Positioning device and method for welding seam and obstacle of storage tank bottom plate

Abstract

The invention provides a positioning device for a welding seam and an obstacle of a storage tank bottom plate, relates to the technical field of nondestructive testing, is applied to positioning of the welding seam and the obstacle of a normal-pressure storage tank bottom plate, and comprises an ultrasonic transmitter which is arranged on the storage tank bottom plate and is used for periodically transmitting an ultrasonic pulse signal with a preset frequency; the ultrasonic receiver is arranged on the inner side wall of the storage tank and used for sampling the received ultrasonic pulse signals and recording the sampling result of the ultrasonic pulse signals along with time. Compared with the prior art, the positioning device and method for the welding seam and the obstacle of the storage tank bottom plate can achieve low-cost, rapid and accurate surveying and mapping of the storage tank bottom plate, the welding seam and the obstacle, obtain a digital map of the storage tank bottom plate, the welding seam and the obstacle, and facilitate later detection, reporting and digital twinborn construction.

Description

Technical Field

[0001] The present invention relates to the technical field of non-destructive testing, and is applied to the positioning of welds and obstacles on the bottom plate of an atmospheric storage tank. Specifically, it relates to a device and method for positioning welds and obstacles on the bottom plate of a storage tank. Background Art

[0002] Atmospheric storage tanks are generally used for storing crude oil, refined oil, chemical media, etc. Their upper surfaces come into contact with various corrosive materials, and their lower surfaces are subjected to the erosion of water vapor. Therefore, the bottom plates of storage tanks are prone to corrosion and other defects. Generally, routine inspections are carried out on the bottom plates of storage tanks to ensure the safety of the storage tanks. The currently commonly used method for inspecting the bottom plates of storage tanks is magnetic flux leakage testing. During the current magnetic flux leakage testing process, the inspector needs to use a tape measure or a steel ruler to measure the size of each bottom plate and record it, and manually input it into the testing equipment, and finally splice it into a map of the bottom plate of the storage tank. During the mapping process of this bottom plate of the storage tank, various systematic errors are likely to occur. At the same time, due to the factor of manual measurement, various inaccurate problems are likely to occur.

[0003] For the inspection of welds, currently, vacuum inspection technology or penetration technology is used. During the inspection process of these two technologies, an accurate map of the welds on the bottom plate of the storage tank is not required. However, when generating a report, an accurate position description of the welds on the bottom plate of the storage tank is required. In the past inspection process, generally, a tape measure + pen and paper were used to measure and record. Similarly, the size and position data obtained in this process are also inaccurate, which is not conducive to the long-term maintenance and safe operation of the storage tank.

[0004] In view of the problems of the existing technology, the present invention provides a device and method for positioning welds and obstacles on the bottom plate of a storage tank. Summary of the Invention

[0005] In view of the problem that it is difficult to measure and draw the bottom plate and weld map of the storage tank at present, the present invention discloses a device and method to realize the rapid and accurate mapping of the bottom plate of the storage tank, the welds between the bottom plates, and the obstacles, which is convenient for the later inspection of the bottom plate of the storage tank and the construction of digital twins.

[0006] The present invention provides a device for positioning welds and obstacles on the bottom plate of a storage tank, and the positioning device includes:

[0007] An ultrasonic transmitter, which is arranged on the bottom plate of the storage tank and is used for periodically transmitting ultrasonic pulse signals with a preset frequency;

[0008] An ultrasonic receiver, which is arranged on the inner side wall of the storage tank and is used for sampling the received ultrasonic pulse signals and recording the sampling results of the ultrasonic pulse signals over time.

[0009] According to an embodiment of the present invention, the ultrasonic transmitter includes a transmitting part, which includes: an ultrasonic transmitting element, a circuit board, and a frustum of a circular cone for the transmitting part, where:

[0010] The upper bottom surface of the frustum of the circular cone for the transmitting part is open, and the area of the upper bottom surface is larger than that of the lower bottom surface;

[0011] The ultrasonic transmitting element and the circuit board are arranged on the lower bottom surface of the frustum of the circular cone for the transmitting part.

[0012] According to an embodiment of the present invention, the ultrasonic transmitter includes a receiving part, which includes: an ultrasonic receiving element, a circuit board, a frustum for transmission and reflection, and a receiving hole, where:

[0013] The frustum for transmission and reflection is arranged directly above the frustum of the circular cone for the transmitting part, the area of the lower bottom surface is smaller than that of the upper bottom surface, and the receiving hole is opened on the lower bottom surface;

[0014] The ultrasonic receiving element and the circuit board are arranged on the lower bottom surface of the frustum for transmission and reflection;

[0015] A part of the ultrasonic pulse signal is received by the ultrasonic receiving element and the circuit board through the receiving hole, and another part is reflected by the outer side surface of the frustum for transmission and reflection and then propagates outward in the horizontal direction.

[0016] According to an embodiment of the present invention, the ultrasonic transmitter includes a power supply part arranged below the transmitting part, which includes: an ultrasonic transmitter battery, a charging port, and a circuit board for the power supply part.

[0017] According to an embodiment of the present invention, the ultrasonic transmitter includes a control and display part, which includes: a circuit board for the ultrasonic transmitter, a level bubble, an indicator light for the ultrasonic transmitter, and a button for the ultrasonic transmitter, where:

[0018] The circuit board for the ultrasonic transmitter is arranged above the frustum for transmission and reflection and is used for the control, storage, and communication of the ultrasonic transmitter;

[0019] The level bubble is arranged above the circuit board for the ultrasonic transmitter and is used to indicate whether the ultrasonic transmitter is perpendicular to the horizontal plane;

[0020] The indicator light for the ultrasonic transmitter is arranged on one side of the level bubble. After being turned on, it includes a flashing state and a constant state. When in the flashing state, it indicates that the ultrasonic emission and data reception processes are in progress. When in the constant state, it indicates that the ultrasonic transmitter can perform the next operation currently;

[0021] The button for the ultrasonic transmitter is arranged on the other side of the level bubble and includes: a switch button for the ultrasonic transmitter and a one-key detection button.

