CN209727851U - A kind of Ship body automatic defect detecting device based on far-field eddy - Google Patents

Abstract

The utility model discloses a kind of Ship body automatic defect detecting device based on far-field eddy, its composition includes: drive module (1), adsorption module (2), direction module (3), steering engine module (4), position module (5), photographing module (6) and lifting mechanism (7), variable connector (8), single-chip microcontroller (9), microprocessor (10), telecommunication module (11), display (12), Remote Field Eddy Current Probe composite module (13), remote controler (14), power supply (15).Single-chip microcontroller (9) controls drive module (1), adsorption module (2), direction module (3), steering engine module (4), position module (5), photographing module (6) and lifting mechanism (7), and connect with telecommunication module (11), microprocessor (10) is the control core of automatic detection device.Ship body precursor in far field has the advantages that detect depth depth compared with conventional vortex detection technique.

Description

A kind of Ship body automatic defect detecting device based on far-field eddy

Technical field

The utility model belongs to electromagnetic nondestructive testing field, more particularly, to the far field whirlpool of Ship body defects detection Flow automatic detection device.

Background technique

Local environment is severe when shipbuilding and navigation, and internal structure is complicated, and external force is serious, ship plate easily shape At a variety of different defects, threat is generated safely to ship normal operation.The crackle of steel plate will seriously affect the peace of vessel motion Entirely, reliably, in order to prevent the generation of such accident, it is ensured that safety of ship, it is necessary to before being used as a servant to ship plate and in-service determine Phase checks, to replace or repair the component of existing defects in time.

The detection method that can be applied to ship plate defect diagonsis at present has: ultrasonic wave, ray, Liquid Penetrant coloring, magnetic The methods of powder, laser hologram photography, vortex, Magnetic Memory and microwave.In these detection methods, every kind of detection method has its excellent Point and shortcoming, some missing inspections are serious, investigation depth is shallow, and some testing costs are high, detection speed is slow, requires protection tight etc..

Ship body precursor in far field, have the advantages that detect depth compared with conventional vortex detection technique it is deep, and it is super Sonic detection technology has advantage at low cost, radiationless compared to there is the advantages of without couplant compared with X-ray Testing Technology. Therefore the research of the Far Field Swirl Detecting Technology of Ship body, it is significant.

Utility model content

The purpose of this utility model is that realizing the combination of remote field eddy current technology and automatic technology, a kind of ship is proposed The technical solution of hull automation precursor in far field device.Realize that a kind of Ship body defect based on far-field eddy is examined automatically Device.

The technical solution of the utility model is as follows:

A kind of Ship body automatic defect detecting device based on far-field eddy, its composition include: drive module 1, are inhaled Attached module 2, direction module 3, steering engine module 4, position module 5, photographing module 6 and lifting mechanism 7, variable connector 8, single-chip microcontroller 9, microprocessor 10, telecommunication module 11, display 12, Remote Field Eddy Current Probe composite module 13, remote controler 14, power supply 15.Single-chip microcontroller 9 control drive module 1, adsorption module 2, direction module 3, steering engine module 4, position module 5, photographing module 6 and Lifting mechanism 7, and connect with telecommunication module 11, microprocessor 10 is the control core of automatic detection device, with single-chip microcontroller 9, Remote Field Eddy Current Probe composite module 13 is connected with display 12, and entire automatic detection device is operated by remote controler 14.

The composition of the Remote Field Eddy Current Probe composite module 13: shielding construction, excitation coil, detection coil, power are put Big device, signal generator, lock-in amplifier, data acquisition card.

The hardware circuit of the lock-in amplifier includes: 2 low-pass filters, 2 phase-sensitive detection circuits, phase shift electricity Road, 2 bandpass filters, 2 preamplifiers.

The technical effect of the utility model is as follows:

Automatic detection device solves the validity for the measured zone being manually unable to reach.Its answering in ship detecting system With, improve ship inspection efficiency, solve ship inspection work face high-altitude, the undetectable bottleneck in narrow place, be ship inspection Survey an important breakthrough of industry.

Ship body precursor in far field, have the advantages that detect depth compared with conventional vortex detection technique it is deep, and it is super Sonic detection technology has advantage at low cost, radiationless compared to there is the advantages of without couplant compared with X-ray Testing Technology.

Detailed description of the invention

Fig. 1 is Ship body automatic defect detecting device composition figure.

