CN108896955B - Positioning method of storage tank bottom plate flaw detection vehicle - Google Patents
Positioning method of storage tank bottom plate flaw detection vehicle Download PDFInfo
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- CN108896955B CN108896955B CN201810833672.9A CN201810833672A CN108896955B CN 108896955 B CN108896955 B CN 108896955B CN 201810833672 A CN201810833672 A CN 201810833672A CN 108896955 B CN108896955 B CN 108896955B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a method for positioning a flaw detection vehicle for a storage tank bottom plate, which adopts three or more points to transmit electromagnetic pulses with different frequencies and sound pulse wave signals, the electromagnetic pulses and the sound pulse wave signals are respectively received by the flaw detection vehicle, and the distances between the flaw detection vehicle and each point are respectively obtained by utilizing the delay of the received signals of the electromagnetic waves and the sound waves, so that the purpose of positioning is achieved, the complicated manual measurement and positioning are avoided, and the working efficiency and the positioning precision are improved.
Description
Technical Field
The invention relates to a nondestructive testing method, in particular to a positioning method of a storage tank bottom plate flaw detection vehicle.
Background
At present, most of oil storage tanks need to be subjected to periodic flaw detection, and particularly, various corrosive factors often cause leakage, loss and potential safety hazards due to the fact that a bottom plate is in contact with the ground. The flaw detection method comprises nondestructive detection means such as magnetic flux leakage and ultrasound. In order to obtain the distribution map of the detection data on the bottom plate, manual measurement is usually needed, areas are divided, the detection data of the flaw detection vehicle correspond to the areas, the detection data are stored in the area files, and finally the detection data are spliced into an integral bottom plate detection information map. Therefore, not only the work is complicated, but also the positioning is not very accurate.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a positioning method of a storage tank bottom plate flaw detection vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for positioning a flaw detection vehicle for a storage tank bottom plate is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
a. selecting at least three points on the edge of a storage tank bottom plate, and respectively arranging and fixing an electromagnetic pulse wave signal transmitter and an acoustic pulse wave signal transmitter on each point; the electromagnetic pulse wave signal emitter on each point respectively emits electromagnetic pulse wave signals with different frequencies from other points; the sound pulse wave signal emitter on each point respectively emits sound pulse wave signals with different frequencies from other points; the frequency of the electromagnetic pulse wave signal emitted on each point is the same as that of the acoustic pulse wave signal;
b. an electromagnetic pulse wave signal receiver and an acoustic pulse wave signal receiver are fixed on the flaw detection vehicle; the electromagnetic pulse wave signal receiver and the acoustic pulse wave signal receiver are connected with a computer on the flaw detection vehicle; the electromagnetic pulse wave signal receiver receives the electromagnetic pulse wave signal transmitted by the electromagnetic pulse wave signal transmitter on each point in the step a; the acoustic pulse wave signal receiver receives the acoustic pulse wave signal transmitted by the acoustic pulse wave signal transmitter at each point in the step a;
c. in the moving detection process of the flaw detection vehicle, the electromagnetic pulse wave signal receiver transmits the received electromagnetic pulse wave signals transmitted by the electromagnetic pulse wave signal transmitters on each point in the step a to a computer; the sound pulse wave signal receiver transmits the received sound pulse wave signal emitted by the sound pulse wave signal emitter on each point in the step a to a computer; because the propagation speed of the electromagnetic pulse wave signal is the speed of light, the delay time from the emission to the receiving of the electromagnetic pulse wave signal can be ignored relative to the propagation speed of the acoustic pulse wave signal; the sound pulse wave signal is delayed from transmitting to receiving; the computer takes the electromagnetic pulse wave signal of each point as a reference signal, compares and analyzes the received phases of the acoustic pulse wave signal and the electromagnetic pulse wave signal which are transmitted by the same point and have the same frequency to obtain the delay amount of the acoustic pulse wave signal, and converts the delay amount to obtain the distance between the flaw detection vehicle and each point so as to position the real-time detection position of the flaw detection vehicle.