[0022] According to an embodiment of the present invention, the ultrasonic transmitter includes a support part, which includes: a support rod, a fixed magnet, and a triangular support pillar, where:

[0023] The support rod is connected to the power supply part and is used to support the ultrasonic transmitter;

[0024] The fixed magnet is arranged at the bottom of the support rod and is used to keep the support rod relatively fixed with respect to the bottom plate of the storage tank;

[0025] The triangular support pillar is arranged between the upper bottom surface of the frustum of the emission part and the upper bottom surface of the transmission and reflection frustum, and is used to reduce the reflection of the ultrasonic pulse signal on the triangular support pillar and reduce the loss of the ultrasonic pulse signal.

[0026] According to an embodiment of the present invention, the ultrasonic receiver includes: a bell mouth, an ultrasonic receiving sensor, a sampling and processing circuit board, an ultrasonic receiver battery, an adsorption magnet, an ultrasonic receiver indicator light, and an ultrasonic receiver switch button, where:

[0027] The bell mouth is arranged at the front of the ultrasonic receiver;

[0028] The ultrasonic receiving sensor is arranged at the tail of the bell mouth and is used to receive the ultrasonic pulse signal and convert the ultrasonic pulse signal from a sound signal into an electrical signal;

[0029] The sampling and processing circuit board is connected to the ultrasonic receiving sensor and is used to process the electrical signal to generate the sampling result, and has functions of AD sampling, digital filtering processing, storage, communication, and power supply;

[0030] The ultrasonic receiver battery is connected to the sampling and processing circuit board;

[0031] The adsorption magnet is arranged on the back of the ultrasonic receiver and is used to fix the ultrasonic receiver on the inner wall of the storage tank;

[0032] The ultrasonic receiver indicator light is arranged at the front of the ultrasonic receiver, and after being turned on, it includes a constant state, and when in the constant state, it indicates that the ultrasonic receiver is in a normal working state;

[0033] The ultrasonic receiver switch button is arranged at the front of the ultrasonic receiver and is used to turn on or off the ultrasonic receiver.

[0034] According to an embodiment of the present invention, the positioning device further includes: a host, which communicates with the ultrasonic transmitter and the ultrasonic receiver wirelessly, can calibrate the working state of the ultrasonic receiver, and can determine the circle and size of the storage tank, the point cloud map and digital map of the weld vertex and obstacles on the bottom plate of the storage tank based on the sampling result.

[0035] According to another aspect of the present invention, there is also provided a method for positioning the weld seam on the bottom plate of a storage tank and an obstacle, which is executed by the positioning device described in any one of the above. The method includes:

[0036] Periodically emit the ultrasonic pulse signal with a preset frequency through the ultrasonic transmitter;

[0037] Quickly sample the received ultrasonic pulse signal through the ultrasonic receiver, and record the sampling result of the ultrasonic pulse signal over time;

[0038] Wirelessly communicate with the ultrasonic transmitter and the ultrasonic receiver through the host computer, calibrate the working state of the ultrasonic receiver, and determine the circle and size of the storage tank, the point cloud map and digital map of the weld seam vertex and the obstacle on the bottom plate of the storage tank based on the sampling result.

[0039] According to another aspect of the present invention, there is also provided a storage medium, which includes a series of instructions for executing the method steps described in any one of the above.

[0040] The present invention provides a positioning device and method for the weld seam on the bottom plate of a storage tank and an obstacle. Compared with the prior art, it can realize low-cost, fast and accurate mapping of the bottom plate of the storage tank, the weld seam and the obstacle, obtain its digital map, facilitate later detection, reporting and digital twin construction, and also has the following advantages:

[0041] 1) Fast and automated data acquisition. The present invention adopts a one-key operation. For a weld seam vertex, after adjusting the level, the relative coordinates of this weld seam vertex can be obtained with one key and automatically saved in the system, with higher efficiency and faster speed.

[0042] 2) Accurate. The present invention arranges a receiving part on the ultrasonic transmitter, which can obtain the entire waveform and emission time of the ultrasonic pulse signal. At the same time, on-site calibration steps are adopted at the storage tank site to eliminate the influence of temperature, humidity, etc., so the data is more accurate.

[0043] 3) Avoid the systematic error and randomness of manual operation. During the mapping process, the inspector only needs to place the rod of the ultrasonic transmitter on the weld seam vertex, observe the position of the horizontal bubble, and adjust the angle of the transmitter to ensure the correct use of the instrument, and then the coordinates of this weld seam vertex can be obtained with one key, systematically eliminating various human errors.

[0044] 4) Low cost. Compared with the existing special mapping tools, this solution has a high cost performance and is especially suitable for large-scale on-site use.

