Path-adaptive ultrasonic scanning method, device and equipment and storage medium

Abstract

The invention provides a path-adaptive ultrasonic scanning method, device and equipment and a storage medium, the path-adaptive ultrasonic scanning method comprises the steps that a pilot probe and a main probe sequentially move along the surface of a workpiece, the pilot probe scans the workpiece to obtain a first data set, the first data set is at least used for representing a to-be-detected path of the surface of the workpiece, and according to the to-be-detected path, the first data set is used for representing the to-be-detected path of the surface of the workpiece; the path of the main probe is corrected, the main probe scans the workpiece to obtain a second data set, the second data set is used for representing defects in the workpiece, and the second data set is calibrated according to the to-be-detected path and the actual path of the main probe. Therefore, the path-adaptive ultrasonic scanning method is helpful for improving the scanning efficiency while giving consideration to the scanning precision. The invention relates to the field of ultrasonic scanning.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic scanning, and in particular to a path-adaptive ultrasonic scanning method, device, equipment and storage medium. Background Art

[0002] During ultrasonic testing, the robot drives the probe to scan along the test path and determines whether there is a defect at the current position based on the reflected signal. The tracking accuracy and posture accuracy of the probe have an important impact on the quality of testing. If the actual scanning path deviates from the test path, or the direction of the probe is inconsistent with the normal vector of the sampling point, the risk of misjudgment will increase.

[0003] To this end, two scans are generally performed in the related technology. First, the robot drives the probe to scan the surface shape of the workpiece according to the initial parameters, and then calculates the actual scanning path and the normal vector of the sampling point, so as to feedback and calibrate the control parameters of the robot. Next, the robot drives the probe to scan the internal defects of the workpiece according to the calibrated parameters.

[0004] However, for complex scanning paths such as three-dimensional curves, the probe needs to frequently change direction in space at high speed, and often cannot run accurately along the path according to the calibrated control parameters. The path accuracy can only be ensured by reducing the speed, which reduces the scanning efficiency. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a path-adaptive ultrasonic scanning method, device, equipment and storage medium. The path-adaptive ultrasonic scanning method helps to improve scanning efficiency while taking into account scanning accuracy.

[0006] According to the path-adaptive ultrasonic scanning method provided in the present application, a pilot probe and a main probe are moved successively along the surface of a workpiece, the pilot probe scans the workpiece to obtain a first data set, the first data set is at least used to characterize the path to be measured on the surface of the workpiece, the path of the main probe is corrected according to the path to be measured, the main probe scans the workpiece to obtain a second data set, the second data set is used to characterize defects inside the workpiece, and the second data set is calibrated according to the deviation between the path to be measured and the actual path of the main probe.

[0007] The path-adaptive ultrasonic scanning method provided by the present application has at least the following technical effects: the present application divides the calibration of the detection data into two parts. The first part is to use the first data set of the pilot probe to correct the path of the main probe from a physical level to reduce the deviation of the original data. The second part is to further correct the deviation from a software level. This helps to relax the requirements for the path accuracy of the main probe while ensuring the detection accuracy. There is no need to ensure that the actual path of the main probe is strictly consistent with the optimal path, thereby making the path planning of the main probe more flexible and helping to solve a physically feasible path while ensuring high-speed operation. Therefore, the path-adaptive ultrasonic scanning method helps to improve scanning efficiency while taking into account scanning accuracy.

[0008] According to some embodiments of the present application, the pilot probe moves along a preset path, and the main probe follows the pilot probe at set intervals.

[0009] According to some embodiments of the present application, correcting the path of the main probe includes determining a sampling point of the main probe according to the path to be measured, and updating the next path of the main probe according to the sampling point.

[0010] According to some embodiments of the present application, the next path of the main probe is updated according to the sampling points, including determining the theoretical path points of the main probe under a first boundary condition according to the sampling points, and determining the next actual path points and path of the main probe under a second boundary condition according to the theoretical path points and the current path of the main probe.

[0011] According to some embodiments of the present application, the first boundary condition includes that, at the theoretical path point, the orientation of the main probe is along the normal vector of the sampling point; and the distance from the main probe to the sampling point is equal to a preset distance.

[0012] According to some embodiments of the present application, the second boundary condition includes at least that, at the actual path point, the orientation of the main probe is along the normal vector of the sampling point; the deviation between the theoretical path point and the actual path point does not exceed the allowable error; the speed of the main probe is greater than or equal to the lower limit speed; and the acceleration of the main probe is less than or equal to the upper limit acceleration.

