CN117030836A - Remote-controlled automatic magnetic flux leakage detection method - Google Patents
Remote-controlled automatic magnetic flux leakage detection method Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 137
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 85
- 230000004907 flux Effects 0.000 title claims abstract description 29
- 238000012163 sequencing technique Methods 0.000 claims abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 33
- 239000000725 suspension Substances 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 4
- 230000005284 excitation Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 12
- UQMRAFJOBWOFNS-UHFFFAOYSA-N butyl 2-(2,4-dichlorophenoxy)acetate Chemical compound CCCCOC(=O)COC1=CC=C(Cl)C=C1Cl UQMRAFJOBWOFNS-UHFFFAOYSA-N 0.000 description 10
- 230000007547 defect Effects 0.000 description 9
- 238000012360 testing method Methods 0.000 description 9
- 230000006698 induction Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 239000003302 ferromagnetic material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000383 hazardous chemical Substances 0.000 description 2
- 238000009659 non-destructive testing Methods 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000002313 adhesive film Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 231100000481 chemical toxicant Toxicity 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- 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
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Abstract
The application relates to an automatic magnetic flux leakage detection method capable of being controlled remotely. The automatic magnetic flux leakage detection method capable of being controlled remotely comprises the following steps: an automatic magnetic flux leakage detection method capable of being controlled remotely comprises the following steps: s10, setting an automatic detection device and a positioning mark assembly; s20, respectively placing three positioning pieces at three point positions of the bottom surface in the storage tank to be detected; s30, acquiring the bottom surface diameter of the storage tank to be detected through the identification component, and identifying the bottom surface of the storage tank to be detected as a detection zone; marking the positions of the positioning mark components on the detection belt respectively; s40, dividing the detection belt into areas, sequencing the detection belts, driving the main shell to move through the walking assembly, enabling the detection assembly to automatically detect the detection belts along the serial numbers in sequence, and recording detection results. The remote-controllable automatic magnetic flux leakage detection method has the advantage of automatically completing detection.
Description
Technical Field
The application relates to the technical field of nondestructive testing, in particular to an automatic magnetic flux leakage detection method capable of being controlled remotely.
Background
The method has definite inspection standard for the fixed steel normal pressure liquid pressure container or pressure container. And the safety condition of the dangerous chemical storage tank is evaluated by the dangerous chemical storage tank inspection mechanism according to the inspection and detection condition, the use history and the operation condition. The hazardous chemical substance storage tank is generally fully checked for the first time within 3 years after being put into use. The subsequent test cycle is generally performed every 3 to 6 years by the test institution according to the safety condition of the hazardous chemical substances storage tank and in agreement with the use unit. The medium is a highly toxic chemical, and the test period should be properly shortened. The inspection items generally comprise data inspection, macro inspection, wall thickness measurement, safety accessory, instrument inspection and the like, and surface nondestructive inspection, magnetic leakage detection, acoustic emission detection, static electricity conduction device and grounding resistance test, pressure (leakage) test and the like can be adopted if necessary. Even further, the inspection standard clearly indicates that the surface inspection of the tank made of ferromagnetic material should be preferentially performed by magnetic particle inspection.
In the conventional technical means, the bottom of the storage tank is divided into areas, and the areas are detected and corresponding detection reports are generated; alternatively, non-destructive testing (magnetic leakage testing therein) is performed along the tank bottom weld. The problem with this approach is that by manual implementation, and the larger the area of the tank bottom, the worse the accuracy of the detection, and possibly the problem of missed detection, repeated detection is required.
Disclosure of Invention
Accordingly, an object of the present application is to provide a remotely controllable automatic leakage flux detection method, which has the advantages of automatic detection and avoidance of leakage detection.
