation of the coordinate of focus point, solves the amplitude of the signal at that point that all supersonic guide-waves are returned, and by each signal
Amplitude is overlapped so as to obtain the signal amplitude of the focus point.Said process is repeated, institute in region to be detected just can be obtained
There is the signal amplitude information of focus point, finally the signal amplitude Information recovering of each focus point just can be treated to be detected
The total focus image of detection zone.The signal amplitude of each array element can be specifically determined according to equation below：
In above formula, (x, z) is the coordinate of cohesion focus in region to be detected, and I (x, z) is the amplitude of focus point, Pij(tij
(x, z)) amplitude at focus point (x, z) position that receives for the i-th array element transmitting of sensor array, j-th array element, tij
(x, z) is the time delay of the amplitude for extracting focus point, and N × N is the number of complete matrix data.
It should be noted that in above formula, tij(x, z) is by focusing on that rule calculates for extracting focus point amplitude
Time delay, wherein, the time delay contain sound wave from transmitting array element i to focus point (x, z), having focus point (x, z)
Return to the whole course time required for receiving array element j.tij(x, z) can be calculated by following formula：
Wherein, xtAnd xrRepresent transmitting array element respectively and receive the abscissa of array element, CLIt is the velocity of sound of compressional wave.
Optionally, Fig. 6 shows a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic, as shown in fig. 6, root
Position and form where defect is determined according to defect area comprise the following steps：
Step S602, determines that the region between sensor array is defect subregion according to defect area；
Step S604, Guided waves are carried out to defect subregion, obtain detecting subsignal；
Step S606, imaging is carried out to detection subsignal, obtains result；
Step S608, position and form according to where result determines to state defect.
In a kind of optional embodiment, after Rough Inspection is carried out to canister using supersonic guide-wave, can tentatively judge
The defect area of canister, to further determine that the situation (for example, the particular location where defect) of defect area, it is necessary to control
Robot processed carries out further scanning to defect area.One kind as shown in Figure 7 is optional in the multi-functional detection machine of liquid magnetosonic
The schematic diagram of device people's examining, in the figure 7,26 is the robot of detection container defect, and 72 is defect subregion, and 70 is array sensing
Device, 28 is the direction of the robot motion of detection container defect.
Specifically, robot carries out supersonic guide-wave to the region (i.e. defect subregion 72) between two row array sensors 70
Detection, and imaging (for example, being processed using the method for tomography) is carried out to detection signal, it is scarce to further determine that
The distributing position for falling into subregion 72 and the pattern for judging defect.Wherein, the excitation of sensor array and reception mode can be by having
Inspection policies or the imaging method control of body.
Optionally, Fig. 8 shows a kind of optional method flow diagram in the multi-functional detection of liquid magnetosonic, as shown in figure 8, right
Position and form where defect are analyzed, and obtain analysis result and comprise the following steps：
Step S802, the position according to where defect carries out thickness measuring detection and Magnetic Flux Leakage Inspecting to defect area, is detected
Analysis result；
Step S804, the thickness information of defect area is obtained according to detection and analysis result；
Step S806, judges with the presence or absence of corrosion cracking or crackle in defect area, wherein, there is corrosion cracking or splitting
In the case of line, the characteristic information of defect is obtained；
Step S808, the characteristic information of thickness information and defect to defect area is analyzed, and obtains testing result.
It is that further defect is carried out precisely after the accurate position for obtaining defect in a kind of optional embodiment
Detection, it is necessary to control the robot to carry out ultrasonic thickness measurement detection and Magnetic Flux Leakage Inspecting to defect area, it is hereby achieved that defect area
Thickness information.Meanwhile, the detection and analysis result according to ultrasonic thickness measurement may determine that defect area with the presence or absence of corrosion cracking or
Crackle, and obtain the characteristic information (for example, depth and width of defect) of defect.One kind as shown in Figure 9 is optional in liquid
The schematic diagram that the multi-functional detection robot of magnetosonic is finely detected, in fig .9,26 is the robot of detection container defect, and 92 is scarce
Region is fallen into, 70 is sensor array, and 28 is the direction of the robot motion of detection container defect.