[0013] According to some embodiments of the present application, calibrating the second data set includes correcting the spatial coordinates of the defect based on a deviation between the theoretical path point and the actual path point.

[0014] According to the ultrasonic scanning device provided by the present application, it includes a main driving module, a first acquisition module, a first calibration module, a second acquisition module and a second calibration module, the main driving module is used to control the pilot probe and the main probe to move successively along the surface of the workpiece, the first acquisition module is used to control the pilot probe to scan the workpiece to obtain a first data set, the first data set is at least used to characterize the path to be measured on the surface of the workpiece, the first calibration module is used to correct the path of the main probe according to the path to be measured, the second acquisition module is used to control the main probe to scan the workpiece to obtain a second data set, the second data set is used to characterize the defects inside the workpiece, and the second calibration module is used to calibrate the second data set according to the deviation between the path to be measured and the actual path of the main probe. .

[0015] The computer device provided according to the present application includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the path-adaptive ultrasound scanning method provided by the present application.

[0016] According to the computer-readable medium provided in the present application, a computer program is stored, and when the computer program is executed by a processor, the processor executes the path-adaptive ultrasound scanning method provided in the present application.

[0017] The ultrasonic scanning device, computer equipment and computer-readable medium provided in the present application are suitable for executing the path-adaptive ultrasonic scanning method provided in the present application. Therefore, the ultrasonic scanning device, computer equipment and computer-readable medium correspondingly possess the beneficial effects provided by the path-adaptive ultrasonic scanning method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a schematic flow chart of a path-adaptive ultrasound scanning method according to an embodiment of the present application;

[0020] Figure 2 is a scanning result of a comparative example that does not use the path adaptation ultrasound scanning method of the present application;

[0021] Figure 3 1 is a scanning result of an embodiment of the path-adaptive ultrasound scanning method of the present application. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0023] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0024] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0025] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0026] The tracking accuracy and posture accuracy of the probe have an important impact on the ultrasonic detection of the inside of the workpiece. Taking the ultrasonic flaw detection of the workpiece weld as an example, due to the influence of welding errors, there is a deviation between the actual curve of the weld and the theoretical curve of the weld. The deviation includes both the spatial coordinate offset of any point on the curve and the change of the normal vector of the point. If the deviation is not calibrated, it is easy to misjudge the source of the reflected ultrasonic signal and confuse the weld defects with the design features inside the workpiece.

[0027] For this reason, related technologies generally perform two scans during flaw detection. First, the path of the ultrasonic probe is determined according to the theoretical curve of the weld, and the first scan is performed along the path. In the first scan, the ultrasonic probe obtains the surface shape information of the workpiece, thereby calculating the actual curve of the weld and the normal vector of the sampling point. Next, the path of the ultrasonic probe is corrected according to the actual curve, and the spatial coordinates and orientation (or spatial posture) of the ultrasonic probe are constrained so that the path and the actual curve match, and a second scan is performed. In the second scan, the ultrasonic probe obtains the defect information inside the workpiece, thereby improving the accuracy of flaw detection.

[0028] However, for workpieces with complex shapes, the actual curves (such as welds) are often three-dimensional complex curves. In some areas with high complexity, if the corrected path is moved at high speed, the required physical properties (such as maximum acceleration) often exceed the capabilities of the driver (such as a multi-degree-of-freedom manipulator). For this reason, in actual operations, the ultrasonic probe is often controlled to slow down locally to reduce the required acceleration and ensure that the ultrasonic probe moves accurately along the corrected path. The slowed-down operation will greatly reduce the efficiency of ultrasonic testing. For this reason, the path-adaptive ultrasonic scanning method of the present application is used to improve scanning efficiency while taking into account scanning accuracy.

[0029] Specifically, refer to Figure 1 According to the path-adaptive ultrasound scanning method provided in the embodiment of the present application, the method includes the following steps.

[0030] Step S110: The pilot probe and the main probe move successively along the surface of the workpiece.

[0031] It is understandable that both the pilot probe and the main probe are used to scan and detect the workpiece, the pilot probe refers to the probe that scans first, and the main probe is the probe that scans after the pilot probe. Both the pilot probe and the main probe are driven by a multi-degree-of-freedom driver so that they can move along the surface of the workpiece. Optionally, the driver can be a multi-degree-of-freedom flexible manipulator. The manipulator includes a robotic arm and an execution end, and the pilot probe and the main probe are installed at the execution end.

