CN114562966A - Carbon steel pipeline residual wall thickness rapid inspection device and use method thereof - Google Patents
Carbon steel pipeline residual wall thickness rapid inspection device and use method thereof Download PDFInfo
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- CN114562966A CN114562966A CN202210250810.7A CN202210250810A CN114562966A CN 114562966 A CN114562966 A CN 114562966A CN 202210250810 A CN202210250810 A CN 202210250810A CN 114562966 A CN114562966 A CN 114562966A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
Abstract
A carbon steel pipeline residual wall thickness rapid inspection device and a using method thereof relate to the technical field of pipeline nondestructive testing, and an unmanned aerial vehicle is used for carrying an electromagnetic ultrasonic detection system, so that rapid inspection of the wall thickness of a carbon steel pipeline can be effectively realized. The quick inspection device of carbon steel pipeline surplus wall thickness includes: the system comprises an upper computer control system and a lower computer system connected with the upper computer control system, wherein the lower computer system comprises an unmanned aerial vehicle system and an electromagnetic ultrasonic detection system connected with the unmanned aerial vehicle system; the unmanned aerial vehicle system includes: the unmanned aerial vehicle system is used for taking charge of the flight of the whole lower computer system and is controlled by a wireless handle; the electromagnetic ultrasonic detection system comprises: the detection system comprises a detection system body and a detection probe connected with the detection system body, and a component circuit of the electromagnetic ultrasonic detection system is arranged in the detection system body.
Description
Technical Field
The invention relates to the technical field of nondestructive testing of pipelines, in particular to a carbon steel pipeline residual wall thickness rapid inspection device and a using method thereof.
Background
At present, metal pressure pipelines are generally applied in the fields of oil and gas transportation, petrochemical industry, coal chemical industry, nuclear power and the like, the pipeline has long service life, the wall thickness of the pipeline is thinned year by year due to corrosion of internal media and the influence of external environment, meanwhile, in weak parts such as welding seams and the like, due to factors such as improper selection of welding materials, manufacturing defects, installation stress and the like, damages such as fatigue corrosion, pitting corrosion and the like easily occur, and the damage detection of the pipeline in use has great demand.
However, the inventor of the application finds that outdoor pipelines used outdoors are huge in quantity, installation positions are wound in an intricate mode, a lot of outdoor pipelines are located in overhead positions, inspection personnel are inconvenient to contact, and daily inspection can only be carried out in a mode of erecting scaffolds and carrying out spot-to-spot inspection, so that the inspection efficiency is low, and a large amount of manpower and material resources are consumed.
Disclosure of Invention
The invention aims to provide a carbon steel pipeline residual wall thickness quick inspection device and a using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a quick inspection device of carbon steel pipeline surplus wall thickness, includes: the system comprises an upper computer control system and a lower computer system connected with the upper computer control system, wherein the lower computer system comprises an unmanned aerial vehicle system and an electromagnetic ultrasonic detection system connected with the unmanned aerial vehicle system;
the unmanned aerial vehicle system includes: the unmanned aerial vehicle system is used for taking charge of the flight of the whole lower computer system and is controlled by a wireless handle;
the electromagnetic ultrasonic detection system comprises: the detection system comprises a detection system body and a detection probe connected with the detection system body, wherein the detection system body is internally provided with a component circuit of the electromagnetic ultrasonic detection system.
During practical application, power module comprises rechargeable lithium ion battery group and power conversion circuit, just the output voltage of lithium ion battery group is 12V, power conversion circuit can convert 12V voltage into 5V and 3.3V, and for unmanned aerial vehicle system with the electromagnetism ultrasonic detection system provides the electric energy.
The wireless communication module is used for transmitting a control instruction of the upper computer control system, flight data of the unmanned aerial vehicle system, image data of the camera, position data of the GPS positioning module and a wall thickness detection result of the electromagnetic ultrasonic detection system.
Specifically, the GPS positioning module is configured to determine positioning data of a pipeline detection position; the camera is used for shooting the flight process of the unmanned aerial vehicle system and the image information of the part to be detected.
