Adjustable lift-off type nondestructive testing device

Abstract

The utility model belongs to the technical field of detection devices, and particularly relates to an adjustable lift-off type nondestructive detection device. The utility model provides an adjustable lift-off type detection device. The vehicle comprises a vehicle body, wheels are arranged at the lower end of the vehicle body, and the vehicle is characterized in that a probe assembly lifting device, a core board module, a power supply part, a wheel motor driving module, a probe assembly lifting motor driving module, a WIFI module, a GPS module, an IMU sensor module, a GPS positioning antenna, a magnetic signal processing unit module and wheel motors are arranged on the vehicle body; a probe assembly and a displacement sensor module for detecting the lift-off height of the probe assembly are arranged on the probe assembly lifting device; the probe assembly lifting device comprises a probe assembly lifting motor, an output shaft of the probe assembly lifting motor is connected with a lead screw, the lead screw is screwed through a threaded hole in the middle of the lifting plate, and the probe assembly is arranged on the lifting plate.

Description

TECHNICAL FIELD

[0001] The utility model belongs to detection device technical field especially relates to a kind of adjustable lift-off nondestructive testing device. BACKGROUND

[0002] Nondestructive testing is widely used in many key industries, traditional detection has limitations in probe lift-off value, harsh environment operation and positioning accuracy. With the development of industrial intelligence, intelligent detection device can solve these problems and improve detection level.

[0003] Existing intelligent vehicle multi-focus driving stability and controllability, single function, mostly used for material transportation. Ordinary single-chip microcomputer car focuses on basic movement and simple perception.

[0004] For nondestructive testing and probe lift-off value adjustment technology, traditional flaw detector manual operation, unable to adjust lift-off value, automatic system adjustment is inconvenient and poor adaptability. Rely on a large number of manual labor, labor intensity, long time, low efficiency, high cost. UTILITY MODEL CONTENT

[0005] The utility model is just for the above problem, provide a kind of adjustable lift-off detection device.

[0006] To achieve the above purpose, the utility model adopts the following technical scheme, the utility model discloses a vehicle body 10, the lower end of vehicle body 10 is provided with wheel 11, its characterized in that vehicle body 10 is provided with probe assembly lifting device 7, core board module 2, power supply part, wheel motor drive module, probe assembly lifting motor drive module, WIFI module 3, GPS module 6, IMU sensor module 4, GPS positioning antenna 1, magnetic signal processing unit module 5 and wheel motor, probe assembly lifting device 7 is provided with probe assembly 8 and the displacement sensor module 9 of the lift-off height of detection probe assembly 8 on it;Probe assembly lifting device 7 includes probe assembly lifting motor 16, the output shaft of probe assembly lifting motor 16 is connected with lead screw 15, lead screw 15 rotates through the middle threaded hole of lifting plate 14, probe assembly 8 is set on lifting plate 14;

[0007] The control signal output port of the core board module 2 is connected with the control signal input port of the wheel motor driving module, and the control signal input port of the probe assembly lifting motor driving module respectively, the detection signal input port of the core board module 2 is connected with the detection signal output port of the displacement sensor module 9 and the detection signal output port of the IMU sensor module 4 respectively, the signal transmission port of the core board module 2 is connected with the signal transmission port of the WIFI module 3, the signal transmission port of the GPS module, the signal transmission port of the magnetic signal processing unit module 5 and the signal transmission port of the probe assembly 8 respectively, the power output port of the power supply part is connected with the power port of the core board module, the power port of the wheel motor driving module, the power port of the probe assembly lifting motor driving module, the power port of the WIFI module, the power port of the GPS module, the power port of the displacement sensor module, the power port of the IMU sensor module and the power port of the magnetic signal processing unit module respectively, the driving signal output port of the wheel motor driving module is connected with the driving signal input port of the wheel motor, the antenna connection port of the GPS module 6 is connected with the GPS positioning antenna 1, and the driving signal output port of the probe assembly lifting motor driving module is connected with the driving signal input port of the probe assembly lifting motor.

[0008] As a preferred scheme, the GPS positioning antenna 1 comprises four vertically arranged antenna rods, and the four antenna rods are arranged at four corners of the vehicle body 10.