It should be noted that using above detection method, robot first passes through supersonic guide-wave and is detected roughly, herein mistake
Cheng Zhong robots are not required to travel through the position that whole container can determine whether defect, so as to improve the detection efficiency of robot.Additionally,
Examining is carried out to defect area and further determines that the distributing position and pattern of defect, and ultrasonic thickness measurement and leakage field are carried out to defect
Detection, can accurately obtain the thickness information and corresponding defect characteristic information of defect area.
Embodiment 2
According to embodiments of the present invention, there is provided a kind of device embodiment in the multi-functional detection of liquid magnetosonic, wherein, above-mentioned reality
Apply operation in the device that the method in example 1 can be provided in the present embodiment.
Figure 10 is the apparatus structure schematic diagram of detection container defect according to embodiments of the present invention, as shown in Figure 10, the dress
Put including：Acquisition module 1001, detection module 1003 and analysis module 1005.
Acquisition module 1001, the defect area for obtaining container, wherein, container is the canister for having liquid.
In above-mentioned acquisition module 1001, said vesse is canister, in the industrial production, storing liquid charging stock
And product, drawbacks described above region is located in canister.Due to during industrial production, the defect inside canister
May be such that the container for storing inflammable and explosive or poisonous oil product is leaked, be likely to result in the accidents such as fire, blast, because
This needs to detect the defect area inside canister.
In a kind of optional embodiment, a robot for detecting canister defect is placed inside canister, should
Robot includes magnetosonic multifunctional array sensor, and the sensor can coordinate robot to complete the automatic scanning to canister
Operation, the process is Rough Inspection process.Wherein, Fig. 2 shows one kind optionally in the multi-functional detection robot of liquid magnetosonic to Rough Inspection
Schematic diagram, as shown in Fig. 2 20 represent canisters inside defect area, 22 be robot on magnetosonic multifunctional array
The guided wave that sensor sends, 24 is robot region to be detected, and 26 is robot, and 28 move for robot in canister
Direction, in Fig. 2 the robot 27 of dotted line be robot movement after where position.In fig. 2, magnetosonic multifunctional array sensing
Device coordinates robot to complete automatic scanning, carries out ultrasonic guided wave detecting, and control sensor to receive ultrasonic guided wave signals, robot
In detection unit the ultrasonic guided wave signals that sensor array is received are transmitted to signal transacting center, signal transacting center pair
The signal for receiving carries out fast imaging treatment, such that it is able to realize, detection of large area quick to the carrying out of canister.Its
In, the scanning scope of robot is the region (region as represented by label 24 in Fig. 2) of sensor array both sides.
It should be noted that the excitation of above-mentioned magnetosonic multifunctional array sensor, reception mode can be according to specific detections
The excitation of policy control sensor array and receive aperture.Additionally, Rough Inspection process is that to carry out large area to canister quick
The process of imaging, the Rough Inspection by robot to canister, the region where acquisition defect that can be rough.
By above-mentioned acquisition module 1001, the region of acquisition defect that can be rough in canister, detection container lacks
Sunken robot can be according to where defect region determine defect where position, and then reduce robot it is determined that defect
The scope of position, improves the efficiency of detection.
Detection module 1003, position and form where for determining defect according to defect area, wherein, form is at least
Including：The thickness information of defect area and the characteristic information of defect.
In above-mentioned detection module 1003, in the rough determination canister defect of the robot by detection container defect
Behind the region at place, defect area of the robot again to detecting carries out examining, i.e. robot and middling speed, small is carried out to defect area
The scanning of area (relative to the area of canister).Specifically, robot is encouraged and connect by controlling two row array sensors
Ultrasonic guided wave signals are received, and tomography is carried out to the region between two row array sensors of robot, according to tomography
Result determine the thickness information and the characteristic information of defect of particular location and defect in canister where defect.
Wherein, the characteristic information of defect can include but is not limited to the defect area with the presence or absence of corrosion cracking or crackle.
Analysis module 1005, for being analyzed to the position where defect and form, obtains testing result.
