CN105938087B - A kind of laser ultrasonic detection system and method based on Multi-axis aircraft - Google Patents

Abstract

The invention discloses a laser ultrasonic detection system and method based on a multi-axis aircraft; it includes an aircraft module, a host remote control device, a processor module, a system control module, a system display module and an ultrasonic detection probe; On a multi-axis aircraft that can hover freely, realize laser scanning of harsh or difficult-to-reach detection parts in industrial applications, such as high-temperature, corrosive pipelines or complex components, and excite ultrasonic waves on the surface of the detected object. At the same time, An ultrasonic testing probe is placed on the other side of the tested part to receive the echo and transmit it to the control system. The control system processes the movement of the aircraft, ultrasonic excitation and defect information, and displays the information on the display system, so that the controller can control the entire system in real time.

Description

A laser ultrasonic inspection system and method based on multi-axis aircraft

technical field

The invention relates to the field of laser ultrasonic testing in non-destructive testing, in particular to a laser ultrasonic testing system and method based on a multi-axis aircraft.

Background technique

Laser ultrasound is a new type of nondestructive testing method. It was limited by the development of laser devices and related disciplines in the early stage. Since it was proposed in the 1970s and became a hot spot in the mid-1980s, it has not achieved the expected application effect. From the end of the 20th century to the present, with the development of laser, electronics, computer and related disciplines, after nearly ten years of technology accumulation, laser ultrasound has entered the stage of technology research, development and application from method exploration, which is a further development of traditional ultrasonic testing technology.

At present, laser ultrasonic technology has been initially applied in many fields, especially in the field of non-destructive testing. In non-destructive testing in harsh environments, the non-contact characteristics of laser ultrasound can be used to measure material properties in harsh environments such as high-temperature radiation, and materials can also be tested under high-temperature conditions, especially laser non-destructive testing. It is detected under the environment of high pressure, high humidity, acid, alkali or poison, and the detection environment or the workpiece under test has strong corrosion, nuclear radiation and chemical reaction.

Laser ultrasonic technology has become one of the important means of industrial positioning and online monitoring in the environment of high temperature and nuclear radiation. At present, laser ultrasound only stays at a fixed position to detect the workpiece, and the detection equipment is not flexible enough. During the detection process, the workpiece needs to be moved from time to time to achieve a more comprehensive detection. Large limitations and the inability to comprehensively evaluate the status of components may lead to false inspections, missed inspections, and even bury safety hazards.

Contents of the invention

In order to solve the above-mentioned problems and defects existing in the current laser ultrasonic testing, the present invention provides a laser ultrasonic testing system and method based on a multi-axis aircraft. The invention realizes the laser scanning of the detection parts with harsh environment or difficult to reach in industrial applications, such as high temperature, corrosive pipelines or complex parts, and excites ultrasonic waves on the surface of the detected object. Ultrasonic detection probe, receive the echo and transmit it to the control system. The control system processes the movement of the aircraft, ultrasonic excitation and defect information and displays the information on the display system, so that the controller can control the entire system in real time.

The present invention realizes through following technical scheme:

A laser ultrasonic detection system based on a multi-axis aircraft, comprising an aircraft module 1, a host remote control device 2, a processor module 3, a system control module 4, a system display module 5 and an ultrasonic detection probe 6; the ultrasonic detection probe 6 mounted on the component under test;

Wherein, the aircraft module 1 carries out signal exchange with the host remote control transmitter 2 through the aircraft remote transmitter 16 carried by it, and realizes the signal connection with the processor module 3; the host remote transmitter 2, system control module 4. The system display module 5, the ultrasonic detection probe 6 are connected to the processor 3 by telecommunication;

The processor module 3, as the core of the entire laser ultrasonic detection system, first receives a control signal from the system control module 4 during the operation of the laser ultrasonic detection system, and then sends a control signal to the aircraft module 1 through the host remote control sending and receiving device 2, Control the work of the aircraft module 1; at the same time, during the operation of the laser ultrasonic detection system, the processor module 3 receives the information sent by the aircraft module 1 in real time and guides the further progress of the detection process; the information received by the processor module 3 is displayed on the system display Module 5.

Described aircraft module 1 comprises the power module 11 that is carried by flight mechanism 13, camera 12, laser emission device 14, embedded microprocessor 15, aircraft remote control sending and receiving device 16; Embedded microprocessor 15 is as controller, and power module respectively 11. The camera 12, the flight mechanism 13, the laser emitting device 14 and the aircraft remote control sending and receiving device 16 are connected by telecommunication.