[0009] As another preferred scheme, the probe assembly lifting device 7 is arranged at the middle part of the front side of the vehicle body, and the core board module 2, the WIFI module 3, the IMU sensor module 4, the magnetic signal processing unit module 5 and the GPS module 6 are arranged in the middle recess of the vehicle body 10.

[0010] As another preferred scheme, the probe assembly comprises an ultrasonic array probe and a camera.

[0011] As another preferred scheme, the probe assembly 8 is connected with the detection signal input port of the core board module through a probe assembly circuit.

[0012] As another preferred scheme, the core board module adopts an STM32F103ZET6 chip U2, the 1-4 pins of U2 are respectively connected with PE2-PE5 in correspondence, the 10-15, 18 pins of U2 are respectively connected with PF0-PF6 in correspondence, the 25 pin of U2 is connected with RST, the 63-66 pins of U2 are respectively connected with PE10-PE13 in correspondence, the 138 pin of U2 is connected with BOOT0, the 101, 102 pins of U2 are respectively connected with USART1_TX, USART1_RX in correspondence, the 101, 102 pins of U2 are respectively connected with USART2_TX, USART2_RX in correspondence, the 103, 104 pins of U2 are respectively connected with USART3_RX, USART3_TX in correspondence, and the 41, 42 pins of U2 are respectively connected with USART4_TX, USART4_RX in correspondence.

[0013] 3.3V is connected with 3.3V_M through resistance R1.

[0014] 3.3V is connected with 3.3V_A through resistance R3.

[0015] BOOT0 is connected with one end of resistance R7 and one end of switch SW4, the other end of R7 is connected with GND, and the other end of SW4 is connected with 3.3V.

[0016] RST is connected with GND through switch SW5.

[0017] As another preferred scheme, the power supply part includes a POWER1 interface, the POWER1 interface is connected with the 1 pin of a 12V, the 1 pin of an LM2596S-3.3 module and the 1 pin of an LM2596S-5.0 module through a total switch, the 2 pin of the LM2596S-3.3 module is connected with +3.3V through an inductor L2, and +3.3V is connected with the 4 pin of the LM2596S-3.3 module; the 2 pin of the LM2596S-5.0 module is connected with +5V through an inductor L1, and +5V is connected with the 4 pin of the LM2596S-5.0 module.

[0018] As another preferred scheme, the wheel motor driving module adopts a TB6612 module U4, the 1-7 pins of U4 are respectively connected with PF0-PF6 in correspondence, the 12, 13 pins of U4 are respectively connected with wheel motors H1, H2, the 10, 11 pins of U4 are respectively connected with wheel motors H3, H4.

[0019] As another preferred scheme, the probe assembly lifting motor driving module adopts a TB6612 module U5, the 1-4 pins of U5 are respectively connected with PE2-PE5 in correspondence, and the 12, 13 pins of U5 are connected with a probe assembly lifting motor H7.

[0020] As another preferred embodiment, the WIFI module of this utility model adopts the ESP8266 chip U6, and pins 4 and 5 of U6 are respectively connected to USART1_TX and USART1_RX.

[0021] As another preferred option, the GPS module of this utility model adopts the GM-862-GPS-24V module U7, and pin 4 of U7 is connected to USART2_RX.

[0022] As another preferred embodiment, the displacement sensor module of this utility model adopts the MLX90393 chip U8, and pins 9 to 12 of U8 are respectively connected to PE10 to PE13.

[0023] As another preferred embodiment, the probe assembly circuit of this utility model uses an LM358ADG4 chip. Pin 3 of the LM358ADG4 chip is connected to the ultrasonic array probe through a parallel circuit of capacitor C25 and inductor L5, and pin 5 of the LM358ADG4 chip is connected to PE6.

[0024] Secondly, the IMU sensor module described in this utility model uses the BNO085 chip H5, with pins 3 and 4 of H5 connected to USART3_TX and USART3_RX respectively.

[0025] In addition, the magnetic signal processing unit module of this utility model adopts the LIS3MDL chip H6, and pins 3 and 4 of H6 are respectively connected to USART4_TX and USART4_RX.

[0026] The beneficial effects of this utility model.

