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An Ultrasonic Tracking System for Underwater Welds

A tracking system and ultrasonic technology, applied in welding equipment, welding accessories, arc welding equipment, etc., can solve the problems of fast light attenuation, reduced optical signal visual tracking effect, and large impact.

Active Publication Date: 2022-08-05
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, optical signals are mainly used for visual tracking, but light attenuates quickly in water, and is greatly affected by water quality and water flow. Once the water quality is turbid, the visual tracking effect of optical signals will be seriously reduced
And the sensors used by other tracking technologies are generally difficult to enter the water

Method used

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  • An Ultrasonic Tracking System for Underwater Welds
  • An Ultrasonic Tracking System for Underwater Welds
  • An Ultrasonic Tracking System for Underwater Welds

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0016] Embodiment 1: The cumulative echo amplitude deviation negative feedback control algorithm process is as follows Figure 5 shown. After power on, first set the scanning width and scanning speed of the tracking probe 5, and determine the scanning period T. One-way scanning from left to right is adopted, and no scanning is performed from right to left; the scanning width is larger than the width of the weld, generally 2-3 times the width of the weld; the selection of the scanning speed should ensure smooth scanning and make the scanning period T Reach more than 10 times the ultrasonic pulse period. When starting welding seam tracking, the tracking probe 5 is reset to the left scanning position (see image 3 ), the accumulator, timer and register in the automatic welding seam tracking controller 10 are all cleared. Then, the tracking probe 5 starts to scan from the left end to the right end at a constant speed, simultaneously emits ultrasonic pulses of a certain frequenc...

Embodiment approach 2

[0017] Embodiment 2: The cumulative distance or time deviation negative feedback control algorithm process is as follows Image 6 shown. The scanning mode of the tracking probe 5 and the setting of the scanning parameters after power-on are the same as those of the first embodiment. When starting welding seam tracking, the tracking probe 5 is reset to the left scanning position (see Figure 4 ), the accumulators, timers and registers in the automatic welding seam tracking controller 10 are also cleared. Then, the tracking probe 5 starts scanning from the left end to the right end at a constant speed, and starts to count the scanning time t 扫左 At the same time, ultrasonic pulses of a certain frequency are emitted. At the moment when ultrasonic pulses are emitted, the ultrasonic flaw detector 11 sends a start signal to the automatic welding seam tracking controller 10, so that the timer starts to count the ultrasonic propagation time t 超 . The tracking probe 5 receives the u...

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Abstract

The utility model relates to an ultrasonic tracking system for underwater weld defect detection and underwater wet welding. An ultrasonic probe for welding seam tracking is arranged in front of a detection probe or a welding torch on an underwater automatic crawling mechanism. When the crawling mechanism crawls along the weld seam under water for inspection or welding, the tracking probe scans the width of the weld in the transverse direction of the weld, continuously emits ultrasonic pulses, and continuously receives the weld and its adjacent weldment surfaces or grooves The ultrasonic pulse reflected from the surface of the adjacent weldment is converted into an electrical signal and transmitted to the ultrasonic flaw detector on the water. The ultrasonic flaw detector performs sampling and analog-to-digital conversion processing on it, and then transmits it to the weld automatic tracking controller on the water. The automatic tracking controller processes according to the "accumulated echo amplitude deviation negative feedback control algorithm" or "accumulated distance / time deviation negative feedback control algorithm", and then sends a control signal to the direction adjustment mechanism of the underwater crawling mechanism to adjust its tracking direction .

Description

1. Technical field [0001] The invention belongs to the technical field of metal material welding and non-destructive testing in the material processing discipline. 2. Background technology [0002] Some progress has been made in underwater welding, inspection and repair technology. Welding, inspection and repair in deep water need to be completed automatically by machines, so automatic tracking of welds is required. At present, optical signals are mainly used for visual tracking, but light decays rapidly in water and is greatly affected by water quality and water flow. Once the water quality is turbid, the visual tracking effect of optical signals will be seriously reduced. The sensors used by other tracking technologies are generally difficult to enter the water. 3. Content of the Invention [0003] The invention uses ultrasonic waves to track the underwater welds, mainly because the ultrasonic waves decay slowly in water, the influence of water quality and water flow on...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127B23K9/32
CPCB23K9/1274B23K9/32
Inventor 贺文雄张洪涛舒凤远于静泊赵洪运冯吉才
Owner HARBIN INST OF TECH AT WEIHAI
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