In one aspect of the present application, an automated magnetic flux leakage detection method capable of being remotely controlled is provided, comprising the steps of:
s10, setting an automatic detection device and a positioning mark assembly;
the automatic detection device comprises a main shell, a detection assembly, a walking assembly and an identification assembly; the detection assembly, the walking assembly and the identification assembly are respectively arranged on the main shell;
the detection assembly comprises an excitation coil, an iron core, a detection bracket, a bottom plate and a magnetic sensor; the exciting coil is wound on the iron core, the iron core is provided with two ends, two magnetic poles are respectively formed at the two ends of the iron core when the exciting coil is electrified, the iron core is arranged on the detection support, the bottom plate is arranged below the exciting coil and is arranged on the detection support, and the magnetic sensors are arranged on the bottom surface of the bottom plate;
the main shell is internally provided with a controller, a processor and a power supply, the exciting coil is electrically connected with the power supply, the magnetic sensor is electrically connected with the controller, and the controller is respectively electrically connected with the processor and the power supply;
the positioning mark assembly comprises three positioning pieces;
s20, respectively placing three positioning pieces at three point positions of the bottom surface in the storage tank to be detected;
s30, acquiring the bottom surface diameter of the storage tank to be detected through the identification component, and identifying the bottom surface of the storage tank to be detected as a detection zone; marking the positions of the positioning mark components on the detection belt respectively;
s40, dividing the detection belt into areas, sequencing the detection belts, driving the main shell to move through the walking assembly, enabling the detection assembly to automatically detect the detection belts along the serial numbers in sequence, and recording detection results.
According to the remote-controllable automatic magnetic flux leakage detection method, the automatic detection device is arranged, so that the detection process can be automatically completed; during detection, firstly, the bottom surface size of the storage tank to be detected is obtained according to the identification component, wherein the bottom surface size comprises the diameter and the area of the bottom surface, and then the pattern of the bottom surface is identified as a detection zone in the processing system; secondly, the positioning mark component is placed in the storage tank to be detected, and can be placed on the bottom surface of the storage tank to be detected or on the side wall of the storage tank to be detected, and the placement positions of the three positioning pieces are different; detecting the relative position of the positioning piece on the detection belt or the point position of the detection belt through the identification component so as to judge and generate the current position of the main shell; and finally, under the drive of the traveling assembly, the detection assembly travels along the set route of the detection belt and completes the detection of the bottom surface of the storage tank to be detected. The detection method not only can realize automatic detection, but also has the advantages of established automatic detection route and accurate direction, and avoids the phenomenon of missed detection.
Further, in step S30, the detection band includes an outer band and a cross band;
the outer ring belt is annular and is arranged along the circumference of the bottom surface of the storage tank to be detected;
the transverse grid belts are arranged in parallel and are respectively arranged in the outer ring belt;
the width of the outer annular belt is the same as the width of the transverse grid belt;
and sequencing the plurality of transverse grid belts, and correspondingly marking the positions of the three positioning pieces and the corresponding transverse grid belts to obtain the positions of the transverse grid belts or the outer endless belts of the positioning pieces.
Further, the bottom plate is circular;
a central line is formed on the bottom surface of the bottom plate, and passes through the center of the bottom surface of the bottom plate; the length direction of the center line is perpendicular to the length direction of the iron core;
the magnetic sensors are distributed on the bottom surface of the bottom plate along concentric circles, and the magnetic sensors positioned on two sides of the central line are symmetrically distributed;
the other two magnetic sensors are positioned in the middle of the bottom surface of the bottom plate and are symmetrically distributed relative to the central line;
the signal detected by the magnetic sensor is transmitted to the controller.
Further, the width of the transverse lattice belt is equal to the distance between the two ends of the iron core.
Further, in step S40, when the main housing is driven to move by the walking assembly, the orientation calibration of the main housing is also performed to ensure that the walking path of the main housing is consistent with the concentric circle of the outer endless belt, or that the walking direction of the main housing is consistent with the length direction of the transverse lattice belt.