In a kind of optional embodiment, after Rough Inspection and examining is carried out to canister, defect is obtained in container
The particular location in portion, then the position of defect of the robot again to detecting finely detected that is, robot is according to where defect
Position and form use ultrasonic thickness measurement detection and Magnetic Flux Leakage Inspecting, qualitative, quantitative detection is carried out to defect, and then accurately
Get the thickness information of defect region and the characteristic information of corresponding defect.Wherein, thickness measuring inspection is being carried out to defect
Thickness measuring detection can be carried out to defect using the method for C-scan during survey, C-scan technology is to control and microcomputer ultrasound detection and microcomputer
Carry out data acquisition, storage, treatment, image and show the technology for gathering together.
Can realize carrying out multi-faceted detection to canister by analysis module 1005, and then according to testing result pair
Defect area accurately, synthetically evaluate.
From the foregoing, it will be observed that the defect area by obtaining container, and position according to where defect area determines defect and
Form, is finally analyzed further according to the position where defect and form to defect, obtains analysis result, is easily noted that
It is that, because the robot of detection container defect first carries out rough detection to container, the region where determining defect is then right again
Region where defect carries out examining, and then the particular location where determining defect, therefore, by the scanning area for reducing robot
Domain, that is, reduce the scope of defect region, and then can improve the detection efficiency of robot detection defect position, reaches
The purpose of the reliability of detection efficiency, accuracy of detection and detection is improved, it is achieved thereby that carried out to canister comprehensive
Non-Destructive Testing technique effect, and then solve existing, detection energy single to the method that is detected in liquid container defect
Power is limited, accuracy of detection is low and the low technical problem of detection efficiency.
It should be noted that above-mentioned acquisition module 1001, detection module 1003 and analysis module 1005 correspond to implementing
Step S102 to step S106 in example 1, three modules are identical with example and application scenarios that the step of correspondence is realized, but not
It is limited to the disclosure of that of above-described embodiment 1.
Optionally, acquisition module includes：Frequency acquisition module, excitation module and receiver module.Wherein, frequency acquisition mould
Block, the working frequency for obtaining guided wave；Excitation module, for encouraging sensor array according to working frequency, wherein, array is passed
Sensor includes at least one sensor；Receiver module, the detection signal for being received according at least one sensor determines to hold
The defect area of device.
It should be noted that said frequencies acquisition module, excitation module and receiver module correspond to the step in embodiment 1
Rapid S302 to step S306, three modules are identical with example and application scenarios that the step of correspondence is realized, but are not limited to above-mentioned
The disclosure of that of embodiment 1.
Optionally, receiver module includes：Control module, image-forming module and defect determining module.Wherein, control module,
For controlling sensor array to obtain imaging data according to detection signal；Image-forming module, for using imaging method in container
Region to be detected be imaged, obtain imaging results；Defect determining module, the defect for determining container according to imaging results
Region.
It should be noted that above-mentioned control module, image-forming module and defect determining module correspond to the step in embodiment 1
Rapid S402 to step S406, three modules are identical with example and application scenarios that the step of correspondence is realized, but are not limited to above-mentioned
The disclosure of that of embodiment 1.
Optionally, image-forming module includes：Amplitude determining module and image determining module.Wherein, amplitude determining module, uses
In the signal amplitude that each focus point in region to be detected is determined according to complete matrix data；Image determining module, for according to every
The signal amplitude of individual focus point determines the image in region to be detected；Wherein, the signal width of each array element is determined according to equation below
Value：
Wherein, (x, z) is the coordinate of cohesion focus in region to be detected, and I (x, z) is the amplitude of focus point, Pij(tij(x,
Z) be) the i-th array element transmitting of sensor array, the amplitude at focus point (x, z) position that receives of j-th array element, tij(x,
Z) be extract focus point amplitude time delay, N × N for complete matrix data number.
It should be noted that above-mentioned amplitude determining module and image determining module correspond to the step in embodiment 1
S502 to step S504, two modules are identical with example and application scenarios that the step of correspondence is realized, but are not limited to above-mentioned reality
Apply the disclosure of that of example 1.
