Infrared pulse thermal radiation grinding burn nondestructive testing method and system

Abstract

The invention provides an infrared pulse thermal radiation grinding burn nondestructive testing method and system, and belongs to the technical field of nondestructive testing. Comprising the following steps: inputting an excitation signal to an induction coil, and inducing a pulsed eddy current in a tested part for heating; a thermal infrared imager and a depth camera are used for obtaining a thermal response temperature matrix of a measured area of the part and a three-dimensional point cloud of the measured area; then, constructing a thermal response model of the part; extracting a time sequence temperature curve of the heating stage and the natural cooling stage of the detected area, and establishing a grinding burn discrimination function to judge whether a grinding burn area exists or not; and the thermal infrared imager and the depth camera are calibrated, the grinding burn area under the coordinate system of the thermal infrared imager is projected into the three-dimensional point cloud of the depth camera, the position of the grinding burn area under the world coordinate system is obtained, and detection and positioning of the grinding burn area are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of non-destructive testing, and in particular to a non-destructive testing method and system for grinding burns caused by infrared pulse thermal radiation. Background Art

[0002] Grind burn is a surface defect caused by localized high temperatures during the grinding process on metal parts. This defect typically manifests as changes in the metallographic structure (such as the formation of tempered microstructure or quenched martensite), or even microcracks or oxide layers. These defects significantly reduce the mechanical properties, fatigue resistance, and service life of the parts, especially in high-precision components such as aircraft engine bearings, automotive gears, and bearings. Grind burn can lead to catastrophic failure.

[0003] Traditional methods for detecting grinding burns, including pickling microscopic observation and metallographic analysis, require sample destruction, preclude non-contact or online testing, are inefficient, and produce chemical contamination after pickling. Ultrasonic testing and magnetic particle testing have limited sensitivity for detecting small surface burn defects, making it difficult to quantify the extent of the burn. In recent years, infrared thermal imaging technology has gained application in nondestructive testing. However, existing methods often rely on external heat sources, such as lasers or hot air, resulting in poor heating uniformity and failing to fully utilize variations in electrical conductivity, thermal conductivity, and emissivity within the grinding burn area, resulting in limited detection accuracy.

[0004] Pulsed eddy current technology induces eddy current heating in the test sample through a non-contact alternating magnetic field, enabling rapid localized heating. However, existing technologies primarily focus on crack detection and lack the ability to detect grinding burns. Infrared thermal imaging can capture surface thermal radiation, but the coupling effect of emissivity differences and thermal diffusion characteristics in the burned area has not been systematically quantified. Therefore, a nondestructive detection method and system for grinding burns using infrared pulsed thermal radiation is proposed. By constructing a photoelectric-thermal multi-physics field response model and discriminant function, this method significantly improves the detection accuracy and efficiency of grinding burns, overcoming the destructiveness, pollution, and low efficiency of traditional methods. Summary of the Invention

[0005] In view of this, the present invention proposes an infrared pulse thermal radiation nondestructive detection method and system for grinding burns, which realizes high-precision and rapid nondestructive detection of grinding burns through non-contact pulse eddy current heating combined with infrared thermal imaging and multi-physics field response model.

[0006] In one aspect, the present invention provides a method for nondestructive detection of grinding burns using infrared pulse thermal radiation, comprising the following steps: S1: Integrate the induction coil into the end of the industrial robot. Select the appropriate induction coil according to the different components. Input the excitation signal to the induction coil so that the magnetic field of the induction coil completely covers the measured area of ​​the component, inducing pulsed eddy current in the measured component to heat it. S2: Integrate an infrared thermal imager and a depth camera into the end of the industrial robot to obtain the thermal response temperature matrix of the measured area of ​​the component and the three-dimensional point cloud of the measured area; S3: Construct a thermal response model between the material conductivity, thermal conductivity, emissivity and surface temperature of the component; S4: extracting the time series temperature curve of the temperature rise during heating of the measured area and the time series temperature curve of the natural cooling stage after stopping eddy current heat generation, constructing a grinding burn discrimination function, and determining whether there is a grinding burn area; S5: Calibrate the infrared thermal imager and the depth camera, project the grinding burn area in the infrared thermal imager coordinate system into the 3D point cloud of the depth camera, obtain the position of the grinding burn area in the world coordinate system, and realize the detection and positioning of the grinding burn area.

