CN107037127A - A kind of complex probe formula underwater robot weld defect detection means - Google Patents
A kind of complex probe formula underwater robot weld defect detection means Download PDFInfo
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- CN107037127A CN107037127A CN201710212504.3A CN201710212504A CN107037127A CN 107037127 A CN107037127 A CN 107037127A CN 201710212504 A CN201710212504 A CN 201710212504A CN 107037127 A CN107037127 A CN 107037127A
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- 238000013500 data storage Methods 0.000 claims description 16
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- 229910052751 metal Inorganic materials 0.000 description 1
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- 239000013535 sea water Substances 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- 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
- G01N2291/10—Number of transducers
- G01N2291/106—Number of transducers one or more transducer arrays
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- 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
- G01N2291/26—Scanned objects
- G01N2291/267—Welds
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Abstract
The present invention relates to the complex probe formula underwater robot weld defect detection means for ocean platform weld seam.The present invention safeguards for ocean platform to detect and positioning underwater weld defect and particular location and provides accurate data.Its technical scheme：Main body is made up of imitative torpedo streamlined shell, screw telescopic push and pull system, steering gear and connecting rod open and close system, and screw telescopic connecting rod is equipped with housing upper end, and its top gathers picture signal equipped with ccd video camera；Connecting rod open and close system is equipped with housing forward end, connecting rod front end is equipped with ultrasonic array probe collection ultrasonic scanning signal；The startup of two sets of detection means is controlled by controller；Signal analysis alignment system is placed in housing, and signal is analyzed, handled and calculated；When detecting defect characteristic waveform, coordinate position is passed into memory record by d GPS locating module, testing goal is reached.The present apparatus can improve the degree of accuracy and the security of detection, and controlling is strong, reduces operation difficulty.
Description
Technical field
It is used for ocean platform underwater weld defect compound detection the present invention relates to one kind, is that one kind utilizes screw telescopic and company
Bar opening and closing structure realizes mechanical movement, and the compound of testing goal is reached using picture signal and ultrasonic array probe compound action
Detection type underwater robot weld defect detection means, for offshore oil exploration and exploitation field.
Background technology
With the fast development of science and technology, the demand to the energy is also increasing.The ocean for taking up an area ball surface product 71% is people
The second large space after the four major strategies space that class is depended on for existence and development --- land, sea, air, day non-trunking land, be the energy,
The strategic Development Base of living resources and metals resources, it is still most not real at present, and be also most potential
Space.Ocean is by the important base as human kind sustainable development, and underwater robot is just adjoint from being born the second half in 20th century
Human knowledge ocean, exploitation ocean and protect the process of ocean to continue to develop.The 21 century for falling over each other to march to ocean in the mankind,
The most important instrument in ocean is explored and developed to underwater robot as the mankind will obtain unprecedented attention and development.In recent years,
With the adjustment of China's energy strategy, ocean platform is sufficiently paid attention to as the important means of exploitation of offshore oil and gas, ocean
The security of platform is also noticeable all the more.Weld defect can be described as ocean platform most fatal safety hazard, can cause ring
Border pollution even casualties.Component environment has high salinity, highly corrosive, high humility and is difficult to detect ocean platform under water
The characteristics of, easily produced weld defect by sea water intrusion.ROV being used the current interior detection to ocean platform underwater portion of industry more
(Remote Operated Vehicle have cable formula underwater robot) carries out underwater weld detection, and so not only detection efficiency is low
Under, and hawser limits ROV scope of activities to a certain extent, while the fracture of hawser will also result in losing for robot
Lose.With the development of offshore oil, AUV (Autonomous Underwater Vehicle untethereds Autonomous Underwater Vehicle)
It will be widely used.