In practical application, the constituent circuit of the electromagnetic ultrasonic detection system comprises: the device comprises a control system, a probe switch circuit and a transmitting circuit, wherein the probe switch circuit and the transmitting circuit are connected with the control system, and the transmitting circuit is sequentially connected with a detection probe, a receiving amplifying circuit and a signal processing circuit.
The control system is built based on an ARM chip system and an FPGA chip system, is used for controlling the synchronous coordination of the electromagnetic ultrasonic detection system, is used for switching on and off the probe switch circuit, calculates the wall thickness of a detected pipeline from the signal processing circuit, and is connected with the wireless communication module so as to upload the pipeline wall thickness result to the upper computer control system;
when the measurement is started, the ARM chip controls the FPGA chip to output square wave pulses to the transmitting circuit and transmit signals.
Specifically, the probe switching circuit adopts two normally open relays to control a power supply circuit of an electromagnet in the detection probe, the power supply voltage is 12V voltage provided by the lithium ion battery pack, and COM1 and COM2 ports are connected with an interface of the detection probe and ensure that the voltage is applied to two ends of the electromagnet in the probe;
the probe switch circuit is connected with an ARM chip in the control system through an interface LVDS82N, and the ARM chip controls the on and off of the relay.
Further, the transmitting circuit is used for amplifying the power of the transmitted signal, the square wave pulse output by the control system is amplified to a high-voltage pulse of more than +/-300V through the amplification effect of the switch driving circuit and the high-voltage circuit in the transmitting circuit, and the detection coil in the detection probe is driven to transmit the ultrasonic signal.
Furthermore, the receiving and amplifying circuit consists of an amplifying chip and a filtering chip and is used for amplifying the millivolt voltage signal received by the detection probe to a voltage level; the signal processing circuit consists of a data acquisition chip and an ARM chip system, and under the condition that the sound velocity of the detected pipeline is known, the wall thickness of the detected pipeline is calculated according to the reflection time of the reflected signals of the surface and the bottom of the detected pipeline.
Still further, the inspection probe comprises: the detection coil is arranged between the isolating plate and the wear-resistant block;
the electromagnet is a direct-current electromagnet and consists of a coil, an iron core and an armature, central holes are processed in the iron core and the armature, a leading-out wire of the electromagnet penetrates out of the central holes and is connected to a connector, and a leading-out wire of the detection coil also penetrates out of the central holes and is connected to the connector;
the lead-out wires of the electromagnets are connected with COM1 and COM2 ports of the probe switch circuit through the connectors; the detection coil is used as a transmitting coil and a receiving coil at the same time, and two leading-out leads of the detection coil are connected with a joint J3 in the transmitting circuit and a joint J1 in the receiving amplifying circuit at the same time.
Compared with the prior art, the carbon steel pipeline residual wall thickness quick inspection device has the following advantages:
the carbon steel pipeline residual wall thickness rapid inspection device provided by the invention is suitable for wall thickness detection of a carbon steel pipeline placed on the ground or an overhead carbon steel metal pipeline, the pipeline can be placed outdoors or indoors, an electromagnetic ultrasonic detection system is brought to a to-be-detected part of the detected pipeline through an unmanned aerial vehicle, the device is particularly suitable for detecting the wall thickness of the pipeline at a long-distance and hard-to-contact part, a detection scaffold does not need to be erected, manpower and material resources are saved, and the labor intensity is effectively reduced.