[0007] On the basis of the above technical solution, preferably, the pulsed eddy current heating is a non-contact excitation method, and the excitation signal of the induction coil is a periodic variable frequency signal or a high-frequency fixed frequency signal.

[0008] Preferably, the waveform of the excitation signal of the induction coil is a modulated rectangular pulse, an exponentially decaying sawtooth wave or a dual-frequency sine wave, and the frequency range is 1 kHz to 1 MHz.

[0009] Preferably, the overall temperature rise of the heated components does not exceed 30 degrees Celsius to ensure that the components being tested are not damaged.

[0010] Based on the above technical solution, preferably, the content of step S3 is to obtain the surface temperature of the material from the thermal response temperature matrix of the measured area obtained by the infrared thermal imager, and calculate the Joule heat generated locally per unit time based on the surface temperature and thermal conductivity; and construct the relationship between the Joule heat generated locally per unit time and the electrical conductivity, current density and pulse duration.

[0011] Preferably, the content of step S4 is to construct a grinding burn discrimination function based on the weight function of the heating stage and the weight function of the natural cooling stage in combination with the surface temperature of the material, set the thermal response difference threshold, and when the value of the grinding burn discrimination function is greater than the thermal response difference threshold, it is determined that there is a grinding burn area on the component.

[0012] Preferably, step S5 also includes extracting local features of the transient signal of the surface temperature of the material through multi-scale wavelet transform, separating transient signal components of temperatures of different frequencies, expanding the thermal response difference between the grinding burn area and the normal area, enhancing the contrast of the burn area, and then converting the grinding burn area in the infrared thermal imager coordinate system to the depth camera.

[0013] Preferably, the position of the grinding burn area in the world coordinate system is obtained in step S5 by obtaining a three-dimensional point cloud of the component through a depth camera, combining the temperature matrix of the infrared thermal imager, aligning the three-dimensional point cloud with the pixel points in the temperature matrix, mapping the temperature matrix to three-dimensional space, extracting the spatial coordinates of the grinding burn area, locating the burn boundary through thermal map threshold segmentation, and realizing the positioning of the grinding burn area.

[0014] Preferably, the three-dimensional point cloud is registered with the pixel points in the temperature matrix using an iterative closest point algorithm or a feature point matching algorithm.

[0015] In another aspect, the present invention provides an infrared pulse thermal radiation grinding burn nondestructive detection system for implementing the infrared pulse thermal radiation grinding burn nondestructive detection method, comprising: The industrial robot is equipped with an induction coil, an infrared thermal imager, and a depth camera at the end, which are used to adjust the posture of the induction coil, infrared thermal imager, and depth camera. An excitation signal is input into the induction coil, and the magnetic field generated by the induction coil completely covers the measured area of ​​the component, generating an induced pulse eddy current to heat the measured area of ​​the component. The infrared thermal imager and depth camera are used to obtain the thermal response temperature matrix of the measured area and the three-dimensional point cloud of the measured area. Thermal response model building module, used to obtain the surface temperature from the thermal response temperature matrix of the measured area, and build a thermal response model by combining the material conductivity, thermal conductivity, emissivity and surface temperature of the component; The burn discrimination function construction module is used to extract the time-series temperature curve of the temperature rise when the measured area is heated, as well as the time-series temperature curve of the natural cooling stage after the eddy current heat generation stops, to construct a grinding burn discrimination function and output the judgment result of whether the component has a grinding burn area; The grinding burn area positioning module is used to convert the grinding burn area in the infrared thermal imager coordinate system to the depth camera when there is a grinding burn area on the component, and obtain the position of the grinding burn area in the world coordinate system.

