A method for calculating the detection rate of weld inspection trolley

Abstract

The present invention relates to the technical field of non-destructive testing, and in particular to a method for calculating the detection rate of a weld inspection trolley. The present invention adopts the following technical solution: by arranging a gyroscope on the weld inspection trolley, the speed and displacement of the weld inspection trolley at each time point are calculated using the data collected by the gyroscope, and a three-dimensional model of the object to be tested is established based on this, so that the total length of the weld of the object to be tested and the length of the weld inspection performed by the weld inspection trolley can be quickly calculated to determine the weld detection rate. The beneficial effect of the present invention is that the trajectory of the weld inspection process of the weld inspection trolley and the corresponding model of the object to be tested can be intuitively determined, the accuracy of weld inspection can be ensured, the occurrence of missed inspections can be effectively avoided, and the efficiency and quality of weld inspection of large-volume workpieces can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of nondestructive flaw detection, and in particular to a method for calculating the detection rate of a weld detection trolley. Background Art

[0002] At present, most of the non-destructive testing of large-volume workpieces such as spherical tanks, storage tanks, pipelines or wind turbine towers is still done manually, by setting up scaffolding or wire suspension, and carrying ultrasonic detectors to detect welds. In order to improve the efficiency of detection, some automated carts are used instead of inspectors to perform weld detection. The automated cart generally uses magnetic adsorption or vacuum adsorption to adsorb the cart on the surface of the object to be inspected and walk, and the welds of the workpiece are detected by adding probes to the automated cart. However, due to the large size of the object to be tested, the operator cannot monitor the automated cart at close range all the time, so sensors such as cameras or radar detectors are generally installed on the automated cart to assist remote control. At present, whether it is manual detection or detection using an automated cart, the actual detection area is judged by human eyes and experience, and the weld detection situation cannot be accurately known, which is prone to missed detection. Summary of the invention

[0003] The purpose of the present invention is to provide a method for calculating the detection rate of a weld inspection vehicle to solve the above-mentioned problem of missed detection due to the inability to accurately obtain the weld inspection situation.

[0004] To achieve the above object, the present invention adopts the following technical solution: a method for calculating the detection rate of a weld inspection vehicle, comprising the following steps:

[0005] S1. A gyroscope is set on the weld inspection trolley to collect the three-dimensional acceleration of the weld inspection trolley during the weld inspection process. The gyroscope collects the three-dimensional acceleration at a certain sampling frequency to obtain a series of three-dimensional acceleration data points: { }, each 3D acceleration data point is an acceleration vector, and the corresponding sampling time point is { }, the time intervals between sampling time points are .

[0006] S2. Based on the data obtained in step S1, the speed of the weld inspection vehicle at each sampling time point is calculated using the trapezoidal integration method. ,in, for The speed value at the moment, , and take , correspondingly, each speed is a velocity vector.

[0007] S3, according to the speed of each sampling point calculated in step S2, the displacement of the weld inspection trolley at each sampling time point is calculated using the trapezoidal integration method ,in for The displacement of the weld detection trolley at all times, , and take , correspondingly, each speed is a displacement vector.

[0008] S4. According to the n displacement vectors in step S3, a series of point coordinates in three-dimensional space can be obtained, and these point coordinates are combined to establish a model of the object to be measured.

[0009] S5. Draw the locations of the welds on the object under test based on the model of the object under test established in step S4, and add up the lengths of all welds to get the total length of the welds on the object under test. , combined with the weld inspection trolley for weld inspection distance , the detection rate of weld inspection can be calculated .

[0010] Specifically, in step S5, the distance of the weld inspection vehicle for weld inspection is The calculation is performed using the following method: Using the velocity vector of the welding trolley at each sampling time point obtained in step S2, the velocity vector of the welding trolley at each sampling time interval is calculated. Displacement length: ,in, For Time has come The distance the weld inspection trolley moves during this sampling time interval is used to calculate the distance the weld inspection trolley travels for weld inspection. ,in, For Time has come During this sampling time interval, the welding carriage is performing welding inspection. When the welding carriage is performing welding inspection, ,otherwise .

[0011] In another embodiment, in step S5, the distance of the weld inspection vehicle for weld inspection is The following calculation method is used: based on the model of the object to be tested obtained in step S4, the coordinates of the points corresponding to the displacement vector corresponding to the moment when the weld inspection vehicle performs weld inspection are marked and connected, and the total length of the connecting line is calculated, which is the distance the weld inspection vehicle performs weld inspection. .

[0012] Specifically, in step S1, the three-dimensional acceleration data collected by the gyroscope is subjected to denoising and filtering to finally obtain a series of three-dimensional acceleration data points.

[0013] The beneficial effect of the present invention is that by arranging a gyroscope on the weld inspection trolley and using the data collected by the gyroscope to respectively calculate the speed and displacement of the weld inspection trolley at various time points, the moving trajectory of the weld inspection trolley can be accurately known, and a three-dimensional model of the object to be tested can be established, so that the weld inspection rate of the weld inspection trolley can be calculated, effectively avoiding missed inspections and improving the weld inspection efficiency and quality of large-volume workpieces. DETAILED DESCRIPTION

[0014] Embodiment 1, a method for calculating the detection rate of a weld inspection vehicle, comprising the following steps:

[0015] S1. A gyroscope is set on the weld inspection trolley to collect the three-dimensional acceleration of the weld inspection trolley during the weld inspection process. The gyroscope collects the three-dimensional acceleration at a certain sampling frequency. After denoising and filtering, a series of three-dimensional acceleration data points are obtained: { }, each 3D acceleration data point is an acceleration vector, and the corresponding sampling time point is { }, the time intervals between sampling time points are .