Fig. 2 is Remote Field Eddy Current Probe composite module composition figure.

Fig. 3 lock-in amplifier hardware circuit composition block diagram.

Fig. 4 pre-amplification circuit figure.

Fig. 5 phase-shift circuit figure.

Fig. 6 phase-sensitive detection circuit figure.

Wherein: a kind of Ship body automatic defect detecting device based on far-field eddy, it is driving that its composition, which includes: 1, Module, 2 be adsorption module, and 3 be direction module, and 4 be steering engine module, and 5 be position module, and 6 be photographing module, and 7 be lifting mechanism, 8 be variable connector, and 9 be single-chip microcontroller, and 10 be microprocessor, and 11 be telecommunication module, and 12 be display, and 13 be far-field eddy Probe composite module, 14 be remote controler, and 15 be power supply.

Specific embodiment

With reference to the accompanying drawing, specific embodiment of the present invention is described further.

1. the overall structure of automatic detection device

A kind of Ship body automatic defect detecting device based on far-field eddy, its composition include: drive module 1, are inhaled Attached module 2, direction module 3, steering engine module 4, position module 5, photographing module 6 and lifting mechanism 7, variable connector 8, single-chip microcontroller 9, microprocessor 10, telecommunication module 11, display 12, Remote Field Eddy Current Probe composite module 13, remote controler 14, power supply 15.Single-chip microcontroller 9 control drive module 1, adsorption module 2, direction module 3, steering engine module 4, position module 5, photographing module 6 and Lifting mechanism 7, and connect with telecommunication module 11, microprocessor 10 is the control core of automatic detection device, with single-chip microcontroller 9, Remote Field Eddy Current Probe composite module 13 is connected with display 12, and entire automatic detection device is operated by remote controler 14, such as Fig. 1 It is shown.

The composition of the Remote Field Eddy Current Probe composite module 13: shielding construction, excitation coil, detection coil, power are put Big device, signal generator, lock-in amplifier, data acquisition card, as shown in Figure 2.

The hardware circuit of the lock-in amplifier includes: 2 low-pass filters, 2 phase-sensitive detection circuits, phase shift electricity Road, 2 bandpass filters, 2 preamplifiers, as shown in Figure 3.

2. Remote Field Eddy Current Probe composite module

(1) Sensor section popped one's head in

Sensor is broadly divided into two parts: excitation coil part and detection coil part.Wherein shielded segment is high magnetic conductance The material of rate.High-permeability material it is more there are two types of: silicon steel sheet and MnZn ferrite.

The detection coil of sensor is mainly to magnetic field detection.As long as magneto-dependent sensor can be used as the detection in magnetic field, To replace detection coil.Currently, most magneto-dependent sensors have Hall sensor and detection coil.

Electric current is passed through in the conductor or semiconductor for being placed in magnetic field, if electric current is vertical with magnetic field, with magnetic field and electric current It will appear a potential difference on all vertical direction, this phenomenon is exactly Hall effect, and the potential difference of generation is known as Hall voltage. Using Hall effect, the measurement of many physical quantitys may be implemented, such as may determine that conduction type, the carrier concentration, load of material Flow the major parameters such as transport factor.Using sensor made of Hall effect, can also realize to electric current, voltage, position and The measurement of many physical quantitys such as magnetic field strength.

By comparison it can be seen that the sensitivity and linear measurement range of detection coil is far longer than Hall sensor.In far field whirlpool In stream detection, since magneto-dependent sensor works in far-field region, the signal in magnetic field is very faint, is the Gauss order of magnitude.Therefore it needs Highly sensitive magneto-dependent sensor.In conclusion selecting coil as the magneto-dependent sensor of precursor in far field system.Detection line Circle has one disadvantage in that be exactly that the volume of Hall sensor is smaller compared with Hall sensor, is easy the integrated of carry out system.

(2) design of lock-in amplifier

As shown in Figure 3 since detection coil works in far-field region, so signal is very faint.Lock-in amplifier is in faint letter Number detection field shows outstanding performance.It can precisely measure out the small-signal being buried in noise.So in far field Amplitude and phase information that lock-in amplifier obtains sensor are generallyd use in EDDY CURRENT.Usually will test coil signal and The signal of excitation coil is input in lock-in amplifier simultaneously, obtains detection coil output voltage signal using lock-in amplifier Amplitude and phase judge the relevant informations such as defect according to the two characteristic quantities.