[0016] The infrared pulse thermal radiation grinding burn nondestructive detection method and system provided by the present invention has the following beneficial effects compared with the prior art: (1) The present invention proposes a method for heating the surface of a component by generating pulsed eddy current based on an induction coil, and combining an infrared thermal imager and a depth camera to perform non-destructive testing of the heating condition. There is no need to perform destructive sampling on the component to be tested, and high-precision and rapid grinding burn defect detection can be achieved. It is suitable for online quality inspection of metal components of various sizes. The principle of the scheme is: an induction coil integrated at the end of an industrial robot is used to apply an induced pulsed eddy current to the component, and the surface of the component is transiently heated in a non-contact manner. The electrical conductivity of the burn area is reduced due to changes in the metallographic structure (such as quenched martensite and microcracks), which generates more Joule heat. Combined with the heat retention characteristics caused by the reduction in thermal conductivity, a thermal response feature of fast heating and slow heat dissipation is formed. The surface temperature matrix of the component is synchronously collected by an infrared thermal imager, and the emissivity difference caused by the oxide layer in the burn area is combined. The burn area is accurately identified by the optical-electrical-thermal multi-physical field response model and the innovative discriminant function. The detection process is controlled in seconds, and a single detection time is less than 5 seconds. The overall temperature rise is lower than the tempering temperature of the material, and the structural state of the component is not affected. (2) By integrating a machine vision 3D positioning module, the burn boundary is located through the registration of the depth camera point cloud and the thermal response temperature matrix with sub-millimeter accuracy. Compared with traditional pickling microscopic observation and ultrasonic testing, the efficiency is significantly improved and there is no chemical pollution. (3) Based on the Joule heat generated per unit time locally, the thermal diffusion coefficient, the temperature gradient, and the surface temperature, a heat diffusion equation is constructed; based on the emissivity and surface temperature of the material, a surface emission power function is constructed; the heat diffusion equation and the surface emission power function are used as a thermal response model; the characteristics of the burn area after stopping heating, such as slow heat dissipation in the burn area and the formation of an oxide layer due to surface oxidation, which leads to a huge difference in the surface emissivity of the material, and the burn area exhibits thermal response characteristics of rapid heating and slow heat dissipation, are fully considered, and the thermal response characteristics of the measured area are accurately described. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a system principle diagram of a nondestructive detection method and system for grinding burns caused by infrared pulse thermal radiation according to the present invention; Figure 2 This is a schematic diagram of a method and system for nondestructive detection of grinding burns caused by infrared pulse thermal radiation according to the present invention; Figure 3This is a timing diagram of pulsed eddy current heating and infrared thermal radiation collection in a method and system for nondestructive detection of grinding burns caused by infrared pulse thermal radiation according to the present invention; Figure 4 This is a comparison diagram of the thermal responses of the burn area and the normal area of ​​the infrared pulse thermal radiation grinding burn non-destructive detection method and system of the present invention.

[0019] Figure numerals: 1. industrial robot; 2. excitation signal generating device; 3. induction coil; 4. infrared thermal imager; 5. depth camera; 6. workstation. DETAILED DESCRIPTION

[0020] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] Traditional grinding burn detection methods require sample destruction, cannot achieve non-contact or online detection, are inefficient, and can cause chemical pollution; ultrasonic testing and magnetic particle testing have limited sensitivity and are difficult to quantify the extent of burns; existing infrared thermal imaging methods mostly rely on external heat sources such as lasers or hot air, which have poor heating uniformity and limited detection accuracy. In view of this, Figure 1 Combine Figure 2 As shown, the present invention provides a non-destructive detection method for grinding burns by infrared pulse thermal radiation, comprising the following steps: S1: Integrate the induction coil into the end of the industrial robot, select the appropriate induction coil according to different components, input the excitation signal to the induction coil, so that the magnetic field of the induction coil completely covers the measured area of ​​the component, and induce pulsed eddy current in the measured component for heating. In one embodiment, the overall temperature rise of the heated component does not exceed 30 degrees Celsius, ensuring that the measured component will not be damaged.

