臺灣博碩士論文加值系統

本研究目的為開發一套地下管線自動檢測系統，建立一套搭載驅動系統且可於管線內自由移動的載體，與陣列式磁通漏檢測系統及定位系統結合，達成自動檢測之目的。本研究主要分為四大部分，第一部分為動力系統，本研究選用步進馬達作為動力來源，搭配程式記錄行走步數，便可取得載體的移動距離。第二部分為定位系統，使用 JY61晶片紀錄之三軸姿態角與移動距離做整合，計算載體當前檢測位置，第三部分為陣列式磁漏檢測系統，霍爾感測元件選用LX90251，並以 90 度為一等分安裝 4 組探頭，每個探頭分別搭載 5 個感測器，配合伺服馬達旋轉探頭，完整掃描圓周面。第四部份為主體機構，以 6 吋管尺寸為基礎，設計所需的輔助輪及壁壓機構，並配合其他三部分使用之硬體做空間設計。本研究的缺陷設計為 ø2mm、ø4mm、ø6mm、ø8mm 的盲孔，深度各 2、4、6mm，觀察直徑與深度變化對訊號的影響，並對缺陷訊號範圍與缺陷磁漏場強度進行量化分析。

The purpose of this study is to develop a underground pipeline automatic detection system,and establish a carrier that is equipped with a drive system and can move freely in the pipeline.It is combined with the array magnetic flux leakage detection system and positioning systemto achieve automatic detection. This research is mainly divided into four parts. The first part is the power system. In this study, the stepping motor is used as the power source, and the moving distance of the carrier can be obtained by recording the walking steps with the program. The second part is the positioning system. The three-axis attitude angle recorded by the JY61 chip is integrated with the moving distance to calculate the current detection
position of the system. The third part is the array magnetic leak detection system. Hall sensor selects MLX90251. The system is installed 4 sets of probes at 90 degrees, each of which is equipped with five sensors, and the servo motor rotates the probe to completely scan the circumferential surface. The fourth part is the carrier. Based on the 6-inch pipeline, the required auxiliary wheel and wall pressure mechanism are designed, and the space design of the other three parts is used.The defects of this study are blind holes of ø2mm, ø4mm, ø6mm,ø8mm, and the depth is 2, 4, 6mm. The influence of diameter and depth changes on the signal is observed,the range and magnetic field strength of defect signals are quantitatively analyzed.

摘要 i
ABSTRACT ii
致謝 iv
目錄 v
表目錄 viii
圖目錄 ix
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 1
1.3 研究內容與主要工作內容 2
1.4 論文架構 3
第二章 文獻回顧 4
2.1 地下管線檢測現況及發展 4
2.2 非破壞檢測 4
2.2.1 超音波檢測原理 5
2.2.2 渦電流檢測 6
2.3 磁通漏檢測 6
2.3.1 管線磁通漏檢測基本原理 7
2.3.2 磁化方法 7
2.3.3 永久磁鐵 8
2.3.4 磁化模組 8
2.3.5 磁敏感測器 9
2.4 管線定位技術 10
2.4.1 透地雷達法 10
2.4.2 慣性導航系統 11
2.5 加速度計與陀螺儀 12
2.5.1 加速度計12
2.5.2 陀螺儀 13
2.6 智慧型通管器(Smart PIG) 13
2.6.1 幾何通管器 14
2.6.2 測繪通管器 14
2.6.3 腐蝕檢測通管器 15
2.6.4 裂痕檢測通管器 16
第三章 載體設計與硬體架設 18
3.1 載體設計要求 18
3.2 載體之設計與製造 18
3.2.1 SolidWorks 建模18
3.2.2 3D 列印載體成型 19
3.3 載體外型尺寸設計 21
3.4 壁壓輔助輪組 22
3.5 磁通漏檢測系統 25
3.5.1 旋轉機構 25
3.5.2 伺服馬達 MG996R 27
3.6 探頭組 28
3.6.1 磁通漏檢測探頭29
3.6.2 磁化模組30
3.6.3 霍爾磁敏感測器MLX90251 32
3.7 動力與定位系統33
3.7.1 步進馬達34
3.7.2 步進馬達驅動板 A4988 36
3.7.3 JY61 姿態感測模組37
3.8 電控系統38
3.9 通用軟體 40
3.9.1Arduino Nano 控制板 40
3.9.2 SD 卡模組 41
第四章 管線缺陷檢測實驗 43
4.1 缺陷與檢測訊號實驗 43
4.2 缺陷與檢測訊號實驗 44
4.3 缺陷深度對檢測訊號的影響 46
4.4 缺陷直徑對檢測訊號的影響 48
4.5 缺陷訊號特徵擷取與量化分析 50
4.6 缺陷訊號特徵擷取 51
4.7 缺陷訊號谷谷值量化分析 52
4.8 缺陷訊號峰谷值量化分析 54
4.8.1 深度變化峰谷值量化分析 54
4.8.2 直徑變化峰谷值量化分析55
第五章 結論與未來展望 56
5.1 結論 56
5.2 未來展望 57
參考文獻58

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