CN114594154B - Intelligent flaw detection robot and detection method for underwater part of steel structure based on magnetic flux leakage detection technology - Google Patents

Intelligent flaw detection robot and detection method for underwater part of steel structure based on magnetic flux leakage detection technology Download PDF

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Publication number
CN114594154B
CN114594154B CN202210200136.1A CN202210200136A CN114594154B CN 114594154 B CN114594154 B CN 114594154B CN 202210200136 A CN202210200136 A CN 202210200136A CN 114594154 B CN114594154 B CN 114594154B
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detection
robot
propeller
magnetic flux
flaw detection
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CN114594154A (en
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陈迎春
吴峥
刘鑫禹
范效礼
秦法佳
王培亮
胡乃祥
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XINJIANG UYGUR AUTONOMOUS REGION INSPECTION INSTITUTE OF SPECIAL EQUIPMENT
Beijing University of Technology
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XINJIANG UYGUR AUTONOMOUS REGION INSPECTION INSTITUTE OF SPECIAL EQUIPMENT
Beijing University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • 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
    • G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract

The invention discloses an intelligent flaw detection robot for an underwater part of a steel structure based on a magnetic flux leakage detection technology and a detection method thereof, wherein the intelligent flaw detection robot comprises a waterproof sealed box body, and a controller is arranged in the box body; a chassis structure arranged at the bottom end of the carriage body; the magnetic flux leakage detection structure is arranged in the middle of the bottom end of the carriage body; an infrared detection structure is arranged on the side surface of each carriage body; the traction structure comprises a first propeller and at least four second propellers, the first propeller is arranged at the top end of the carriage body, at least one second propeller is arranged on each side face of the carriage body, and the controller is in control connection with the gyroscope module, the chassis structure, the magnetic flux leakage detection structure, the infrared detection structure and the traction structure. The invention can be used for detecting the underwater steel structure, reduces the consumption of a great deal of manpower and material resources and automatically completes detection.

Description

Intelligent flaw detection robot and detection method for underwater part of steel structure based on magnetic flux leakage detection technology
Technical Field
The invention relates to the technical field of steel structures, in particular to an intelligent flaw detection robot for an underwater part of a steel structure based on a magnetic flux leakage detection technology and a detection method.
Background
The magnetic leakage detection means that after ferromagnetic materials are magnetized, a magnetic leakage field is formed on the surfaces of the ferromagnetic materials due to the defects of the surfaces or the near surfaces of the ferromagnetic materials, and people can find out the defects by detecting the changes of the magnetic leakage field, namely, when the defects of magnetic lines cut by the materials exist, the defects or the structural state changes of the surfaces of the materials can change the magnetic permeability, the magnetic permeability of the defects is very small, the magnetic resistance is very large, the magnetic flux in a magnetic circuit is distorted, the flow direction of the magnetic induction lines can change, besides part of the magnetic flux directly bypasses the defects or the inside of the materials, part of the magnetic flux can leak to the upper part of the surfaces of the materials, the air bypasses the defects and then enters the materials, so that the magnetic leakage field is formed on the surfaces of the materials, and the underwater steel structures including marine oil platforms, underwater steel gates, marine wind power platforms, underwater pipelines, underwater steel piles of ports, berths, underwater parts of ships and the like have the effects of being very important in terms of nondestructive testing of the underwater steel structures regularly under the conditions of long-term high pressure and various natural causes.
The existing crawler-type magneto-acoustic composite detection robot cannot be used for underwater detection, the magneto-acoustic sound can be greatly influenced even if the magneto-acoustic sound is well waterproof, the magnetic field can also cause interference to the movement of the magneto-acoustic sound under water, the existing technology is basically aimed at the steel structure on water, firstly, because the underwater part is complex and changeable in structure and can be located at various positions in space, and therefore, the positioning of the land flaw detection vehicle can be greatly influenced due to the magnetic field even if the land flaw detection vehicle is well waterproof due to the influence of the magnetic field, the land flaw detection vehicle is difficult to accurately adsorb the land flaw detection vehicle on the designated position, secondly, many detection devices on the market at present need manual operation, the operation is not good under water, the labor cost is too high, and the intelligent underwater steel structure flaw detection vehicle capable of remotely controlling and self-detecting the surrounding environment is more needed.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an intelligent flaw detection robot for an underwater part of a steel structure based on a magnetic flux leakage detection technology and a detection method.