Many coastal states particularly developed country is devoted to the research of underwater robot technology and opening for Related product
Hair." hippocampus number " underwater robot that Shanghai Communications University develops, can be achieved seabed operation, have the disadvantage that what is used has cable formula knot
Structure, limits scope of activities；" bluefin tuna -21 " autonomous underwater navigation that BluefinRobotics companies of the U.S. develop
Device is detected under water using full-enclosed structure using picture signal, has the disadvantage underwater picture signal detectable region because under water
Environment is limited；Deep-sea electromagnetic field detection system device (Chinese patent：2016108261475) electromagnetic field detection method is make use of,
Have the disadvantage that autonomous control is not strong, and zone of action is limited by hawser.
The content of the invention
The purpose of the present invention is：In order to overcome prior art not enough, detection and positioning underwater weld defect determine that weld seam lacks
Underwater particular location is fallen into, accurate data are provided for the maintenance of ocean platform, spy provides a kind of complex probe formula machine under water
Device people's weld defect detection means.
The present invention is rotated using the processing of DSP picture signals and Ultrasonic Pulse-Echo principle by controller controlled motor
By screw telescopic push and pull system, steering gear, connecting rod open and close system, respectively open ccd video camera collection picture signal and
Ultrasonic array probe collection ultrasonic scanning signal, reaches detection weld defect purpose.
In order to achieve the above object, the present invention uses following technical scheme：A kind of complex probe formula underwater robot weld seam
Defect detecting device, is by imitating torpedo streamlined shell, motor, screw telescopic push and pull system, steering gear, connecting rod
Open and close system, visual monitoring system, ultrasonic array probe and signal analysis alignment system composition, it is characterised in that：Main body by
Steering gear, two external threading shrinking connecting-rod systems, connecting rod open and close system and imitative torpedo streamlined shell composition；Tooth sector
Bar τ 5 (16) rear end is connected with shrinking connecting-rod motor drive module (15) to be placed in housing in the level trough of rear end, tooth sector screw thread
Bar τ 1 (9) is placed in housing in vertical slots, and (9) lower ends of tooth sector threaded rod τ 1 are with (16) front ends of tooth sector bar τ 5 with gear
Engagement is connected, and tooth sector threaded rod τ 1 (9) stretches out above housing, and four fixed-hinged supports (18) are arranged on the preceding outer end of housing
Connecting rod τ 2 (11) is connected, another (14) rear ends of horizontal screw thread bar τ 4 are connected with connecting rod opening and closing motor drive module (10) is placed in housing
In Inner Front End level trough, horizontal screw thread bar τ 4 (14) is retracted immediately ahead of housing；The screw telescopic push and pull system is divided into 2 groups,
Tooth sector threaded rod τ 1 (9) is placed in housing in vertical slots, (9) lower ends of tooth sector threaded rod τ 1 and tooth sector bar τ 5
(16) front end is connected with gear engagement, and tooth sector threaded rod τ 1 (9) stretches out above housing, as rotate gear threaded rod τ 1
(9) when rotating, due to internal and external threads attachment structure, bar is rotated along threaded line direction, and bar is protruded upward in vertical slots, level
Threaded rod τ 4 (14) rear end is connected with connecting rod opening and closing motor drive module (10) to be placed in housing Inner Front End level trough, horizontal screw thread
Bar τ 4 (14) is retracted immediately ahead of the housing, when horizontal screw thread bar τ 4 (14) is rotated, due to internal and external threads attachment structure, bar against
Threaded line direction is rotated, and bar is inwardly indented in the level trough of front end；The steering gear drives mould by shrinking connecting-rod motor
Block (15), tooth sector bar τ 5 (16), tooth sector threaded rod τ 1 (9) compositions, (16) rear ends of tooth sector bar τ 5 and flexible company