[0045] Other features and advantages of the present invention will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present invention. The objectives and other advantages of the present invention can be realized and attained by the structure particularly pointed out in the specification, claims as well as the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. The drawings together with the embodiments of the present invention are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0047] Figure 1 shows a schematic structural diagram of a positioning device for a weld seam of a storage tank bottom plate and an obstacle according to an embodiment of the present invention;

[0048] Figure 2 shows an overall view and a sectional view of an ultrasonic transmitter according to an embodiment of the present invention;

[0049] Figs. 3(a)-(f) show six views of an ultrasonic transmitter according to an embodiment of the present invention;

[0050] Figure 4 shows a schematic structural diagram of a transmitting part, a receiving part, a power supply part and a control and display part according to an embodiment of the present invention;

[0051] Figure 5 shows a schematic structural diagram of a supporting part according to an embodiment of the present invention;

[0052] Figure 6 shows an overall view and a sectional view of an ultrasonic receiver according to an embodiment of the present invention;

[0053] Figs. 7(a)-(f) show six views of an ultrasonic receiver according to an embodiment of the present invention;

[0054] Figure 8 shows a schematic structural diagram of an ultrasonic receiver according to an embodiment of the present invention.

[0055] In the drawings, the same components are denoted by the same reference numerals. In addition, the drawings are not drawn to actual scale.

[0056] The meanings of the reference numerals in the drawings are as follows: 1 - ultrasonic transmitter; 11 - transmitting part; 111 - ultrasonic transmitting element and circuit board; 112 - frustum of the transmitting part; 12 - receiving part; 121 - ultrasonic receiving element and circuit board; 122 - transmission and reflection frustum; 123 - receiving hole; 13 - power supply part; 131 - ultrasonic transmitter battery; 132 - charging port; 133 - power supply part circuit board; 14 - control and display part; 141 - ultrasonic transmitter circuit board; 142 - horizontal bubble; 143 - ultrasonic transmitter indicator light; 144 - ultrasonic transmitter button; 15 - support part; 151 - support rod; 152 - fixed magnet; 153 - triangular support; 16 - ultrasonic transmitter housing; 2 - ultrasonic receiver; 21 - bell mouth; 22 - ultrasonic receiving sensor; 23 - sampling and processing circuit; 24 - ultrasonic receiver battery; 25 - adsorption magnet; 26 - ultrasonic receiver indicator light; 27 - ultrasonic receiver switch button; 3 - host; 4 - manhole. Detailed implementation manners

[0057] To make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the drawings.

[0058] The currently commonly used method for detecting the bottom plate of a storage tank is magnetic flux leakage detection. During the current magnetic flux leakage detection process, the inspector needs to use a tape measure or a steel ruler to measure the size of each bottom plate and record it, and manually input it into the detection device, and finally splice it into a map of the bottom plate of the storage tank. In the process of mapping the bottom plate of this storage tank, various systematic errors are likely to occur. At the same time, due to manual measurement factors, various inaccurate problems are likely to occur.

[0059] For the detection of welds, currently vacuum detection technology or penetrant technology is adopted. In the process of these two technologies, an accurate map of the welds on the bottom plate of the storage tank is not required. However, when generating a report, an accurate position description of the welds on the bottom plate of the storage tank is required. In the previous detection process, generally the method of using a tape measure + pen and paper was used for measurement and recording. Similarly, the size and position data obtained in this process are also inaccurate, which is not conducive to the long-term maintenance and safe operation of the storage tank.

[0060] In addition, with the current technological development, it is necessary to build a corresponding digital twin storage tank for an atmospheric storage tank. In this digital twin storage tank, the accurate positions of each weld, especially its accurate relative position with respect to the entire storage tank, also need to be obtained. However, currently, there is a lack of a low-cost technology and equipment for measuring and mapping the bottom plate and welds inside the storage tank, which is convenient for quickly and accurately mapping the map of the bottom plate of the storage tank.

[0061] In view of the above-mentioned defects of the prior art, the present invention relates to a method and device for quickly and accurately positioning welds and obstacles on the bottom plate of an atmospheric storage tank. By using ultrasonic ranging technology and data synchronization technology, it can quickly and accurately map the bottom plate, welds and obstacles of the storage tank, and can be used for non-destructive testing and digital twin construction.

[0062] Figure 1 Fig. 4 shows a schematic structural diagram of a positioning device for welds and obstacles on the bottom plate of a storage tank according to an embodiment of the present invention.

[0063] A positioning device for welds and obstacles on the bottom plate of a storage tank includes: an ultrasonic transmitter 1 and an ultrasonic receiver 2. Among them, the ultrasonic transmitter 1 is arranged on the bottom plate of the storage tank and is used to periodically emit ultrasonic pulse signals with a preset frequency. The ultrasonic receiver 2 is arranged on the inner side wall of the storage tank and is used to sample the received ultrasonic pulse signals and record the sampling results of the ultrasonic pulse signals over time.

[0064] Figure 1 Fig. 11 is a layout schematic diagram inside the storage tank when using the positioning device provided by the present invention for mapping. In one embodiment, during the use of the positioning device, at least three ultrasonic receivers 2 and one ultrasonic transmitter 1 are arranged. The ultrasonic receivers 2 are asymmetrically fixed at the same height on the inner side of the vertical wall of the storage tank to ensure that the ultrasonic transmitter 1 and the ultrasonic receivers 2 are basically in the same horizontal plane, reducing the systematic error during the measurement process. Further, a certain ultrasonic receiver 2 is fixed near the manhole 4 of the storage tank.

[0065] In one embodiment, as Figure 1 shown, the positioning device further includes: a host computer 3, which communicates with the ultrasonic transmitter 1 and the ultrasonic receivers 2 wirelessly, can calibrate the working state of the ultrasonic receivers 2, and can determine the circle and size of the storage tank, the point cloud map and digital map of the weld vertices and obstacles on the bottom plate of the storage tank based on the sampling results.

[0066] The main working principle of the ultrasonic transmitter 1 is: receiving the command from the host computer 3 and periodically emitting an ultrasonic pulse with a preset frequency. The ultrasonic transmitter 1 is essentially a signal transmitter and plays the role of a position indicator in the quick and accurate mapping of the bottom plate, welds and obstacles of the storage tank.