Specifically, the carbon steel pipeline residual wall thickness rapid inspection device provided by the invention comprises the following detection and use steps:
step S1, determining the position of the pipeline to be detected according to the pipeline construction drawing or the detection working drawing;
s2, completing the assembly of the whole system, installing the detection probe to the bottom of the shell of the electromagnetic ultrasonic detection system, and completing the circuit connection of the detection probe and the electromagnetic ultrasonic detection system;
step S3, starting an upper computer, connecting the upper computer and the unmanned aerial vehicle, starting a lower computer of the wall thickness measuring system, setting material sound velocity data according to the type of the detected pipeline material, and inputting the material sound velocity data into a signal processing circuit by a control system of the upper computer;
s4, operating a control handle of the unmanned aerial vehicle, flying the unmanned aerial vehicle to the upper part of the pipeline to be detected, judging whether the unmanned aerial vehicle is positioned at the part to be detected of the pipeline to be detected according to position data information sent back by the GPS positioning module, and controlling the unmanned aerial vehicle to gradually approach the pipeline to be detected by using the camera;
step S5, opening a probe switch circuit, wherein the electromagnet has magnetism to adsorb the whole detection system to the outer wall of the detected pipeline;
step S6, after the positioning of the detected part is finished, operating a control system in the electromagnetic ultrasonic detection system on an upper computer control system, starting a transmitting circuit, exciting a detection coil in the electromagnetic ultrasonic detection probe to transmit ultrasonic waves, receiving ultrasonic wave reflection signals of the inner wall of the pipeline by the detection coil, after the amplitude of echo signals is amplified by a receiving and amplifying circuit, finishing signal acquisition and wall thickness calculation by a signal processing circuit, and sending wall thickness detection results to the upper computer system by the control system;
step S7, after the wall thickness measurement of a part to be detected is completed, starting the propeller of the unmanned aerial vehicle, closing the probe switch circuit, cutting off the electromagnetic iron, and driving the whole detection system to the next detection part by the unmanned aerial vehicle to continue the wall thickness detection;
and step S8, after the wall thickness detection work is finished, operating a control handle of the unmanned aerial vehicle to fly the unmanned aerial vehicle back to the recovery position, closing an upper computer and a lower computer of the wall thickness measurement system, and detaching the electromagnetic ultrasonic detection system and the detection probe.
Drawings
Fig. 1 is a schematic view of an overall frame structure of a carbon steel pipeline residual wall thickness rapid inspection device provided by an embodiment of the invention;
fig. 2 is a schematic view of a connection structure of a carbon steel pipeline residual wall thickness rapid inspection device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a detection probe in the carbon steel pipeline residual wall thickness rapid inspection device provided by the embodiment of the invention.
Reference numerals:
1-upper computer control system;
2-unmanned aerial vehicle system; 21-a camera; 22-a drone body; 23-a power supply module; 24-a wireless communication module; 25-a GPS positioning module;
3-an electromagnetic ultrasonic detection system; 30-detection system body; 31-a detection probe; 32-a control system; 33-probe switching circuit; 34-a transmission circuit; 35-a receive amplifier circuit; 36-a signal processing circuit;
311-an electromagnet; 312 — a detection coil; 313-a probe cover; 314-a probe housing; 315-a separator plate; 316-wear resistant block; 317-joint.
Detailed Description
For convenience of understanding, the carbon steel pipeline residual wall thickness rapid inspection device and the use method thereof provided by the embodiment of the invention are described in detail below with reference to the attached drawings of the specification.
The embodiment of the invention provides a carbon steel pipeline residual wall thickness quick inspection device, which comprises the following components as shown in figures 1 and 2: the system comprises an upper computer control system 1 and a lower computer system connected with the upper computer control system 1, wherein the lower computer system comprises an unmanned aerial vehicle system 2 and an electromagnetic ultrasonic detection system 3 connected with the unmanned aerial vehicle system 2;
the unmanned aerial vehicle system 2 includes: the unmanned aerial vehicle system comprises an unmanned aerial vehicle body 22 with a camera 21, and a power module 23, a wireless communication module 24 and a GPS positioning module 25 which are positioned in the unmanned aerial vehicle body 22, wherein the unmanned aerial vehicle system 2 is used for taking charge of the flight of the whole lower computer system and is controlled by a wireless handle;
the electromagnetic ultrasonic detection system 3 includes: the detection system comprises a detection system body 30 and a detection probe 31 connected with the detection system body 30, and a component circuit of the electromagnetic ultrasonic detection system 3 is arranged in the detection system body 30.
Compared with the prior art, the carbon steel pipeline residual wall thickness quick inspection device provided by the embodiment of the invention has the following advantages:
the carbon steel pipeline residual wall thickness rapid inspection device provided by the embodiment of the invention is suitable for wall thickness detection of a carbon steel pipeline placed on the ground or an overhead carbon steel metal pipeline, the pipeline can be placed outdoors or indoors, an electromagnetic ultrasonic detection system is brought to a to-be-detected part of the detected pipeline through an unmanned aerial vehicle, the device is particularly suitable for detecting the wall thickness of the pipeline at a long distance and a part which is difficult to contact, a detection scaffold does not need to be erected, manpower and material resources are saved, and the labor intensity is effectively reduced.