[0032] In some embodiments, the pilot probe and the main probe are the same ultrasonic probe, that is, the ultrasonic probe first performs a complete scanning process as the pilot probe, and then performs a complete scanning process as the main probe. This method has the problem of being time-consuming.

[0033] Therefore, in some other embodiments of the present application, the pilot probe and the main probe are two independent probes. In this case, the main probe can optionally follow the pilot probe to move at a set interval, so that the scanning process of the main probe and the pilot probe overlaps in time, effectively reducing time consumption and improving scanning efficiency.

[0034] It should be noted that the interval can be a spatial interval or a time interval, as long as a suitable adjustment time window is reserved for the main probe. For example, in some embodiments, the pilot probe and the main probe can be installed at the execution end of the same manipulator, in which case the interval generally refers to a spatial interval; or in other embodiments, the pilot probe and the main probe are independently installed at the execution ends of different manipulators, in which case it can refer to either a spatial interval or a time interval.

[0035] In addition, when the pilot probe and the main probe are independent of each other, since the pilot probe is only used to extract the surface contour information of the workpiece, in addition to the ultrasonic probe, in some embodiments, under the premise that the shape characteristics of the workpiece allow, the pilot probe can also use other types of probes, such as infrared probes, laser probes, CCD cameras, etc.

[0036] Preferably, both the pilot probe and the main probe are ultrasonic probes. Correspondingly, in some embodiments, the pilot probe moves along a preset path, and the main probe follows the pilot probe at a set interval.

[0037] Step S120: The pilot probe scans the workpiece to obtain a first data set, where the first data set is at least used to characterize a path to be measured on the surface of the workpiece.

[0038] It is understandable that, for ultrasonic testing inside a workpiece, the incident angle of the ultrasonic signal has a significant impact on the testing quality, so the first data set at least represents the spatial coordinate information and normal vector information of the path to be tested.

[0039] For weld flaw detection, since the weld is visible on the surface of the workpiece, the pilot probe can directly scan the weld contour to obtain the first data set. For some other possible usage scenarios, there may be no structural features on the workpiece that directly correspond to the path to be tested, such as the weld. In this case, the pilot probe can scan other structural features on the workpiece surface (such as feature points and lines preset on the workpiece surface), and then indirectly determine the path to be tested of the workpiece in combination with the pre-input workpiece 3D model data.

[0040] Step S130: Correct the path of the main probe according to the path to be measured.

[0041] This step uses the path to be measured to calculate the actual path of the main probe, and then updates and corrects the operation program of the manipulator carrying the main probe based on the actual path. It should be pointed out that since the path contains both spatial coordinate information and normal vector information, the correction also includes the correction of the posture of the main probe (such as the pitch angle in the front and back directions, the angle in the left and right directions, etc.).

[0042] In the present application, the actual path of the main probe after correction is allowed to deviate from the optimal path (that is, the path that matches the actual curve), which helps to relax the requirements for the path accuracy of the main probe, making the path planning of the main probe more flexible, and helps to solve a physically feasible path for the main probe while ensuring high-speed operation.

[0043] It should be emphasized that no matter what type of manipulator, its actual path is obtained by interpolation and fitting from the target path, so deviations are inevitable. Related technologies are often devoted to how to reduce the deviation between the actual path and the target path, such as using a manipulator with higher degrees of freedom, using a higher-order fitting function, etc. The present application relaxes the requirements on deviation in reverse, which helps to better plan the path of the main probe.

[0044] Depending on the usage scenario, different strategies can be used to correct the path of the main probe.

[0045] Exemplarily, in some embodiments, the scanning processes of the main probe and the pilot probe do not overlap in time. After the pilot probe is used to construct a complete path to be tested, the main probe path can be planned based on the path to be tested. Finally, the newly planned path is input into the manipulator where the main probe is located to correct the path of the main probe.

[0046] However, in other embodiments, the scanning processes of the main probe and the leading probe overlap in time. In this case, dynamic updating is required, that is, first correcting the path of the main probe according to the currently acquired path to be measured, and then synchronously feeding back the corrected path of the main probe after the path to be measured is updated.

[0047] In other words, in some embodiments, correcting the path of the main probe includes determining the sampling points of the main probe according to the path to be measured, and updating the next path of the main probe according to the sampling points. This correction process is repeated until the scanning of the main probe is completed.