Optionally, detection module includes：Determining module, signal detection module, processing module and the first determining module.Its
In, determining module, for determining that the region between sensor array is defect subregion according to defect area；Signal detection mould
Block, for carrying out Guided waves to defect subregion, obtains detecting subsignal；Processing module, for being carried out to detection subsignal
Imaging, obtains result；First determining module, position and shape where for determining to state defect according to result
State.
It should be noted that above-mentioned determining module, signal detection module, processing module and the first determining module correspond to
Step S602 to step S608 in embodiment 1, four modules are identical with example and application scenarios that the step of correspondence is realized,
But it is not limited to the disclosure of that of above-described embodiment 1.
Optionally, analysis module includes：Second determining module, data obtaining module, judge module and performing module.Its
In, the second determining module carries out thickness measuring detection and Magnetic Flux Leakage Inspecting for the position according to where defect to defect area, is examined
Survey analysis result；Data obtaining module, the thickness information for obtaining defect area according to detection and analysis result；Judge module,
For judging with the presence or absence of corrosion cracking or crackle in defect area, wherein, in the case where there is corrosion cracking or crackle, obtain
Take the characteristic information of defect；Performing module, is analyzed for the thickness information and the characteristic information of defect to defect area,
Obtain testing result.
It should be noted that above-mentioned second determining module, data obtaining module, judge module and performing module correspond to
Step S802 to step S808 in embodiment 1, four modules are identical with example and application scenarios that the step of correspondence is realized,
But it is not limited to the disclosure of that of above-described embodiment 1.
Embodiment 3
According to embodiments of the present invention, there is provided a kind of embodiment of robot in the multi-functional detection of liquid magnetosonic.
Figure 11 is the structural representation of the robot in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention, such as Figure 11
It is shown, should include in the multi-functional detection robot of liquid magnetosonic：Detection unit 1101, drive module 1103, navigation module 1105 with
And vision module 1107.Wherein, detection unit 1101, detect for the defect area to container, and to lacking for getting
Fall into be analyzed, wherein, detection unit be by multiple sensor groups into sensor array；Drive module 1103, for driving
Robot is moved in container；Navigation module 1105, for being positioned to robot and being navigated；Vision module 1107, is used for
The environmental information inside container is obtained, and carries out vision-based detection.
In a kind of optional embodiment, above-mentioned machine artificially be used for detection container defect robot, the robot by
Detection unit 1101, drive module 1103, navigation module 1105 and vision module 1107 are constituted, wherein, detection unit 1101
It is made up of Multifunction Sensor array, sensor control section etc., the array number of sensor array can determine as needed；Drive
Module 1103 is used to control driver element, and driven machine people realizes automatic scanning function；Navigation module 1105 can use Active Acoustic
The methods such as positioning, sonar, GPS, for the positioning and movement navigation of robot；Vision module 1107 includes illumination, camera, uses
In in liquid Visual Observations Observations and detection.
It should be noted that navigation module 1105 is used to that the carrying out of robot to be positioned and navigated.It is accurate fixed in order to realize
Position is simultaneously using two methods of sonar positioning and active acoustic fix ranging.Wherein, active acoustic fix ranging is in the robot of detection defect
Active acoustic emission sensor is carried, sound wave is launched in canister, sound wave is propagated in metal container structures, with canister
Multiple acoustic receiving transducers are installed in outside, realize that detection robot is accurately positioned by active localization algorithm.
From the foregoing, it will be observed that the defect area of container is obtained by detection unit, and according to where defect area determines defect
Position and form, are finally analyzed further according to the position where defect and form to defect, obtain analysis result, easily
It is noted that because the robot of detection container defect first carries out rough detection to container, the region where determining defect,
Then the particular location where carrying out examining, and then determination defect to the region where defect again, therefore, by reducing robot
Scanning zone, that is, reduce the scope of defect region, and then the detection of robot detection defect position can be improved
Efficiency, has reached the purpose of the reliability for improving detection efficiency, accuracy of detection and detection, it is achieved thereby that entering to canister
The technique effect of the comprehensive Non-Destructive Testing of row, and then solve the existing method list to being detected in liquid container defect
First, the technical problem that detectability is limited, accuracy of detection is low and detection efficiency is low.