[0022] Pulsed eddy current heating is a non-contact excitation method, and the excitation signal of the induction coil is a periodic variable frequency signal or a high-frequency fixed frequency signal. In this embodiment, the waveform of the excitation signal of the induction coil is a modulated rectangular pulse, an exponentially decaying sawtooth wave, or a dual-frequency sine wave, with a frequency range of 1 kHz to 1 MHz. The waveform expression of the modulated rectangular pulse is: , ,in is the reference current amplitude, represents a rectangular pulse, is the starting time, is the pulse period, is the modulation frequency, is the modulation coefficient, is the duration of the pulse; The waveform expression of the exponential decay sawtooth wave is: , ,in The exponential decay sawtooth wave avoids overheating by gradually inputting energy, which is suitable for large-area burn detection. The attenuation term is used to control heat accumulation, which facilitates the subsequent burn identification step to better extract the thermal response difference. The waveform expression of the dual-frequency sine wave is: , ,in is the main frequency, is the sub-frequency, is the amplitude coefficient of the sub-frequency signal, The phase difference between the main frequency and the secondary frequency; the dual-frequency sine wave passes through the high-frequency signal Induced surface eddy currents, low frequency signals Enhance subsurface heat diffusion, optimize eddy current penetration depth through phase difference, and improve detection sensitivity by combining discriminant function.

[0023] In this embodiment, the duration of the pulse is 0.1 ms to 10 ms.

[0024] S2: Integrate the infrared thermal imager and depth camera synchronously into the end of the industrial robot to obtain the thermal response temperature matrix of the measured area of ​​the component and the three-dimensional point cloud of the measured area.

[0025] S3: Construct a thermal response model between the material conductivity, thermal conductivity, emissivity and surface temperature of components.

[0026] Step S3 is as follows: first, the surface temperature of the material is obtained from the thermal response temperature matrix of the measured area obtained by the infrared thermal imager; then, the Joule heat generated per unit time locally is calculated based on the relationship between the electrical conductivity, current density, and pulse duration; then, the thermal diffusion coefficient, temperature gradient, and surface temperature are further combined to construct a thermal diffusion equation; and finally, a surface emission power function is constructed based on the emissivity and surface temperature of the material.

[0027] Specifically: Due to the difference in thermal diffusion characteristics of the grinding burn area, the thermal conductivity of the burn area is lower than that of the normal area, which makes it difficult for heat to be transferred to the interior of the material, so the surface temperature of the material will increase, and the heat diffusion process satisfies the following equation: ,in is the thermal diffusivity, is the material density of the component, is the specific heat capacity of the material; is the temperature gradient. When heating is stopped, the heat dissipation in the grinding burn area is slow, and the time function of the surface temperature is fitted by an exponential function: , T 0 is the ambient temperature, A Assign a value to the temperature, b is the cooling time constant, Q is the Joule heat of the induced eddy current per unit time locally.

[0028] Joule heating of induced eddy current per unit time locally Q It can be expressed as: , For local location The conductivity at is the current density. Due to the changes in the metallographic structure of the grinding burn area (such as quenched martensite or microcracks), the local electrical conductivity decreases, causing more Joule heat to accumulate in the grinding burn area.

[0029] For severely burned areas, the surface oxidation forms an oxide layer, resulting in a huge difference in the emissivity of the material surface. That is, the emissivity of the burned area will be significantly higher than that of the normal area. According to the law of thermal radiation, the surface radiation power is expressed as: , is the Stefan-Boltzmann constant, For local location The emissivity at .

[0030] The simultaneous heat diffusion equation and surface emission power function are used as the thermal response model. The infrared thermal imager can capture the thermal radiation power. The difference makes the burn area show thermal response characteristics of rapid temperature rise and slow heat dissipation.