[0048] It should be pointed out that feedback regulation also has hysteresis, which may have a negative impact in high-speed operation scenarios. Therefore, in some embodiments, when using a manipulator to move the main probe, the EGM (Externally Guided Motion) solution in the related technology can be used to implement the program update of the manipulator. The EGM can realize high-speed reading of the position of the motion system and high-speed writing of the position to the motion system (up to once every 4 milliseconds, accompanied by a control delay of 10 to 20 milliseconds), thereby effectively eliminating delays and lags in the feedback control process and improving control accuracy and control quality.

[0049] It is understandable that in ultrasonic scanning, the conventional method is to couple the main probe to the surface of the workpiece through a coupling medium. Therefore, there is a certain distance between the main probe and the workpiece surface, and the actual path of the main probe cannot be directly fitted based on the measured path obtained by the pilot probe scanning.

[0050] Therefore, in some embodiments, the next path of the main probe is updated according to the sampling points, including determining the theoretical path points of the main probe under a first boundary condition according to the sampling points, and determining the next actual path points and path of the main probe under a second boundary condition according to the theoretical path points and the current path of the main probe.

[0051] For example, in some embodiments, the first boundary condition includes that, at the theoretical path point, the main probe is oriented along the normal vector of the sampling point, so that the sound wave can be injected into the workpiece at a better angle, thereby improving the quality of the echo received subsequently.

[0052] In addition, in some embodiments, the first boundary condition may further include that the distance from the main probe to the sampling point is equal to a preset distance.

[0053] Exemplarily, in some embodiments, the second boundary condition includes at least that the deviation between the theoretical path point and the actual path point does not exceed the allowable error; the speed of the main probe is greater than or equal to the lower limit speed; and the acceleration of the main probe is less than or equal to the upper limit acceleration.

[0054] In other words, by introducing the allowable error, the requirements on the actual operation path of the main probe are relaxed, which helps to solve the path that allows the manipulator to run at high speed and the required acceleration does not exceed the physical performance of the manipulator.

[0055] It is understandable that in the related art, if it is impossible to ensure strict consistency between the actual path and the target path throughout the entire process, a path planning method is often adopted that strictly matches the sampling points and allows a certain deviation at other positions (that is, solving the path function with the coordinates of the sampling points as boundary conditions). In this application, the path requirements are relaxed by introducing a second boundary condition.

[0056] In addition, in some embodiments, the second boundary condition may also include that, at the actual path point, the orientation of the main probe is along the normal vector of the sampling point. This is because when the attitude angle of the main probe is adjusted, the required speed and acceleration are generally not too high, and the physical performance of the driver can basically meet the requirements, so the optimal orientation is used as the second boundary adjustment.

[0057] In some embodiments, the second boundary condition may further include that, within a range of a set radius around the actual path point, the actual running path of the main probe is located on a tangent plane of the actual path point.

[0058] The first corner condition and the second boundary condition can be set flexibly as long as the coordinates of the actual path points can be solved, and this application does not impose any restrictions on this.

[0059] For example, assume that the coordinates of the path point that the current main probe passes through are C i =(xi ”,y i ”,z i ”), then we need to calculate the coordinates of the next sampling point A i+1 =(x i+1 ,y i+1 ,z i+1 ) and the normal vector N i+1 (obtained by the leading probe scanning), calculate the coordinates C of the next path point i+1 =(x i ” +1 ,y i ” +1 ,z i ” +1 ).

[0060] The first step is to calculate the next theoretical path point B i+1 =(x i ' +1 ,y i ' +1 ,z i ' +1 ), for example, the first boundary condition can be determined as follows: the orientation of the main probe is along the normal vector of the sampling point, and the distance from the main probe to the sampling point is equal to the preset distance L i+1 According to the above two conditions, and discarding the coordinate points located inside the workpiece, the theoretical path point B can be uniquely calculated. i+1 .

[0061] The second step is to use the theoretical path point B i+1 Calculate the actual path point C i+1 It can be understood that since the second boundary condition contains an inequality condition, the path point C i+1 The solution is not unique.

[0062] Here, we first need to clarify the path rule of the main probe, that is, the function of the robot moving from one point to the next when the two coordinate points are known. This depends on the internal program design of different robots and can be expressed by the function C = f(x, y, z). For example, the simplest path rule is a straight line path, that is, the path of the main probe is from C i to C i+1 A straight line segment, then f(x,y,z) can be expressed as:

[0063] x-x i = yy i = zz i .

