The invention relates to the field of submarine pipeline weld joint processing, in particular to a submarine pipeline weld joint ultrasonic TOFD imaging control system and method.The submarine pipeline weld joint ultrasonic TOFD imaging control system comprises an underwater crawling trolley body, an electronic bin and a visual servo scanning mechanism, the electronic bin is arranged on the upper portion of the underwater crawling trolley body, and the electronic bin is electrically connected with an upper computer; and the visual servo scanning mechanism is arranged on the front side of the underwater crawling trolley body. According to the invention, more refined scanning can be carried out on the position of a welding seam, quantitative information of the welding seam is obtained, the information is displayed in the upper computer in real time for welding seam positioning, the upper computer analyzes the position of a to-be-detected area for path planning, and the underwater crawling trolley body updates submarine pipeline routing information in a visual servo manner in the moving process. Visual servo is carried out on the welding seam of the submarine pipeline, ultrasonic TOFD imaging is autonomously carried out, and the problems that an existing underwater detection robot is high in control requirement and poor in stability, and high-efficiency, high-reliability and high-adaptability detection of the submarine pipeline is difficult to achieve are solved.

    本发明涉及海底管道焊缝处理领域,具体涉及海底管道焊缝超声TOFD成像的控制系统及方法,包括水下爬行小车本体、电子仓和视觉伺服扫查机构,电子仓设置在水下爬行小车本体的上部,且电子仓电性连接有上位机,视觉伺服扫查机构设置在水下爬行小车本体的前侧。本发明可对焊缝位置进行更精细化扫查,获取焊缝的定量信息,并将信息实时显示在上位机中进行焊缝定位,由上位机分析待检测区域位置进行路径规划,水下爬行小车本体在移动过程中视觉伺服更新海底管道路由信息,对海底管道的焊缝进行视觉伺服,并自主进行超声TOFD成像,解决了现有水下检测机器人的控制要求较高,稳定性较差,难以实现海底管道的高效率高可靠高适应性检测的问题。


    Access

    Download


    Export, share and cite



    Title :

    Submarine pipeline welding seam ultrasonic TOFD imaging control system and method


    Additional title:

    海底管道焊缝超声TOFD成像的控制系统及方法


    Contributors:
    WU YINYONG (author) / KIM HO-YOUN (author) / WANG YONGZHI (author) / CHEN HAO (author) / MEI DEQING (author) / YANG KEQI (author)

    Publication date :

    2023-12-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



    Adsorption wall-climbing robot based on TOFD welding seam detection

    YIN QIMING / LI JIAQING / WANG JIAN et al. | European Patent Office | 2021

    Free access

    Steam drum wall-climbing robot based on TOFD welding seam detection and detection method

    SHI YUEJIE / MA YUQI / WU JIANBO et al. | European Patent Office | 2023

    Free access

    Automatic seam tracking in pipeline welding with narrow groove

    Moo, Hyeong-Soon / Ko, Sung-Hoon / Kim, Jeong-Cheol | Tema Archive | 2009


    Self-adaptive TOFD detection robot

    LI BIN / WANG CONG / LIU TONG et al. | European Patent Office | 2023

    Free access

    SEAM-WELDING METHOD AND SYSTEM

    KANEKO MITSUGU / KAWAI YASUHIRO / YAMAASHI KAZUHIKO et al. | European Patent Office | 2015

    Free access