In practical application, as shown in fig. 2, the unmanned aerial vehicle system 2 and the electromagnetic ultrasonic detection system 3 can be fixedly connected through bolts; furthermore, the outer surface of the bottom of the detection probe 31 is provided with an external thread, and the detection probe 31 and the detection system body 30 can be connected through the thread.
Wherein, host computer control system 1 can comprise panel computer and host computer software, and unmanned aerial vehicle system 2's flight is controlled by wireless handle, and host computer software on the panel computer is used for showing in real time that camera 21 transmits on the unmanned aerial vehicle body 22 is detected the pipeline scene image to the detection position coordinate of record pipeline, the pipeline wall thickness of simultaneous recording detection position.
Specifically, above-mentioned power module 23 can be by rechargeable lithium ion battery group and power conversion circuit composition, and this lithium ion battery group's output voltage can be 12V, and power conversion circuit can convert 12V voltage into 5V and 3.3V to provide the electric energy for unmanned aerial vehicle system 2 and electromagnetism ultrasonic detection system 3.
Further, the wireless communication module 24 is configured to transmit a control instruction of the upper computer control system 1, flight data of the unmanned aerial vehicle system 2, image data of the camera 21, position data of the GPS positioning module 25, and a wall thickness detection result of the electromagnetic ultrasonic detection system 3.
Furthermore, the GPS positioning module 25 can be used to determine the positioning data of the pipeline detection position; the camera 21 can be used for shooting the flight process of the unmanned aerial vehicle system 2 and image information of a part to be detected.
In practical application, as shown in fig. 1, the circuit of the electromagnetic ultrasonic detection system 3 may include: a control system 32, and a probe switch circuit 33 and a transmission circuit 34 connected to the control system 32, and the transmission circuit 34 may be connected to the detection probe 31, the reception amplification circuit 35, and the signal processing circuit 36 in this order.
The control system 32 can be built based on an ARM and FPGA chip system, is used for controlling the synchronous coordination of the electromagnetic ultrasonic detection system 3, is used for switching on and off the probe switch circuit 33, calculates the wall thickness of the detected pipeline from the signal processing circuit 36, and is connected with the wireless communication module 24 so as to upload the pipeline wall thickness result to the upper computer control system 1;
when the measurement is started, the ARM chip controls the FPGA chip to output square wave pulses to the transmitting circuit 34 and transmit signals.
Specifically, the probe switch circuit 33 may adopt two normally open relays to control a power supply circuit of the electromagnet 311 in the detection probe 31, and the power supply voltage is 12V voltage provided by the lithium ion battery pack, wherein the COM1 and COM2 ports are connected to the interface of the detection probe 31, and ensure that the voltage is applied to two ends of the electromagnet 311 in the probe;
the probe switch circuit 33 is connected to the ARM chip in the control system 32 through the LVDS82N interface, and the ARM chip controls the on/off of the relay.
Further, the transmitting circuit 34 can be used to amplify the power of the transmitted signal, and the square wave pulse output by the control system 32 is amplified to a high voltage pulse of ± 300V or more by the amplifying action of the switch driving circuit and the high voltage circuit in the transmitting circuit 34, and drives the detection coil 312 inside the detection probe 31 to transmit the ultrasonic signal.
Furthermore, the receiving amplifier circuit 35 may be composed of an amplifier chip and a filter chip, and may be configured to amplify the millivolt voltage signal received by the detection probe 31 to a voltage level; the signal processing circuit 36 may be composed of a data acquisition chip and an ARM chip system, and under the condition that the sound velocity of the detected pipeline is known, the wall thickness of the detected pipeline is calculated according to the reflection time of the reflected signals of the surface and the bottom of the detected pipeline.