Bar motor drive module (15), which is connected, to be placed in housing in the level trough of rear end, and (9) lower ends of tooth sector threaded rod τ 1 are with turning to tooth
Take turns (16) front ends of bar τ 5 with gear engagement to be connected, shrinking connecting-rod motor drive module (15), which is rotated, makes (16) water of tooth sector bar τ 5
Flat turn is moved, because the engagement of tooth sector makes rotation direction change so that the vertical sides of tooth sector threaded rod τ 1 (9)
To rotation；The connecting rod open and close system is made up of horizontal screw thread bar τ 4 (14), connecting rod τ 3 (13), connecting rod τ 2 (11), horizontal screw thread
Bar τ 4 (14) front end is connected with connecting rod τ 3 (13) lower end by nut, and connecting rod τ 3 (13) upper end passes through spiral shell with connecting rod τ 2 (11) lower end
Mother's connection, horizontal screw thread bar τ 4 (14) is inwardly indented, and increases connecting rod τ 3 (13) horizontal direction angle, and connecting rod τ 3 (13) is vertical high
Degree increase, by the connection with connecting rod τ 2 (11), makes connecting rod τ 2 (11) increase with horizontal direction angle, outside of connecting rod τ 2 (11)
Open；The visual monitoring system is made up of ccd video camera (7) and lighting source (8), ccd video camera (7) and lighting source (8)
(9) front ends of tooth sector threaded rod τ 1 are fixed on, are controlled by controller (5), with shrinking connecting-rod motor drive module (15) simultaneously
Open, collection picture signal is together stretched out with tooth sector threaded rod τ 1 (9)；The ultrasonic array probe (12) is 4, point
Cloth is 4 connecting rod τ 2 (11) front ends, and each ultrasonic array probe covers 90 ° of regions, and 4 cover 360 ° of regions and realize without dead altogether
Angle sweep, each ultrasonic array probe has 72 probe array elements (19), is arranged in cylindrical ring-shaped, has 288 probe battle arrays
Member；The imitative torpedo streamlined shell copies the streamlined configuration of torpedo to make every effort to reach minimum water resistance in water, under water machine
VE rudder (1), horizontal equilibrium rudder (2) are installed and kept respectively both vertically and horizontally in the outer rear of device people device case
Balance and stability, drives propeller (3) to be promoted in water by propeller motor drive module (4)；The signal analysis device (17)
It is placed in housing in fixing groove, including Video Decoder (20), signal conditioning circuit (21), analog to digital conversion circuit (22), GPS fixed
Position module (6), FPGA (23), DSP Processor (24), program storage (25), data storage (26), display (27), number
According to sending module (28) and host computer (29), its function is Signal Pretreatment, analysis, judged, determines weld defect and stores
With display defect coordinate, all the way signal be connected through Video Decoder (20) with FPGA (23), another signal is through signal conditioning circuit
(21) it is connected with analog to digital conversion circuit (22), converted signals are also fed into FPGA (23), FPGA (23) and program storage (25),
Data storage (26) is bi-directionally connected, and data storage (26) caching is on the one hand delivered to through the pretreated signals of FPGA (23),
On the one hand deliver to DSP Processor (24) to be handled, d GPS locating module (6) is connected with DSP Processor (24), DSP Processor
(24) it is bi-directionally connected with program storage (25), data storage (26), on the one hand the signal after DSP Processor (24) processing send
To display (27), data transmission blocks (28) are on the one hand delivered to, data transmission blocks (28) are connected with host computer (29).
Complex probe formula underwater robot weld defect detection means：Reach under water after detection zone, controller control
Starting shrinking connecting-rod motor drive module drives tooth sector to rotate, and screw telescopic push and pull system is stretched out ccd video camera and schemed
Signal analysis alignment system is sent into as signal acquisition, and by picture signal, when picture signal can not judge defect, controller is opened
Dynamic connecting rod opening and closing motor drive module drives the retraction of screw telescopic push and pull system, and opens connecting rod by connecting rod open and close system.