Optionally, the structural representation of detection unit 1101 as shown in figure 12, as shown in Figure 12, detection unit 1101 is wrapped
Include：Magnetizer 1201, at least one magneto sensor 1203 and at least one piezo ultrasound transducers 1205.Wherein, magnetizer
1201, carry out magnetization treatment for the tested region to container；At least one magneto sensor 1203, in container existing defects
In the case of perceive magnetic leakage signal；At least one piezo ultrasound transducers 1205, supersonic guide-wave and body are produced for time-sharing exciting
Ripple.
In a kind of optional embodiment, magnetizer and magneto sensor are used to carry out canister Magnetic Flux Leakage Inspecting, magnetize
Device magnetizes to canister, and magneto sensor be used for perceive canister structure existing defects when magnetic leakage signal (magnetic
Quick element judges defect form extremely by magnetic flux in tablet), wherein, magnetizer can select U-shaped yoke, permanent magnet or
Other mode of magnetizations, magneto sensor can be set single or multiple.Sonac is used for time-sharing exciting and produces supersonic guide-wave, body
Ripple, to complete to carry out comprehensive detection to checked object, wherein, sonac can be set one or more sonacs,
Sonac uses piezo ultrasound transducers.Can be carried in the robot detected to container defect by many work(of multiple magnetosonics
Can sensor group into sensor array, wherein, number of arrays be not less than 2, i.e., at least need two sensor arrays.
It should be noted that the application uses piezo ultrasound transducers, during liquid detection container, using piezoelectricity
Sonac have the advantages that it is certain, for example, due to stored liquid in pendular ring border can as couplant, therefore,
Couplant need not be again being added in the environment of liquid, it is easy to detect, quick, reliable, additionally, piezo ultrasound transducers also have
The strong advantage of detection signal.
In addition it is also necessary to explanation, detection unit 1101 can be used to carry out multi-method detection to storage tank floor, by two rows
Array magnetosonic Multifunction Sensor is constituted, and per row array, the number of sensors of row is 8.Figure 13 shows a kind of multi-functional biography of magnetosonic
The structural representation of sensor, as shown in figure 13, magnetosonic Multifunction Sensor 1309 is by U-shaped magnet 1301, piezo ultrasound transducers
1303rd, Hall element 1305, package casing 1307 are constituted, and sonac can time-sharing exciting generation supersonic guide-wave, ultrasonic wave, magnetic
Changing device and Hall element is used to realize Magnetic Flux Leakage Inspecting.
Optionally, robot also includes：Remove contamination module.Wherein, remove contamination module, for the deposition on the floor for clearing up container
Thing.
In a kind of optional embodiment, Figure 14 shows a kind of structural representation of optional module of removing contamination, such as Figure 14
Understand, module of removing contamination includes：Aspirator 1401, filter 1403 and reflux 1405.Wherein, aspirator
1401, for collecting deposit；Filter 1403, for being filtered to deposit；Reflux 1405, for passing through
Liquid after filter carries out reflow treatment, wherein, filter 1403 includes multiple filter elements (i.e. in Figure 14
1403a、1403b、……1403n)。
It should be noted that remove contamination module for clear up due to during long-term use on canister base plate formation
Deposit 1407 (such as iron rust, mud, sandstone etc.), run in order to robot and canister base plate detected.
Optionally, robot also includes：Machinery frame, walking unit, driver and control unit.Wherein, mechanical bone
Frame, for the functional part of mounting robot；Walking unit, for controlling robot to move；Driver, connects with walking unit
Connect, for transmitting power, control robot completes steering operation；Control unit, for controlling robot to complete corresponding action.
It should be noted that walking unit can use four-wheel motion mode, caterpillar drive mode can be also used, wherein,
Using in the case of four-wheel motion mode, driver connection driving wheel transmission power simultaneously uses differential steering principle control to walking unit
Robot processed is turned to.
Optionally, vision module includes：Camera and illuminating lamp.Wherein, camera, for the ring inside collection container
Environment information；Illuminating lamp, for providing illumination.Wherein, camera can be but be not limited to infrared high-definition camera.
