High-position bolt detection device and method

Abstract

The invention relates to a high-position bolt detection device and method. The device comprises a carrier, a control module and a detection module arranged on the carrier. The carrier is used for bearing the detection module to move; the detection module is used for emitting a laser signal to a detected bolt and collecting an ultrasonic echo signal generated by the detected bolt due to excitation of the laser signal; the control module is used for executing the following control: the carrier is controlled to work, so that the detection module is positioned to a position where the detected bolt can be detected; controlling the detection module to work so as to obtain the ultrasonic echo signal; and determining whether the detected bolt has defects or not according to the ultrasonic echo signal. According to the invention, non-contact and automatic defect detection of the bolt can be realized, the detection efficiency is high, the falling risk of the bolt is reduced, manpower resources are saved, and the overhaul period is shortened.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power plant equipment maintenance, and in particular to a high-position bolt detection device and method. Background Art

[0002] The gantry of a nuclear power plant is an important structure for the maintenance of auxiliary equipment. It is mainly made of steel structure, and the components are connected by bolts. Because there is a pedestrian walkway under the gantry, and most of the bolts are in a high position, there is a risk of bolts breaking and falling from a height. In addition, there are a large number of bolts (nearly 60,000), and there is a high risk of people being injured by falling objects from a height. It also affects the node force, seismic performance and overall structural safety of the gantry steel structure, and even affects the use of the gantry during the nuclear power overhaul, thereby delaying the overhaul period.

[0003] The existing bolt internal defect monitoring technology requires the detection sensor and the bolt end to fit closely. Due to the detection principle, it is necessary to set up a scaffold close to the inspected bolt to carry out contact-type manual detection at high altitude, which has low detection efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a high-position bolt detection device and method.

[0005] The technical solution adopted by the present invention to solve the technical problem is: constructing a high-position bolt detection device, including a carrier, a control module and a detection module arranged on the carrier;

[0006] The carrier is used to carry the detection module to move;

[0007] The detection module is used to send a laser signal to the bolt under test, and collect an ultrasonic echo signal generated by the bolt under test due to being excited by the laser signal;

[0008] The control module is used to perform the following control:

[0009] S10, controlling the carrier to operate so that the detection module is positioned to a position capable of detecting the bolt to be detected;

[0010] S20, controlling the detection module to work so as to obtain the ultrasonic echo signal;

[0011] S30. Determine whether the bolt under test has defects according to the ultrasonic echo signal.

[0012] Preferably, the vehicle comprises a drone.

[0013] Preferably, the detection module includes a laser generating unit, an ultrasonic sensing unit and a distance measuring unit;

[0014] The laser generating unit is used to emit the laser signal based on the control of the control module;

[0015] The ultrasonic sensing unit is used to collect the ultrasonic echo signal and feed the ultrasonic echo signal back to the control module;

[0016] The distance measuring unit is used to measure a first distance between the ultrasonic sensor unit and the bolt to be measured, and a second distance between the laser generating unit and the bolt to be measured;

[0017] In the S10, it also includes: controlling the operation of the carrier according to the first distance and the second distance, so that the first distance is within a first set distance range and the second distance is maintained within a second set distance range, and the ultrasonic echo signals collected under a plurality of first distances and a plurality of second distances are obtained in combination with each other, so as to obtain a plurality of position test echo signals corresponding to each combination one by one, and determining the first distance and the second distance corresponding to the position test echo signal with the largest ultrasonic amplitude among the plurality of position test echo signals as the first test distance and the second test distance, respectively, and controlling the operation of the carrier so that the first distance is equal to or as close as possible to the first test distance, and the second distance is equal to or as close as possible to the second test distance.

[0018] Preferably, the detection module further comprises a mechanical scanning unit and a fixing frame;

[0019] The laser generating unit and the ultrasonic sensing unit are arranged on the mechanical scanning unit, the mechanical scanning unit is mechanically connected to the carrier through the fixing frame, and the mechanical scanning unit is used to adjust the laser emission angle of the laser generating unit and the ultrasonic wave collection angle of the ultrasonic sensing unit;

[0020] In the S10, it also includes: controlling the mechanical scanning unit to work according to the ultrasonic echo signal to adjust the laser emission angle and / or the ultrasonic wave collection angle, so that the laser signal emitted by the laser generation unit covers the entire bolt to be measured, and the ultrasonic sensing unit collects the ultrasonic echo signal.