The invention discloses an intelligent flaw detection robot for an underwater part of a steel structure based on a magnetic flux leakage detection technology, which comprises a waterproof sealed box body, wherein a controller, a communication module and a gyroscope module are arranged in the box body;
the chassis structure is arranged at the bottom end of the carriage body;
the magnetic flux leakage detection structure is arranged in the middle of the bottom end of the carriage body;
an infrared detection structure is arranged on the side surface of each carriage body, and the number of the infrared detection structures arranged on the front side surface or the rear side surface of the carriage body is one more than that of the other three side surfaces;
The traction structure comprises a traction device, a traction device and a traction device,
The traction structure comprises a first propeller and at least four second propellers, the first propeller is arranged at the top end of the carriage body, at least one second propeller is arranged on each side face of the carriage body, and the controller is in control connection with the gyroscope module, the chassis structure, the magnetic flux leakage detection structure, the infrared detection structure and the traction structure.
Preferably, the chassis structure comprises symmetrically arranged driving structures at two sides of the bottom end of the carriage body and a cross beam connected with the driving structures, the bottom end of the magnetic flux leakage detection structure is connected with the cross beam, and the top end of the magnetic flux leakage detection structure is connected with the bottom end of the carriage body.
Preferably, the driving structure comprises a driving wheel, a driven wheel, a track and a driver, wherein the track connects the driving wheel and the driven wheel, and the driver is used for driving the driving wheel to move.
Preferably, a transverse plate is further arranged between the driving wheel and the driven wheel, one side of the transverse plate opposite to the transverse plate is fixedly connected with the transverse beam, and a first electromagnet is arranged at the bottom end of the other side of the transverse plate.
Preferably, the infrared detection structure comprises a shell, a first cylindrical steering engine is fixedly connected to the inside of the shell, a first gear is fixedly connected to the output end of the first cylindrical steering engine, a second gear is meshed with one side of the first gear, an infrared ranging sensor is fixedly connected to one side of the second gear, and one side of the second gear is rotatably connected with the inner wall of the shell.
Preferably, the magnetic flux leakage detection structure comprises a second electromagnet, and a hall element is fixedly connected to the bottom of the second electromagnet.
Preferably, the first propeller and the second propeller each comprise a motor and a propeller driven by the motor, and the second propeller is connected with the vehicle box body through a second cylindrical steering engine.
The invention also provides a detection method of the intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology, which comprises the following steps:
The flaw detection robot is placed in water, and after sinking to a certain depth, a first propeller is started to enable the flaw detection robot to be suspended in the water;
after stabilization, an infrared detection structure is started, and the position of the detected structure is detected;
Starting a second propeller to adjust the position of the flaw detection robot, so that one side with two infrared detection structures is aligned to the detected structure, and the detection distances of the two infrared detection structures are the same;
Starting a first propeller to enable the flaw detection robot to move to a position 2-3 meters away from the tested structure;
Rotating the aligned two infrared detection structures by 90 degrees in the country of the infrared detection structures opposite to the two infrared detection structures;
Simultaneously, the second propeller is adjusted so that the whole flaw detection robot turns 90 degrees;
after the steering is finished, the second propeller is regulated again, so that the flaw detection robot is parallel to the detected structure, and the return values of the two infrared detection structures and the infrared detection structure opposite to the two infrared detection structures are the same;
adjusting the first propeller to enable the flaw detection robot to be adsorbed on the tested structure, and starting a magnetic flux leakage detection structure;
starting a chassis structure, enabling the flaw detection robot to move on the tested structure, and transmitting detection data back through a communication module;
after the detection is finished, the first propeller is regulated to send out reverse force, and the flaw detection robot is separated from the detected structure and floats to the water surface.
Preferably, the movement and posture adjustment of the flaw detection robot in water are controlled by a cascade PID control method.