[0067] The main working principle of the ultrasonic receiver 2 is: receiving the ultrasonic pulse emitted by the ultrasonic transmitter 1, performing rapid sampling, recording the sampling results of the ultrasonic signal over time, and then returning the obtained sampling results to the system host computer 3 through wireless communication.

[0068] Figure 2 Fig. 26 shows the overall view and cross-sectional view of the ultrasonic transmitter according to an embodiment of the present invention. As Figure 2As shown in the figure, the ultrasonic transmitter 1 includes: a transmitting part 11, a receiving part 12, a power supply part 13, a control and display part 14, and a support part 15.

[0069] Figures 3(a)-(f) show six views of the ultrasonic transmitter according to an embodiment of the present invention. Specifically, Figure 3(a) shows the front view of the ultrasonic transmitter 1, Figure 3(b) shows the left view of the ultrasonic transmitter 1, Figure 3(c) shows the right view of the ultrasonic transmitter 1, Figure 3(d) shows the top view of the ultrasonic transmitter 1, Figure 3(e) shows the bottom view of the ultrasonic transmitter 1, and Figure 3(f) shows the rear view of the ultrasonic transmitter 1.

[0070] Figure 4 Shows a schematic structural diagram of the transmitting part, receiving part, power supply part, and control and display part according to an embodiment of the present invention.

[0071] As Figure 4 shown, the ultrasonic transmitter 1 includes a transmitting part 11, and the transmitting part 11 includes: an ultrasonic transmitting element, a circuit board 111, and a transmitting part frustum 112.

[0072] In one embodiment, as Figure 4 shown, the upper bottom surface of the transmitting part frustum 112 is open, and the area of the upper bottom surface is larger than that of the lower bottom surface. The ultrasonic transmitting element and the circuit board 111 are arranged on the lower bottom surface of the transmitting part frustum 112. Specifically, the ultrasonic pulses emitted by the ultrasonic transmitting element and the circuit board 111 can ensure that most of the ultrasonic pulses propagate upward through the reflection and refraction of the transmitting part frustum 112 with an upper-wide and lower-narrow shape.

[0073] The function of the transmitting part 11 is: under the command of the host 3, to generate a repetitive ultrasonic pulse. For example, this ultrasonic pulse can last for 0.1 seconds, and after 1 second, this ultrasonic pulse is emitted again. The frequency of the ultrasonic wave itself depends on the selected module, such as but not limited to 205KHz.

[0074] As Figure 4 shown, the ultrasonic transmitter 1 includes a receiving part 12, and the receiving part 12 includes: an ultrasonic receiving element, a circuit board 121, a transmission and reflection frustum 122, and a receiving hole 123.

[0075] In one embodiment, as Figure 4 shown, the transmission and reflection frustum 122 is arranged directly above the transmitting part frustum 112, the area of the lower bottom surface is smaller than that of the upper bottom surface, and a receiving hole 123 is opened on the lower bottom surface. The ultrasonic receiving element and the circuit board 121 are arranged on the lower bottom surface of the transmission and reflection frustum 122. Specifically, a part of the ultrasonic pulse signal is received by the ultrasonic receiving element and the circuit board 121 through the receiving hole 123, and the other part is reflected by the outer side surface of the transmission and reflection frustum 122 and propagates outward in the horizontal direction.

[0076] Furthermore, if Figure 4 As shown, there is a funnel-shaped metal transmissive reflective cone 122 just above the transmitting cone 112, and a receiving hole 123 is provided in the middle of the lower bottom surface of the transmissive reflective cone 122. The function of the receiving hole 123 is to transmit a small part of the ultrasonic pulse emitted by the transmitting part 11, and transmit it to the ultrasonic receiving element and circuit board 121 behind it, and perform data sampling through the AD conversion board, and record the oscillation of the ultrasonic pulse at any time. Further, the receiving hole 123 is a small diameter hole in the shape of a horn.

[0077] Furthermore, if Figure 4 As shown in FIG. 1 , the outer surface of the transmissive reflective cone 122 is a truncated cone. The main function of this truncated cone is to reflect most of the ultrasonic waves emitted by the emitting unit 11 and further emit them in the horizontal direction. The actual function of the transmissive reflective cone 122 is to change the propagation direction of the ultrasonic wave and expand its propagation angle so that it can spread and propagate along the circumference in the horizontal direction.

[0078] like Figure 4 As shown, the ultrasonic transmitter 1 includes a power supply unit 13 disposed below the transmitter 11, and the power supply unit 13 includes: an ultrasonic transmitter battery 131, a charging port 132 ( Figure 4 Specifically, the ultrasonic transmitter 1 has a built-in ultrasonic transmitter battery 131, which can meet the needs of long-term uninterrupted detection, and also supports wired or wireless charging, and is charged when the ultrasonic transmitter battery 131 is low in power. Further, the power supply unit 13 of the ultrasonic transmitter is installed below the transmitter 11, and its charging port 132 is set on the ultrasonic transmitter housing 16. The power supply circuit board 133 is used to manage the power supply of the ultrasonic transmitter battery 131.

[0079] like Figure 4 As shown, the ultrasonic transmitter 1 includes a control and display unit 14 , and the control and display unit 14 includes: an ultrasonic transmitter circuit board 141 , a level bubble 142 , an ultrasonic transmitter indicator light 143 , and an ultrasonic transmitter button 144 .