[0021] Preferably, the mechanical scanning unit comprises a first angle controller, a first rotating rod, a second angle controller and a third angle controller;

[0022] The first angle controller is disposed on the fixing frame and is rotatably connected to one end of the first rotating rod;

[0023] The second angle controller is mechanically connected to the other end of the first rotating rod and is rotationally connected to the ultrasonic sensor unit;

[0024] The third angle controller is disposed on the fixing frame and is rotatably connected to the laser generating unit;

[0025] The control module adjusts the laser emission angle by controlling the rotation angle of the first angle controller and the second angle controller, and adjusts the ultrasonic wave collection angle by controlling the rotation angle of the third angle controller.

[0026] Preferably, the high position bolt detection device further comprises a wireless communication module for establishing a communication connection between the carrier and the detection module and the control module;

[0027] Wherein, the wireless communication module includes a vehicle-side communication unit and a control-side communication unit;

[0028] The vehicle-side communication unit is disposed on the vehicle, electrically connected to the vehicle and the detection module, and communicatively connected to the control-side communication unit;

[0029] The control-side communication unit is electrically connected to the control module.

[0030] Preferably, the S30 includes:

[0031] It is determined whether the average amplitude of the ultrasonic echo signal is greater than the set amplitude. If so, it is determined that the bolt under test has defects; otherwise, it is determined that the bolt under test does not have defects.

[0032] Preferably, the high position bolt detection device further includes a camera module;

[0033] The camera module is provided on the carrier and is used to collect image information in the detection direction of the detection module;

[0034] The S10 includes: controlling the carrier to work according to the image information, so that the detection module is positioned to a position capable of detecting the bolt to be detected.

[0035] Preferably, the control module is also used to perform the following control:

[0036] S01, obtaining a plurality of bolts to be tested and coordinate information of each of the bolts to be tested;

[0037] S02, generating a detection plan according to the position information; wherein the detection plan includes the detection order of each of the bolts to be tested and the expected movement trajectory of the carrier;

[0038] S03, determining the bolt to be tested according to the detection sequence, and executing S10 to S30 in sequence;

[0039] S40, after determining whether a tested bolt has defects each time, determine whether there are undetected bolts to be tested, and if so, return to S03.

[0040] The present invention also constructs a high-position bolt detection method for a high-position bolt detection device, the high-position bolt detection device comprising a detection module for sending a laser signal to the bolt to be detected and collecting an ultrasonic echo signal generated by the bolt to be detected due to being excited by the laser signal, and a carrier for carrying the movement of the detection module, the high-position bolt detection method comprising:

[0041] Controlling the carrier to work so that the detection module is positioned to a position capable of detecting the bolt to be detected;

[0042] Controlling the detection module to work so as to obtain the ultrasonic echo signal;

[0043] Determine whether the bolt under test has a defect according to the ultrasonic echo signal.

[0044] The technical solution of the present invention controls the operation of the carrier through a control module, positions the detection module to a position capable of detecting the bolt to be tested, and then controls the detection module to obtain an ultrasonic echo signal capable of characterizing defect information of the bolt to be tested, and finally determines whether the bolt to be tested has defects based on the ultrasonic echo signal, thereby realizing non-contact and automated defect detection of the bolt, with high detection efficiency, helping to reduce the risk of bolt falling, saving human resources, and shortening the overhaul period. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0046] Figure 1 is a circuit structure block diagram of a high position bolt detection device in some embodiments of the present invention;

[0047] Figure 2 is a program flow chart of a control module in some embodiments of the present invention;

[0048] Figure 3 It is a schematic diagram of the structure of the carrier and the detection module in some embodiments of the present invention. DETAILED DESCRIPTION

[0049] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0050] It should be noted that the flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0051] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The present invention provides a high-position bolt detection device, which can efficiently detect whether there are defects in the bolts on the gantry of a nuclear power plant. It can not only reduce the risk of bolts falling, but also significantly improve the efficiency of workers in repairing the gantry bolts, and play a positive role in shortening the overhaul period.

[0053] In some embodiments, Figure 1 As shown, the high-position bolt detection device may include a carrier 1 , a control module 2 , and a detection module 3 disposed on the carrier 1 .

[0054] The carrier 1 is used to carry the detection module 3 to move so as to transport the detection module 3 to a position where the target bolt can be detected and to implement the detection work. Specifically, the carrier 1 may include an existing drone, which is extremely flexible in the air and can conveniently carry the detection module 3 to a high place to detect bolts. Furthermore, the carrier 1 may also include an existing crawling robot or a robotic arm, which is mainly used to carry the detection module 3 to detect bolts at a low place. The carrier 1 is preferably a drone.

