CN108896955A - A kind of localization method of storage tank bottom plate inspection car - Google Patents
A kind of localization method of storage tank bottom plate inspection car Download PDFInfo
- Publication number
- CN108896955A CN108896955A CN201810833672.9A CN201810833672A CN108896955A CN 108896955 A CN108896955 A CN 108896955A CN 201810833672 A CN201810833672 A CN 201810833672A CN 108896955 A CN108896955 A CN 108896955A
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- electromagnetic pulse
- wave signal
- pulse signal
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- ping
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of localization methods of storage tank bottom plate inspection car, emit the electromagnetic pulse harmony pulse wave signal of different frequency using 3 points or 3 points or more, it is received respectively by inspection car, utilize the receiving signal delayed amount of electromagnetic wave and sound wave, the distance between inspection car and each point are obtained respectively, to achieve positioning, removes above-mentioned cumbersome manual measurement positioning from, improve working efficiency and positioning accuracy.
Description
Technical field
The present invention relates to a kind of lossless detection methods, more particularly to a kind of localization method of storage tank bottom plate inspection car.
Background technique
The oil storage tank of the overwhelming majority requires periodically to be detected a flaw at present, especially to bottom plate, because contacting with soil, various corruption
Corrosion factor often results in leakage, causes damages and security risk.The method of flaw detection has the nondestructiving detecting means such as leakage field and ultrasound.For
Obtain distribution map of the detection data on bottom plate, it usually needs manual measurement divides region, and the detection data of inspection car with
Correspondence, be stored in the regional document, be finally spliced into unsplit bed(-)plate detection information figure.It not only works many and diverse, and is positioned also as a result,
It is less accurate.
Summary of the invention
It is an object of the invention to overcome the deficiency of the prior art, provides a kind of localization method of storage tank bottom plate inspection car,
The electromagnetic pulse harmony pulse wave signal for being emitted different frequency using 3 points or 3 points or more, is received respectively by inspection car, is utilized
The receiving signal delayed amount of electromagnetic wave and sound wave obtains the distance between inspection car and each point, to reach positioning respectively
Purpose.
The technical solution adopted by the present invention to solve the technical problems is：A kind of localization method of storage tank bottom plate inspection car,
It is characterized in that：Include the following steps,
A. 1 points selected at storage tank bottom plate edge, it is respectively arranged on each point and fixes an electromagnetic pulse signal hair
Emitter and a ping wave signal projector；Electromagnetic pulse signal projector on each point emits respectively to be put not with other
The electromagnetic pulse signal of same frequency；Ping wave signal projector on each point emits and other different frequencies respectively
Ping wave signal；The electromagnetic pulse signal emitted on each point is identical as ping wave signal frequency；
B. an electromagnetic pulse signal receiver and a ping wave signal receiver are fixed on inspection car；Electromagnetic pulse
Wave signal receiver, ping wave signal receiver are connect with the computer on inspection car；The electromagnetic pulse signal receives
The electromagnetic pulse signal of electromagnetic pulse signal projector transmitting on each point in device receiving step a；The ping
The ping wave signal of ping wave signal projector transmitting on each point in wave signal receiver receiving step a；
C. for inspection car in mobile detection process, electromagnetic pulse signal receiver will be on each point in the step a that received
Electromagnetic pulse signal projector transmitting electromagnetic pulse signal be transmitted to computer；Ping wave signal receiver will connect
The ping wave signal of ping wave signal projector transmitting on each point in the step a received is transmitted to computer；By
In electromagnetic pulse signal velocity be the light velocity, therefore electromagnetic pulse signal from be emitted to receive it is substantially non-delay；Sound arteries and veins
Rushing wave signal has delay from reception is emitted to；Computer will be received using the electromagnetic pulse signal of each point as reference signal
To same point transmitting the ping wave signal of same frequency and the phase of electromagnetic pulse signal make comparisons analysis, must speak arteries and veins
The retardation of wave signal is rushed, conversion show that at a distance from each point, the real-time detection position of inspection car is positioned with this for inspection car.