[0080] In one embodiment, Figure 4As shown in the figure, the ultrasonic transmitter circuit board 141 is arranged above the transmission and reflection frustum 122 and is used for the control, storage, and communication of the ultrasonic transmitter 1. The horizontal bubble 142 is arranged above the ultrasonic transmitter circuit board 141 and is used to indicate whether the ultrasonic transmitter 1 is perpendicular to the horizontal plane. The ultrasonic transmitter indicator light 143 is arranged on one side of the horizontal bubble 142. After it is turned on, it includes a flashing state and a constant state. When in the flashing state, it indicates that the ultrasonic emission and data reception process is in progress. When in the constant state, it indicates that the ultrasonic transmitter can perform the next operation currently. The ultrasonic transmitter button 144 is arranged on the other side of the horizontal bubble 142 and includes an ultrasonic transmitter switch button and a one-key detection button.

[0081] Specifically, as Figure 4 shown, on the upper surface of the transmission and reflection frustum 122, a ultrasonic transmitter circuit board 141 is fixed as the control, storage, and communication unit of the ultrasonic transmitter. On the upper surface of the ultrasonic transmitter circuit board 141, there is also a horizontal bubble 142. The function of the horizontal bubble 142 is to facilitate the inspector to adjust and observe whether the ultrasonic transmitter 1 is perpendicular to the horizontal plane. Next to the horizontal bubble 142, there are also two indicator lights and two buttons, one of which is a switch button and the other is a one-key detection button.

[0082] Figure 5 shows a schematic structural diagram of the support part according to an embodiment of the present invention.

[0083] As Figure 5 shown, the ultrasonic transmitter 1 includes a support part 15, and the support part 15 includes a support rod 151, a fixed magnet 152, and a triangular support 153.

[0084] In one embodiment, as Figure 5 shown, the support rod 151 is connected to the power supply part 13 and is used to support the ultrasonic transmitter 1. Specifically, at the bottom of the ultrasonic transmitter 1 shown in Figure 5 the figure, there is a support rod 151 with a fixed magnet 152. Further, the function of the support rod 151 is to rigidly support the core part above it and provide a mechanical indication and positioning function. Moreover, the emission part 11 is mounted upward directly above the support rod 151 to ensure that the pulse signal is emitted directly upward.

[0085] In one embodiment, as Figure 5 shown, the fixed magnet 152 is arranged at the bottom of the support rod 151 and is used to keep the support rod 151 relatively fixed with respect to the bottom plate of the storage tank. Specifically, the function of the fixed magnet 152 is to ensure that the bottom of the support rod 151 is relatively fixed with respect to the vertex of a certain weld seam and prevent the position of the bottom of the support rod 151 from moving during the process of adjusting the attitude of the ultrasonic transmitter 1.

[0086] In one embodiment, asFigure 5 As shown, the triangular support 153 is disposed between the upper bottom surface of the transmitting part frustum 112 and the upper bottom surface of the transmission and reflection frustum 122, and is used to reduce the reflection of the ultrasonic pulse signal on the triangular support 153 and reduce the loss of the ultrasonic pulse signal. Specifically, between the transmitting part 11 and the receiving part 12 of the ultrasonic transmitter 1, they are connected by three triangular supports 153. The main purpose is to reduce the reflection of ultrasonic waves on these triangular supports 153 and reduce the loss of ultrasonic waves.

[0087] Figure 6 Shows the overall view and cross-sectional view of an ultrasonic receiver according to an embodiment of the present invention.

[0088] As Figure 6 shown, the outer shape of the ultrasonic receiver 2 is a small square box. Specifically, in the front of the ultrasonic receiver 2, there is a small horn mouth 21. At the tail of the horn mouth 21, there is an ultrasonic receiving sensor 22 installed. The function of this ultrasonic receiving sensor 22 is to receive the ultrasonic pulse transmitted by the ultrasonic transmitter 1 and convert the sound signal into an electrical signal. The ultrasonic receiving sensor 22 is installed on a sampling and processing circuit board 23, and the sampling and processing circuit board 23 has basic units such as AD sampling, processing, storage, communication, and power supply. At the back of the ultrasonic receiver 2, there is an adsorption magnet 25, which is convenient to fix the ultrasonic receiver 2 on the storage tank wall by magnetic adsorption.

[0089] Figures 7(a)-(f) show the six views of an ultrasonic receiver according to an embodiment of the present invention. Specifically, Figure 7(a) shows the front view of the ultrasonic receiver 2, Figure 7(b) shows the left view of the ultrasonic receiver 2, Figure 7(c) shows the right view of the ultrasonic receiver 2, Figure 7(d) shows the top view of the ultrasonic receiver 2, Figure 7(e) shows the bottom view of the ultrasonic receiver 2, and Figure 7(f) shows the rear view of the ultrasonic receiver 2.

[0090] Figure 8 Shows the structural schematic diagram of an ultrasonic receiver according to an embodiment of the present invention.

[0091] As Figure 8 shown, the ultrasonic receiver 2 includes: a horn mouth 21, an ultrasonic receiving sensor 22, a sampling and processing circuit board 23, an ultrasonic receiver battery 24, an adsorption magnet 25, an ultrasonic receiver indicator light 26, and an ultrasonic receiver switch button 27.

[0092] In one embodiment, as Figure 8As shown, the bell mouth 21 is disposed directly in front of the ultrasonic receiver 2. The ultrasonic receiving sensor 22 is disposed at the tail of the bell mouth 21 for receiving ultrasonic pulse signals and converting the ultrasonic pulse signals from acoustic signals into electrical signals. Specifically, the opening direction of the bell mouth 21 is outwardly disposed to facilitate efficient reception of the ultrasonic pulse signals emitted by the ultrasonic transmitter 1. Moreover, the ultrasonic receiving sensor 22 is disposed at the tail of the bell mouth 21, enabling all ultrasonic pulse signals entering the bell mouth 21 to be received.