Still further, as shown in fig. 3, the detection probe 31 may include: a probe shell 314 matched with the probe cover 313, wherein an electromagnet 311 is arranged in the probe shell 314, a separation plate 315 can be arranged at the bottom of the electromagnet 311, a wear-resistant block 316 can be arranged at the bottom of the separation plate 315, and a detection coil 312 is arranged between the separation plate 315 and the wear-resistant block 316;
the electromagnet 311 may be a dc electromagnet, and is composed of a coil, an iron core, and an armature, and the iron core and the armature may be processed with center holes, and the lead-out wire of the electromagnet 311 is passed through the center hole and connected to the connector 317, and the lead-out wire of the detection coil 312 is also passed through the center hole and connected to the connector 317;
the lead-out wires of the electromagnet 311 can be connected with COM1 and COM2 ports of the probe switch circuit 33 through a connector 317; the detection coil 312 can be used as both a transmission coil and a reception coil, and two lead wires thereof are connected to the joint J3 in the transmission circuit 34 and the joint J1 in the reception amplification circuit 35.
In actual production, the probe housing 314 and the probe cover 313 may be made of stainless steel, and the two may preferably be connected by screw threads; the isolation plate 315 and the wear-resistant block 316 can be made of teflon; the detection coil 312 may be wound by an enameled wire.
The embodiment of the invention further provides a use method of the carbon steel pipeline residual wall thickness quick inspection device, which comprises the following steps:
step S1, determining the position of the pipeline to be detected according to the pipeline construction drawing or the detection working drawing;
s2, completing the assembly of the whole system, installing the detection probe to the bottom of the shell of the electromagnetic ultrasonic detection system, and completing the circuit connection of the detection probe and the electromagnetic ultrasonic detection system;
step S3, starting an upper computer, connecting the upper computer and the unmanned aerial vehicle, starting a lower computer of the wall thickness measuring system, setting material sound velocity data according to the type of the detected pipeline material, and inputting the material sound velocity data into a signal processing circuit by an upper computer control system;
s4, operating a control handle of the unmanned aerial vehicle, flying the unmanned aerial vehicle to the upper part of the pipeline to be detected, judging whether the unmanned aerial vehicle is positioned at the part to be detected of the pipeline to be detected according to position data information sent back by the GPS positioning module, and controlling the unmanned aerial vehicle to gradually approach the pipeline to be detected by using the camera;
step S5, opening a probe switch circuit, wherein the electromagnet has magnetism to adsorb the whole detection system to the outer wall of the detected pipeline;
step S6, after the positioning of the detected part is finished, operating a control system in the electromagnetic ultrasonic detection system on an upper computer control system, starting a transmitting circuit, exciting a detection coil in the electromagnetic ultrasonic detection probe to transmit ultrasonic waves, receiving ultrasonic wave reflection signals of the inner wall of the pipeline by the detection coil, after the amplitude of echo signals is amplified by a receiving and amplifying circuit, finishing signal acquisition and wall thickness calculation by a signal processing circuit, and sending wall thickness detection results to the upper computer system by the control system;
step S7, after the wall thickness measurement of a part to be detected is completed, starting the propeller of the unmanned aerial vehicle, closing the probe switch circuit, cutting off the electromagnetic iron, and driving the whole detection system to the next detection part by the unmanned aerial vehicle to continue the wall thickness detection;
and step S8, after the wall thickness detection work is finished, operating a control handle of the unmanned aerial vehicle to fly the unmanned aerial vehicle back to the recovery position, closing an upper computer and a lower computer of the wall thickness measurement system, and detaching the electromagnetic ultrasonic detection system and the detection probe.