Further, the azimuth calibration includes: the relative positions and the directions of the three positioning pieces are identified through the identification component, and the direction of the main shell is judged;
and measuring the relative distance between the main shell and the side wall of the storage tank to be detected through the identification component so as to judge the specific position of the main shell on the corresponding detection belt.
Further, the walking assembly comprises a supporting arm, a driving wheel, a driven wheel, a steering driving assembly and a driver;
the four supporting arms are respectively arranged around the main shell;
driven wheels are rotatably mounted at the end parts of the three support arms, and a driving wheel is mounted at the end part of the other support arm through a universal joint, so that the driving wheel can rotate 360 degrees relative to the support arms;
the steering driving component is arranged on the supporting arm connected with the driving wheel so as to drive the universal joint to rotate;
the rotating shaft of the driving wheel is connected with the driver, and the driver drives the driving wheel to rotate around the rotating shaft of the driving wheel;
the steering driving assembly and the driver are respectively and electrically connected with the controller, and the power supply is used for providing electric energy for the steering driving assembly and the driver.
Further, the identification component comprises a distance sensor, a front side camera and a top camera;
the four distance sensors are respectively arranged around the main shell;
the front side camera is arranged on the front side surface of the main shell in the travelling direction;
the top camera is arranged on the top surface of the main shell;
the distance sensor, the front side camera and the top camera are respectively and electrically connected with the controller.
Further, the detection bracket comprises a top mounting plate, a suspension arm and a connecting rod;
the two sides of the top mounting plate are respectively provided with the suspension arms, the two sides of the iron core are respectively sleeved on the two suspension arms in a penetrating way, and the top mounting plate and the iron core are stably mounted through the suspension arms;
the other two sides of the top mounting plate are respectively provided with the connecting rods, and the other ends of the connecting rods are fixedly connected with the bottom plate;
the suspension arm, the top mounting plate and the connecting rod are respectively made of plastic materials.
Further, the end face of the bottom end of the iron core is lower than the bottom face of the bottom plate;
the wireless communication module is electrically connected with the controller so as to wirelessly transmit signals to the outside of the main shell.
For a better understanding and implementation, the present application is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a flow chart of an exemplary remotely controllable automated magnetic flux leakage detection method of the present application;
FIG. 2 is a front view of an exemplary automatic test equipment of the present application;
FIG. 3 is a schematic perspective view of an exemplary automatic inspection device according to the present application;
FIG. 4 is a bottom view of an exemplary automatic test equipment of the present application;
FIG. 5 is a schematic perspective view of an exemplary detection assembly of the present application;
FIG. 6 is a front view of an exemplary detection assembly of the present application;
FIG. 7 is a bottom view of an exemplary detection assembly of the present application;
FIG. 8 is a schematic view of an exemplary positioning marker assembly of the present application;
fig. 9 is a schematic diagram of an exemplary test strip of the present application.
Detailed Description
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Referring to fig. 1-9, an exemplary remote controllable automatic magnetic flux leakage detection method of the present application includes the steps of:
s10, setting an automatic detection device and a positioning mark assembly;
referring to fig. 2-9, the automatic detection device comprises a main housing 40, a detection assembly 10, a walking assembly and an identification assembly; the detection assembly 10, the walking assembly and the identification assembly are respectively arranged on the main shell 40;
the detection assembly 10 comprises an excitation coil 11, an iron core 12, a detection bracket, a bottom plate 13 and a magnetic sensor 14; the exciting coil 11 is wound on the iron core 12, the iron core 12 is provided with two ends, two magnetic poles are respectively formed at the two ends of the exciting coil 11 when the exciting coil 11 is electrified, the iron core 12 is arranged on the detection bracket, the bottom plate 13 is arranged below the exciting coil 11 and is arranged on the detection bracket, and the magnetic sensors 14 are arranged on the bottom surface of the bottom plate 13;
a controller (not shown), a processor (not shown), and a power supply (not shown) are provided in the main casing 40, the exciting coil 11 is electrically connected to the power supply, the magnetic sensor 14 is electrically connected to the controller, and the controller is electrically connected to the processor and the power supply, respectively;
the positioning mark assembly comprises three positioning pieces B.