Ultrasonic array probe carries out ultrasonic scanning signal acquisition, and ultrasonic scanning signal is sent into signal analysis alignment system,
Signal analysis alignment system carries out the analysis and positioning of flaw indication according to the following steps：
1st, picture signal is delivered to Video Decoder (20) and picture signal is decoded into data-signal by ccd video camera (7),
Signal after processing delivers to FPGA (23) pretreatments, and pretreated view data is buffered in data storage (26), then
View data is delivered into DSP Processor (24) and carries out data processing and the judgement of weld defect, the view data after processing is deposited
It is stored in data storage (26), guides electricity on DSP Processor (24) to boot by program storage (25)；
2nd, the ultrasonic scanning signal of collection is delivered to signal conditioning circuit (21) by ultrasonic array probe (12), is nursed one's health
Signal delivers to analog to digital conversion circuit (22) A/D conversions afterwards, and FPGA (23) is then delivered to again and carries out data prediction, pretreated
Waveform signal is buffered in data storage (26), is then delivered to the processing that DSP Processor (24) carries out ultrasonic scanning signal
And the judgement of weld defect, guide electricity on DSP Processor (24) to boot by program storage (25)；
3rd, when DSP Processor (24) judges weld defect, by d GPS locating module (6) by current three-dimensional coordinate position
DSP Processor (24) is sent to, and is stored in coordinate position in data storage (26) by DSP Processor (24), can be delivered to
Display (27) displaing coordinate information in real time, while by data transmission blocks (28) coordinate information can be sent into host computer
(29)。
The beneficial effects of the invention are as follows：(1) present apparatus controls detection module using screw telescopic push and pull system accurate and effective
Unlatching, by the opening angle of controls connecting rod open and close system, stretching out and shrinking for detector is realized, using imitative torpedo streamline
Structure, reduces resistance under water, by picture signal and the compound detection of ultrasonic scanning signal, greatly reduces underwater weld
The loss of defects detection, improves detection efficiency；(2) present invention is easy to detect easily controllable, enhances the independence of detection
And controllability, improve adaptability, accuracy and the stability of detection.
Brief description of the drawings
Fig. 1 is the main body installation diagram of the complex probe formula underwater robot weld defect detection means of the present invention.
Fig. 2 is present apparatus picture signal detection funtion part partial cutaway figure.
Fig. 3 is device scanning signal detection funtion part partial cutaway figure.
Fig. 4 is present apparatus ultrasonic array probe array element arrangement figure.
Fig. 5 is the signal analysis and processing schematic diagram of the present apparatus.
In figure：1st, VE rudder, 2, horizontal equilibrium rudder, 3, propeller, 4, propeller motor drive module, 5, control
Device, 6, d GPS locating module, 7, ccd video camera, 8, lighting source, 9, tooth sector threaded rod τ 1,10, connecting rod opening and closing motor drive
Dynamic model block, 11, connecting rod τ 2,12, ultrasonic array probe, 13, connecting rod τ 3,14, horizontal screw thread bar τ 4,15, shrinking connecting-rod motor
Drive module, 16, tooth sector bar τ 5,17, signal analysis device, 18, fixed-hinged support, 19, probe array element, 20, video solution
Code device, 21, signal conditioning circuit, 22, analog to digital conversion circuit, 23, FPGA, 24, DSP Processor, 25, program storage, 26：Number
According to memory, 27, display, 28, data transmission blocks, 29, host computer；
Embodiment
It is described further with reference to pair apparatus of the present invention of Fig. 1,2,3,4,5.
During ocean platform carries out weld seam detection with underwater robot under water, underwater robot is put down in ocean first
Platform surrounding waters is put into water.After underwater robot enters water, controller (5) starts propeller motor drive module (4) and rotated
Propeller (3) is driven to rotate, the device starts to promote in water.When d GPS locating module (6) elements of a fix reach approximate region
When, controller (5) starts shrinking connecting-rod motor drive module (15).Shrinking connecting-rod motor drive module (15) makes tooth sector bar
τ 5 (16) horizontally rotates, and drives tooth sector threaded rod τ 1 (9) vertically to rotate by tooth sector engagement.Tooth sector threaded rod
τ 1 (9) is stretched out due to threaded connection, while controller (5) starts ccd video camera (7) shooting.The device starts visual inspection,
Picture signal is delivered to Video Decoder (20) and decodes picture signal by ccd video camera (7), and the signal after processing is sent to FPGA
And DSP Processor (24) carries out the judgement of weld defect jointly, (23) view data after processing is stored in data storage
(26) in, electricity on DSP Processor (24) is guided to boot by program storage (25)；When DSP Processor (24) judges that weld seam lacks
When falling into, current three-dimensional coordinate position is sent to DSP Processor (24) by d GPS locating module (6), and by DSP Processor (24)
Coordinate position is stored in data storage (26), display (27) displaing coordinate information in real time is delivered to, while coordinate is believed
Breath is sent to host computer (29) by data transmission blocks (28).