The positioning method of the flaw detection vehicle for the storage tank bottom plate has the advantages that three or more points are adopted to emit electromagnetic pulses and sound pulse wave signals with different frequencies, the electromagnetic pulses and the sound pulse wave signals are respectively received by the flaw detection vehicle, and the distances between the flaw detection vehicle and each point are respectively obtained by utilizing the delay amount of the received signals of the electromagnetic waves and the sound waves, so that the purpose of positioning is achieved, the complicated manual measurement and positioning are omitted, and the working efficiency and the positioning precision are improved.
The present invention will be described in further detail with reference to examples, but the method for positioning a storage tank floor flaw detection vehicle according to the present invention is not limited to the examples.
Drawings
The invention will be further elucidated with reference to an embodiment in the drawing.
FIG. 1 is a schematic diagram of a storage tank floor flaw detection vehicle positioning method according to an embodiment of the invention.
Fig. 2 is a schematic diagram of an electromagnetic pulse wave signal and an acoustic pulse wave signal received by the flaw detection vehicle according to the embodiment of the invention.
In the figure, 1, a storage tank bottom plate, D, a flaw detection vehicle, three points of A/B/C, EP. electromagnetic pulse wave signals, UP. sound pulse wave signals and Y delay.
Detailed Description
Embodiment, as shown in fig. 1 and 2, a method for positioning a storage tank floor flaw detection vehicle is characterized in that: comprises the following steps of (a) carrying out,
a. at least three points A/B/C are selected on the edge of a storage tank bottom plate 1, and an electromagnetic pulse wave signal EP emitter and an acoustic pulse wave signal UP emitter are respectively arranged and fixed on each point; the electromagnetic pulse wave signal EP emitter on each point respectively emits electromagnetic pulse wave signals EP with different frequencies from other points; the sound pulse wave signal UP transmitter on each point respectively transmits sound pulse wave signals UP with different frequencies from other points; the frequency of the electromagnetic pulse wave signal EP transmitted on each point is the same as that of the acoustic pulse wave signal UP;
b. an electromagnetic pulse wave signal EP receiver and an acoustic pulse wave signal UP receiver are fixed on the flaw detection vehicle D; the electromagnetic pulse wave signal EP receiver and the acoustic pulse wave signal UP receiver are connected with a computer on the flaw detection vehicle D; the electromagnetic pulse wave signal EP receiver receives the electromagnetic pulse wave signal EP transmitted by the electromagnetic pulse wave signal EP transmitter at each point in the step a; the sound pulse wave signal UP receiver receives the sound pulse wave signal UP transmitted by the sound pulse wave signal UP transmitter at each point in the step a;
c. in the moving detection process of the flaw detection vehicle D, the electromagnetic pulse wave signal EP receiver transmits the received electromagnetic pulse wave signal EP transmitted by the electromagnetic pulse wave signal EP transmitter on each point in the step a to the computer; the sound pulse wave signal UP receiver transmits the sound pulse wave signal UP transmitted by the sound pulse wave signal UP transmitter at each point in the step a to the computer; because the propagation speed of the electromagnetic pulse wave signal EP is the speed of light, the delay time from the emission to the reception of the electromagnetic pulse wave signal EP can be ignored relative to the propagation speed of the acoustic pulse wave signal; the acoustic pulse wave signal UP is delayed from transmission to reception; the computer takes the electromagnetic pulse wave signal EP of each point as a reference signal, compares and analyzes the received phases of the acoustic pulse wave signal UP with the electromagnetic pulse wave signal EP with the same frequency transmitted by the same point to obtain the delay Y of the acoustic pulse wave signal UP, and converts the delay Y into the distance between the flaw detection vehicle D and each point so as to position the real-time detection position of the flaw detection vehicle D.
The above embodiments are only used to further illustrate the positioning method of the storage tank floor flaw detection vehicle of the present invention, but the present invention is not limited to the embodiments, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention fall within the protection scope of the technical solution of the present invention.