[0064] x i+1 -x i y i+1 -yi z i+1 -z i

[0065] It should be pointed out that in reality, robots often use more complex path rules. Even if a straight line path is used, arc segments for transition are often set at the starting point and end point of the straight line segment. However, this does not affect the implementation of the present application.

[0066] Then, the deviation between the theoretical path point and the actual path point is set not to exceed the allowable error R, the speed of the main probe is greater than or equal to the lower speed limit V; the acceleration of the main probe is less than or equal to the upper acceleration limit α, thus obtaining the inequality group:

[0067] (C i+1 -C i ) 2 ≤R 2 ;

[0068] f'(x,y,z)≥V;

[0069] f”(x,y,z)≥α.

[0070] Where f'(x,y,z) is the velocity function calculated based on f(x,y,z), and f”(x,y,z) is the acceleration function calculated based on f(x,y,z).

[0071] Solve and select the coordinates that satisfy the inequality group as the next path point C i+1 .

[0072] Obviously, there are many ways to solve the inequality group. The most direct way is to use a program to traverse the equations that satisfy (C i+1 -C i ) 2 ≤R 2 Required C i+1 , substituting it into the other two equations, the first one that satisfies the inequality group is C i+1 As the next path point. Other feasible solutions can refer to relevant literature and will not be described here.

[0073] Step S140: the main probe scans the workpiece to obtain a second data set, where the second data set is used to characterize defects inside the workpiece.

[0074] It can be understood that ultrasonic scanning obtains internal defect signals through C-scan, A-scan, S-scan and other modes, and can further display the defect signals in the coordinate system in the form of waveforms. The specific scanning mode to be used can be combined according to the actual scenario, and this application does not impose any restrictions on this.

[0075] Step S150: calibrating the second data set according to the deviation between the path to be measured and the actual path of the main probe.

[0076] In some embodiments, the defect is presented in a coordinate system in the form of a waveform, so optionally, in some embodiments, calibrating the second data set includes correcting the spatial coordinates of the defect according to the deviation between the theoretical path point and the actual path point. Specifically, the calibration can be performed by adjusting the focusing parameters of the ultrasound probe.

[0077] In summary, the path-adaptive ultrasonic scanning method of the present application divides the calibration of the detection data into two parts. The first part is to use the first data set of the pilot probe to correct the path of the main probe from a physical level to reduce the deviation of the original data. The second part is to further correct the deviation from a software level. This helps to relax the requirements for the path accuracy of the main probe. There is no need to ensure that the actual path of the main probe is strictly consistent with the optimal path, thereby making the path planning of the main probe more flexible and helping to solve a physically feasible path while ensuring high-speed operation. Therefore, the path-adaptive ultrasonic scanning method helps to improve scanning efficiency while taking into account scanning accuracy.

[0078] Moreover, the path of the drive itself is fitted from the actual curve, and there must be deviations from the actual curve. These deviations can be reduced by increasing the fitting accuracy, but they cannot be completely eliminated physically. The present application can also eliminate the influence of this part of the deviation and improve the scanning accuracy when further corrections are made at the software level.

[0079] It should be pointed out that in order to solve the problem of low scanning efficiency, some related technologies will abandon physical level calibration and only calibrate at the software level, thereby allowing the main probe to have a higher operating speed. However, the complexity of the software calibration requirements increases at this time, and two-dimensional phased array deflection is required, which requires an ultra-large system and complex probe with at least 256 or even 1024 channels. Therefore, its implementation in phased array ultrasonic scanning is limited.

[0080] The path-adaptive ultrasonic scanning method of the present application combines physical-level calibration and software-level calibration together. Through the pre-physical-level calibration, the complexity of software calibration can be reduced, making it more suitable for implementation in phased array ultrasonic scanning.

[0081] After the complexity is reduced, the path-adaptive ultrasound scanning method is suitable for implementation by a one-dimensional linear array probe instead of a two-dimensional array probe, which brings the following advantages:

[0082] 1. Lower cost

[0083] One-dimensional linear array ultrasound probes are simpler and cheaper than two-dimensional or three-dimensional ultrasound probes, and can be deployed more economically. They have low manufacturing and maintenance costs and are suitable for large-scale applications in industrial automation scenarios.

[0084] 2. Simplified data processing

[0085] The one-dimensional probe only needs to process the signal data on one line, which significantly reduces the amount of data, making the signal processing algorithm simpler and more real-time. Compared with the two-dimensional or three-dimensional probe system, this solution greatly reduces the demand for computing resources.