The faint sine wave signal of a usual amplitude is easy to flood in white noise, is usually filtered with bandpass filter Wave improves signal-to-noise ratio, to detect signal.Due to being simple signal, very narrow bandpass filter is needed, in other words Exactly need the Q bandpass filter of high level.The Q value of bandpass filter is bigger, and signal-to-noise ratio is higher.However, the value of bandpass filter It cannot be made high, otherwise filter is unstable, is easy to produce self-oscillation.Lock-in amplifier is using low-pass filter come real The Q bandpass filter of existing high level, low-pass filter is easier to realize, and performance is more stable, whereby it can be detected that and is submerged in Small-signal in noise.

(3) pre-amplification circuit

In this secondary design, the AD620 instrumentation amplifier chip of amplifying circuit selection.It is the logical of a low power consumption high-precision With instrument amplifier, it is widely applied to ECG signal measurement, Medical Instruments, sensor interface circuitry, data collection system Equal fields.AD620 excellent performance greatly simplified the design of system, the design time of the system greatly shortened.Such as Fig. 4 It is shown, for the pre-amplification circuit of composition.In figure, the effect of resistance and slide resistor is to constitute a bleeder circuit.Due to The electric current that excitation coil needs is 0.5 or so, and the resistance of excitation coil is 40 ohms, so the voltage of excitation coil exists The voltage of 20V or so, excitation coil have been more than the input range of AD620, it is likely that are burnt out chip, so one point must be used The signal of excitation coil is carried out the input terminal that partial pressure is then sent through AD620 by volt circuit.The effect of capacitor C5 and resistance R2 are to constitute One high-pass filter, filters out the direct current biasing of signal, avoids making the amplification to direct current signal, and is saturated output.

(4) 90 ° of phase-shift circuits are as shown, be a phase-shift circuit being made of operational amplifier, resistance, capacitor as schemed Shown in 5.

(5) as shown in Figure 6 by the quick detecting circuit of the phase constituted

3. drive module

For detection device, the automatic scanning in hull surface provides power to drive module, and the driving device of this system uses two Platform direct current generator.In order to adapt to the demand of a wide range of scanning of hull surface, detection device is made to realize the variation of track, it is desirable that two is straight The driving of galvanic electricity machine differential realizes that detection device flexibly turns to function.Two direct current generators adjust the speed the wide model for realizing revolving speed by PWM Adjusting is enclosed, the course changing control of motor is realized using the speed difference of two driving wheels.And two are acquired respectively using two photoelectric encoders The revolving speed of driving wheel, the feedback as speed control.

(1) driving motor

The selection of reasonable motor is not only able to influence the arrangement of detection device size and structure, and mobile to detection device Mobility plays the role of key.Driving motor is using the direct current generator and stepper motor for having preferable speed adjusting performance.

Direct current generator has lesser rotary inertia, preferable control characteristic, and faster response speed may be implemented to detect The sensitivity requirements of device；With than wider speed adjustable range, the requirement of detection device rapidity can satisfy；Low speed is flat Stability can be good, can satisfy the stability requirement of mobile mechanism；Mechanical property is hard, and overload capacity is stronger, can satisfy detection dress Set loading requirement.

Stepper motor can be directly realized by digital control, and control performance is preferable, can quickly start up, brake and invert, Jamproof ability also is supported with stronger, does not have the cumulative errors of angular displacement or displacement of the lines.But initiation culture is excessively high, control Resonance can not then be generated at that time, be difficult to obtain bigger rotating torque, it is difficult to obtain higher velocity of rotation, and generally without mistake Loading capability.

(2) driving wheel

Driving wheel provides driving force for detection device.In order to meet hull surface detection demand, driving wheel will have anti- Corrosive nature.The drive module of detection device is two direct current generators, in order to enable structure of the detecting device is compact, two direct currents For machine by the way of placing vertically, fixation is bolted by the upper surface of retarder and detection device plate in direct current generator, is subtracted The output shaft of fast device passes through a pair of of spur bevel gear transmission, and by power transmission to drive shaft, drive shaft drives driving wheel rotation. Material of the aluminium alloy as driving wheel is selected, the diameter of driving wheel is 96mm, width 25mm.Since detection device relies primarily on The rotational speed difference of driving, which is realized, to be turned to, so driving wheel can generate serious abrasion.In order to reduce the abrasion of driving wheel and avoid driving Slipping phenomenon is generated between driving wheel and hull surface, has been covered the rubber of a circle 2mm thickness respectively in the outer circle of two driving wheels, has been increased Big frictional force between driving wheel and bottom plate.