Preferably, the cascade PID control method control includes:
establishing a dynamic model reference standard based on a ground coordinate system and a machine body coordinate system;
And (3) carrying out stress analysis on the flaw detection robot in water to obtain a kinematic model of a pitching control system of the ROV, namely:
Wherein: p and Q are parameters; g is gravity acceleration; m is mass; u1, u2, u3, u4 are the thrust of the second propeller in front, back, left and right of the ROV; l1 is the distance from u1 to the origin of the machine body coordinate system; l2 is the distance between the floating center and the heavy center of the ROV; θ is the pitch angle of the ROV;
Converting the kinematic model into a state space model, namely:
Wherein: x1 (t) is the pitch angle of the underwater robot; t is time; x2 (t) is the angular velocity of the depression angle of the underwater robot; a1, A2 and B are parameters of a pitch control system of the ROV and can be obtained through identification; u (t) is the output signal.
Compared with the prior art, the invention has the beneficial effects that:
The invention can be accurately adsorbed on the detected structure, does not need manual operation, can directly send the detected result by intelligent operation, and has simple operation.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a side view of the structure of the present invention;
FIG. 4 is a perspective view of the chassis structure of the present invention;
FIG. 5 is a perspective view of the small propeller structure of the present invention;
FIG. 6 is a perspective view of a leakage flux detection structure according to the present invention;
FIG. 7 is a schematic diagram of an infrared detection structure of the present invention;
FIG. 8 is a perspective view of the structure of the case of the present invention;
FIG. 9 is a top view of the internal structure of the case of the present invention;
FIG. 10 is a schematic diagram of a test path plan according to the present invention;
FIG. 11 is a reference base schematic of the kinetic model of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is described in further detail below with reference to the attached drawing figures:
Referring to fig. 1, the invention provides an intelligent flaw detection robot for an underwater part of a steel structure based on a magnetic flux leakage detection technology, which comprises a waterproof sealed box body 1, wherein a controller 8, a communication module 10 and a gyroscope module 9 are arranged in the box body 1;
the chassis structure 3 is arranged at the bottom end of the carriage body 1 and is used for moving on a tested structure;
the magnetic flux leakage detection structure 2 is arranged in the middle of the bottom end of the carriage body 1, and the magnetic flux leakage detection structure 2 is used for carrying out magnetic flux leakage detection and transmitting data back to the controller 8;
the side surface of each carriage body 1 is provided with an infrared detection structure 6, and the number of the infrared detection structures 6 arranged on the front side surface or the rear side surface of the carriage body 1 is one more than that of the other three side surfaces;
The traction structure comprises a traction device, a traction device and a traction device,
Referring to fig. 2, the traction structure includes a first propeller 4 and at least four second propellers 5, the first propeller 4 is disposed at the top end of the vehicle box body 1, at least one second propeller 5 is disposed on each side surface of the vehicle box body 1, and the controller 8 is controlled to connect the gyroscope module 9, the chassis structure 3, the magnetic flux leakage detection structure 2, the infrared detection structure 6 and the traction structure.
Specifically, the first propeller 4 is responsible for the floating and submerging of the robot and the underwater propulsion, the large propeller driven by the high-power motor is entirely wrapped in the fairing to reduce the influence of a plurality of environmental resistances and is fixed at the center of the top end of the carriage body 1, the robot is mainly controlled to float and submerge, the second propellers 5 are fixedly connected to the periphery of the carriage body 1, the second propellers 5 can turn, and the robot is controlled to be in various postures and turns in water.
Referring to fig. 3 and 4, the chassis structure 3 includes a beam 37 symmetrically disposed with a driving structure on both sides of a bottom end of the vehicle case 1 and connected to the driving structure, and the bottom end of the magnetic flux leakage detecting structure 2 is connected to the beam 37 and the top end is connected to the bottom end of the vehicle case 1. The driving structure includes a driving wheel 32, a driven wheel 33, a track 31, and a driver 36, the track 31 connects the driving wheel 32 and the driven wheel 33, and the driver 36 is used for driving the driving wheel 32 to move. A transverse plate 34 is arranged between the driving wheel 32 and the driven wheel 33, one side opposite to the transverse plate 34 is fixedly connected with a transverse beam 37, and the bottom end of the other side of the transverse plate 34 is provided with a first electromagnet 35.
In this embodiment, the driver 36 is a motor and is waterproof. The first electromagnet 35 is not opened when the robot floats and descends, and is opened when the robot performs the adsorption step, so that the adsorption function is realized.