[0055] The detection module 3 is used to send a laser signal to the bolt under test and collect the ultrasonic echo signal generated by the bolt under test due to the excitation of the laser signal. Specifically, after the laser signal sent by the detection module 3 acts on the bolt under test, since the bolt under test is made of metal, an ultrasonic signal will be excited due to the ablation effect and the thermoelastic effect.

[0056] Control module 2 is used to execute Figure 2 Step S10, step S20 and step S30 are shown.

[0057] Step S10 includes: controlling the vehicle 1 to work so that the detection module 3 is positioned to a position where the bolt to be detected can be detected. In this step, the PPO algorithm or the SAC algorithm can be used to operate the flight trajectory of the drone. For details, please refer to the prior art and will not be repeated here.

[0058] Step S20 includes: controlling the detection module 3 to work so as to obtain the ultrasonic echo signal. It should be noted that, in the present invention, the carrier 1 and all power modules on the carrier 1 are powered by the battery module arranged on the carrier 1. In this step, when the detection module 3 is positioned to a position where the bolt to be detected can be detected, the detection module 3 will be controlled to emit a laser signal to obtain the ultrasonic echo signal collected by the detection module 3. When the carrier 1 carries the detection module 3 for positioning, the control module 2 will control the detection module 3 to stop working so as to save electric energy and help improve the endurance.

[0059] Step S30 includes: determining whether the tested bolt has defects according to the ultrasonic echo signal. Specifically, according to the existing laser ultrasonic excitation detection principle, when the tested bolt has no defects, the ultrasonic signal excited will show a certain regularity and the amplitude of the ultrasonic signal will be relatively small because of its flat and smooth structure. However, when the tested bolt has defects, such as cracks, pores and other defects on the surface, the ultrasonic signal will show obvious peak changes, that is, the ultrasonic amplitude will rise suddenly. Therefore, the ultrasonic echo signal excited by the laser signal of the tested bolt can indicate whether the tested bolt has defects. This step determines whether the tested bolt has defects by analyzing the ultrasonic echo signal.

[0060] In this embodiment, the control module 2 can control the operation of the carrier 1 to position the detection module 3 to a position where the bolt to be tested can be detected, and then control the detection module 3 to obtain an ultrasonic echo signal that can characterize the defect information of the bolt to be tested. Finally, it is determined whether the bolt to be tested has defects based on the ultrasonic echo signal, thereby realizing non-contact and automated defect detection of the bolts, with high detection efficiency, which helps to reduce the risk of bolts falling, save human resources, and shorten the overhaul period.

[0061] In some embodiments, Figure 1As shown, the high position bolt detection device may also include a camera module 5. The camera module 5 is provided on the carrier 1, and the camera module 5 is used to collect the image information in the detection direction of the detection module 3. Accordingly, the step S10 executed by the control module 2 may include: controlling the carrier 1 to work according to the image information, so that the detection module 3 is positioned to a position where the bolt to be detected can be detected. In this embodiment, the control module 2 can navigate the motion trajectory of the carrier 1 in combination with the image information to ensure that the detection module 3 can accurately locate the position where the bolt to be detected can be detected. Further, the high position bolt detection device may also include a human-computer interaction unit (such as a touch screen), which is used to display the image information, so that the staff can manually determine whether the positioning of the carrier 1 is accurate based on the image information. After determining that the positioning is accurate, the staff can input a determination instruction to the control module 2 by operating the human-computer interaction unit. After receiving the determination instruction, the control module 2 can execute steps S20 and S30.

[0062] In some embodiments, Figure 3 As shown, the detection module 3 may include a laser generating unit 31, an ultrasonic sensing unit 32 and a distance measuring unit.

[0063] The laser generating unit 31 is used to emit a laser signal based on the control of the control module 2. Specifically, the laser generating unit 31 may include an existing laser diode and a laser diode driving circuit. The control module 2 can control whether the laser diode driving circuit works, and further control whether the laser diode emits a laser signal.