4. position module

Position module is one of key component of detection device, is the accurate position in order to determine defect on hull surface It sets.The positioning device of design is made of encoder and laser distance sensor, may thereby determine that defect on hull surface Two-dimensional position.Working principle are as follows: it is carried out in detection process to hull surface, driving wheel drives photoelectric encoder to rotate synchronously, When the corresponding hull surface of magnetic leakage detecting probe every one sampling interval of movement, pulse coder can generate a TTL electricity arteries and veins Punching, then trigger data acquisition module, all 24 channels acquisitions are primary.Sampling number is multiplied by detection device in a sampling interval The distance of traveling is its longitudinal coordinate.Laser range sensor can measure defect to the distance of object of reference, so as to Determine its lateral coordinates.

5. lifting mechanism

Lifting mechanism specifically includes that lead screw motor, bracket, support rod and magnetizing assembly.It is propped up in detection device lifting module Frame is fixed with lead screw motor top cap bolt, and support rod is bolted with detection device, and support rod and support bracket bolt fasten. When by weld seam, lead screw motor is rotated forward, and band motion detection device rises, and is made under detection device by lead screw motor reversion after weld seam Drop to required position.

6. direction module

Since the present apparatus uses laser positioning mode, so using two adjustable laser range sensor progress sides of angle To detection, detection device can be measured and deviate the direction of planning path, and can made adjustment in time.It is sensed by laser ranging The detection device that device measures arrives the distance between object of reference, and the information of matching coding device acquisition can obtain detection device in hull The position on surface.SKD system laser range sensor is selected, has and measures accurately and fast, apart from remote, non-contact etc. significant Advantage, and on hull, the brightness of laser is more than the brightness of ambient enviroment, can also increase ranging.

The RS232 serial data way of output is used in the present apparatus.There are two enhanced serial logical for MC9S12XS128 single-chip microcontroller Casually, the RS-232 driving circuit of serial ports can be realized the transformation of level between Transistor-Transistor Logic level and RS-232, thus single-chip microcontroller and swash Ligh-ranging sensor can easily carry out serial communication.Level conversion is carried out using a RS232 standard chips MAX232, it should Chip includes that two drivers, two receivers and a voltage generator circuit provide TLA/ELA-232-F level.Each Receiver by TLA/ELA-232-F level conversion at 5V TTL/CMOS level, thus the signal that laser range sensor is measured It is sent to single-chip microcontroller, interface circuit is as shown in Figure 3.

7. steering engine module

Obtained information wants stock in ccd sensor to automatic detection device when driving on ship hull weld joint.CCD, that is, charge Optical image can be converted into digital signal by coupling element.The digital signal obtained from ccd sensor is same by LM1881 video Step separating chips synchronize separation, obtain required video signal.Signal after the separation obtained from LM1881 is not yet It can directly reflect the information of ship hull weld joint.

8. photographing module

Ship hull weld joint identification: ccd sensor is used.

CCD refers to charge-coupled device, be it is a kind of indicate signal magnitude with charge amount, with coupled modes transmission signal spy Element is surveyed, there is self-scanning, experience that spectral range is wide, distortion is small, small in size, light-weight, system noise is low, small power consumption, service life Length, reliability height etc.-number of advantages, and the very high sub-assembly of integrated level can be made into.Charge-coupled device (CCD) was 20th century A kind of semiconductor device to grow up the beginning of the seventies.

With CCD technology and theoretical continuous development, the extensiveness and intensiveness of CCD technical application will be increasing.CCD is Integrated using a kind of semiconductor material of high sensitivity, it can generate corresponding charge according to the light being radiated on its face and believe Number, in the digital signal for being converted into " 0 " or " 1 " by analog-digital converter chip, this digital signal is arranged through overcompression and program After column, the electronic image signal received optical signal and be converted into computer capacity identification can be saved by flash memory or hard disk card, it can Testee is accurately measured, is analyzed.