[0093] In one embodiment, as Figure 8 shown, the sampling and processing circuit board 23 is connected to the ultrasonic receiving sensor 22 for processing the electrical signals to generate the sampling results, and has functions of AD sampling, digital filtering processing, storage, communication, and power supply. The ultrasonic receiver battery 24 is connected to the sampling and processing circuit board 23. Specifically, the ultrasonic receiver 2 is internally provided with the ultrasonic receiver battery 24, which can meet the requirements of long-term uninterrupted detection.

[0094] In one embodiment, as Figure 8 shown, the adsorption magnet 25 is disposed on the rear surface of the ultrasonic receiver 2 for fixing the ultrasonic receiver 2 to the inner side wall of the storage tank. The ultrasonic receiver indicator light 26 is disposed directly in front of the ultrasonic receiver 2, and it includes a constant state after being turned on. When in the constant state, it indicates that the ultrasonic receiver is in a normal working state. The ultrasonic receiver switch button 27 is disposed directly in front of the ultrasonic receiver 2 for turning on or off the ultrasonic receiver 2.

[0095] The present invention adopts a one-key operation. For a weld vertex, after adjusting the level, the relative coordinates of this weld vertex can be obtained in one key and automatically saved in the system, with higher efficiency and greater speed.

[0096] The present invention arranges a receiving part on the ultrasonic transmitter, which can obtain the entire waveform and emission time of the ultrasonic pulse signal. At the same time, on-site calibration steps are adopted at the storage tank site to eliminate the influence of temperature, humidity, etc., so the data is more accurate.

[0097] During the surveying and mapping process of the present invention, the inspector only needs to place the support rod of the ultrasonic transmitter on the weld vertex, observe the position of the level bubble, and adjust the angle of the transmitter to ensure the correct use of the instrument, then the coordinates of this weld vertex can be obtained in one key, systematically eliminating various human errors.

[0098] Compared with the existing dedicated surveying and mapping tools, the present solution has a high cost performance and is particularly suitable for large-scale on-site use.

[0099] According to another aspect of the present invention, there is also provided a method for positioning the weld seam of a storage tank bottom plate and an obstacle, which is executed by a positioning device for the weld seam of a storage tank bottom plate and an obstacle. The method includes: periodically emitting ultrasonic pulse signals with a preset frequency through an ultrasonic transmitter 1. Rapidly sampling the received ultrasonic pulse signals through an ultrasonic receiver 2, and recording the sampling results of the ultrasonic pulse signals over time. Wirelessly communicating with the ultrasonic transmitter 1 and the ultrasonic receiver 2 through a host 3, calibrating the working state of the ultrasonic receiver, and determining the circle and size of the storage tank, the point cloud map and digital map of the weld seam vertices and obstacles on the storage tank bottom plate based on the sampling results.

[0100] In one embodiment, a method for positioning the weld seam of a storage tank bottom plate and an obstacle includes the following steps:

[0101] First step, inside the storage tank, turn on the host 3, the ultrasonic transmitter 1 and at least three ultrasonic receivers 2.

[0102] Second step, enter the calibration mode: at a fixed distance, such as a known distance of 2 meters, check the working state of the sensors and synchronize the time for the three ultrasonic receivers 2. Since it is inconvenient to synchronize the time of the three ultrasonic receivers 2, the time stamps of their respective corresponding data are used to obtain the relative time difference, which is the time for the ultrasonic signal to propagate from the ultrasonic transmitter 1 to the ultrasonic receiver 2.

[0103] Third step, asymmetrically fix the three ultrasonic receivers 2 to the vertical wall of the storage tank, and fix one of them near the manhole 4 position of the storage tank.

[0104] Fourth step, enter the storage tank size measurement mode: at the positions of the three ultrasonic receivers 2 respectively, use the ultrasonic transmitter 1 to emit ultrasonic signals to the other two ultrasonic receivers 2. After three measurements, obtain the relative distances between them. Determine the circle and size of the storage tank by the method of determining a circle through three points.

[0105] Fifth step, enter the weld seam vertex positioning mode: select the position of a weld seam vertex or an obstacle, press the one-key measurement button of the ultrasonic transmitter 1 to start the measurement, and wait for it to become constantly lit to complete the measurement and recording of the position of this point.

[0106] Sixth step, sequentially complete the measurement and recording of the remaining points.

[0107] Seventh step, after the host 3 completes the mapping of multiple positioning vertices, obtain the point cloud map of the weld seam vertices and obstacles on the storage tank bottom plate. The inspector connects multiple point clouds according to the actual situation of the on-site bottom plate to generate a digital map of the weld seam and obstacles on the storage tank bottom plate.

[0108] Eighth step, save the data and complete the measurement.

[0109] In one embodiment, in combination with Figure 1 , the measurement and recording of the positioning of a certain weld vertex are completed through the following steps: During the use of the positioning device, at least three ultrasonic receivers 2 and one ultrasonic transmitter 1 are arranged. The ultrasonic receivers 2 are asymmetrically fixed at the same height on the inner side of the vertical wall of the storage tank, ensuring that the ultrasonic transmitter 1 and the ultrasonic receivers 2 are basically in the same horizontal plane to reduce systematic errors during the measurement process. Further, a certain ultrasonic receiver 2 is fixed near the manhole 4 of the storage tank.