When weld defect can not be judged by picture signal, controller (5) starts to start connecting rod opening and closing motor driving mould
Block (10) drives horizontal screw thread bar τ 4 (14) to horizontally rotate, and horizontal screw thread bar τ 4 (14) is inwardly indented due to threaded connection.Level
Threaded rod τ 4 (14) is retracted the angle increase caused between connecting rod τ 3 (13) and horizontal screw thread bar τ 4 (14), so that connecting rod τ 3
(13) vertical height increase, makes connecting rod τ 2 (11) and the increase of horizontal direction angle by the connection with connecting rod τ 2 (11).So
Stretch out connecting rod τ 2 (11), while controller (5) starts ultrasonic wave while connecting rod opening and closing motor drive module (10) starts
Array probe (12), the probe array element (19) of ultrasonic array probe (12) forms array on the connecting rod τ 2 (11) stretched out.4
Connecting rod τ 2 (11) square crossing is distributed, and 90 ° of regions are covered on every connecting rod τ 2 (11), and 360 ° of regions are covered altogether, and the device is opened
Beginning ultrasonic scanning checks that the ultrasonic scanning signal of collection is delivered to signal conditioning circuit by ultrasonic array probe (12)
(21), signal delivers to analog to digital conversion circuit (22) A/D conversions after conditioning, and FPGA (23) is then delivered to again and carries out data prediction,
Pretreated waveform signal is buffered in data storage (26), is then delivered to DSP Processor (24) and is carried out ultrasonic scanning
The processing of signal and the judgement of weld defect, when DSP Processor (24) judges weld defect, by d GPS locating module (6)
Current three-dimensional coordinate position is sent to DSP Processor, and coordinate position is stored in data storage (26) by DSP Processor
In, display (27) displaing coordinate information in real time can be delivered to, while can send coordinate information by data transmission blocks (28)
To host computer (29).
Claims (2)
1. a kind of complex probe formula underwater robot weld defect detection means, be by imitative torpedo streamlined shell, motor,
Screw telescopic push and pull system, steering gear, connecting rod open and close system, visual monitoring system, ultrasonic array probe and signal
Analyzing and positioning system is constituted, it is characterised in that：Main body is opened and closed by steering gear, two external threading shrinking connecting-rod systems, connecting rod
System and imitative torpedo streamlined shell composition；(16) rear ends of tooth sector bar τ 5 are connected with shrinking connecting-rod motor drive module (15)
It is placed in housing in the level trough of rear end, tooth sector threaded rod τ 1 (9) is placed in housing in vertical slots, tooth sector threaded rod τ 1
(9) lower end is engaged with gear with (16) front ends of tooth sector bar τ 5 and is connected, and tooth sector threaded rod τ 1 (9) stretches above housing
Go out, four fixed-hinged supports (18) are arranged on the preceding outer end connection connecting rod τ 2 (11) of housing, another (14) rear ends of horizontal screw thread bar τ 4
Be connected and be placed in housing Inner Front End level trough with connecting rod opening and closing motor drive module (10), horizontal screw thread bar τ 4 (14) from housing just
Front is retracted；The screw telescopic push and pull system is divided into 2 groups, and tooth sector threaded rod τ 1 (9) is placed in housing in vertical slots, turns
Engaged and be connected with gear with (16) front ends of tooth sector bar τ 5 to (9) lower ends of gear threaded rod τ 1, tooth sector threaded rod τ 1 (9)
Stretched out above from housing, when rotate gear threaded rod τ 1 (9) is rotated, due to internal and external threads attachment structure, bar is along threaded line
Direction is rotated, and bar is protruded upward in vertical slots, (14) rear ends of horizontal screw thread bar τ 4 and connecting rod opening and closing motor drive module (10)
It is connected and is placed in housing Inner Front End level trough, horizontal screw thread bar τ 4 (14) is retracted immediately ahead of housing, as horizontal screw thread bar τ 4