The invention has the advantages that a kind of localization method of storage tank bottom plate inspection car, is sent out using 3 points or 3 points or more
The electromagnetic pulse harmony pulse wave signal for penetrating different frequency, is received respectively by inspection car, is believed using the reception of electromagnetic wave and sound wave
Number retardation, obtains the distance between inspection car and each point respectively, to achieve positioning, removes above-mentioned cumbersome people from
Work measurement and positioning improves working efficiency and positioning accuracy.
Invention is further described in detail with reference to embodiments, but a kind of storage tank bottom plate inspection car of the invention
Localization method is not limited to the embodiment.
Detailed description of the invention
The present invention is further described for middle embodiment with reference to the accompanying drawing.
Fig. 1 is the storage tank bottom plate inspection car localization method schematic diagram of the embodiment of the present invention.
Fig. 2 is the electromagnetic pulse signal harmony pulse wave signal schematic diagram that the inspection car of the embodiment of the present invention receives.
In figure, 1. storage tank bottom plates, D. inspection car, tri- points of A/B/C., EP. electromagnetic pulse signal, UP. ping wave letter
Number, Y. retardation.
Specific embodiment
Embodiment, as shown in Figure 1 and Figure 2, a kind of localization method of storage tank bottom plate inspection car, it is characterised in that：Including as follows
Step,
A. at least three point A/B/C are selected at 1 edge of storage tank bottom plate, is respectively arranged on each point and fixes an electromagnetic pulse
Signal EP transmitter and a ping wave signal UP transmitter；Electromagnetic pulse signal EP transmitter on each point is sent out respectively
Penetrate the electromagnetic pulse signal EP with other different frequencies；Ping wave signal UP transmitter on each point emit respectively with
The ping wave signal UP of other different frequencies；The electromagnetic pulse signal EP and ping wave signal UP emitted on each point
Frequency is identical；
B. an electromagnetic pulse signal EP receiver and a ping wave signal UP receiver are fixed on inspection car D；Electricity
Magnetic field impulse wave signal EP receiver, ping wave signal UP receiver are connect with the computer on inspection car D；The electromagnetic pulse
The electromagnetic pulse letter of electromagnetic pulse signal EP transmitter transmitting on each point in wave signal EP receiver receiving step a
Number EP；Ping wave signal UP transmitter transmitting on each point in the ping wave signal UP receiver receiving step a
Ping wave signal UP；
C. inspection car D is in mobile detection process, and electromagnetic pulse signal EP receiver is by each of step a received
The electromagnetic pulse signal EP of electromagnetic pulse signal EP transmitter transmitting on point is transmitted to computer；Ping wave signal UP
Receiver passes the ping wave signal UP of the ping wave signal UP transmitter transmitting on each point in the step a received
Transport to computer；Since electromagnetic pulse signal EP spread speed is the light velocity, electromagnetic pulse signal EP is connect from being emitted to
It receives substantially non-delay；Ping wave signal UP has delay from reception is emitted to；Computer is by the electromagnetic pulse signal of each point
EP is as reference signal, by the ping wave signal UP and electromagnetic pulse signal EP of the same frequency of the same point received transmitting
Phase make comparisons analysis, obtain the retardation Y of ping wave signal UP, conversion obtain inspection car D at a distance from each point, with
The real-time detection position of this positioning inspection car D.
Above-described embodiment is only used to further illustrate a kind of localization method of storage tank bottom plate inspection car of the invention, but this hair
It is bright to be not limited to embodiment, according to the technical essence of the invention it is to the above embodiments it is any it is simple modification, etc.
With variation and modification, fall within the scope of protection of technical solution of the present invention.