[0031] S4: extracting the time series temperature curve of the temperature rise during heating of the measured area and the time series temperature curve of the natural cooling stage after stopping eddy current heating, constructing a grinding burn discrimination function, and determining whether there is a grinding burn area.

[0032] The content of step S4 is to construct a grinding burn discrimination function based on the weight function of the heating stage and the weight function of the natural cooling stage in combination with the surface temperature of the material, set the thermal response difference threshold, and when the value of the grinding burn discrimination function is greater than the thermal response difference threshold, it is determined that there is a grinding burn area in the component.

[0033] The thermal response temperature matrix of the components is obtained by infrared thermal imager, and the time function of the surface temperature is extracted , propose the weight function ,in is the normalization coefficient, is the peak temperature moment, is the heating start time, The end time of natural cooling, is the weighted coefficient of warming and natural cooling, and the weight function It can amplify the thermal response differences in the burn area. The weight function is in the heating stage, that is, the first case is expressed as the weight function of the heating stage; the weight function is in the natural cooling stage, that is, the second case is expressed as the weight function of the natural cooling stage.

[0034] In this embodiment, the peak temperature is obtained The corresponding temperature inflection point is obtained by analyzing the corresponding relationship between the temperature value and time on the temperature curve.

[0035] After obtaining the weight function, the grinding burn discrimination function is further proposed : The output of the grinding burn discrimination function is a scalar value, which is used to quantify the difference in thermal response between the grinding burn area and the normal area. For different samples, the threshold of the normal thermal response difference is calibrated through experiments. ,when When the burn area exists, the grinding burn discriminant function The larger the value, the more serious the grinding burn. When , the current area is considered to be free of burns.

[0036] S5: Calibrate the infrared thermal imager and the depth camera, project the grinding burn area in the infrared thermal imager coordinate system into the 3D point cloud of the depth camera, obtain the position of the grinding burn area in the world coordinate system, and realize the detection and positioning of the grinding burn area.

[0037] Before coordinate transformation is performed in step S5, the following steps are performed: the local features of the transient signal of the surface temperature of the material are extracted through multi-scale wavelet transform, the transient signal components of the temperature at different frequencies are separated, the thermal response difference between the grinding burn area and the normal area is enlarged, the contrast of the burn area is enhanced, and then the grinding burn area in the infrared thermal imager coordinate system is converted to the depth camera.

[0038] Multi-scale decomposition transforms the time function of surface temperature into Decomposed into multiple scales, corresponding to different frequency components, the time function of the surface temperature is transformed into a one-dimensional discrete wavelet along the time axis, and then: ,in is the approximate coefficient, is the detail coefficient, 、 are scaling function and wavelet function respectively, M With the maximum decomposition level, the multi-scale wavelet transform enhances the thermal response difference between the burn area and the normal area by separating the temperature signal components of different frequencies, thereby improving the contrast.

[0039] The position of the grinding burn area in the world coordinate system is obtained in step S5 by using a depth camera to obtain the three-dimensional point cloud of the component. ,Combined with the temperature matrix of the infrared thermal imager, the 3D point cloud is aligned with the pixel points in the temperature matrix, the temperature matrix is ​​mapped to the 3D space, the spatial coordinates of the grinding burn area are extracted, and the burn boundary is located through the heat map threshold segmentation, the grinding burn area is located, and the 3D detection with sub-millimeter accuracy is achieved.

[0040] Among them, the three-dimensional point cloud is aligned with the pixel points in the temperature matrix using an iterative closest point algorithm or a feature point matching algorithm.