[0027] The core board module 2 of this utility model can communicate with the host computer via the WIFI module 3, enabling remote operation. It can operate in complex and dangerous areas, has high application value, and high safety.

[0028] The core board module 2 of this invention can control the probe assembly lifting motor through the probe assembly lifting motor drive module, which drives the lead screw lifting plate mechanism. Furthermore, it precisely controls the lifting height of the probe assembly 8 based on feedback information from the displacement sensor module 9. This design offers flexibility, high efficiency, and adaptability to various scenarios. It improves the accuracy and reliability of non-destructive testing, ensuring high-quality detection signals are acquired in different testing environments, thereby enhancing the accuracy of the test results.

[0029] Based on the detection information from the IMU sensor module 4 and combined with the GPS module 6, the core board module 2 of this invention can complete precise positioning and point measurement of the vehicle. This solves the problems of low accuracy and large errors in traditional manual positioning and point measurement, improves the accuracy and repeatability of the measurement position, and lays the foundation for obtaining high-quality point measurement data.

[0030] The core plate module 2 drives the wheel motor through the wheel motor driving module, and realizes the forward movement, backward movement, steering, speed adjustment and other movement operations of the trolley.

[0031] The probe assembly 8 is used for completing the nondestructive testing of the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0032] The utility model makes further explanation in combination with the drawings and specific embodiment. The utility model protection scope is not only limited to the following content's expression.

[0033] Figure 1 It is the structure schematic diagram of the utility model.

[0034] Figure 2 It is the structure schematic diagram of the utility model screw rod, lifting plate relevant component.

[0035] Figure 3 It is the structure schematic diagram of the utility model limiting groove.

[0036] Figure 4 It is the circuit principle diagram of the utility model core plate module.

[0037] Figure 5 It is the circuit principle diagram of the utility model power supply part.

[0038] Figure 6 It is the circuit principle diagram of the utility model wheel motor driving module.

[0039] Figure 7 It is the circuit principle diagram of the utility model ultrasonic sensor module.

[0040] Figure 8 It is the circuit principle diagram of the utility model probe assembly lifting motor driving module.

[0041] Figure 9 It is the circuit principle diagram of the utility model probe assembly.

[0042] Figure 10 It is the circuit principle diagram of the utility model WIFI module.

[0043] Figure 11 It is the circuit principle diagram of the utility model GPS module.

[0044] Figure 12 It is the circuit principle diagram of the utility model displacement sensor module.

[0045] Figure 13 It is the circuit principle diagram of the utility model IMU sensor module.

[0046] Figure 14It is the utility model magnetic signal processing unit module circuit principle diagram.

[0047] Figure 1 Among them, 1 is GPS positioning antenna, 2 is core board module, 3 is WIFI module, 4 is IMU sensor module, 5 is magnetic signal processing unit module, 6 is GPS module, 7 is probe assembly lifting device, 8 is probe assembly, 9 is displacement sensor module, 10 is vehicle body, 11 is wheel. DETAILED DESCRIPTION

[0048] As shown in the figure, the utility model includes vehicle body 10, vehicle body 10 lower end is provided with wheel 11, vehicle body 10 is provided with probe assembly lifting device 7, core board module 2, power supply part, wheel motor drive module, probe assembly lifting motor drive module, WIFI module 3, GPS module 6, IMU sensor (inertial sensor) module 4, GPS positioning antenna 1, magnetic signal processing unit module 5 and wheel motor, probe assembly lifting device 7 is provided with probe assembly 8 and the displacement sensor module 9 of detecting the lifting height of probe assembly 8;Probe assembly lifting device 7 includes probe assembly lifting motor 16, the output shaft of probe assembly lifting motor 16 is connected with lead screw 15, lead screw 15 rotates through the middle threaded hole of lifting plate 14, and probe assembly 8 is arranged on lifting plate 14;

[0049] The control signal output port of core board module is connected with the control signal input port of wheel motor drive module and the control signal input port of probe assembly lifting motor drive module respectively, the detection signal input port of core board module is connected with the detection signal output port of displacement sensor module and the detection signal output port of IMU sensor respectively, the signal transmission port of core board module is connected with the signal transmission port of WIFI module, the signal transmission port of GPS module, the signal transmission port of magnetic signal processing unit module and the signal transmission port of probe assembly 8 respectively, the electric energy output port of power supply part is connected with the power port of core board module, the power port of wheel motor drive module, the power port of probe assembly lifting motor drive module, the power port of WIFI module, the power port of GPS module, the power port of displacement sensor module, the power port of IMU sensor module and the power port of magnetic signal processing unit module respectively, the drive signal output port of wheel motor drive module is connected with the drive signal input port of wheel motor, and the antenna connecting port of GPS module 6 is connected with GPS positioning antenna 1.