[0064] The ultrasonic sensing unit 32 is used to collect ultrasonic echo signals and feed the ultrasonic echo signals back to the control module 2. Specifically, the ultrasonic sensing unit 32 may include a microphone and an ultrasonic signal processing circuit. The microphone can collect ultrasonic echo signals and convert ultrasonic waves into electrical signals, and the ultrasonic signal processing circuit is used to process the ultrasonic echo signals converted into electrical signals to improve the signal-to-noise ratio of the ultrasonic echo signals. The microphone may be an existing membraneless acoustic microphone or a MEMS microphone, preferably a membraneless acoustic microphone. The ultrasonic signal processing circuit may be an existing ultrasonic signal processing circuit or module, as long as it can filter and amplify the ultrasonic echo signals converted into electrical signals. For example, the ultrasonic signal processing circuit may be composed of an existing filtering circuit and an amplifying circuit, which is not limited here.

[0065] In some embodiments, Figure 3As shown, the detection module 3 also includes a distance measuring unit. The distance measuring unit is used to measure the first distance between the ultrasonic sensor unit 32 and the bolt to be measured, and the second distance between the laser generating unit 31 and the bolt to be measured. Accordingly, step S10 executed by the control module 2 may also include: controlling the vehicle 1 to work according to the first distance and the second distance, so that the first distance is within the first set distance range and the second distance is maintained within the second set distance range. The displacement changes, and the ultrasonic echo signals collected under the combination of multiple first distances and multiple second distances are obtained to obtain multiple position test echo signals corresponding to each combination, and the first distance and the second distance corresponding to the position test echo signal with the largest ultrasonic amplitude among the multiple position test echo signals are respectively determined as the first test distance and the second test distance, and the vehicle 1 is controlled to work so that the first distance is equal to or as close to the first test distance as possible, and the second distance is equal to or as close to the second test distance as possible. The function of this embodiment is to keep a certain distance between the ultrasonic sensing unit 32 and the laser generating unit 31 and the bolt to be measured, so as to ensure that the intensity of the laser signal emitted to the bolt to be measured is large enough, and that the ultrasonic sensing unit 32 can collect the ultrasonic echo signal with a sufficiently large sound wave intensity (greater than the set intensity threshold).

[0066] In some embodiments, Figure 3 As shown, the distance measuring unit may include a first laser distance measuring device 361 and a second laser distance measuring device 362. The first laser distance measuring device 361 is mechanically connected to the ultrasonic sensor unit 32 to measure the first distance, and is communicatively connected to the control module 2 to feed back the first distance to the control module 2. The second laser distance measuring device 362 is mechanically connected to the laser generating unit 31 to measure the second distance, and is communicatively connected to the control module 2 to feed back the second distance to the control module 2. The first laser distance measuring device 361 and the second laser distance measuring device 362 may be existing laser distance measuring devices.

[0067] In some embodiments, Figure 3 As shown, the detection module 3 may further include a mechanical scanning unit 33 and a fixing frame 34 .

[0068] like Figure 3 As shown, the mechanical scanning unit 33 is mechanically connected to the carrier 1 through the fixing frame 34, the laser generating unit 31 and the ultrasonic sensing unit 32 are arranged on the mechanical scanning unit 33, and the mechanical scanning unit 33 is used to adjust the laser emission angle of the laser generating unit 31 and the ultrasonic wave collection angle of the ultrasonic sensing unit 32. Accordingly, the step S10 executed by the control module 2 may also include: controlling the mechanical scanning unit 33 to work according to the ultrasonic echo signal to adjust the laser emission angle and / or the ultrasonic wave collection angle, so that the laser signal emitted by the laser generating unit 31 covers the entire bolt to be tested, and the ultrasonic sensing unit 32 collects the ultrasonic echo signal.

[0069] Specifically, the control module 2 can control the operation of the carrier 1 to make the laser generating unit 31 and the ultrasonic sensing unit 32 close to the bolt to be tested, and achieve preliminary positioning (with poor positioning accuracy). Although the position of the carrier 1 can be further controlled for micro-manipulation to make the laser generating unit 31 and the ultrasonic sensing unit 32 align with the bolt to be tested as much as possible, and the detection work can be completed, there are defects of taking a long time and wasting electricity, and inaccurate positioning will affect the accuracy of defect detection. The mechanical scanning unit 33 in this embodiment can achieve a small range of angle adjustment for the laser generating unit 31 and the ultrasonic sensing unit 32, on the one hand, ensuring that the laser signal can cover the entire bolt to be tested, and realizing a comprehensive test of the bolt to be tested, and on the other hand, ensuring that the ultrasonic sensing unit 32 can collect the ultrasonic echo signal at the best possible angle, improve the signal quality of the ultrasonic echo signal, can improve the positioning accuracy, and help improve the accuracy of defect detection of the bolt.