Claims (1)
1. a kind of localization method of storage tank bottom plate inspection car, it is characterised in that：Include the following steps,
A. 1 points selected at storage tank bottom plate edge, it is respectively arranged on each point and fixes an electromagnetic pulse signal hair
Emitter and a ping wave signal projector；Electromagnetic pulse signal projector on each point emits respectively to be put not with other
The electromagnetic pulse signal of same frequency；Ping wave signal projector on each point emits and other different frequencies respectively
Ping wave signal；The electromagnetic pulse signal emitted on each point is identical as ping wave signal frequency；
B. an electromagnetic pulse signal receiver and a ping wave signal receiver are fixed on inspection car；Electromagnetic pulse
Wave signal receiver, ping wave signal receiver are connect with the computer on inspection car；The electromagnetic pulse signal receives
The electromagnetic pulse signal of electromagnetic pulse signal projector transmitting on each point in device receiving step a；The ping
The ping wave signal of ping wave signal projector transmitting on each point in wave signal receiver receiving step a；
C. for inspection car in mobile detection process, electromagnetic pulse signal receiver will be on each point in the step a that received
Electromagnetic pulse signal projector transmitting electromagnetic pulse signal be transmitted to computer；Ping wave signal receiver will connect
The ping wave signal of ping wave signal projector transmitting on each point in the step a received is transmitted to computer；By
In electromagnetic pulse signal velocity be the light velocity, therefore electromagnetic pulse signal from be emitted to receive it is substantially non-delay；Sound arteries and veins
Rushing wave signal has delay from reception is emitted to；Computer will be received using the electromagnetic pulse signal of each point as reference signal
To same point transmitting the ping wave signal of same frequency and the phase of electromagnetic pulse signal make comparisons analysis, must speak arteries and veins
The retardation of wave signal is rushed, conversion show that at a distance from each point, the real-time detection position of inspection car is positioned with this for inspection car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810833672.9A CN108896955B (en) | 2018-07-26 | 2018-07-26 | Positioning method of storage tank bottom plate flaw detection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810833672.9A CN108896955B (en) | 2018-07-26 | 2018-07-26 | Positioning method of storage tank bottom plate flaw detection vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108896955A true CN108896955A (en) | 2018-11-27 |
| CN108896955B CN108896955B (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810833672.9A Active CN108896955B (en) | 2018-07-26 | 2018-07-26 | Positioning method of storage tank bottom plate flaw detection vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111678985A (en) * | 2020-06-10 | 2020-09-18 | 南昌工程学院 | Tunnel lining nondestructive test device |
| CN118181301A (en) * | 2024-05-14 | 2024-06-14 | 中国特种设备检测研究院 | Multi-machine collaborative detection method, device and product of storage tank bottom plate detection robot |
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| CN101490543A (en) * | 2006-07-11 | 2009-07-22 | 财团法人电力中央研究所 | Ultrasonic scanning device and method |
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| CN106124634A (en) * | 2016-06-20 | 2016-11-16 | 中国石油化工股份有限公司 | A kind of fiberglass acoustic emission source triangle polyester fibre method |
| CN106994984A (en) * | 2017-05-23 | 2017-08-01 | 山东省科学院激光研究所 | Laser sound magnetic rail surface defects fast flaw detection system and method |
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Patent Citations (5)
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| CN101490543A (en) * | 2006-07-11 | 2009-07-22 | 财团法人电力中央研究所 | Ultrasonic scanning device and method |
| WO2013016440A1 (en) * | 2011-07-25 | 2013-01-31 | World's Fresh Waters Pte. Ltd. | Method and system for conveying water on oil tanker ships to deliver drinkable water to destinations |
| CN106124634A (en) * | 2016-06-20 | 2016-11-16 | 中国石油化工股份有限公司 | A kind of fiberglass acoustic emission source triangle polyester fibre method |
| CN106994984A (en) * | 2017-05-23 | 2017-08-01 | 山东省科学院激光研究所 | Laser sound magnetic rail surface defects fast flaw detection system and method |
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| CN111678985A (en) * | 2020-06-10 | 2020-09-18 | 南昌工程学院 | Tunnel lining nondestructive test device |
| CN118181301A (en) * | 2024-05-14 | 2024-06-14 | 中国特种设备检测研究院 | Multi-machine collaborative detection method, device and product of storage tank bottom plate detection robot |
| CN118181301B (en) * | 2024-05-14 | 2024-07-12 | 中国特种设备检测研究院 | Multi-machine collaborative detection method, device and product of storage tank bottom plate detection robot |
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| CN108896955B (en) | 2021-02-12 |
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