In conclusion, the carbon steel pipeline residual wall thickness quick inspection device and the use method thereof provided by the embodiment of the invention can realize quick positioning of a detection position at a long distance, the electromagnetic ultrasonic detection system uses the electromagnet probe, and the electromagnet is in a power-off state and has no magnetism in the flight process of the unmanned aerial vehicle, so that the device has no interference and resistance to the flight process of the unmanned aerial vehicle; when the unmanned aerial vehicle flies to a part to be detected, whether the unmanned aerial vehicle reaches the part to be detected can be accurately judged through a camera carried by the unmanned aerial vehicle, and a GPS positioning module carried by the unmanned aerial vehicle can send an accurate positioning coordinate to an upper computer system; the unmanned aerial vehicle is fixed above the wall of the carbon steel pipe to be detected in a hovering mode, an electromagnet power supply circuit in the electromagnetic ultrasonic probe is started, after the electromagnet is magnetic, the whole unmanned aerial vehicle detection system is fixed to the part to be detected of the carbon steel pipe, the propeller of the unmanned aerial vehicle is stopped from rotating, the electromagnetic ultrasonic wall thickness detection system is started, and wall thickness measurement is completed; then, at first, the unmanned aerial vehicle screw is started to rotate, an electromagnet power supply circuit inside the electromagnetic ultrasonic probe is cut off, and after the magnetism of the electromagnet disappears, the unmanned aerial vehicle drives the whole detection system to take off and move to the next detection position to start the next detection.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (11)
1. The utility model provides a quick inspection device of carbon steel pipeline surplus wall thickness which characterized in that includes: the system comprises an upper computer control system and a lower computer system connected with the upper computer control system, wherein the lower computer system comprises an unmanned aerial vehicle system and an electromagnetic ultrasonic detection system connected with the unmanned aerial vehicle system;
the unmanned aerial vehicle system includes: the unmanned aerial vehicle system is used for taking charge of the flight of the whole lower computer system and is controlled by a wireless handle;
the electromagnetic ultrasonic detection system comprises: the detection system comprises a detection system body and a detection probe connected with the detection system body, wherein the detection system body is internally provided with a component circuit of the electromagnetic ultrasonic detection system.
2. The carbon steel pipeline residual wall thickness quick inspection device according to claim 1, wherein the power supply module is composed of a rechargeable lithium ion battery pack and a power supply conversion circuit, the output voltage of the lithium ion battery pack is 12V, and the power supply conversion circuit can convert the 12V voltage into +/-5V and +/-3.3V and provide electric energy for the unmanned aerial vehicle system and the electromagnetic ultrasonic detection system.
3. The carbon steel pipeline residual wall thickness quick inspection device according to claim 1, wherein the wireless communication module is used for transmitting a control instruction of the upper computer control system, flight data of the unmanned aerial vehicle system, image data of the camera, position data of the GPS positioning module and a wall thickness detection result of the electromagnetic ultrasonic detection system.
4. The carbon steel pipeline residual wall thickness quick inspection device according to claim 1, wherein the GPS positioning module is used for determining positioning data of a pipeline detection position; the camera is used for shooting the flight process of the unmanned aerial vehicle system and the image information of the part to be detected.
5. The carbon steel pipeline residual wall thickness quick inspection device according to claim 2, wherein the component circuit of the electromagnetic ultrasonic detection system comprises: the device comprises a control system, a probe switch circuit and a transmitting circuit, wherein the probe switch circuit and the transmitting circuit are connected with the control system, and the transmitting circuit is sequentially connected with a detection probe, a receiving amplifying circuit and a signal processing circuit.
6. The carbon steel pipeline residual wall thickness quick inspection device according to claim 5, wherein the control system is built based on ARM and FPGA chip systems, is used for controlling synchronous coordination of the electromagnetic ultrasonic detection system, is used for switching on and off of the probe switch circuit, calculates the wall thickness of the detected pipeline from the signal processing circuit, and is connected with the wireless communication module so as to upload a pipeline wall thickness result to the upper computer control system;
when the measurement is started, the ARM chip controls the FPGA chip to output square wave pulses to the transmitting circuit and transmit signals.
7. The carbon steel pipeline residual wall thickness quick inspection device according to claim 6, wherein the probe switching circuit controls a power supply circuit of an electromagnet in the detection probe by adopting two normally open relays, the power supply voltage is 12V voltage provided by the lithium ion battery pack, ports COM1 and COM2 are connected with an interface of the detection probe, and the voltage of the ports COM1 and COM2 is ensured to be applied to two ends of the electromagnet in the probe;
the probe switch circuit is connected with an ARM chip in the control system through an interface LVDS82N, and the ARM chip controls the on and off of the relay.