The working principle of the detection device is as follows: the exciting coil 11 is energized and causes the iron core 12 to generate an induction magnetic field, two ends of the iron core 12 are respectively provided with two poles of a magnetic pole, the magnetic pole sweeps across the bottom surface of the storage tank to be detected, and then the change condition of the induction line is detected through the magnetic sensor 14. The detecting assembly 10 is mounted on the main housing 40, and the traveling assembly drives the main housing 40 to move so that the detecting assembly 10 moves together, and the movement direction is obtained according to the size of the bottom surface of the storage tank to be detected and the set path detected by the identifying assembly.
Brief description of the application principle of magnetic leakage detection in the present application: if the material is continuous and uniform, the magnetic induction lines in the material are restrained in the material, the magnetic flux is parallel to the surface of the material, almost no magnetic induction lines penetrate out of the surface, and no magnetic field exists on the surface of the detected workpiece. However, when there is a defect that cuts magnetic lines in a material (in the present application, the bottom surface of a tank), the defect or the change in the structure state of the surface of the material changes the magnetic permeability, and since the defect has a small magnetic permeability and a large magnetic resistance, the magnetic flux in the magnetic circuit is distorted, the flow direction of the magnetic lines changes, and besides a part of the magnetic flux passes through the defect directly or passes through the inside of the material to bypass the defect, a part of the magnetic flux leaks to the upper space of the surface of the material, and the air bypasses the defect and reenters the material again, thereby forming a leakage magnetic field at the defect on the surface of the material. The leakage magnetic detection is to determine whether or not a defect is present by detecting the presence or absence of a leakage magnetic field generated by a surface or near-surface defect of a ferromagnetic material (in the present application, the bottom surface of a tank) after the ferromagnetic material is magnetized by using this principle, by detecting the presence or absence of the leakage magnetic field by the magnetic sensor 14.
In some preferred embodiments, the iron core 12 includes a sleeve 121 and a U-shaped long rod 122, the sleeve 121 is fixedly sleeved at the middle part of the long rod 122, and two ends of the long rod 122 are downward; both the sleeve 121 and the long rod 122 are made of iron. The exciting coil 11 is sleeved outside the sleeve 121. Since the diameter of the sleeve 121 is larger than that of the long rod 122, the inside diameter of the exciting coil 11 is larger and larger than the outside diameter of the sleeve 121, and more lines of magnetic induction are obtained and the magnetic induction effect is better.
Further, the sleeve 121 and the long rod 122 are integrally formed.
In some preferred embodiments, the bottom plate 13 is circular;
a central line is formed on the bottom surface of the bottom plate 13, and passes through the center of the bottom surface of the bottom plate 13; and the length direction of the center line is perpendicular to the length direction of the iron core 12;
the magnetic sensors 14 are distributed on the bottom surface of the bottom plate 13 along concentric circles, and the magnetic sensors 14 positioned on two sides of the center line are symmetrically distributed;
the other two magnetic sensors 14 are positioned in the middle of the bottom surface of the bottom plate 13 and are symmetrically distributed relative to the central line;
the signal detected by the magnetic sensor 14 is transmitted to the controller.