Claims (1)
1. A method for positioning a flaw detection vehicle for a storage tank bottom plate is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
a. selecting at least three points on the edge of a storage tank bottom plate, and respectively arranging and fixing an electromagnetic pulse wave signal transmitter and an acoustic pulse wave signal transmitter on each point; the electromagnetic pulse wave signal emitter on each point respectively emits electromagnetic pulse wave signals with different frequencies from other points; the sound pulse wave signal emitter on each point respectively emits sound pulse wave signals with different frequencies from other points; the frequency of the electromagnetic pulse wave signal emitted on each point is the same as that of the acoustic pulse wave signal;
b. an electromagnetic pulse wave signal receiver and an acoustic pulse wave signal receiver are fixed on the flaw detection vehicle; the electromagnetic pulse wave signal receiver and the acoustic pulse wave signal receiver are connected with a computer on the flaw detection vehicle; the electromagnetic pulse wave signal receiver receives the electromagnetic pulse wave signal transmitted by the electromagnetic pulse wave signal transmitter on each point in the step a; the acoustic pulse wave signal receiver receives the acoustic pulse wave signal transmitted by the acoustic pulse wave signal transmitter at each point in the step a;
c. in the moving detection process of the flaw detection vehicle, the electromagnetic pulse wave signal receiver transmits the received electromagnetic pulse wave signals transmitted by the electromagnetic pulse wave signal transmitters on each point in the step a to a computer; the sound pulse wave signal receiver transmits the received sound pulse wave signal emitted by the sound pulse wave signal emitter on each point in the step a to a computer; because the propagation speed of the electromagnetic pulse wave signal is the speed of light, the delay time from the emission to the receiving of the electromagnetic pulse wave signal is ignored relative to the propagation speed of the acoustic pulse wave signal; and the sound pulse wave signal is delayed from transmitting to receiving; the computer takes the electromagnetic pulse wave signal of each point as a reference signal, compares and analyzes the received phases of the acoustic pulse wave signal and the electromagnetic pulse wave signal which are transmitted by the same point and have the same frequency to obtain the delay amount of the acoustic pulse wave signal, and converts the delay amount to obtain the distance between the flaw detection vehicle and each point so as to position the real-time detection position of the flaw detection vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810833672.9A CN108896955B (en) | 2018-07-26 | 2018-07-26 | Positioning method of storage tank bottom plate flaw detection vehicle |
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| CN201810833672.9A CN108896955B (en) | 2018-07-26 | 2018-07-26 | Positioning method of storage tank bottom plate flaw detection vehicle |
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| CN108896955A CN108896955A (en) | 2018-11-27 |
| CN108896955B true CN108896955B (en) | 2021-02-12 |
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| CN111678985A (en) * | 2020-06-10 | 2020-09-18 | 南昌工程学院 | Tunnel lining nondestructive test device |
| CN118181301B (en) * | 2024-05-14 | 2024-07-12 | 中国特种设备检测研究院 | Multi-machine collaborative detection method, device and product of storage tank bottom plate detection robot |
Citations (5)
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| CN101490543A (en) * | 2006-07-11 | 2009-07-22 | 财团法人电力中央研究所 | Ultrasonic scanning device and method |
| WO2013016440A1 (en) * | 2011-07-25 | 2013-01-31 | World's Fresh Waters Pte. Ltd. | Method and system for conveying water on oil tanker ships to deliver drinkable water to destinations |
| CN106124634A (en) * | 2016-06-20 | 2016-11-16 | 中国石油化工股份有限公司 | A kind of fiberglass acoustic emission source triangle polyester fibre method |
| CN106994984A (en) * | 2017-05-23 | 2017-08-01 | 山东省科学院激光研究所 | Laser sound magnetic rail surface defects fast flaw detection system and method |
| CN107032005A (en) * | 2017-06-07 | 2017-08-11 | 合肥汇之新机械科技有限公司 | A kind of fluid reservoir detection device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101490543A (en) * | 2006-07-11 | 2009-07-22 | 财团法人电力中央研究所 | Ultrasonic scanning device and method |
| WO2013016440A1 (en) * | 2011-07-25 | 2013-01-31 | World's Fresh Waters Pte. Ltd. | Method and system for conveying water on oil tanker ships to deliver drinkable water to destinations |
| CN106124634A (en) * | 2016-06-20 | 2016-11-16 | 中国石油化工股份有限公司 | A kind of fiberglass acoustic emission source triangle polyester fibre method |
| CN106994984A (en) * | 2017-05-23 | 2017-08-01 | 山东省科学院激光研究所 | Laser sound magnetic rail surface defects fast flaw detection system and method |
| CN107032005A (en) * | 2017-06-07 | 2017-08-11 | 合肥汇之新机械科技有限公司 | A kind of fluid reservoir detection device |
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