Referring to fig. 5, the infrared detection structure 6 includes a housing 61, a first cylindrical steering engine 62 is fixedly connected to the interior of the housing 61, a first gear 63 is fixedly connected to an output end of the first cylindrical steering engine 62, a second gear 64 is meshed to one side of the first gear 63, an infrared ranging sensor 65 is fixedly connected to one side of the second gear 64, and one side of the second gear 64 is rotatably connected to an inner wall of the housing 61.
In the present embodiment, in order to save costs, the above-described infrared detection structures 6 are provided on both front and rear sides of the vehicle box 1, and the remaining both side surfaces directly mount the infrared ranging sensor 6565 on the vehicle box 1.
Referring to fig. 6, the magnetic flux leakage detection structure 2 includes a second electromagnet 21, and a hall element 22 is fixedly connected to the bottom of the second electromagnet 21. The second electromagnet is mainly used for being opened after adsorption to provide a magnetic field, the bottom of the second electromagnet 21 is fixedly connected with a Hall element 22, and the Hall element 22 receives a returned magnetic field so as to achieve the magnetic leakage detection effect.
Referring to fig. 7, the first propeller 4 and the second propeller 5 each include a motor and a propeller driven by the motor, and the second propeller 5 is connected to the vehicle case 1 through a second cylindrical steering engine 51. The second propeller 5 is driven by a small motor to drive a small propeller to be fixed in a streamline shell 61, and the main function is to change the direction and the posture of the intelligent vehicle in water.
Referring to fig. 8 and 9, the top end of the vehicle body 1 is provided with a cover 77, sealing and waterproofing treatment is performed with the body of the vehicle body 1, and the infrared detection structure 6 and the second propeller 5 are both provided on the cover 7. The vehicle box 1 is internally provided with a controller 8, a communication module 10 and a gyroscope module 9. The controller 8 is a single chip microcomputer control main board, and the bottom end inside the carriage body 1 is fixedly connected with the controller 8, and the two sides of the controller 8 are respectively and fixedly connected with a gyroscope module 99 and a wifi communication module 1010.
The invention also provides a detection method of the intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology, which comprises the following steps:
The flaw detection robot is put into water, and after sinking a certain depth, the first propeller 4 is started to enable the flaw detection robot to be suspended in the water;
after stabilization, the infrared detection structure 6 is started, and the position of the detected structure is detected; in this embodiment, 5 infrared ranging sensors 65 are started, and the 5 infrared ranging sensors 65 emit infrared rays around and obtain a return value, detect the position of the structure to be measured, and detect the position;
starting a second propeller 5 to adjust the position of the flaw detection robot, so that one side with two infrared detection structures 6 is aligned with the structure to be detected, and the detection distances of the two infrared detection structures 6 are the same, namely the flaw detection robot faces the structure to be detected;
Starting a first propeller 4 to enable the flaw detection robot to move to a position 2-3 meters away from a tested structure;
the two aligned infrared detection structures 6 and the infrared detection structure 6 opposite to the two aligned infrared detection structures are rotated by 90 degrees in the countryside, and the obtained angle returns to the controller 8;
Simultaneously, the second propeller 5 is adjusted so that the flaw detection robot is integrally turned by 90 degrees; at this time, the return value obtained by the infrared ranging sensor 65 should be unchanged, and ninety degrees of rotation of the infrared ranging sensor 65 are counteracted by ninety degrees of rotation of the flaw detection robot;
after the steering is finished, the second propeller 5 is regulated again, so that the flaw detection robot is parallel to the detected structure, and the return values of the two infrared detection structures 6 and the infrared detection structure 6 opposite to the flaw detection robot are the same; at this time, the flaw detection robot is parallel to the tested structure;
Adjusting the first propeller 4 to enable the flaw detection robot to be adsorbed on a tested structure, and starting the magnetic leakage detection structure 2; starting a second electromagnet 21 and a Hall element 22 on the magnetic flux leakage detection structure 2, and applying a force to the first propeller 4 to enable the second electromagnet and the Hall element to be adsorbed on a detected structure;
the movement and posture adjustment of the flaw detection robot in water are controlled by a cascade PID control method, and the pitch angle of the robot is adjusted so as to effectively reduce the resistance influence caused by water flow;
Referring to fig. 11, a ground coordinate system e= { Og, xg, yg, zg } and a body coordinate system b= { Ob, xb, yb, zb } are selected as reference standards for establishing a dynamic model, the attitude of the ROV is represented by an euler angle vector n= [ Φθψ ] T, the rotational angular velocity of the ROV with respect to the body coordinate system B is represented by w= [ pqr ] T, u1, u2, u3, u4 are thrust forces of front, rear, left, and right propellers of the ROV, and they are point-symmetric with respect to the center of buoyancy Ob, L1 is a distance from u1 to a center of buoyancy Ob (also body coordinate system origin) of the ROV, M is a center of gravity of the ROV, L2 is a distance between the center of buoyancy and a center of gravity of the ROV, θ is a pitch angle of the ROV, and a dynamic model of a pitch control system of the ROV can be obtained by force analysis of fig. 2:
Wherein P and Q are parameters related to the system itself; g is gravity acceleration; m is mass.
