Design Of Immersed Phased Array Ultrasonic Detection System

The traditional method of measuring the weld quality of pipeline intersecting line weld is manual detection which has some problems such as low detection efficiency,low precision,poor reliability,and poor traceability.And the above problems can be improved by using a wall-climbing type non-destructive detection robot instead of manual detection.For this kind of robot,there are four key technologies including ultrasonic non-destructive inspection,identification,autonomous navigation and global positioning.This article will discuss the following three key technologies in detail.The main research work of this paper includes the following points:Constructing a motion control system for two-wheel independent drive magnetic adsorption wall-climbing robot.Firstly,analysing the motion structure of the robot and designed a controller based on fuzzy adaptive PID to make system more stability.Then,the Kalman filter algorithm was used to process the information acquired by the structured light sensor in the motion closed-loop feedback system,so that the information and the robot motion is more stable.A debugging monitoring platform for a weld inspection robot based on multi-structure light is built.The design identification scheme utilizes a plurality of parallel structured lights to be projected onto the weld,and the edges of the weld are identified by the characteristic that the structured light is creased at the edge of the weld.The identification of the weld edge requires image processing related techniques,including image preprocessing,laser stripe midline extraction,laser stripe area extraction and weld line break repair.In the process of the robot’s autonomous tracking of the weld,these processed image information cannot be visually observed,so that the algorithm of each step cannot be accurately judged.In addition,there are a large number of parameters in the identification technology that need to be debugged,and it takes a certain time to perform the parameter modification and compilation.Based on the above reasons,this design builds a host computer platform with WIFI transmission,remote PC online debugging and monitoring functions,which improves development efficiency and enhances human-computer interaction.A method for global positioning of weld inspection robots is proposed.With the help of a high-precision attitude sensor,it is attached to the robot to form a Strapdown Inertial Navigation System.Then the mathematical model of the robot’s motion attitude is established,and the mathematical relationship between the center angle of the robot and the sensor output attitude angle is derived,and the global positioning of the robot on the steel tube is indirectly determined according to the data of the sensor attitude angle.Finally,the experimental data obtained is analyzed by MATLAB,and the feasibility of the motion control and positioning system design of the intersecting wire weld detection robot is verified.The efficiency of the multi-structure optical weld seam identification and debugging monitoring platform is certain.These have the important industrial application value.