[0050] The probe assembly lifting motor 16, the lead screw 15 and the lifting plate 14 are arranged in the shell of the probe assembly lifting device 7, the lifting plate 14 is rectangular, vertical limiting grooves 17 are arranged in the shell corresponding to the four corners of the lifting plate 14, and the cross section of the limiting grooves 17 is right-angled. The limiting grooves 17 make the lifting plate 14 unable to rotate and only capable of lifting. The forward and reverse rotation of the probe assembly lifting motor 16 realizes the lifting of the lifting plate 14, and further realizes the lifting of the probe assembly 8.

[0051] The upper end of the lifting plate 14 is connected with the lower end of a vertical cylinder 18, the upper end of the vertical cylinder 18 is connected with the rear end of a horizontal connecting rod, the front end of the horizontal connecting rod is provided with the probe assembly 8, and the displacement sensor module 9 is arranged on the horizontal connecting rod. The upper end of the lead screw 15 can be arranged in the vertical cylinder 18, without affecting the connection between components.

[0052] The GPS positioning antenna 1 comprises four vertically arranged antenna rods, and the four antenna rods are arranged at the four corners of the vehicle body respectively.

[0053] The probe assembly lifting device 7 is arranged at the middle part of the front side of the vehicle body, the core plate module 2, the WIFI module 3, the IMU sensor module 4, the magnetic signal processing unit module 5 and the GPS module 6 are arranged in the middle groove of the vehicle body.

[0054] The probe assembly comprises an ultrasonic array probe and a camera. The array probe is used for detecting the defect information inside the weld in the nondestructive testing scene. The camera is used for acquiring the environmental image information around the detection trolley and positioning the detection target (such as the workpiece where the weld is located), identifying the position and contour of the weld from the camera image, and providing a reference for the further accurate movement of the trolley and the positioning of the array probe.

[0055] The ultrasonic array probe can adopt a multi-panalyticon ultrasonic phased array probe.

[0056] Each detection channel can independently emit and receive detection signals (such as ultrasonic signals, electromagnetic signals, etc.), and can simultaneously detect multiple parts or different depth layers of the detection object, greatly improving the detection efficiency and comprehensiveness. When detecting the weld of a large pipeline, the multi-channel probe can cover a certain width of the weld area at one time, and quickly detect whether there is a defect.

[0057] Magnetic signal detection is used for path detection and navigation, signal processing, position deviation calculation, site identification, etc. The detection principles include giant magneto impedance (GMI) effect, electromagnetic induction principle, magnetic flux leakage detection technology, electron paramagnetic resonance (EPR). The references are as follows: [1] Nie Xinhua, Pan Zhongming, Zhang Wenna, et al. Giant magneto impedance (GMI) magnetic sensor based on orthogonal lock difference amplifier [J]. Journal of National University of Defense Technology, 2014, 2. [2] Hu Jiaxiong, Jiao Xiaoliang, Zheng Li, et al. An improved support vector regression three-axis pipeline magnetic flux leakage defect quantification method [J]. Nondestructive Testing, 2021, 43 (3): 62-68. All the above are prior art.