As shown in the drawings, in the present application, the distribution of the magnetic sensors 14 is different from the conventional technical manner, the distribution of the magnetic sensors 14 in the present application is circular, and two symmetrically distributed magnetic sensors 14 are further provided in the middle of the circle. Compared with the prior art, the distribution mode of the magnetic sensor 14 has the advantages that on one hand, detected data are multi-angle and multi-distance, on the other hand, the possibility of misjudgment of detection is small, and even if the problem of sensor failure or distortion exists, the problem of distortion can be avoided by detecting through other magnetic sensors 14. In addition, for the convenience of detection, the data detected by the two magnetic sensors 14 in the middle are used as the reference, and the data detected by the plurality of magnetic sensors 14 distributed in a circular shape are used as the auxiliary, so as to prevent false detection or missing detection. In order to prevent deviation of detection and invalid data, the magnetic sensor 14 is not arranged on the center line of the bottom plate 13, which is another distinguishing feature of the present application compared with the prior art.
In some preferred embodiments, the walking assembly comprises a support arm 21, a driving wheel 22, a driven wheel 23, a steering drive assembly 24, and a driver 25;
four support arms 21 are respectively installed around the main housing 40;
driven wheels 23 are rotatably mounted at the ends of the three support arms 21, and a driving wheel 22 is mounted at the end of the other support arm 21 through a universal joint, so that the driving wheel 22 can rotate 360 degrees relative to the support arms 21;
the steering driving assembly 24 is arranged on the supporting arm 21 connected with the driving wheel 22 so as to drive the universal joint to rotate;
the rotation shaft of the driving wheel 22 is connected with the driver 25, and the driver 25 drives the driving wheel 22 to rotate around the rotation shaft;
the steering drive assembly 24 and the driver 25 are electrically connected to the controller, respectively, and the power source provides electric power to the steering drive assembly 24 and the driver 25.
The walking assembly comprises the following working principles: the steering driving assembly 24 drives the driving wheel 22 to rotate around the supporting arm 21, so that the walking direction of the main shell 40 is adjusted, and the driver 25 drives the driving wheel 22 to rotate around the rotating shaft, so that the driving wheel 22 and the main shell 40 are advanced.
The steering drive assembly and the driver of the present application are each realized as in the prior art.
In some preferred embodiments, a drive is provided on one of the driven wheels 23 to drive the driven wheel 23 to spin about its axis of rotation.
In some preferred embodiments, the identification component includes a distance sensor (not shown), a front side camera 31, and a top camera 32;
four of the distance sensors are respectively arranged around the main casing 40;
the front camera 31 is mounted on a front side surface of the main casing 40 in a traveling direction;
the top camera 32 is mounted on the top surface of the main housing 40;
the distance sensor, the front side camera 31, and the top camera 32 are electrically connected to a controller, respectively.
The working principle of the identification component of the application is as follows: the distance sensor is used for sensing the space position of the main shell 40 relative to the storage tank to be detected, the front side camera 31 is used for shooting images, and the images are used for detecting the positioning piece B so as to judge the current orientation of the main shell 40; the top camera 32 is used for assisting in shooting images, and the positioning member B shot in the images is used for assisting in judging the current direction of the main casing 40. Therefore, the current position of the main casing 40 and the current direction of the main casing 40 are determined, so as to accurately determine the current state of the main casing 40, and further accurately adjust the position to reach the designated position and the designated direction, so as to ensure the traveling accuracy of the main casing 40.
In some preferred embodiments, the detection bracket comprises a top mounting plate 15, a boom 17, a connecting rod 16;
the two sides of the top mounting plate 15 are respectively provided with the suspension arms 17, the two sides of the iron core 12 are respectively sleeved on the two suspension arms 17 in a penetrating way, and the top mounting plate 15 and the iron core 12 are stably mounted through the suspension arms 17;
the other two sides of the top mounting plate 15 are respectively provided with a connecting rod 16, and the other end of the connecting rod 16 is fixedly connected with the bottom plate 13;
the suspension arm 17, the top mounting plate 15 and the connecting rod 16 are respectively made of plastic materials.
In some preferred embodiments, the end surface of the bottom end of the core 12 is lower than the bottom surface of the bottom plate 13;
and a wireless communication module electrically connected to the controller to wirelessly transmit signals to the outside of the main housing 40. By arranging the wireless communication module, the data can be remotely transmitted and can be remotely controlled.