Converting formula (1) into a state space model
Wherein x1 (t) is the pitch angle of the underwater robot; t is time; x2 (t) is the angular velocity of the depression angle of the underwater robot; a1, A2 and B are parameters of a pitch control system of the ROV and can be obtained through identification; u (t) is an output signal representing the sum of the thrust of the front and rear 2 propellers of the system, i.e. the input of the system.
When the underwater robot finishes tasks under water, various postures of the underwater robot are required to be controlled, such as depth, yaw, pitching and the like, posture information of the ROV is acquired in real time by various sensors on board, such as an inertial navigation sensor, a water level pressure sensor and the like, as shown in formula (1), a pitching control system of the ROV contains nonlinear factors, and single-stage PID control cannot meet the control precision, so that the underwater robot is controlled by adopting a cascade PID control method, namely, the posture angular speed control with high response speed is placed in an inner ring, and the posture angular control with low response speed is placed in an outer ring.
The cascade PID control system firstly performs outer loop control, namely pitch angle loop control, then performs inner loop control, namely pitch angle speed loop control, wherein a reference value xr of a pitch angle is given firstly, then a reference value of a pitch angle speed is obtained after calculation by an outer loop PID control algorithm, then an input value of an ROV pitch control system can be obtained after calculation by an inner loop PID control algorithm, and an output value x1 of the system can follow the given reference value xr through the series of control.
Starting the chassis structure 3, enabling the flaw detection robot to move on the tested structure, and transmitting detection data back through the communication module 10;
Specifically, detection is started, at this time, the position of the flaw detection robot is obtained through the gyroscope module 99 and the infrared ranging sensors 65 on two sides, the flaw detection robot is located on the center line of the detected structure (the infrared return values on two sides are equal), the flaw detection robot moves to the most edge of the center line of the detected structure, and one side of the infrared ranging sensor 6565 is in a cliff state; by planning the path (as shown in fig. 10) to detect the left side of the object and then detect the right side of the object, the obtained data is transmitted back to the upper computer in real time through the wifi communication module 10 to be displayed, the coordinate of the center line is given as the y axis, the most edge of the detected structure is the coordinate in the coordinate system established by the x axis, and the flaw detection of each part of the surface of the detected structure can be realized, and after the whole plane is detected.