The system control module 4 includes an aircraft control module 41 and a defect detection state control module 42; according to the display information of the system display module 5, the operator sends the laser ultrasonic inspection system through the system control module 4 to include motion control and defect detection control. Control information, the control information is processed by the processor 3 and sends a control signal to the aircraft module 1 via the host remote control transmitter 2 to guide the movement and detection of the aircraft module 1 .

The system display module 5 includes a defect information display module 51, an aircraft operating state display module 52, and a laser ultrasonic state display module 53;

During the working process of the laser ultrasonic testing system, the processor module 3 processes the signal received by the remote control sending and receiving device 2 of the host computer, and then transmits it to the system display module 5, and combines the defect information returned by the ultrasonic testing probe 6 to respectively display the defect information, The aircraft running state and laser ultrasonic detection state are displayed in the corresponding defect information display module 51 , aircraft running state display module 52 , and laser ultrasonic state display module 53 .

A laser ultrasonic detection method based on multi-axis aircraft is as follows:

Step 1: After the operator determines the parameters according to the components to be detected, the operator inputs the required control information into the system control module 4, and after receiving the control information, the processor module 3 sends a control signal to the aircraft module 1 through the host remote control sending device 2 , to control the work of the aircraft module 1;

Step 2: After the flight mechanism 13 starts working, the camera 12 carried by the flight mechanism 13 turns on the real-time monitoring work situation, and the information is returned by the aircraft remote control sending device 16 carried on the flight mechanism 13. After the processor module 3 receives the information, the defect information, the aircraft operation The state and the laser ultrasonic state are respectively displayed in the corresponding sub-modules in the system display module 5;

Step 3: After the operator obtains various status information of the detection process through the system display module 5, according to the detection requirements, the operator continues to send instructions to the aircraft through the system control module 4 until the aircraft completes the detection work correctly, thereby forming a closed loop with feedback control system;

Step 4: After the aircraft excites the ultrasound, the ultrasonic detection probe 6 receives the defect wave and transmits it to the processor module 3, and the processor module 3 processes the defect information and transmits it to the defect information display module 51 of the system display module 5, thereby obtaining Defect condition of the tested part;

After completing a detection, the operator decides whether to change the position of the aircraft to detect other positions of the tested part, recall the aircraft or complete the detection according to the defect information displayed on the system display module 5, the aircraft operation status information and the laser ultrasonic status information.

Compared with the prior art, the present invention has the following advantages and effects:

1. This laser ultrasonic inspection system gets rid of the inflexible shortcomings of the original system, and realizes the comprehensive inspection of difficult-to-reach parts to be inspected by mounting the laser transmitter that excites the ultrasound on a multi-axis aircraft that can hover freely.

2. The laser ultrasonic detection system takes the processor as the core, realizes the control of the aircraft through the processing of the control signal, and receives and displays the system working information in real time, so as to better know the progress of the detection process.

3. The laser ultrasonic detection system integrates the control of the aircraft movement and the laser ultrasonic detection control to realize the precise control of the detection process.

4. The laser ultrasonic detection system combines multi-axis aircraft technology and laser ultrasonic technology, and uses the hovering feature of the multi-axis aircraft to carry a laser device to excite ultrasound, while using the camera on the multi-axis aircraft to monitor the detection process in real time.

5. Lasers are harmful to the human body. This laser ultrasonic testing system uses a multi-axis aircraft equipped with a laser emitting device to reduce the possibility of human body contacting the laser and improve the safety of the testing process.

Description of drawings

Fig. 1 is a schematic structural diagram of a laser ultrasonic detection system based on a multi-axis aircraft in the present invention.

Fig. 2 is a block diagram of the detection workflow of the laser ultrasonic detection system based on the multi-axis aircraft of the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with specific embodiments.