[0016] S2. Based on the data obtained in step S1, the speed of the weld inspection vehicle at each sampling time point is calculated using the trapezoidal integration method. ,in, for The speed value at the moment, , and take , correspondingly, each speed is a velocity vector.

[0017] S3, according to the speed of each sampling point calculated in step S2, the displacement of the weld inspection trolley at each sampling time point is calculated using the trapezoidal integration method ,in for The displacement of the weld detection trolley at all times, , and take , correspondingly, each speed is a displacement vector.

[0018] S4. According to the n displacement vectors in step S3, a series of point coordinates in three-dimensional space can be obtained, and these point coordinates are combined to establish a model of the object to be measured.

[0019] S5. Draw the locations of the welds on the object under test based on the model of the object under test established in step S4, and add up the lengths of all welds to get the total length of the welds on the object under test. , combined with the weld inspection trolley for weld inspection distance , the detection rate of weld inspection can be calculated .

[0020] Specifically, in the above step S5, the distance of the weld inspection vehicle for weld inspection is The calculation is performed using the following method: Using the velocity vector of the welding trolley at each sampling time point obtained in step S2, the velocity vector of the welding trolley at each sampling time interval is calculated. Displacement length: ,in, For Time has come The distance the weld inspection trolley moves during this sampling time interval is used to calculate the distance the weld inspection trolley travels for weld inspection. ,in, For Time has come During this sampling time interval, the welding carriage is performing welding inspection. When the welding carriage is performing welding inspection, ,otherwise .

[0021] In addition, in order to avoid the weld inspection trolley repeatedly inspecting the same weld position, the above method is used to calculate the weld inspection distance. When there is a deviation, calculate the distance that the weld inspection trolley performs weld inspection The following method can also be preferably used: in the model of the object to be tested obtained in step S4, the coordinates of the points corresponding to the displacement vector corresponding to the moment when the weld inspection vehicle performs weld inspection are marked and connected, and the total length of the connecting line is calculated, which is the distance the weld inspection vehicle performs weld inspection. .

[0022] Of course, the above are only preferred embodiments of the present invention, and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes made to the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calculating the detection rate of a weld inspection vehicle, characterized in that: The steps include: S1. A gyroscope is set on the weld inspection trolley to collect the three-dimensional acceleration of the weld inspection trolley during the weld inspection process. The gyroscope collects the three-dimensional acceleration at a certain sampling frequency to obtain a series of three-dimensional acceleration data points: { }, each 3D acceleration data point is an acceleration vector, and the corresponding sampling time point is { }, the time intervals between sampling time points are ; S2. Based on the data obtained in step S1, the speed of the weld inspection vehicle at each sampling time point is calculated using the trapezoidal integration method. ,in, for The speed value at the moment, , and take , correspondingly, each speed is a velocity vector; S3, according to the speed of each sampling point calculated in step S2, the displacement of the weld inspection trolley at each sampling time point is calculated using the trapezoidal integration method ,in for The displacement of the weld detection trolley at all times, , and take , correspondingly, each speed is a displacement vector; S4, according to the n displacement vectors in step S3, a series of point coordinates in three-dimensional space can be obtained, and these point coordinates are combined to establish a model of the object to be measured; S5. Draw the locations of the welds on the object under test based on the model of the object under test established in step S4, and add up the lengths of all welds to get the total length of the welds on the object under test. , combined with the weld inspection trolley for weld inspection distance , the detection rate of weld inspection can be calculated .

2. A method for calculating the detection rate of a weld inspection vehicle according to claim 1, characterized in that: In step S5, the distance of the weld inspection vehicle for weld inspection The calculation is performed using the following method: Using the velocity vector of the welding trolley at each sampling time point obtained in step S2, the velocity vector of the welding trolley at each sampling time interval is calculated. Displacement length: ,in, For Time has come The distance the weld inspection trolley moves during this sampling time interval is used to calculate the distance the weld inspection trolley travels for weld inspection. ,in, For Time has come During this sampling time interval, the welding carriage is performing welding inspection. When the welding carriage is performing welding inspection, ,otherwise .

3. The method for calculating the detection rate of a weld inspection vehicle according to claim 1, characterized in that: In step S5, the distance of the weld inspection vehicle for weld inspection The following calculation method is used: based on the model of the object to be tested obtained in step S4, the coordinates of the points corresponding to the displacement vector corresponding to the moment when the weld inspection vehicle performs weld inspection are marked and connected, and the total length of the connecting line is calculated, which is the distance the weld inspection vehicle performs weld inspection. .

4. The method for calculating the detection rate of a weld inspection vehicle according to claim 1, characterized in that: In step S1, the three-dimensional acceleration data collected by the gyroscope is subjected to denoising and filtering to finally obtain a series of three-dimensional acceleration data points.

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