S20, placing a positioning piece B; and respectively placing the three positioning pieces B at three point positions of the bottom surface in the storage tank to be detected.
In some preferred embodiments, the three positioning members B are respectively located at edges of the bottom surface of the tank to be tested and attached to the side walls of the tank to be tested.
Further, the three positioning pieces B are respectively round, annular and triangular, and the surfaces of the three positioning pieces B are attached with reflective adhesive films so as to facilitate photographing and pattern recognition.
Further, in order to enhance the imaging effect of the recognition module, the recognition module further includes a floodlight (not shown) which is turned on or off by a controller, and is turned on when the camera shoots.
Further, the three positioning pieces B are distributed at the edge of the bottom of the storage tank to be detected at equal intervals, namely, the included angles of the three positioning pieces B are 120 degrees.
The identification of the image shot by the camera belongs to the prior art. Briefly describing the application of image recognition in the present application, the current orientation of the main housing 40 is obtained by capturing an image and recognizing to determine the position of the positioning member B in the image, and in particular, which positioning member B, so that in the present application, the direction of the camera may not be rotated to ensure that the camera is always oriented in front of the main housing 40.
S30, acquiring a detection belt; acquiring the bottom surface diameter of the storage tank to be detected through the identification component, and identifying the bottom surface of the storage tank to be detected as a detection zone; the positions of the positioning mark components on the detection belt are marked respectively.
In some preferred embodiments, in step S30, the detection zone includes an outer zone A1 and a cross-web zone A2;
the outer ring belt is annular, and the outer ring belt A1 is arranged along the circumference of the bottom surface of the storage tank to be detected;
a plurality of transverse lattice belts A2 are arranged in parallel and are respectively arranged in the outer ring belt A1;
the width of the outer ring belt A1 is the same as the width of the transverse grid belt A2;
and sequencing the plurality of transverse grid belts A2, and correspondingly marking the positions of the three positioning pieces B and the corresponding transverse grid belts A2 to obtain the positions of the transverse grid belts A2 or the outer annular belts A1 where the positioning pieces B are positioned.
In some preferred embodiments, the width of the transverse grid belt A2 is equal to the spacing between the two ends of the core 12.
The width of the transverse grid belt A2 is equal to the distance between the two ends of the iron core 12, so that each time the transverse grid belt A2 is scanned, and the problem of missing detection is avoided.
S40, sequentially and automatically detecting; the detection belts are divided into areas and sequenced, the main shell 40 is driven to move through the walking assembly, so that the detection assembly 10 automatically detects the detection belts along the serial numbers in sequence, and the detection results are recorded.
In some preferred embodiments, in step S40, the main housing 40 is also aligned in azimuth while being driven to move by the traveling assembly, so as to ensure that the traveling path of the main housing 40 coincides with the concentric circles of the outer circumferential band A1 or that the traveling direction of the main housing 40 coincides with the length direction of the cross-web band A2.
In some preferred embodiments, the azimuth calibration comprises: the relative positions and the directions of the three positioning pieces B are identified through the identification component, and the direction of the main shell 40 is judged;
the relative distance of the main housing 40 to the side wall of the storage tank to be detected is measured through the identification assembly, so that the specific position of the main housing 40 on the corresponding detection zone is judged.
According to the remote-controllable automatic magnetic flux leakage detection method, the main shell 40 is driven to move along the detection belt through the traveling assembly, the main shell is firstly walked along the outer ring belt A1, then the main shell is sequentially detected and walked along the transverse grid belt A2 according to the serial number, in the process of the traveling of the main shell 40, the detection assembly 10 performs magnetic flux leakage detection, detected data are recorded and stored, and finally data reading is performed on a computer. The recorded data have the magnetic leakage condition and the position on the specific detection belt. Meanwhile, the detected magnetic leakage signal can be transmitted to the outside of the storage tank in a remote transmission mode.