Example

As shown in Figure 1 and Figure 2. The invention discloses a laser ultrasonic detection system based on a multi-axis aircraft, which includes an aircraft module 1, a host remote control device 2, a processor module 3, a system control module 4, a system display module 5 and an ultrasonic detection probe 6; The ultrasonic testing probe 6 is installed on the component to be tested;

Wherein, the aircraft module 1 carries out signal exchange with the host remote control transmitter 2 through the aircraft remote transmitter 16 carried by it, and realizes the signal connection with the processor module 3; the host remote transmitter 2, system control module 4. The system display module 5, the ultrasonic detection probe 6 are connected to the processor 3 by telecommunication;

The processor module 3, as the core of the entire laser ultrasonic detection system, first receives a control signal from the system control module 4 during the operation of the laser ultrasonic detection system, and then sends a control signal to the aircraft module 1 through the host remote control sending and receiving device 2, Control the work of the aircraft module 1; at the same time, during the operation of the laser ultrasonic detection system, the processor module 3 receives the information sent by the aircraft module 1 in real time and guides the further progress of the detection process; the information received by the processor module 3 is displayed on the system display Module 5.

Described aircraft module 1 comprises the power module 11 that is carried by flight mechanism 13, camera 12, laser emission device 14, embedded microprocessor 15, aircraft remote control sending and receiving device 16; Embedded microprocessor 15 is as controller, and power module respectively 11. The camera 12, the flight mechanism 13, the laser emitting device 14 and the aircraft remote control sending and receiving device 16 are connected by telecommunication.

The system control module 4 includes an aircraft control module 41 and a defect detection state control module 42; according to the display information of the system display module 5, the operator sends the laser ultrasonic inspection system through the system control module 4 to include motion control and defect detection control. Control information, the control information is processed by the processor 3 and sends a control signal to the aircraft module 1 via the host remote control transmitter 2 to guide the movement and detection of the aircraft module 1 .

The system display module 5 includes a defect information display module 51, an aircraft operating state display module 52, and a laser ultrasonic state display module 53;

During the working process of the laser ultrasonic testing system, the processor module 3 processes the signal received by the remote control sending and receiving device 2 of the host computer, and then transmits it to the system display module 5, and combines the defect information returned by the ultrasonic testing probe 6 to respectively display the defect information, The aircraft running state and laser ultrasonic detection state are displayed in the corresponding defect information display module 51 , aircraft running state display module 52 , and laser ultrasonic state display module 53 .

Figure 2 describes the general process framework of the system detection work. The host remote control transceiver module, processor module 3, system control module and ultrasonic detection probe are hereinafter referred to as control and detection equipment.

The operator first inputs operation instructions to the control and inspection equipment according to the inspection environment and the workpiece to be tested, and then the control and inspection equipment converts the operation instructions into control information and transmits it to the aircraft, instructing the aircraft to emit laser to excite ultrasound and turn on the camera to monitor the inspection process in real time , to send back the laser ultrasonic state information and aircraft state information to the control and detection equipment, and at the same time the ultrasonic detection probe in the control and detection equipment starts to work, and transmits the collected defect information back to the control and detection equipment. The control and detection equipment combines the aircraft and The information obtained by the ultrasonic detection probe is returned and displayed on the system display module. After the operator obtains the defect information and status information from the display screen in the display module, he can further send operation instructions to the control and detection equipment according to the defect and detection status, and the system repeats the above steps. The process is completed until the operator gives an instruction to stop the detection and recall the aircraft.

Specific steps are as follows:

Step 1: After the operator determines the parameters according to the components to be detected, the operator inputs the required control information into the system control module 4, and after receiving the control information, the processor module 3 sends a control signal to the aircraft module 1 through the host remote control sending device 2 , to control the work of the aircraft module 1;

Step 2: After the flight mechanism 13 starts working, the camera 12 carried by the flight mechanism 13 turns on the real-time monitoring work situation, and the information is returned by the aircraft remote control sending device 16 carried on the flight mechanism 13. After the processor module 3 receives the information, the defect information, the aircraft operation The state and the laser ultrasonic state are respectively displayed in the corresponding sub-modules in the system display module 5;

Step 3: After the operator obtains various status information of the detection process through the system display module 5, according to the detection requirements, the operator continues to send instructions to the aircraft through the system control module 4 until the aircraft completes the detection work correctly, thereby forming a closed loop with feedback control system;

Step 4: After the aircraft excites the ultrasound, the ultrasonic detection probe 6 installed on the component under test receives the defect wave and transmits it to the processor module 3, and the processor module 3 processes the defect information and transmits the defect information to the system display module 5 In the display module 51, thereby obtain the defective situation of the component under test;

After completing a detection, the operator decides whether to change the position of the aircraft to detect other positions of the tested part, recall the aircraft or complete the detection according to the defect information displayed on the system display module 5, the aircraft operation status information and the laser ultrasonic status information.