8. The carbon steel pipeline residual wall thickness quick inspection device according to claim 6, wherein the transmitting circuit is used for amplifying power of a transmitting signal, and a square wave pulse output by the control system amplifies an excitation signal to a high voltage pulse of more than +/-300V through the amplification effect of a switch driving circuit and a high voltage circuit in the transmitting circuit, and drives a detection coil in the detection probe to transmit an ultrasonic signal.
9. The carbon steel pipeline residual wall thickness quick inspection device according to claim 6, wherein the receiving and amplifying circuit is composed of an amplifying chip and a filtering chip and is used for amplifying millivolt-level voltage signals received by the detection probe to a voltage level; the signal processing circuit is composed of a data acquisition chip and an ARM chip system, and under the condition that the sound velocity of the detected pipeline is known, the wall thickness of the detected pipeline is calculated according to the reflection time of the reflection signals of the surface and the bottom of the detected pipeline.
10. The carbon steel pipeline residual wall thickness quick inspection device according to claim 8, wherein the detection probe comprises: the detection coil is arranged between the isolating plate and the wear-resistant block;
the electromagnet is a direct current electromagnet and consists of a coil, an iron core and an armature, central holes are processed in the iron core and the armature, a lead-out wire of the electromagnet penetrates out of the central hole and is connected to a connector, and a lead-out wire of the detection coil also penetrates out of the central hole and is connected to the connector;
the lead-out wires of the electromagnets are connected with COM1 and COM2 ports of the probe switch circuit through the connectors; the detection coil is used as a transmitting coil and a receiving coil at the same time, and two leading-out wires of the detection coil are connected with a joint J3 in the transmitting circuit and a joint J1 in the receiving amplifying circuit at the same time.
11. The use method of the carbon steel pipeline residual wall thickness quick inspection device is characterized by comprising the following steps of:
step S1, determining the position of the pipeline to be detected according to the pipeline construction drawing or the detection working drawing;
s2, completing the assembly of the whole system, installing the detection probe to the bottom of the shell of the electromagnetic ultrasonic detection system, and completing the circuit connection of the detection probe and the electromagnetic ultrasonic detection system;
step S3, starting an upper computer, connecting the upper computer and the unmanned aerial vehicle, starting a lower computer of the wall thickness measuring system, setting material sound velocity data according to the type of the detected pipeline material, and inputting the material sound velocity data into a signal processing circuit by a control system of the upper computer;
s4, operating a control handle of the unmanned aerial vehicle, flying the unmanned aerial vehicle to the upper part of the pipeline to be detected, judging whether the unmanned aerial vehicle is positioned at the part to be detected of the pipeline to be detected according to position data information sent back by the GPS positioning module, and controlling the unmanned aerial vehicle to gradually approach the pipeline to be detected by using the camera;
step S5, opening a probe switch circuit, wherein the electromagnet has magnetism to adsorb the whole detection system to the outer wall of the detected pipeline;
step S6, after the positioning of the detected part is finished, operating a control system in the electromagnetic ultrasonic detection system on an upper computer control system, starting a transmitting circuit, exciting a detection coil in the electromagnetic ultrasonic detection probe to transmit ultrasonic waves, receiving ultrasonic wave reflection signals of the inner wall of the pipeline by the detection coil, after the amplitude of echo signals is amplified by a receiving and amplifying circuit, finishing signal acquisition and wall thickness calculation by a signal processing circuit, and sending wall thickness detection results to the upper computer system by the control system;
step S7, after the wall thickness measurement of a part to be detected is completed, starting the propeller of the unmanned aerial vehicle, closing the probe switch circuit, cutting off the electromagnetic iron, and driving the whole detection system to the next detection part by the unmanned aerial vehicle to continue the wall thickness detection;
and step S8, after the wall thickness detection work is finished, operating a control handle of the unmanned aerial vehicle to fly the unmanned aerial vehicle back to the recovery position, closing an upper computer and a lower computer of the wall thickness measurement system, and detaching the electromagnetic ultrasonic detection system and the detection probe.
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| CN117250198A (en) * | 2023-11-20 | 2023-12-19 | 中国科学院沈阳自动化研究所 | Double-arm cooperative detection device and detection method thereof |
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