[0070] In some embodiments, Figure 3 As shown, the mechanical scanning unit 33 may further include a first angle controller 331 , a first rotating rod 332 , a second angle controller 333 and a third angle controller 334 .

[0071] like Figure 3As shown, the first angle controller 331 is arranged on the fixed frame 34 and is rotatably connected to one end of the first rotating rod 332. The first angle controller 331 can drive the first rotating rod 332 to rotate. The second angle controller 333 is mechanically connected to the other end of the first rotating rod 332 and is rotatably connected to the ultrasonic sensor unit 32. The second angle controller 333 can drive the ultrasonic sensor unit 32 to rotate. It can be understood that the first angle controller 331 and the second angle controller 333 work together to adjust the ultrasonic acquisition angle. The third angle controller 334 is arranged on the fixed frame 34 and is rotatably connected to the laser generating unit 31. The third angle controller 334 can drive the laser generating unit 31 to rotate, thereby adjusting the laser emission angle. The control module 2 adjusts the laser emission angle by controlling the rotation angle of the first angle controller 331 and the second angle controller 333, and adjusts the ultrasonic acquisition angle by controlling the rotation angle of the third angle controller 334. In this embodiment, the first to third angle controllers may include a stepper motor and a motor drive circuit, respectively. The control module 2 may control the stepper motor to rotate forward or reverse in a certain number of steps by controlling the motor drive circuit, so as to accurately control the angle of the angle controller to rotate forward or reverse, thereby realizing accurate control of the laser emission angle or the ultrasonic wave acquisition angle. Of course, the first to third angle controllers may also be replaced by existing angle rotation control devices, as long as they can drive the first rotating rod 332, the laser generating unit 31 or the ultrasonic sensor unit 32 to rotate. It should be noted that, since the radiation range of the laser signal is large, the angle accuracy requirement is relatively low, so it can be controlled by the third angle controller 334. For ultrasonic echo signals, when there is a defect in the bolt to be tested, the defect position is unknown. Therefore, in order to collect ultrasonic echo signals at the best angle, this embodiment cooperates with the first angle controller 331 and the second angle controller 333 to achieve more accurate adjustment of the ultrasonic wave acquisition angle.

[0072] Furthermore, the specific steps of the control module 2 adjusting the ultrasonic collection angle may include: after the vehicle 1 is positioned, controlling the first angle controller 331 and / or the second angle controller 333 to operate, so as to collect ultrasonic echo signals at multiple ultrasonic collection angles, and obtaining multiple angle test echo signals corresponding to these ultrasonic collection angles one by one, determining the ultrasonic collection angle corresponding to the angle test echo signal with the largest ultrasonic amplitude among the multiple angle test echo signals as the final collection angle, and controlling the first angle controller 331 and / or the second angle controller 333 to operate, so as to restore the ultrasonic collection angle to the said final collection angle.

[0073] In some embodiments, Figure 3As shown, the mechanical scanning unit 33 may further include a second rotating rod 335, which is mechanically connected between the third angle controller 334 and the laser generating unit 31. In this embodiment, the third angle controller 334 drives the laser generating unit 31 to rotate by rotating the second rotating rod 335.

[0074] In some embodiments, Figure 1 As shown, the high-position bolt detection device also includes a wireless communication module for establishing a communication connection between the vehicle 1 and the detection module 3 and the control module 2. The wireless communication module includes a vehicle-side communication unit 41 and a control-side communication unit 42. The vehicle-side communication unit 41 is arranged on the vehicle 1, and the vehicle-side communication unit 41 is electrically connected to the vehicle 1 and the detection module 3, and is communicatively connected to the control-side communication unit 42. The control-side communication unit 42 is electrically connected to the control module 2. The vehicle-side communication unit 41 and the control-side communication unit 42 can be existing wireless communication modules, such as a WiFi communication module and a radio communication module. The vehicle-side communication unit 41 cooperates with the control-side communication unit 42 to enable the vehicle 1 and the detection module 3 to establish a communication connection with the control module 2, so that the operation instructions output by the control module 2 are sent to the vehicle 1, the laser generation unit 31 and the mechanical scanning unit 33 in the detection module 3 via the control-side communication unit 42 and the vehicle-side communication unit 41, so as to realize the operation control of the vehicle 1, the laser generation unit 31 and the mechanical scanning unit 33, and at the same time, the ultrasonic sensor unit 32 and the distance-measuring unit can send the ultrasonic echo signal, the first distance and the second distance to the control module 2 via the vehicle-side communication unit 41 and the control-side communication unit 42. In this embodiment, the vehicle 1 and the power module on the vehicle 1 establish a communication connection with the control module 2 through the wireless communication module, which can avoid the defects of poor flexibility and increased load on the vehicle 1 caused by wired communication.