[0058] The core board module adopts an STM32F103ZET6 chip U2, the 1-4 pins of U2 are respectively connected to PE2-PE5 in correspondence, the 10-15 and 18 pins of U2 are respectively connected to PF0-PF6 in correspondence, the 25 pin of U2 is connected to RST, the 63-66 pins of U2 are respectively connected to PE10-PE13 in correspondence, the 138 pin of U2 is connected to BOOT0, the 101 and 102 pins of U2 are respectively connected to USART1_TX and USART1_RX in correspondence, the 101 and 102 pins of U2 are respectively connected to USART2_TX and USART2_RX in correspondence; the 103 and 104 pins of U2 are respectively connected to USART3_RX and USART3_TX in correspondence; the 41 and 42 pins of U2 are respectively connected to USART4_TX and USART4_RX in correspondence;

[0059] 3.3V is connected to 3.3V_M through resistor R1;

[0060] 3.3V is connected to 3.3V_A through resistor R3;

[0061] BOOT0 is connected to one end of resistor R7 and one end of switch SW4, the other end of R7 is connected to GND, and the other end of SW4 is connected to 3.3V;

[0062] RST is connected to GND through switch SW5.

[0063] R1 and R3 are set to 0 ohm, used as a jumper wire, allowing electrical connection between different circuit nodes on the circuit board without the need for soldering wires, providing flexibility in design; ensuring that 3.3V_M / 3.3V_A has good electrical connection with the 3V power rail to ensure voltage consistency or voltage matching, providing stable power supply.

[0064] SW4 is used to switch the boot mode of STM32. When SW4 is closed (equivalent to BOOT0 = 1), STM32 may enter the mode of starting from the system memory or the built-in SRAM according to the state of BOOT1, which is usually used for program download, debugging, etc. When SW4 is disconnected (equivalent to BOOT0 = 0), STM32 will start from the main flash memory, which is the mode of running the program normally.

[0065] The initialization reset at system startup ensures the stability of the initial state. When the system is powered on for the first time, each component needs to be initialized to a known and stable initial state. At this time, by closing SW5 to ground RST, the system can be forced to enter a reset state, and the core board module and related circuits start to start from the initial state. At the moment of starting, press SW5 to ground RST, the system starts the reset operation, and each chip internal register, logic circuit, etc. is reset, and the random state or error state that may exist is cleared, and the preparation for normal startup is completed.

[0066] The core board module is the control core of the system, which communicates and interacts with other modules, coordinates the work of each module, and controls and manages the entire system.

[0067] The power supply part includes a POWER1 interface, the POWER1 interface is connected with the 1st pin of the 12V, the 1st pin of the LM2596S-3.3 module and the 1st pin of the LM2596S-5.0 module through a total switch, the 2nd pin of the LM2596S-3.3 module is connected with +3.3V through inductor L2, and +3.3V is connected with the 4th pin of the LM2596S-3.3 module; the 2nd pin of the LM2596S-5.0 module is connected with +5V through inductor L1, and +5V is connected with the 4th pin of the LM2596S-5.0 module.

[0068] The POWER1 is externally connected with a storage battery.

[0069] The power supply part manages the power supply through the "POWER1 six-set switch total switch", and the switch "ON OFF" controls the on-off of the power supply. The "LM2696S-5.0TR_C51600" chip is used for voltage conversion and other related operations to provide stable power support for the entire system.

[0070] The wheel motor driving module adopts TB6612 module U4, the 1st-7th pins of U4 are respectively connected with PF0-PF6 in correspondence, the 12th and 13th pins of U4 are respectively connected with wheel motors H1 and H2, and the 10th and 11th pins of U4 are respectively connected with wheel motors H3 and H4.

[0071] The motors H1 and H2 can adopt NEMA17 stepping motors.

[0072] H1: corresponds to the front left wheel of the trolley. H2: corresponds to the front right wheel of the trolley. H3: corresponds to the rear right wheel of the trolley. H4: corresponds to the rear left wheel of the trolley.

[0073] The four motor driving modules of the trolley wheels receive control signals of the core board module 2, drive the four wheel motors of the trolley to operate, and realize motion control such as forward movement, backward movement and turning of the trolley. By controlling the rotating speed and turning of the motor, the motion trajectory and speed of the trolley in different environments are accurately controlled.

[0074] The probe assembly lifting motor driving module adopts a TB6612 module U5, the 1-4 pins of U5 are respectively connected to PE2-PE5 in correspondence, and the 12, 13 pins of U5 are connected to the probe assembly lifting motor H7.

[0075] The probe assembly lifting motor H7 can adopt a NEMA17 type motor.

[0076] The probe assembly lifting motor driving module drives the probe assembly lifting motor to work according to the instructions of the core board module 2, realizes the lifting operation of the probe assembly, and meets the demand for detection height in different scenes.