As described above, the present invention can be preferably carried out.

The implementation of the present invention is not limited by the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods, and are all included in within the protection scope of the present invention.

Claims (5)

1. A laser ultrasonic detection system based on a multi-axis aircraft, characterized in that: it comprises an aircraft module (1), a host remote control device (2), a processor module (3), a system control module (4), a system display module (5) and ultrasonic detection probe (6); the ultrasonic detection probe (6) is installed on the component to be tested; Wherein, the aircraft module (1) exchanges signals with the host remote control transmitter (2) through the aircraft remote control transceiver (16) carried by it to realize the signal connection with the processor module (3); the host remote control The sending and receiving device (2), the system control module (4), the system display module (5), the ultrasonic detection probe (6) are connected to the processor module (3) by telecommunication; The processor module (3), as the core of the entire laser ultrasonic detection system, first receives the control signal from the system control module (4) during the operation of the laser ultrasonic detection system, and then transmits the signal to the aircraft through the remote control sending and receiving device (2) of the host computer. The module (1) sends a control signal to control the work of the aircraft module (1); at the same time, during the operation of the laser ultrasonic detection system, the processor module (3) receives the information sent by the aircraft module (1) in real time and guides the further progress of the detection process ; The information received by the processor module (3) is displayed in the system display module (5). 2. The laser ultrasonic detection system based on multi-axis aircraft according to claim 1, wherein the aircraft module (1) includes a power supply module (11), a camera (12), a laser Emitting device (14), embedded microprocessor (15), aircraft remote control sending and receiving device (16); Embedded microprocessor (15) is used as controller, respectively with power supply module (11), camera (12), flight mechanism ( 13), the laser emitting device (14) and the aircraft remote control sending device (16) are connected by telecommunication. 3. the laser ultrasonic detection system based on multi-axis aircraft according to claim 1, is characterized in that: said system control module (4) comprises aircraft control module (41) and defect detection state control module (42); According to system display The display information of the module (5), the operator sends control information including motion control and defect detection control to the laser ultrasonic inspection system through the system control module (4), the control information is processed by the processor module (3) and then remotely controlled by the host computer The sending and receiving device (2) sends a control signal to the aircraft module (1) to guide the movement and detection of the aircraft module (1). 4. The laser ultrasonic detection system based on multi-axis aircraft according to claim 1, characterized in that: the system display module (5) includes a defect information display module (51), an aircraft operating state display module (52), a laser ultrasonic Status display module (53); During the working process of the laser ultrasonic detection system, the processor module (3) processes the signal received by the host remote control transmission device (2), and then transmits it to the system display module (5), and combines it with the signal returned by the ultrasonic detection probe (6). Defect information, respectively display defect information, aircraft operating status and laser ultrasonic detection status in the corresponding defect information display module (51), aircraft operating status display module (52), and laser ultrasonic status display module (53). 5. A laser ultrasonic detection method based on a multi-axis aircraft, characterized in that it is realized by adopting the laser ultrasonic detection system based on a multi-axis aircraft according to any one of claims 1 to 4, and it comprises the steps of: Step 1: After the operator determines the parameters according to the parts to be detected, the operator inputs the required control information into the system control module (4), and after the processor module (3) receives the control information, sends a message to The aircraft module (1) sends a control signal to control the work of the aircraft module (1); Step 2: The camera (12) carried after the flight mechanism (13) starts to work opens the real-time monitoring work situation, and the information is returned by the aircraft remote control sending device (16) carried on the flight mechanism (13), and the processor module (3) After receiving the information, the defect information, aircraft operating status, and laser ultrasonic status are respectively displayed in corresponding sub-modules in the system display module (5); Step 3: After the operator obtains various state information of the detection process through the system display module (5), according to the detection requirements, the operator continues to send instructions to the aircraft through the system control module (4) until the aircraft completes the detection work correctly, thereby forming an effective Feedback, closed-loop control system; Step 4: After the aircraft excites the ultrasound, the ultrasonic detection probe (6) receives the defect wave and transmits it to the processor module (3), and the processor module (3) processes the defect information and transmits it to the defect of the system display module (5) In the information display module (51), thereby obtain the defect situation of the tested part; After one test is completed, the operator decides whether to change the position of the aircraft to detect other positions of the component under test, recall the aircraft or complete detection.