[0110] During the measurement, after the operator designates the rod 151 of the ultrasonic transmitter 1 on a weld vertex, the vertical position of the rod 151 is adjusted to ensure that the horizontal bubble 142 is in the central position, and then the one-key measurement button on the ultrasonic transmitter 1 is pressed. At this time, the indicator light 143 of the ultrasonic transmitter starts to flash, indicating that the measurement is in progress.

[0111] At this time, the ultrasonic transmitter 1 emits an ultrasonic pulse. A small part of this pulse enters the ultrasonic receiving element and the circuit board 121 on the ultrasonic transmitter 1 through the receiving hole 123. Most of the energy of this pulse is reflected by the outer surface of the transmission and reflection frustum 122 and then diffuses horizontally around the storage tank, and is successively conducted to the three ultrasonic receivers 2 on the storage tank wall. The three ultrasonic receivers 2 respectively complete the acquisition and recording and send their data back to the host 3 wirelessly.

[0112] The host 3 compares the four data (the received data of the receiving part 12 and the received data of the three ultrasonic receivers 2), calculates the time difference, converts it into a distance, and then calculates the coordinate position of this weld vertex through calculation and records it. At this time, the indicator light 143 of the ultrasonic transmitter turns to a constant on, indicating that the measurement and recording of one weld vertex have been completed, and the measurement and recording of the next weld vertex can be carried out.

[0113] A positioning device and method for the welds and obstacles of the bottom plate of a storage tank provided by the present invention can also cooperate with a computer-readable storage medium. A computer program is stored on the storage medium, and the computer program is executed to run a positioning method for the welds and obstacles of the bottom plate of a storage tank. The computer program can run computer instructions, and the computer instructions include computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc.

[0114] A computer-readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0115] It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0116] In summary, the present invention provides a positioning device and method for the weld seam of a storage tank bottom plate and an obstacle. Compared with the prior art, it can achieve low-cost, fast, and accurate mapping of the storage tank bottom plate, weld seam, and obstacle, obtain its digital map, facilitate subsequent detection, reporting, and digital twin construction, and also has the following advantages:

[0117] 1) Fast and automated data acquisition. The present invention adopts a one-key operation. For a weld vertex, after adjusting the level, the relative coordinates of this weld vertex can be obtained with one key and automatically saved in the system, with higher efficiency and faster speed.

[0118] 2) Accurate. The present invention arranges a receiving part on the ultrasonic transmitter, which can obtain the entire waveform and emission time of the ultrasonic pulse signal. At the same time, on-site calibration steps are adopted at the storage tank site to eliminate the influence of temperature, humidity, etc., so the data is more accurate.

[0119] 3) Avoids systematic errors and randomness of manual operations. During the mapping process, the inspector only needs to place the rod of the ultrasonic transmitter on the weld vertex, observe the position of the level bubble, and adjust the angle of the transmitter to ensure the correct use of the instrument, and then the coordinates of this weld vertex can be obtained with one key, systematically eliminating various human errors.

[0120] 4) Low cost. Compared with existing dedicated mapping tools, this solution has a high cost performance and is especially suitable for large-scale on-site use.

[0121] It should be understood that the embodiments disclosed in the present invention are not limited to the specific structures, processing steps, or materials disclosed herein, but should extend to equivalent alternatives of these features understood by those of ordinary skill in the relevant art. It should also be understood that the terms used herein are only for the purpose of describing specific embodiments and do not mean to limit.

[0122] In the description of the present invention, unless otherwise specified, "a plurality of" means two or more; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0123] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0124] Certain terms are used throughout the present application to refer to specific system components. As those skilled in the art will recognize, the same component may typically be referred to by different names, and thus the present application is not intended to distinguish components that differ only in name but not in function. In the present application, the terms "comprise", "include" and "have" are used in an open-ended form and should therefore be interpreted to mean "including but not limited to...". In addition, the terms "substantially", "essentially" or "approximately" as may be used herein refer to the industry-accepted tolerances for the corresponding terms. The term "coupled" as may be used herein includes direct coupling and indirect coupling via additional components, elements, circuits, or modules, where for indirect coupling, the intervening components, elements, circuits, or modules do not change the information of the signal but may adjust its current level, voltage level, and / or power level. Inferred coupling (e.g., where one element is coupled to another element by inference) includes direct and indirect coupling between the two elements in the same manner as "coupled".

[0125] The "one embodiment" or "embodiment" mentioned in the specification means that the specific features, structures, or characteristics described in connection with the embodiment are included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment" or "embodiment" that appear throughout the specification do not necessarily all refer to the same embodiment.

[0126] Embodiments of the present invention are provided for purposes of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to best explain the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for specific purposes.

[0127] Although the disclosed embodiments of the present invention are as above, the content described is only an embodiment for facilitating the understanding of the present invention and is not intended to limit the present invention. Any person skilled in the art within the technical field to which the present invention pertains may make any modifications and variations in the form of implementation and details without departing from the spirit and scope disclosed by the present invention. However, the scope of patent protection of the present invention shall still be subject to the scope defined by the appended claims.

Claims

1. A positioning device for the weld seam of a storage tank bottom plate and an obstacle, characterized in that, the positioning device comprises: an ultrasonic transmitter, which is arranged on the bottom plate of the storage tank and is used for periodically transmitting ultrasonic pulse signals with a preset frequency; an ultrasonic receiver, which is arranged on the inner side wall of the storage tank and is used for sampling the received ultrasonic pulse signals and recording the sampling results of the ultrasonic pulse signals over time.