(14) when rotating, due to internal and external threads attachment structure, bar rotates against threaded line direction, and bar is in the level trough of front end to inside contracting
Enter；The steering gear is by shrinking connecting-rod motor drive module (15), tooth sector bar τ 5 (16), tooth sector threaded rod
τ 1 (9) is constituted, and (16) rear ends of tooth sector bar τ 5 are connected with shrinking connecting-rod motor drive module (15) is placed in rear end water in housing
In rising as high as the banks, (9) lower ends of tooth sector threaded rod τ 1 are engaged with (16) front ends of tooth sector bar τ 5 with gear to be connected, shrinking connecting-rod electricity
Machine drive module (15), which is rotated, horizontally rotates tooth sector bar τ 5 (16), because the engagement of tooth sector makes rotation direction
Change so that (9) vertical directions of tooth sector threaded rod τ 1 are rotated；The connecting rod open and close system is by horizontal screw thread bar τ 4
(14), connecting rod τ 3 (13), connecting rod τ 2 (11) are constituted, and (14) front ends of horizontal screw thread bar τ 4 are connected with connecting rod τ 3 (13) lower end by nut
Connect, connecting rod τ 3 (13) upper end is connected with connecting rod τ 2 (11) lower end by nut, and horizontal screw thread bar τ 4 (14) is inwardly indented, and makes connecting rod
τ 3 (13) horizontal direction angle increases, the increase of connecting rod τ 3 (13) vertical height, by the connection with connecting rod τ 2 (11), makes connecting rod τ 2
(11) increase with horizontal direction angle, connecting rod τ 2 (11) is flared out；The visual monitoring system is by ccd video camera (7) and shines
Mingguang City source (8) is constituted, and ccd video camera (7) and lighting source (8) are fixed on (9) front ends of tooth sector threaded rod τ 1, by controller
(5) control, opened simultaneously with shrinking connecting-rod motor drive module (15), collection is together stretched out with tooth sector threaded rod τ 1 (9)
Picture signal；The ultrasonic array probe (12) is 4, is distributed in 4 connecting rod τ 2 (11) front ends, and each ultrasonic array is visited
90 ° of regions of head covering, 4 cover 360 ° of regions and realize that, without dead angle scanning, each ultrasonic array probe has 72 probe battle arrays altogether
First (19), are arranged in cylindrical ring-shaped, have 288 probe array elements；The imitative torpedo streamlined shell copies the streamline of torpedo
Type construction makes every effort to reach minimum water resistance in water, and VE rudder (1), water are installed in the outer rear of robot device's housing under water
Flat rudder balance (2) keeps balance and stability both vertically and horizontally respectively, and spiral shell is driven by propeller motor drive module (4)
Oar (3) is revolved to promote in water；The signal analysis device (17) is placed in housing in fixing groove, including Video Decoder (20),
Signal conditioning circuit (21), analog to digital conversion circuit (22), d GPS locating module (6), FPGA (23), DSP Processor (24), program
Memory (25), data storage (26), display (27), data transmission blocks (28) and host computer (29), its function are
Signal Pretreatment, analysis, judgement, determine weld defect and storage and display defect coordinate, signal is through Video Decoder all the way
(20) it is connected with FPGA (23), another signal is connected through signal conditioning circuit (21) with analog to digital conversion circuit (22), believes after conversion
Number FPGA (23) is also fed into, FPGA (23) is bi-directionally connected with program storage (25), data storage (26), it is pre- through FPGA (23)
On the one hand signal after processing delivers to data storage (26) caching, on the one hand delivers to DSP Processor (24) and is handled, GPS
Locating module (6) is connected with DSP Processor (24), and DSP Processor (24) and program storage (25), data storage (26) are double
To connection, on the one hand the signal after DSP Processor (24) processing delivers to display (27), on the one hand delivers to data transmission blocks
(28), data transmission blocks (28) are connected with host computer (29).