After the detection is finished, the magnetic leakage detection structure 2 is closed, the first propeller 4 is adjusted to send out reverse force, and the flaw detection robot is separated from the detected structure and floats to the water surface.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. Intelligent flaw detection robot of steel construction underwater part based on magnetic leakage detection technique, its characterized in that includes:
The waterproof sealing car comprises a waterproof sealing car body, wherein a controller, a communication module and a gyroscope module are arranged in the car body;
the chassis structure is arranged at the bottom end of the carriage body;
the magnetic flux leakage detection structure is arranged in the middle of the bottom end of the carriage body;
an infrared detection structure is arranged on the side surface of each carriage body, and the number of the infrared detection structures arranged on the front side surface or the rear side surface of the carriage body is one more than that of the other three side surfaces;
The traction structure comprises a traction device, a traction device and a traction device,
The traction structure comprises a first propeller and at least four second propellers, the first propeller is arranged at the top end of the carriage body, at least one second propeller is arranged on each side face of the carriage body, and the controller is in control connection with the gyroscope module, the chassis structure, the magnetic flux leakage detection structure, the infrared detection structure and the traction structure;
the detection method of the flaw detection robot comprises the following steps:
the flaw detection robot is placed in water, and after sinking to a certain depth, the first propeller is started to enable the flaw detection robot to be suspended in the water;
After stabilization, starting the infrared detection structure, and detecting the position of the detected structure;
Starting the second propeller to adjust the position of the flaw detection robot, so that one side with two infrared detection structures is aligned to the detected structure, and the detection distances of the two infrared detection structures are the same;
Starting the first propeller to enable the flaw detection robot to move to a position 2-3 meters away from the tested structure;
rotating the aligned two infrared detection structures and the infrared detection structure opposite to the two infrared detection structures downwards by 90 degrees;
Simultaneously, the second propeller is adjusted so that the whole flaw detection robot turns 90 degrees;
after the steering is finished, the second propeller is regulated again, so that the flaw detection robot is parallel to the detected structure, and the return values of the two infrared detection structures and the infrared detection structure opposite to the two infrared detection structures are the same;
Adjusting the first propeller to enable the flaw detection robot to be adsorbed on the tested structure, and starting the magnetic flux leakage detection structure;
Starting the chassis structure, enabling the flaw detection robot to move on the tested structure, and transmitting detection data back through a communication module;
after the detection is finished, the first propeller is regulated to send out reverse force, and the flaw detection robot is separated from the detected structure and floats to the water surface.
2. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 1, wherein the chassis structure comprises cross beams symmetrically arranged on driving structures at two sides of the bottom end of the box body, the bottom end of the magnetic flux leakage detection structure is connected with the cross beams, and the top end of the magnetic flux leakage detection structure is connected with the bottom end of the box body.
3. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 2, wherein the driving structure comprises a driving wheel, a driven wheel, a crawler and a driver, the crawler connects the driving wheel and the driven wheel, and the driver is used for driving the driving wheel to move.
4. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 3, wherein a transverse plate is further arranged between the driving wheel and the driven wheel, one opposite side of the transverse plate is fixedly connected with the transverse beam, and a first electromagnet is arranged at the bottom end of the other side of the transverse plate.
5. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 1, wherein the infrared detection structure comprises a shell, a first cylindrical steering engine is fixedly connected to the inside of the shell, a first gear is fixedly connected to the output end of the first cylindrical steering engine, a second gear is meshed to one side of the first gear, an infrared ranging sensor is fixedly connected to one side of the second gear, and one side of the second gear is rotatably connected with the inner wall of the shell.
6. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 1, wherein the magnetic flux leakage detection structure comprises a second electromagnet, and a Hall element is fixedly connected to the bottom of the second electromagnet.
7. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 1, wherein the first propeller and the second propeller comprise motors and propellers driven by the motors, and the second propeller is connected with the box body of the car through a second cylindrical steering engine.
8. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology according to claim 1, wherein the movement and the posture adjustment of the flaw detection robot in water are controlled by a cascade PID control method.
9. The intelligent flaw detection robot for the underwater part of the steel structure based on the magnetic flux leakage detection technology as set forth in claim 8, wherein the cascade PID control method control includes:
establishing a dynamic model reference standard based on a ground coordinate system and a machine body coordinate system;
And (3) carrying out stress analysis on the flaw detection robot in water to obtain a kinematic model of a pitching control system of the ROV, namely:
Wherein: p and Q are parameters; g is gravity acceleration; m is mass; u1, u2, u3, u4 are the thrust of the second propeller in front, back, left and right of the ROV; l1 is the distance from u1 to the origin of the machine body coordinate system; l2 is the distance between the floating center and the heavy center of the ROV; θ is the pitch angle of the ROV;
Converting the kinematic model into a state space model, namely:
Wherein: x1 (t) is the pitch angle of the underwater robot; t is time; x2 (t) is the angular velocity of the depression angle of the underwater robot; a1, A2 and B are parameters of a pitch control system of the ROV and can be obtained through identification; u (t) is the output signal.
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