2. The positioning device for the weld seam of a storage tank bottom plate and an obstacle according to claim 1, characterized in that, the ultrasonic transmitter comprises a transmitting part, which comprises: an ultrasonic transmitting element, a circuit board, and a transmitting part frustum. Among them: the upper bottom surface of the transmitting part frustum is open, and the area of the upper bottom surface is larger than that of the lower bottom surface; the ultrasonic transmitting element and the circuit board are arranged on the lower bottom surface of the transmitting part frustum.

3. The positioning device for the weld seam of a storage tank bottom plate and an obstacle according to claim 2, characterized in that, the ultrasonic transmitter comprises a receiving part, which comprises: an ultrasonic receiving element, a circuit board, a transmission and reflection frustum, and a receiving hole. Among them: the transmission and reflection frustum is arranged directly above the transmitting part frustum, the area of the lower bottom surface is smaller than that of the upper bottom surface, and the receiving hole is opened on the lower bottom surface; the ultrasonic receiving element and the circuit board are arranged on the lower bottom surface of the transmission and reflection frustum; a part of the ultrasonic pulse signal is received by the ultrasonic receiving element and the circuit board through the receiving hole, and the other part is reflected by the outer side surface of the transmission and reflection frustum and propagates outward in the horizontal direction.

4. The positioning device for the weld seam of a storage tank bottom plate and an obstacle according to claim 3, characterized in that, the ultrasonic transmitter comprises a power supply part arranged below the transmitting part, which comprises: an ultrasonic transmitter battery, a charging port, and a power supply part circuit board.

5. The positioning device for the weld seam of a storage tank bottom plate and an obstacle according to claim 3 or 4, characterized in that, the ultrasonic transmitter comprises a control and display part, which comprises: an ultrasonic transmitter circuit board, a level bubble, an ultrasonic transmitter indicator light, and an ultrasonic transmitter button. Among them: the ultrasonic transmitter circuit board is arranged above the transmission and reflection frustum and is used for the control, storage, and communication of the ultrasonic transmitter; the level bubble is arranged above the ultrasonic transmitter circuit board and is used to indicate whether the ultrasonic transmitter is perpendicular to the horizontal plane; the ultrasonic transmitter indicator light is arranged on one side of the level bubble. After being turned on, it includes a flashing state and a constant state. When in the flashing state, it indicates that the ultrasonic emission and data reception process is in progress. When in the constant state, it indicates that the ultrasonic transmitter can perform the next operation currently; the ultrasonic transmitter button is arranged on the other side of the level bubble and comprises: an ultrasonic transmitter switch button and a one-key detection button.

6. The positioning device for the weld seam of a storage tank bottom plate and an obstacle according to any one of claims 4-5, characterized in that, the ultrasonic transmitter comprises a support part, which comprises: a support rod, a fixing magnet, and a triangular support column. Among them: the support rod is connected to the power supply part and is used to support the ultrasonic transmitter; the fixing magnet is arranged at the bottom of the support rod and is used to keep the support rod relatively fixed with the bottom plate of the storage tank; The triangular support is arranged between the upper bottom surface of the frustum of the emission part and the upper bottom surface of the transmission and reflection frustum, and is used to reduce the reflection of the ultrasonic pulse signal on the triangular support and reduce the loss of the ultrasonic pulse signal.

7. A positioning device for the weld seam of a storage tank bottom plate and an obstacle according to any one of claims 1-6, characterized in that the ultrasonic receiver includes: a horn mouth, an ultrasonic receiving sensor, a sampling and processing circuit board, an ultrasonic receiver battery, an adsorption magnet, an ultrasonic receiver indicator light, and an ultrasonic receiver switch button, wherein: the horn mouth is arranged in the front of the ultrasonic receiver; the ultrasonic receiving sensor is arranged at the tail of the horn mouth and is used to receive the ultrasonic pulse signal and convert the ultrasonic pulse signal from a sound signal into an electrical signal; the sampling and processing circuit board is connected to the ultrasonic receiving sensor and is used to process the electrical signal to generate the sampling result, and has functions of AD sampling, digital filtering processing, storage, communication, and power supply; the ultrasonic receiver battery is connected to the sampling and processing circuit board; the adsorption magnet is arranged on the back surface of the ultrasonic receiver and is used to fix the ultrasonic receiver on the inner wall of the storage tank; the ultrasonic receiver indicator light is arranged in the front of the ultrasonic receiver, and after being turned on, it includes a constant state, and when in the constant state, it indicates that the ultrasonic receiver is in a normal working state; the ultrasonic receiver switch button is arranged in the front of the ultrasonic receiver and is used to turn on or off the ultrasonic receiver.

8. A positioning device for the weld seam of a storage tank bottom plate and an obstacle according to any one of claims 1-7, characterized in that the positioning device further includes: a host, which communicates with the ultrasonic transmitter and the ultrasonic receiver wirelessly, can calibrate the working state of the ultrasonic receiver, and can determine the shape and size of the storage tank, the point cloud map and digital map of the weld seam vertex and the obstacle on the storage tank bottom plate based on the sampling result.

9. A method for positioning the weld seam of a storage tank bottom plate and an obstacle, characterized in that it is executed by the positioning device according to any one of claims 1-8, and the method includes: periodically emitting the ultrasonic pulse signal with a preset frequency through the ultrasonic transmitter; quickly sampling the received ultrasonic pulse signal through the ultrasonic receiver and recording the sampling result of the ultrasonic pulse signal over time; communicating wirelessly with the ultrasonic transmitter and the ultrasonic receiver through the host, calibrating the working state of the ultrasonic receiver, and determining the shape and size of the storage tank, the point cloud map and digital map of the weld seam vertex and the obstacle on the storage tank bottom plate based on the sampling result.

10. A storage medium, characterized in that it includes a series of instructions for executing the method steps according to claim 9.

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