In a kind of preferred embodiment, Figure 15 shows that a kind of detailed construction of the multi-functional detection robot of magnetosonic is illustrated
Figure, as shown in figure 15, the multi-functional detection robot of the magnetosonic includes：Anticollision buffering wheel 1501, navigation 1503, driving wheel 1505,
It is sensor array 1507, cleaning brush 1509, sewage disposal apparatus 1511, camera (or lighting device) 1513, reflux line 1515, clear
Dirty pipeline 1517, detection controller 1519 and transmission line 1521.
Embodiment 4
According to embodiments of the present invention, there is provided a kind of system embodiment in the multi-functional detection of liquid magnetosonic, the system includes
Including any one in above-described embodiment 3 optionally or preferably in the robot of the multi-functional detection of liquid magnetosonic.
Figure 16 is the system structure diagram in the multi-functional detection of liquid magnetosonic according to embodiments of the present invention, such as Figure 16 institutes
Show, the system includes：Robot 26, draw off gear 1603, transmission line 1521 and detection control terminal in embodiment 3
1607.Wherein, draw off gear 1603, for robot 26 to be put into container, or take out from container；Transmission line 1521, uses
In the detection signal that transferring robot is detected；Detection control terminal 1607, for receiving detection signal, obtains according to detection signal
To testing result, and testing result is analyzed.Wherein, transmission line 1521 can be but be not limited to transmission line, supply lines etc..
It should be noted that detection control terminal is additionally operable to control robot completes corresponding action inside container.
In a kind of optional embodiment, the robot 26 of detection container defect is in the testing container of liquid 1611 that is stored with
In 1609.Wherein, robot 26 can be completed to the automatic detection of testing container 1609.Transmission line 1521 connects robot 26 and container
Outside detection control terminal 1607, wherein, transmission line 1521 can be used to transmit detection signal, robot control signal and driving
Electric current etc., is mainly made up of signal lines, robot control line, driving power supply line, navigation signal line, pipeline of removing contamination etc..Receive
Put device 1603 to be mainly used in being put into robot inside testing container 1609, and robot is withdrawn after detection is completed.Inspection
Surveying control terminal includes that motion planning and robot control part, detection control section, detection data treatment and analysis portion are graded.
Furthermore, it is necessary to explanation, can be by the excitation of magnetosonic Multifunction Sensor, reception in liquid detection robot system
It is partially disposed in robot, it is also possible to place it on the control terminal outside testing container, or driver unit is set
In control terminal, and receiving portion is arranged in robot.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in certain embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, can be by other
Mode is realized.Wherein, device embodiment described above is only schematical, such as division of described unit, Ke Yiwei
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of unit or module by some interfaces
Connect, can be electrical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be according to the actual needs selected to realize the purpose of this embodiment scheme.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used to so that a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment methods described of the invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (16)
1. a kind of method in the multi-functional detection of liquid magnetosonic, it is characterised in that including：
The defect area of container is obtained, wherein, the container is the canister for having liquid；
Position and form according to where the defect area determines the defect, wherein, the form at least includes：It is described
The characteristic information of the thickness information of defect area and the defect；
Position where the defect and form are analyzed, testing result is obtained.
2. method according to claim 1, it is characterised in that the defect area for obtaining container includes：
Obtain the working frequency of guided wave；
Sensor array is encouraged according to the working frequency, wherein, the sensor array includes at least one sensor；
The detection signal received according to the sensor array determines the defect area of the container.
3. method according to claim 2, it is characterised in that true according to the detection signal that the sensor array is received
The defect area of the fixed container includes：
The sensor array is controlled to obtain imaging data according to the detection signal；
The region to be detected in the container is imaged using imaging method, obtains imaging results；
The defect area of the container is determined according to the imaging results.
4. method according to claim 3, it is characterised in that using imaging method to the region to be detected in the container
It is imaged, obtaining imaging results includes：
The signal amplitude of each focus point in the region to be detected is determined according to the imaging data, wherein, the imaging number
It is one of following according at least including：Complete matrix data；
Signal amplitude according to each focus point determines the image in the region to be detected；
Wherein, according to equation below determine described in each focus point signal amplitude：
Wherein, (x, z) is the coordinate of the focus point in the region to be detected, and the I (x, z) is the focus point
Amplitude, the Pij(tij(x, z)) be the i-th array element transmitting of the sensor array, j-th array element receive described poly-
Amplitude at focus (x, z) position, the tij(x, z) is the time delay of the amplitude for extracting the focus point, and N × N is described
The number of imaging data.