[0075] In some embodiments, Figure 3 As shown, the high position bolt detection device also includes a housing 35. The housing 35 is mechanically connected between the fixing frame 34 and the mechanical scanning unit 33. Specifically, the first angle controller 331 and the third angle controller 334 are arranged on the housing 35. The housing 35 is used to store the vehicle side communication unit 41, the motor drive circuit included in the first to third angle controllers, and the battery module for supplying power to the vehicle 1, the camera module 5, the mechanical scanning unit 33 and the vehicle side communication unit 41.

[0076] In some embodiments, step S30 performed by the control module 2 may include: determining whether the average amplitude of the ultrasonic echo signal is greater than the set amplitude, and if so, determining that the tested bolt has a defect, otherwise determining that the tested bolt does not have a defect. In this embodiment, this embodiment utilizes the mechanism that defects will cause a sudden increase in the amplitude of the ultrasonic echo signal, and determines whether the tested bolt has a defect by determining whether the average amplitude of the ultrasonic echo signal is within the set amplitude range. It has the advantages of simple algorithm and high judgment efficiency, which can reduce the detection time and play a positive role in saving electricity and shortening the construction period. Of course, the existing laser ultrasonic defect detection algorithm is also used to determine whether the tested bolt has a defect. In addition, the average amplitude of the ultrasonic echo signal can be calculated by integrating the ultrasonic echo signal.

[0077] Furthermore, the set amplitude range can be determined in the following manner: using the detection module 3 or a detection device with a structure completely consistent with the detection module 3 to detect multiple defective test blocks with different defects in compliance with the first set distance range requirements and the second set distance range requirements, to obtain multiple test block ultrasonic echo signals, take the test block ultrasonic echo signal with the smallest average amplitude among the multiple test block ultrasonic echo signals as the calibration signal, and take 40% of the average amplitude of the calibration signal as the set amplitude.

[0078] In some embodiments, Figure 2 As shown, the control module 2 is also used to execute step S01, step S02, step S03 and step S40.

[0079] Step S01 includes: obtaining a plurality of bolts to be tested and coordinate information of each bolt to be tested. In this step, the coordinate information includes the coordinate position of each bolt to be tested in three-dimensional space.

[0080] Step S02 includes: generating a detection plan according to the position information; wherein the detection plan includes the detection order of each bolt to be tested and the expected motion trajectory of the carrier 1. In this embodiment, when the coordinate information of each bolt to be tested is known, each bolt to be tested can be projected on a two-dimensional plane or a three-dimensional model based on these coordinate information. In one embodiment, the detection order of each bolt to be tested can be determined by the principle of proximity, and then each bolt to be tested can be connected on a two-dimensional plane or a three-dimensional model according to the detection order to obtain the expected motion trajectory. In another embodiment, all connection methods of each bolt to be tested can be determined by enumeration, and the displacement of each connection method can be calculated, and the trajectory corresponding to the connection method with the smallest displacement is determined as the expected motion trajectory. In some embodiments, the staff can also modify, save, and export the expected motion trajectory by operating the human-computer interaction unit as needed.

[0081] Step S03 includes: determining the bolt to be tested according to the detection sequence, and executing steps S10 to S30 in sequence. In this step, each bolt to be tested will be determined as the bolt to be tested in sequence according to the detection sequence, and each time the bolt to be tested is determined, steps S10 to S30 will be executed in sequence to determine whether the newly determined bolt to be tested has defects.

[0082] Step S40 includes: after determining whether a tested bolt has defects each time, judging whether there are untested bolts to be tested, if so, returning to S03, otherwise terminating the testing work.

[0083] The present invention also provides a high position bolt detection method, the method is used for a high position bolt detection device, such as Figure 1 As shown, the high position bolt detection device may include a detection module 3 for sending a laser signal to the bolt to be detected and collecting an ultrasonic echo signal generated by the bolt to be detected due to being excited by the laser signal, and a carrier 1 for carrying the detection module 3 to move. Figure 2 As shown, the high position bolt detection method may include step S01, step S02, step S03, step S10, step S20, step S30 and step S40.