2. complex probe formula underwater robot weld defect detection means according to claim 1, it is characterised in that：The device
For detecting ocean platform weld defect under water.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710212504.3A CN107037127B (en) | 2017-04-01 | 2017-04-01 | A kind of complex probe formula underwater robot weld defect detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710212504.3A CN107037127B (en) | 2017-04-01 | 2017-04-01 | A kind of complex probe formula underwater robot weld defect detection device |
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| Publication Number | Publication Date |
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| CN107037127A true CN107037127A (en) | 2017-08-11 |
| CN107037127B CN107037127B (en) | 2019-05-03 |
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| CN201710212504.3A Expired - Fee Related CN107037127B (en) | 2017-04-01 | 2017-04-01 | A kind of complex probe formula underwater robot weld defect detection device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607465A (en) * | 2017-10-26 | 2018-01-19 | 西南石油大学 | A kind of in-service Large Oil Tank Corrosion of base plate detection robot |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
| CN110243838A (en) * | 2019-07-11 | 2019-09-17 | 浙江省特种设备科学研究院 | A kind of ultrahigh pressure vessel detection device and its detection method |
| CN110567985A (en) * | 2019-10-14 | 2019-12-13 | 重庆大学 | Self-adaptive gear pitting quantitative evaluation and detection device based on deep learning |
| CN111624258A (en) * | 2020-04-24 | 2020-09-04 | 哈尔滨工业大学 | Ultrasonic phased array transducer device with two-dimensional hinge array structure |
| CN111855806A (en) * | 2020-08-03 | 2020-10-30 | 中国大唐集团科学技术研究院有限公司华中电力试验研究院 | Ultrasonic detection method for generator bridging strand brazing |
| CN112304923A (en) * | 2020-10-22 | 2021-02-02 | 岭澳核电有限公司 | Concrete pipeline inner wall detecting system |
| CN114653623A (en) * | 2022-04-01 | 2022-06-24 | 西南石油大学 | Drill bit defect detecting and sorting equipment |
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| CN107607465A (en) * | 2017-10-26 | 2018-01-19 | 西南石油大学 | A kind of in-service Large Oil Tank Corrosion of base plate detection robot |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
| CN110243838A (en) * | 2019-07-11 | 2019-09-17 | 浙江省特种设备科学研究院 | A kind of ultrahigh pressure vessel detection device and its detection method |
| CN110567985A (en) * | 2019-10-14 | 2019-12-13 | 重庆大学 | Self-adaptive gear pitting quantitative evaluation and detection device based on deep learning |
| CN111624258A (en) * | 2020-04-24 | 2020-09-04 | 哈尔滨工业大学 | Ultrasonic phased array transducer device with two-dimensional hinge array structure |
| CN111855806A (en) * | 2020-08-03 | 2020-10-30 | 中国大唐集团科学技术研究院有限公司华中电力试验研究院 | Ultrasonic detection method for generator bridging strand brazing |
| CN111855806B (en) * | 2020-08-03 | 2023-07-21 | 中国大唐集团科学技术研究院有限公司华中电力试验研究院 | Ultrasonic detection method for brazing of generator bridging strands |
| CN112304923A (en) * | 2020-10-22 | 2021-02-02 | 岭澳核电有限公司 | Concrete pipeline inner wall detecting system |
| CN114653623A (en) * | 2022-04-01 | 2022-06-24 | 西南石油大学 | Drill bit defect detecting and sorting equipment |
| CN114653623B (en) * | 2022-04-01 | 2023-05-19 | 西南石油大学 | Drill defect detection and sorting equipment |
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