According to the remote-controllable automatic magnetic flux leakage detection method, the automatic detection device is arranged, so that the detection process can be automatically completed; during detection, firstly, the bottom surface size of the storage tank to be detected is obtained according to the identification component, wherein the bottom surface size comprises the diameter and the area of the bottom surface, and then the pattern of the bottom surface is identified as a detection zone in the processing system; secondly, the positioning mark component is placed in the storage tank to be detected, and can be placed on the bottom surface of the storage tank to be detected or on the side wall of the storage tank to be detected, and the placement positions of the three positioning pieces B are different; detecting the relative position of the positioning piece B on the detection belt or the point position of the detection belt through the identification component so as to judge and generate the current position of the main shell 40; finally, the detection assembly 10 is driven by the walking assembly to walk along the set route of the detection belt and complete the detection of the bottom surface of the storage tank to be detected. The detection method not only can realize automatic detection, but also has the advantages of established automatic detection route and accurate direction, and avoids the phenomenon of missed detection.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.
Claims (10)
1. The automatic magnetic flux leakage detection method capable of being controlled remotely is characterized by comprising the following steps of:
s10, setting an automatic detection device and a positioning mark assembly;
the automatic detection device comprises a main shell, a detection assembly, a walking assembly and an identification assembly; the detection assembly, the walking assembly and the identification assembly are respectively arranged on the main shell;
the detection assembly comprises an excitation coil, an iron core, a detection bracket, a bottom plate and a magnetic sensor; the exciting coil is wound on the iron core, the iron core is provided with two ends, two magnetic poles are respectively formed at the two ends of the iron core when the exciting coil is electrified, the iron core is arranged on the detection support, the bottom plate is arranged below the exciting coil and is arranged on the detection support, and the magnetic sensors are arranged on the bottom surface of the bottom plate;
the main shell is internally provided with a controller, a processor and a power supply, the exciting coil is electrically connected with the power supply, the magnetic sensor is electrically connected with the controller, and the controller is respectively electrically connected with the processor and the power supply;
the positioning mark assembly comprises three positioning pieces;
s20, respectively placing three positioning pieces at three point positions of the bottom surface in the storage tank to be detected;
s30, acquiring the bottom surface diameter of the storage tank to be detected through the identification component, and identifying the bottom surface of the storage tank to be detected as a detection zone; marking the positions of the positioning mark components on the detection belt respectively;
s40, dividing the detection belt into areas, sequencing the detection belts, driving the main shell to move through the walking assembly, enabling the detection assembly to automatically detect the detection belts along the serial numbers in sequence, and recording detection results.
2. The remotely controllable automated magnetic flux leakage detection method of claim 1, wherein: in step S30, the detection belt includes an outer belt and a cross belt;
the outer ring belt is annular and is arranged along the circumference of the bottom surface of the storage tank to be detected;
the transverse grid belts are arranged in parallel and are respectively arranged in the outer ring belt;
the width of the outer annular belt is the same as the width of the transverse grid belt;
and sequencing the plurality of transverse grid belts, and correspondingly marking the positions of the three positioning pieces and the corresponding transverse grid belts to obtain the positions of the transverse grid belts or the outer endless belts of the positioning pieces.
3. The remotely controllable automated magnetic flux leakage detection method of claim 2, wherein: the bottom plate is circular;
a central line is formed on the bottom surface of the bottom plate, and passes through the center of the bottom surface of the bottom plate; the length direction of the center line is perpendicular to the length direction of the iron core;
the magnetic sensors are distributed on the bottom surface of the bottom plate along concentric circles, and the magnetic sensors positioned on two sides of the central line are symmetrically distributed;
the other two magnetic sensors are positioned in the middle of the bottom surface of the bottom plate and are symmetrically distributed relative to the central line;
the signal detected by the magnetic sensor is transmitted to the controller.