[0084] Step S01 includes: obtaining a plurality of bolts to be tested and coordinate information of each bolt to be tested.

[0085] Step S02 includes: generating a detection plan according to the position information; wherein the detection plan includes the detection sequence of each bolt to be tested and the expected movement trajectory of the carrier 1.

[0086] Step S03 includes: determining the bolt to be tested according to the detection sequence, and executing steps S10 to S30 in sequence.

[0087] Step S10 includes: controlling the carrier 1 to operate so that the detection module 3 is positioned to a position capable of detecting the bolt to be detected.

[0088] In some embodiments, step S10 may include: controlling the carrier 1 to work according to the image information, so that the detection module 3 is positioned to detect the bolt to be detected. The image information is the image information in the detection direction of the detection module 3 collected by the camera module 5 of the high position bolt detection device.

[0089] In some embodiments, step S10 may also include: controlling the vehicle 1 to work according to the first distance and the second distance, so that the first distance is within the first set distance range and the second distance is maintained within the second set distance range, and obtaining ultrasonic echo signals collected under multiple combinations of the first distance and the second distance to obtain multiple position test echo signals corresponding to each combination, and determining the first distance and the second distance corresponding to the position test echo signal with the largest ultrasonic amplitude among the multiple position test echo signals as the first test distance and the second test distance, respectively, and controlling the vehicle 1 to work so that the first distance is equal to or as close to the first test distance as possible, and the second distance is equal to or as close to the second test distance as possible. Among them, the first distance is the distance between the ultrasonic sensor unit 32 and the bolt to be tested measured by the distance measuring unit included in the high position bolt detection device, and the second distance is the distance between the laser generating unit 31 and the bolt to be tested measured by the distance measuring unit included in the high position bolt detection device.

[0090] In some embodiments, step S10 may also include: controlling the mechanical scanning unit 33 included in the high-position bolt detection device to operate according to the ultrasonic echo signal to adjust the laser emission angle and / or the ultrasonic collection angle, so that the laser signal emitted by the laser generation unit 31 covers the entire bolt to be tested, and the ultrasonic sensing unit 32 collects the ultrasonic echo signal.

[0091] Step S20 includes: controlling the detection module 3 to work to obtain an ultrasonic echo signal.

[0092] Step S30 includes: determining whether the tested bolt has defects according to the ultrasonic echo signal.

[0093] Step S40 includes: after determining whether a tested bolt has defects each time, judging whether there are undetected bolts to be tested, and if so, returning to step S03.

[0094] The present invention further provides a control module, the control module includes a processor, and the processor implements the high-position bolt detection method provided by an embodiment of the present invention when executing a computer program.

[0095] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0096] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0097] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0098] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A high position bolt detection device, characterized in that: It comprises a carrier (1), a control module (2), and a detection module (3) arranged on the carrier (1); The carrier (1) is used to carry the detection module (3) for movement; The detection module (3) is used to send a laser signal to the bolt under test, and collect an ultrasonic echo signal generated by the bolt under test due to being excited by the laser signal; The control module (2) is used to perform the following control: S10, controlling the carrier (1) to operate so that the detection module (3) is positioned to a position capable of detecting the bolt to be detected; S20, controlling the detection module (3) to operate so as to obtain the ultrasonic echo signal; S30. Determine whether the bolt under test has defects according to the ultrasonic echo signal.

2. The high position bolt detection device according to claim 1, characterized in that: The vehicle (1) comprises a drone.

3. The high position bolt detection device according to claim 1, characterized in that: The detection module (3) comprises a laser generating unit (31), an ultrasonic sensing unit (32) and a distance measuring unit; The laser generating unit (31) is used to emit the laser signal based on the control of the control module (2); The ultrasonic sensor unit (32) is used to collect the ultrasonic echo signal and feed the ultrasonic echo signal back to the control module (2); The distance measuring unit is used to measure a first distance between the ultrasonic sensor unit (32) and the bolt to be measured, and a second distance between the laser generating unit (31) and the bolt to be measured; In the S10, it also includes: controlling the operation of the carrier (1) according to the first distance and the second distance, so that the first distance is within a first set distance range and the second distance is maintained within a second set distance range, and the ultrasonic echo signals collected under a plurality of first distances and a plurality of second distances are obtained under a combination of each other, so as to obtain a plurality of position test echo signals corresponding to each combination, and determining the first distance and the second distance corresponding to the position test echo signal with the largest ultrasonic amplitude among the plurality of position test echo signals as the first test distance and the second test distance, respectively, and controlling the operation of the carrier (1) so that the first distance is equal to or as close as possible to the first test distance, and the second distance is equal to or as close as possible to the second test distance.