[0077] The WIFI module adopts an ESP8266 chip U6, and the 4, 5 pins of U6 are respectively connected to USART1_TX and USART1_RX in correspondence.

[0078] The WIFI module performs serial port communication with the core board module 2 through USART_TX and USART1_RX, realizes the wireless transmission function of data, and can be used for data interaction with external devices or network.

[0079] The GPS module adopts a GM-862-GPS-24V module U7, and the 4 pin of U7 is connected to USART2_RX.

[0080] The GPS module is connected with the core board module 2 through USART2_RX, receives satellite signals, provides position, speed and time information for the system, and can be used for positioning and navigation related functions.

[0081] The displacement sensor module adopts an MLX90393 chip U8, and the 9-12 pins of U8 are respectively connected to PE10-PE13 in correspondence. The MLX90393 chip can be arranged on the measured object, the lifting of the measured object is sensed by the MLX90393 chip, and the displacement of the measured object is detected. For the utility model, the MLX90393 chip is arranged on the horizontal connecting rod, the probe assembly 8 is arranged at the front end of the horizontal connecting rod, the MLX90393 chip detects the lifting of the horizontal connecting rod, and further detects the lifting displacement of the probe assembly 8.

[0082] The displacement sensor module 9 communicates with the core board module 2, monitors the displacement change (lift-off height) of the detection probe assembly 8 in real time, and transmits data to the core board module 2.

[0083] The IMU sensor module adopts a BNO085 chip H5, and the 3 and 4 pins of the H5 are respectively connected to USART3_TX and USART3_RX.

[0084] The IMU sensor module provides high-precision inertial measurement data for the system, including acceleration, angular velocity and other information, and the core board module 2 accurately controls and monitors the movement of the trolley according to the inertial measurement data.

[0085] The utility model discloses by GPS positioning antenna 1 collection signal transmission to GPS module 6, obtain the initial position information of trolley, and install IMU sensor module 4 on trolley, real -time monitoring trolley's attitude and motion state. When needing to carry out positioning fixed point measurement, the operator inputs the coordinate information of target measurement point in remote terminal, and the control system calculates the motion trajectory and the control parameter (prior art) of the stepping motor required for the trolley to reach the target point according to the current position, attitude of trolley and target coordinate, the actual motion state of trolley is continuously fed back by IMU sensor module 4 in the moving process of trolley, and the control system adjusts the control of the stepping motor in real time according to these feedback information, adopts closed loop control strategy, ensures that trolley can accurately stop on target measurement point, error control is in the extremely small range, satisfies the requirement of high-precision positioning fixed point measurement.

[0086] The magnetic signal processing unit module adopts a LIS3MDL chip H6, and the 3 and 4 pins of the H6 are respectively connected to USART4_TX and USART4_RX.

[0087] The magnetic signal processing unit module processes the magnetic signal and sends the processing result to the core board module 2 for pipeline nondestructive testing.

[0088] The detection signal collected by the probe assembly 8 is first sent to the core board module 2, which preliminarily receives, buffers and simply preprocesses the detection signal, and then sends it to the magnetic signal processing unit 5 for amplification, filtering, digital conversion processing, noise interference removal and effective signal feature extraction (prior art). Then the data processed by the magnetic signal processing unit 5 is sent to the host computer (the data processed by the magnetic signal processing unit 5 is sent to the core board module 2, which is sent to the host computer through the WIFI module 3). On the host computer, professional detection and analysis software is used to further analyze, image display (such as drawing C-scan image, B-scan image, etc.) and defect judgment, and the detection result is intuitively presented.

[0089] The probe assembly circuit adopts an LM358ADG4 chip, a 3-pin of the LM358ADG4 chip is connected with the ultrasonic array probe through a parallel circuit of a capacitor C25 and an inductor L5, and a 5-pin of the LM358ADG4 chip is connected with PE6.