9. adsorption module

Magnetizable body will generate sufficiently large adsorption capacity, and automatic detection device can be just adsorbed in Ship body.Consider Whether detection device is slided along the vertical direction of Ship body, and the frictional force for guaranteeing that wheel is generated with hull surface is greater than The vertical component of detection device gravity.

10. single-chip microcontroller

Select 8 single-chip microcontrollers.

Single-chip microcontroller (Microcontrollers) is a kind of IC chip, is using very large scale integration technology The central processor CPU with data-handling capacity, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and interruptions The functions such as system, timer/counter (may further include display driver circuit, pulse-width modulation circuit, analog multiplexer, The circuits such as A/D converter) it is integrated into the small and perfect microcomputer system constituted on one piece of silicon wafer, in Industry Control Field is widely applied.8 single-chip microcontrollers, the high-speed microprocessor of 300M till now.

While improving hardware system anti-interference ability, Software Anti-interference with its flexible design, save hardware resource, can It is well increasingly taken seriously by property.

11. microprocessor

Microprocessor selects dsp chip.

The inside of the dsp chip Harvard structure separated using program and data, has special hardware multiplier, adopts extensively With pile line operation, special DSP instruction is provided, can be used to quickly realize various digital signal processing algorithms.

Classified according to the data format of dsp chip work.Data are known as pinpointing with the dsp chip that fixed point format works Dsp chip, TMS320C1X/C2X, TMS320C2XX/C5X, TMS320C54X/C62XX such as TI company are serial, AD company ADSP21XX series, the DSP16/16A of AT & T Corp., the MC56000 etc. of Motolora company.What is worked in a floating-point format is known as Float-point DSP, the ADSP21XXX such as the TMS320C3X/C4X/C8X of TI company, AD company is serial, AT & T Corp. The MC96002 etc. of DSP32/32C, Motolora company.

12. power module

Since detection device is mobile, so portable battery is used to provide reliable work electricity for entire detection device Pressure.Currently, common rechargeable battery has: several classes such as nickel-cadmium cell, nickel-metal hydride battery, lithium battery and lead-acid battery.Comprehensively consider The advantage and disadvantage of various batteries, and the power demands of control module design scheme demand analysis whole device are combined, including motor, drive Dynamic device, sensor etc., probably need the electric current of 8A or so.In view of many factors such as the performance of battery, electric current, weight, choosing With 24V, the lithium battery of 10A is as power source.

In entire detection system, operating voltage to be offered needed for the different place of circuit module is different, and two Direct current generator needs directly to use 24V power supply power supply, and push-pull electromagnet needs 24V voltage, and motor driver needs 24V electric Pressure, SCM system need 5V voltage, and laser range sensor and rotary encoder operating voltage are 5V.

13. remote control device

In remote controlled transmitting circuit, there are two types of circuits, i.e. encoder and 38kHz carrier signal generator.Do not need it is more In the application circuit of road control, the few Infrared Remote-Control Sending of custom integrated circuit composition number can be used and receive circuit, The circuit is easy to make without using more complex dedicated coder.

Claims (3)

1. a kind of Ship body automatic defect detecting device based on far-field eddy, its composition includes: drive module (1), is inhaled Attached module (2), direction module (3), steering engine module (4), position module (5), photographing module (6) and lifting mechanism (7), multichannel It switchs (8), single-chip microcontroller (9), microprocessor (10), telecommunication module (11), display (12), Remote Field Eddy Current Probe combination Module (13), remote controler (14), power supply (15), it is characterised in that: single-chip microcontroller (9) controls drive module (1), adsorption module (2), Direction module (3), steering engine module (4), position module (5), photographing module (6) and lifting mechanism (7), and and telecommunication Module (11) connection, microprocessor (10) is the control core of automatic detection device, is combined with single-chip microcontroller (9), Remote Field Eddy Current Probe Module (13) is connected with display (12), and entire automatic detection device is operated by remote controler (14).

2. Ship body automatic defect detecting device according to claim 1, it is characterised in that: the far-field eddy is visited The composition of head composite module (13): shielding construction, excitation coil, detection coil, power amplifier, signal generator, locking phase are put Big device, data acquisition card.

3. Ship body automatic defect detecting device according to claim 2, it is characterised in that: the lock-in amplifier Hardware circuit include: 2 low-pass filters, 2 phase-sensitive detection circuits, phase-shift circuit, 2 bandpass filters put before 2 Big device.