5. method according to claim 4, it is characterised in that the position according to where the defect area determines the defect
Put and form includes：
Determine that the region between the sensor array is defect subregion according to the defect area；
Guided waves are carried out to the defect subregion, obtains detecting subsignal；
Imaging is carried out to the detection subsignal, result is obtained；
Position and form where stating defect according to the result determines.
6. method according to claim 1, it is characterised in that divided the position where the defect and form
Analysis, obtaining testing result includes：
Position according to where the defect carries out thickness measuring detection and Magnetic Flux Leakage Inspecting to the defect area, obtains detection and analysis knot
Really；
The thickness information of the defect area is obtained according to the detection and analysis result；
Judge with the presence or absence of corrosion cracking or crackle in the defect area, wherein, there is the corrosion cracking or crackle
In the case of, obtain the characteristic information of the defect；
The characteristic information of thickness information and the defect to the defect area is analyzed, and obtains the testing result.
7. a kind of device in the multi-functional detection of liquid magnetosonic, it is characterised in that including：
Acquisition module, the defect area for obtaining container, wherein, the container is the canister for having liquid；
Detection module, position and form where for determining the defect according to the defect area, wherein, the form
At least include：The characteristic information of the thickness information of the defect area and the defect；
Analysis module, for being analyzed to the position where the defect and form, obtains testing result.
8. a kind of robot in the multi-functional detection of liquid magnetosonic, it is characterised in that including：
Detection unit, detects for the defect area to container, and defect to getting is analyzed,
Wherein, the detection unit be by multiple sensor groups into sensor array；
Drive module, moves for driven machine people in the container；
Navigation module, for the robot to be positioned and navigated；
Vision module, for obtaining the environmental information inside the container, and carries out vision-based detection.
9. robot according to claim 8, it is characterised in that the detection unit includes：
Magnetizer, magnetization treatment is carried out for the tested region to the container；
At least one magneto sensor, for there is the defect in the container in the case of perceive magnetic leakage signal；
At least one piezo ultrasound transducers, supersonic guide-wave and bulk wave are produced for time-sharing exciting.
10. robot according to claim 8, it is characterised in that the robot also includes：
Remove contamination module, for the deposit on the floor for clearing up the container.
11. robots according to claim 10, it is characterised in that the module of removing contamination includes：
Aspirator, for collecting the deposit；
Filter, for being filtered to the deposit；
Reflux, for carrying out reflow treatment by the liquid after the filter.
12. robots according to claim 8, it is characterised in that the robot also includes：
Machinery frame, the functional part for installing the robot；
Walking unit, for controlling the robot to move；
Driver, is connected with the walking unit, for transmitting power, controls the robot to complete steering operation；
Control unit, for controlling the robot to complete corresponding action.
13. robots according to claim 8, it is characterised in that the vision module includes：
Camera, for gathering the environmental information inside the container；
Illuminating lamp, for providing illumination.
14. a kind of systems in the multi-functional detection of liquid magnetosonic, it is characterised in that including any one institute in claim 8 to 13
The robot in the multi-functional detection of liquid magnetosonic for stating.
15. systems according to claim 14, it is characterised in that the system includes：
Draw off gear, for the robot to be put into the container, or takes out from the container；
Transmission line, for transmitting the detection signal that the robot is detected；
Detection control terminal, for receiving the detection signal, testing result is obtained according to the detection signal, and to the inspection
Result is surveyed to be analyzed.
16. systems according to claim 15, it is characterised in that the detection control terminal is additionally operable to control the machine
People completes corresponding action inside the container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710061667.6A CN106918638B (en) | 2017-01-26 | 2017-01-26 | A method for multifunctional detection of magnetoacoustic in liquid device, system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710061667.6A CN106918638B (en) | 2017-01-26 | 2017-01-26 | A method for multifunctional detection of magnetoacoustic in liquid device, system and robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106918638A true CN106918638A (en) | 2017-07-04 |
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