4. The high position bolt detection device according to claim 3, characterized in that: The detection module (3) further comprises a mechanical scanning unit (33) and a fixing frame (34); The laser generating unit (31) and the ultrasonic sensing unit (32) are arranged on the mechanical scanning unit (33); the mechanical scanning unit (33) is mechanically connected to the carrier (1) via the fixing frame (34); the mechanical scanning unit (33) is used to adjust the laser emission angle of the laser generating unit (31) and the ultrasonic wave collection angle of the ultrasonic sensing unit (32); In the S10, it also includes: controlling the mechanical scanning unit (33) to work according to the ultrasonic echo signal to adjust the laser emission angle and / or the ultrasonic wave collection angle, so that the laser signal emitted by the laser generation unit (31) covers the entire bolt to be tested, and the ultrasonic sensor unit (32) collects the ultrasonic echo signal.

5. The high position bolt detection device according to claim 4, characterized in that: The mechanical scanning unit (33) comprises a first angle controller (331), a first rotating rod (332), a second angle controller (333) and a third angle controller (334); The first angle controller (331) is disposed on the fixing frame (34) and is rotatably connected to one end of the first rotating rod (332); The second angle controller (333) is mechanically connected to the other end of the first rotating rod (332) and is rotationally connected to the ultrasonic sensor unit (32); The third angle controller (334) is disposed on the fixing frame (34) and is rotatably connected to the laser generating unit (31); The control module (2) adjusts the laser emission angle by controlling the rotation angle of the first angle controller (331) and the second angle controller (333), and adjusts the ultrasonic wave collection angle by controlling the rotation angle of the third angle controller (334).

6. The high position bolt detection device according to claim 1, characterized in that: It also includes a wireless communication module for establishing a communication connection between the carrier (1) and the detection module (3) and the control module (2); Wherein, the wireless communication module comprises a vehicle-side communication unit (41) and a control-side communication unit (42); The carrier-side communication unit (41) is disposed on the carrier (1), is electrically connected to the carrier (1) and the detection module (3), and is communicatively connected to the control-side communication unit (42); The control-side communication unit (42) is electrically connected to the control module (2).

7. The high position bolt detection device according to claim 1, characterized in that: The S30 includes: It is determined whether the average amplitude of the ultrasonic echo signal is greater than the set amplitude. If so, it is determined that the bolt under test has defects; otherwise, it is determined that the bolt under test does not have defects.

8. The high position bolt detection device according to any one of claims 1 to 7, characterized in that: The high-position bolt detection device also includes a camera module (5); The camera module (5) is arranged on the carrier (1) and is used to collect image information in the detection direction of the detection module (3); The S10 comprises: controlling the carrier (1) to operate according to the image information, so that the detection module (3) is positioned to a position capable of detecting the bolt to be detected.

9. The high position bolt detection device according to claim 8, characterized in that: The control module (2) is also used to perform the following control: S01, obtaining a plurality of bolts to be tested and coordinate information of each of the bolts to be tested; S02, generating a detection plan according to the position information; wherein the detection plan includes the detection sequence of each of the bolts to be tested and the estimated movement trajectory of the carrier (1); S03, determining the bolt to be tested according to the detection sequence, and executing S10 to S30 in sequence; S40, after determining whether a tested bolt has defects each time, determine whether there are undetected bolts to be tested, and if so, return to S03.

10. A high position bolt detection method, used in a high position bolt detection device, the high position bolt detection device comprising a detection module (3) for sending a laser signal to a bolt to be detected and collecting an ultrasonic echo signal generated by the bolt to be detected due to being excited by the laser signal, and a carrier (1) for carrying the detection module (3) to move, characterized in that: The high position bolt detection method comprises: Controlling the carrier (1) to work so that the detection module (3) is positioned to a position capable of detecting the bolt to be detected; Controlling the detection module (3) to work so as to obtain the ultrasonic echo signal; Determine whether the bolt under test has a defect according to the ultrasonic echo signal.

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