4. The remotely controllable, automated magnetic flux leakage detection method of claim 3, wherein: the width of the transverse lattice belt is equal to the distance between the two ends of the iron core.
5. The remotely controllable, automated magnetic flux leakage detection method of claim 3, wherein: in step S40, when the main housing is driven to move by the traveling assembly, the orientation calibration of the main housing is also performed to ensure that the traveling path of the main housing is consistent with the concentric circle of the outer endless belt, or that the traveling direction of the main housing is consistent with the length direction of the transverse lattice belt.
6. The remotely controllable, automated magnetic flux leakage detection method of claim 5, wherein the azimuth calibration comprises: the relative positions and the directions of the three positioning pieces are identified through the identification component, and the direction of the main shell is judged;
and measuring the relative distance between the main shell and the side wall of the storage tank to be detected through the identification component so as to judge the specific position of the main shell on the corresponding detection belt.
7. The remotely controllable, automated magnetic flux leakage detection method of any one of claims 1-6, wherein: the walking assembly comprises a supporting arm, a driving wheel, a driven wheel, a steering driving assembly and a driver;
the four supporting arms are respectively arranged around the main shell;
driven wheels are rotatably mounted at the end parts of the three support arms, and a driving wheel is mounted at the end part of the other support arm through a universal joint, so that the driving wheel can rotate 360 degrees relative to the support arms;
the steering driving component is arranged on the supporting arm connected with the driving wheel so as to drive the universal joint to rotate;
the rotating shaft of the driving wheel is connected with the driver, and the driver drives the driving wheel to rotate around the rotating shaft of the driving wheel;
the steering driving assembly and the driver are respectively and electrically connected with the controller, and the power supply is used for providing electric energy for the steering driving assembly and the driver.
8. The remotely controllable, automated magnetic flux leakage detection method of any one of claims 1-6, wherein: the identification component comprises a distance sensor, a front side camera and a top camera;
the four distance sensors are respectively arranged around the main shell;
the front side camera is arranged on the front side surface of the main shell in the travelling direction;
the top camera is arranged on the top surface of the main shell;
the distance sensor, the front side camera and the top camera are respectively and electrically connected with the controller.
9. The remotely controllable, automated magnetic flux leakage detection method of any one of claims 1-6, wherein: the detection bracket comprises a top mounting plate, a suspension arm and a connecting rod;
the two sides of the top mounting plate are respectively provided with the suspension arms, the two sides of the iron core are respectively sleeved on the two suspension arms in a penetrating way, and the top mounting plate and the iron core are stably mounted through the suspension arms;
the other two sides of the top mounting plate are respectively provided with the connecting rods, and the other ends of the connecting rods are fixedly connected with the bottom plate;
the suspension arm, the top mounting plate and the connecting rod are respectively made of plastic materials.
10. The remotely controllable, automated magnetic flux leakage detection method of any one of claims 1-6, wherein: the end face of the bottom end of the iron core is lower than the bottom face of the bottom plate;
the wireless communication module is electrically connected with the controller so as to wirelessly transmit signals to the outside of the main shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310947662.9A CN117030836A (en) | 2023-07-31 | 2023-07-31 | Remote-controlled automatic magnetic flux leakage detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310947662.9A CN117030836A (en) | 2023-07-31 | 2023-07-31 | Remote-controlled automatic magnetic flux leakage detection method |
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| Publication Number | Publication Date |
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| CN117030836A true CN117030836A (en) | 2023-11-10 |
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|---|---|---|---|
| CN202310947662.9A Withdrawn CN117030836A (en) | 2023-07-31 | 2023-07-31 | Remote-controlled automatic magnetic flux leakage detection method |
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| Country | Link |
|---|---|
| CN (1) | CN117030836A (en) |
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2023
- 2023-07-31 CN CN202310947662.9A patent/CN117030836A/en not_active Withdrawn
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Application publication date: 20231110 |