[0090] The C25 is used for AC coupling of signals, prevents DC components from passing through, and allows AC signals to pass through at the same time. The value of the C25 is 100pF, which is used to filter out the DC bias in the signal. The inductor L3 is used together with the capacitor to form an LC filter for filtering out noise of a specific frequency. The value of the L3 is 10uH. The capacitor C27 is used for further filtering to remove high-frequency noise in the signal. The value of the C27 is 100pF. The LM358AD84 is a double operational amplifier integrated circuit, and one of the amplifiers is used here, which is configured as a non-inverting amplifier for amplifying the input signal. The output signal: the amplified and filtered signal is output from the output end of the operational amplifier and connected to the PE6 pin of the STM32.

[0091] An ultrasonic sensor module can also be arranged, and a detection signal output port of the ultrasonic sensor module is connected with a detection signal input port of the core board module.

[0092] The ultrasonic sensor module can detect the distance from the object, automatically avoid obstacles, and ensure that the trolley runs safely and stably in a complex environment.

[0093] The working process of the utility model will be described below in combination with the drawings.

[0094] The host computer communicates with the core board module 2 of the utility model through the WIFI module 3, sets the probe assembly 8 lifting height according to the detection requirement (the core board module 2 receives the host computer control information, drives the probe assembly lifting motor 16 through the probe assembly lifting motor drive module, drives the lead screw 15, controls the probe assembly 8 lifting height), and locates and measures the coordinates (the host computer sends the position to the GPS module 6 to complete the location and measurement). After completing the parameter setting, the host computer sends the start detection instruction, and the utility model detection trolley starts to work. The core board module 2 receives the host computer control information, controls the trolley to realize the forward movement, backward movement, steering, speed regulation and other actions through the wheel motor drive module. The core board module 2 receives the host computer control information, starts the probe assembly 8 to detect, and sends the detection data of the probe assembly 8 to the magnetic signal processing unit module 5. The magnetic signal processing unit module 5 processes and then sends to the core board module 2, and the core board module 2 sends the processed detection signal to the host computer. The host computer processes and displays the received data. The core board module 2 receives the host computer positioning and measurement instruction, calculates the positioning parameters through the GPS module 6, and controls the trolley to move. In the moving process, the positioning information fed back by the IMU sensor module 4 is corrected.

[0095] It can be understood that the above specific description of the utility model is only used for illustrating the utility model and is not limited to the technical scheme described in the utility model embodiment, and the person skilled in the art should understand that the utility model can still be modified or replaced equivalently to achieve the same technical effect, as long as the use needs are met, it is within the protection scope of the utility model.

Claims

1. An adjustable lift-off non-destructive testing device comprising a vehicle body (10) having a lower end provided with wheels (11), characterised in that The vehicle body (10) is provided with a probe assembly lifting device (7), a core board module (2), a power supply part, a wheel motor driving module, a probe assembly lifting motor driving module, a WIFI module (3), a GPS module (6), an IMU sensor module (4), a GPS positioning antenna (1), a magnetic signal processing unit module (5) and a wheel motor, the probe assembly lifting device (7) is provided with a probe assembly (8) and a displacement sensor module (9) for detecting the lifting height of the probe assembly (8); the probe assembly lifting device (7) comprises a probe assembly lifting motor (16), the output shaft of the probe assembly lifting motor (16) is connected with a lead screw (15), the lead screw (15) rotates through a threaded hole in the middle of a lifting plate (14), and the probe assembly (8) is arranged on the lifting plate (14); The control signal output port of the core board module (2) is connected with the control signal input port of the wheel motor driving module and the control signal input port of the probe assembly lifting motor driving module respectively, the detection signal input port of the core board module (2) is connected with the detection signal output port of the displacement sensor module (9) and the detection signal output port of the IMU sensor module (4) respectively, the signal transmission port of the core board module (2) is connected with the signal transmission port of the WIFI module (3), the signal transmission port of the GPS module, the signal transmission port of the magnetic signal processing unit module (5) and the signal transmission port of the probe assembly (8), the power output port of the power supply part is connected with the power port of the core board module, the power port of the wheel motor driving module, the power port of the probe assembly lifting motor driving module, the power port of the WIFI module, the power port of the GPS module, the power port of the displacement sensor module, the power port of the IMU sensor module and the power port of the magnetic signal processing unit module, the driving signal output port of the wheel motor driving module is connected with the driving signal input port of the wheel motor, the antenna connection port of the GPS module (6) is connected with the GPS positioning antenna (1), and the driving signal output port of the probe assembly lifting motor driving module is connected with the driving signal input port of the probe assembly lifting motor.