[0041] In another aspect, the present invention provides an infrared pulse thermal radiation grinding burn nondestructive detection system for implementing the infrared pulse thermal radiation grinding burn nondestructive detection method, comprising: The industrial robot is equipped with an induction coil, an infrared thermal imager, and a depth camera at the end, which are used to adjust the posture of the induction coil, infrared thermal imager, and depth camera. An excitation signal is input into the induction coil, and the magnetic field generated by the induction coil completely covers the measured area of ​​the component, generating an induced pulse eddy current to heat the measured area of ​​the component. The infrared thermal imager and depth camera are used to obtain the thermal response temperature matrix of the measured area and the three-dimensional point cloud of the measured area. Thermal response model building module, used to obtain the surface temperature from the thermal response temperature matrix of the measured area, and build a thermal response model by combining the material conductivity, thermal conductivity, emissivity and surface temperature of the component; The burn discrimination function construction module is used to extract the time-series temperature curve of the temperature rise when the measured area is heated, as well as the time-series temperature curve of the natural cooling stage after the eddy current heat generation stops, to construct a grinding burn discrimination function and output the judgment result of whether the component has a grinding burn area; The grinding burn area positioning module is used to convert the grinding burn area in the infrared thermal imager coordinate system to the depth camera when there is a grinding burn area on the component, and obtain the position of the grinding burn area in the world coordinate system.

[0042] like Figure 1 As shown, an induction coil 3, an infrared thermal imager 4, and a depth camera 5 are configured at the end joint of an industrial robot 1. An excitation signal generator 2 generates an excitation signal to drive the induction coil to induction heat the component. Image data captured by the infrared thermal imager 4 and the depth camera 5 is sent to a workstation 6 for processing. The following describes the process of the present invention with reference to an embodiment.

[0043] Example: The experimental object is a GCr15 bearing ring part with a grinding burn, specifically a bearing ring with an outer diameter of 65mm, an inner diameter of 45mm and a thickness of 4mm. The surface is ground and has local burn defects. The above hardware equipment is configured, and the end load of the industrial robot 1 is 10kg. The pulse eddy current sensing equipment with modulated rectangular pulses has a maximum frequency of 1MHz, an infrared thermal imager with a resolution of 640*480, and a minimum recognition accuracy of 0.01K. The workstation 6 integrates the curvature detection algorithm, the multi-scale wavelet transform algorithm and other contents. The curvature detection algorithm is used to find the temperature inflection point on the curve by taking the second-order derivative based on the time-series temperature curve of the temperature rise when the measured area is heated, and the time-series temperature curve of the natural cooling stage when the eddy current heat generation is stopped.

[0044] According to the size of the sample, a coil of appropriate size was selected, a constant pulse induction frequency of 30kHz and an induction power of 10kW were set, and the distance between the coil and the sample was adjusted to a suitable distance to ensure that the induced magnetic field covered the sample surface, thereby generating eddy current heating. Due to the difference in electrical conductivity between the grinding burn area and the normal area, more heat was generated in the burn area. The temperature thermal response curves of the burn area and the normal area obtained by the method of the present invention are shown in FIG. Figure 3 As shown, Figure 4 As shown in the figure, after obtaining the temperature distribution of the burn area, the temperature difference between the burn area and the normal area can be clearly seen, and the outline of the burn area can be clearly detected. Figure 4 Mark 1 is the burned area, and mark 2 is the normal area.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A non-destructive detection method for grinding burns using infrared pulse thermal radiation, characterized in that: The steps include: S1: Integrate the induction coil into the end of the industrial robot. Select the appropriate induction coil according to the different components. Input the excitation signal to the induction coil so that the magnetic field of the induction coil completely covers the measured area of ​​the component, inducing pulsed eddy current in the measured component to heat it. S2: Integrate an infrared thermal imager and a depth camera into the end of the industrial robot to obtain the thermal response temperature matrix of the measured area of ​​the component and the three-dimensional point cloud of the measured area; S3: Construct a thermal response model between the material conductivity, thermal conductivity, emissivity and surface temperature of the component; S4: extracting the time series temperature curve of the temperature rise during heating of the measured area and the time series temperature curve of the natural cooling stage after stopping eddy current heat generation, constructing a grinding burn discrimination function, and determining whether there is a grinding burn area; S5: Calibrate the infrared thermal imager and the depth camera, project the grinding burn area in the infrared thermal imager coordinate system into the 3D point cloud of the depth camera, obtain the position of the grinding burn area in the world coordinate system, and realize the detection and positioning of the grinding burn area.

2. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 1, characterized in that: The pulsed eddy current heating is a non-contact excitation method, and the excitation signal of the induction coil is a periodic variable frequency signal or a high-frequency fixed frequency signal.

3. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 2, characterized in that: The waveform of the excitation signal of the induction coil is a modulated rectangular pulse, an exponentially decaying sawtooth wave, or a dual-frequency sine wave, with a frequency range of 1kHz to 1MHz.

4. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 2, characterized in that: The overall temperature rise of the components does not exceed 30 degrees Celsius to ensure that the components being tested will not be damaged.

5. The infrared pulse thermal radiation grinding burn nondestructive testing method according to claim 1 is characterized in that: Step S3 is to obtain the surface temperature of the material from the thermal response temperature matrix of the measured area obtained by the infrared thermal imager, calculate the Joule heat generated locally per unit time based on the surface temperature and thermal conductivity, and construct the relationship between the Joule heat generated locally per unit time and the electrical conductivity, current density, and pulse duration.

6. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 5, characterized in that: The content of step S4 is to construct a grinding burn discrimination function based on the weight function of the heating stage and the weight function of the natural cooling stage in combination with the surface temperature of the material, set the thermal response difference threshold, and when the value of the grinding burn discrimination function is greater than the thermal response difference threshold, it is determined that there is a grinding burn area in the component.

7. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 6, characterized in that: Step S5 also includes extracting the local features of the transient signal of the surface temperature of the material through multi-scale wavelet transform, separating the transient signal components of the temperature at different frequencies, expanding the thermal response difference between the grinding burn area and the normal area, enhancing the contrast of the burn area, and then converting the grinding burn area in the infrared thermal imager coordinate system to the depth camera.

8. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 7, characterized in that: The step S5 of obtaining the position of the grinding burn area in the world coordinate system is to obtain the three-dimensional point cloud of the component through the depth camera, combine it with the temperature matrix of the infrared thermal imager, align the three-dimensional point cloud with the pixel points in the temperature matrix, map the temperature matrix to the three-dimensional space, extract the spatial coordinates of the grinding burn area, and locate the burn boundary through the thermal map threshold segmentation to achieve the positioning of the grinding burn area.

9. The infrared pulse thermal radiation nondestructive testing method for grinding burns according to claim 8, characterized in that: The three-dimensional point cloud is registered with the pixel points in the temperature matrix using an iterative closest point algorithm or a feature point matching algorithm.

10. An infrared pulse thermal radiation grinding burn non-destructive detection system, used to implement the infrared pulse thermal radiation grinding burn non-destructive detection method according to any one of claims 1 to 9, characterized in that: include: Industrial robots, with induction coils, infrared thermal imagers, and depth cameras at the end configured to adjust the posture of the induction coils, infrared thermal imagers, and depth cameras; An excitation signal is input into the induction coil, and the magnetic field generated by the induction coil completely covers the measured area of ​​the component, generating an induced pulse eddy current to heat the measured area of ​​the component; the infrared thermal imager and depth camera are used to obtain the thermal response temperature matrix of the measured area and the three-dimensional point cloud of the measured area; Thermal response model building module, used to obtain the surface temperature from the thermal response temperature matrix of the measured area, and build a thermal response model by combining the material conductivity, thermal conductivity, emissivity and surface temperature of the component; The burn discrimination function construction module is used to extract the time-series temperature curve of the temperature rise when the measured area is heated, as well as the time-series temperature curve of the natural cooling stage after the eddy current heat generation stops, to construct a grinding burn discrimination function and output the judgment result of whether the component has a grinding burn area; The grinding burn area positioning module is used to convert the grinding burn area in the infrared thermal imager coordinate system to the depth camera when there is a grinding burn area on the component, and obtain the position of the grinding burn area in the world coordinate system.

Images