2. The apparatus of claim 1, wherein The GPS positioning antenna (1) comprises four vertically arranged antenna rods, and the four antenna rods are arranged at the four corners of the vehicle body (10).

3. The apparatus of claim 1, wherein The probe assembly lifting device (7) is arranged at the middle of the front side of the vehicle body, the core board module (2), the WIFI module (3), the IMU sensor module (4), the magnetic signal processing unit module (5) and the GPS module (6) are arranged in the middle groove of the vehicle body (10).

4. The apparatus of claim 1, wherein The probe assembly comprises an ultrasonic array probe and a camera.

5. The apparatus of claim 1, wherein The core board module adopts STM32F103ZET6 chip U2, the 1-4 pins of U2 are respectively connected with PE2-PE5 corresponding, the 10-15, 18 pins of U2 are respectively connected with PF0-PF6 corresponding, the 25 pin of U2 is connected with RST, the 63-66 pins of U2 are respectively connected with PE10-PE13 corresponding, the 138 pin of U2 is connected with BOOT0, the 101, 102 pins of U2 are respectively connected with USART1_TX, USART1_RX corresponding, the 101, 102 pins of U2 are respectively connected with USART2_TX, USART2_RX corresponding, the 103, 104 pins of U2 are respectively connected with USART3_RX, USART3_TX corresponding, the 41, 42 pins of U2 are respectively connected with USART4_TX, USART4_RX corresponding; 3.3V is connected with 3.3V_M through resistance R1; 3.3V is connected with 3.3V_A through resistance R3; BOOT0 is connected with one end of resistance R7 and one end of switch SW4, the other end of R7 is connected with GND, and the other end of SW4 is connected with 3.3V; RST is connected with GND through switch SW5.

6. The apparatus of claim 1, wherein The power supply part includes POWER1 interface, the POWER1 interface is connected with 12V, the 1 pin of LM2596S-3.3 module and the 1 pin of LM2596S-5.0 module through a total switch, the 2 pin of LM2596S-3.3 module is connected with +3.3V through inductance L2, and +3.3V is connected with the 4 pin of LM2596S-3.3 module; the 2 pin of LM2596S-5.0 module is connected with +5V through inductance L1, and +5V is connected with the 4 pin of LM2596S-5.0 module.

7. The apparatus of claim 1, wherein The wheel motor driving module adopts TB6612 module U4, the 1-7 pins of U4 are respectively connected with PF0-PF6 corresponding, the 12, 13 pins of U4 are respectively connected with wheel motor H1, H2, the 10, 11 pins of U4 are respectively connected with wheel motor H3, H4; The probe assembly lifting motor driving module adopts TB6612 module U5, the 1-4 pins of U5 are respectively connected with PE2-PE5 corresponding, the 12, 13 pins of U5 are connected with probe assembly lifting motor H7.

8. The apparatus of claim 1, wherein The WIFI module adopts ESP8266 chip U6, the 4, 5 pins of U6 are respectively connected with USART1_TX, USART1_RX corresponding; The GPS module adopts GM-862-GPS-24V module U7, the 4 pin of U7 is connected with USART2_RX; The displacement sensor module adopts MLX90393 chip U8, the 9-12 pins of U8 are respectively connected with PE10-PE13 corresponding.

9. The apparatus of claim 1, wherein The IMU sensor module adopts BNO085 chip H5, the 3, 4 pins of H5 are respectively connected with USART3_TX, USART3_RX corresponding; The magnetic signal processing unit module adopts LIS3MDL chip H6, the 3, 4 pins of H6 are respectively connected with USART4_TX, USART4_RX corresponding.

10. The apparatus of claim 1, wherein The probe assembly is connected with the detection signal input port of the core board module through a probe assembly circuit; the probe assembly circuit adopts an LM358ADG4 chip, a 3-pin of the LM358ADG4 chip is connected with the ultrasonic array probe through a capacitor C25 and an inductor L5 parallel circuit, and a 5-pin of the LM358ADG4 chip is connected with PE6.

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