[0086] 3. Compact structure and flexible installation

[0087] The one-dimensional linear array probe is small in size and simple in structure, and can be easily arranged on a robotic arm or other moving parts. Its linear design is suitable for installation in narrow spaces and is suitable for complex or restricted industrial environments.

[0088] 4. The detection range is concentrated, suitable for prediction in specific directions

[0089] One-dimensional linear array probes are capable of continuous ultrasonic detection in a single direction. This focused detection helps to obtain clear information in front of the target and is particularly suitable for applications that require prediction of a specific direction of motion.

[0090] 5. High real-time performance

[0091] Due to the faster data processing speed and smaller acquisition area, the one-dimensional linear array probe can acquire and process echo information faster. This real-time performance supports fast response and helps to achieve more timely adjustments in path correction, which is suitable for high-speed motion environments.

[0092] 6. Easy integration

[0093] The signal acquisition and processing requirements of the one-dimensional linear array ultrasound probe are relatively low, and it can be easily integrated into the existing control system. Compared with other types of ultrasound probes, the system upgrade and integration have low hardware requirements and are easy to work with existing ultrasound and motion control modules.

[0094] 7. Reduce energy consumption

[0095] Due to its simple working mode and small signal processing volume, the one-dimensional linear array probe has low overall energy consumption, which is beneficial to improving the operating efficiency of the system and extending the service life of the equipment.

[0096] In summary, one-dimensional linear array ultrasound probes have obvious advantages in motion prediction and path correction applications, especially in industrial scenarios where high cost performance, fast response, and easy integration are sought.

[0097] The implementation effect of the path-adaptive ultrasonic scanning method of the present application can be further illustrated by the following examples and comparative examples. Figure 2 The ultrasonic scanning results obtained by scanning the test block based on the ultrasonic scanning method of the comparative example of the present application are shown. Figure 2 In the comparative example, the path of the ultrasonic probe is not calibrated, which results in a large deviation between the actual position of the ultrasonic probe and the position of the defect at some sampling points. Therefore, the characteristic peak (the part framed by an ellipse) presented in the A-scan result is not significant enough.

[0098] Figure 3 The ultrasonic scanning results obtained by scanning the same defect position of the same test block based on the ultrasonic scanning method of the embodiment of the present application are shown. Figure 3 In the embodiment, since the ultrasonic probe can be calibrated to the location of the defect more accurately, a more obvious characteristic peak is presented in the A-scan result.

[0099] The present application also provides an ultrasonic scanning device, comprising a main driving module, a first acquisition module, a first calibration module, a second acquisition module and a second calibration module, wherein:

[0100] A main driving module, used to control the pilot probe and the main probe to move successively along the surface of the workpiece;

[0101] A first acquisition module, used for controlling the pilot probe to scan the workpiece to obtain a first data set, where the first data set is at least used for characterizing a path to be measured on the surface of the workpiece;

[0102] A first calibration module, used for correcting the path of the main probe according to the path to be measured;

[0103] A second acquisition module is used to control the main probe to scan the workpiece to obtain a second data set, and the second data set is used to characterize the defects inside the workpiece;

[0104] The second calibration module is used to calibrate the second data set according to the deviation between the path to be measured and the actual path of the main probe.

[0105] The ultrasonic scanning device provided in the embodiment of the present application can execute the path-adaptive ultrasonic scanning method provided in the present application, which helps to improve scanning efficiency while taking into account scanning accuracy.

[0106] An embodiment of the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the ultrasound scanning method of each of the aforementioned embodiments.

[0107] Specifically, the computer device may be a user terminal or a server.

[0108] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as an acquisition function, a calibration function), etc.; the data storage area can store data (such as a first data set, a second data set) created according to the use of the computer device, etc.

[0109] In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0110] The processor is the control center of the computer device. It uses various interfaces and lines to connect the various parts of the entire computer device. It performs various functions of the computer device and processes data by running or executing software programs and / or modules stored in the memory and calling data stored in the memory, thereby monitoring the control device as a whole.

[0111] Optionally, the processor may include one or more processing cores; optionally, the processor may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the modem processor may not be integrated into the processor.

[0112] The computer device also includes a power supply for supplying power to various components. The power supply can be connected to the processor logic through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0113] An embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes an ultrasound scanning method that adapts the execution path.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0115] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the application is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part described as a larger operation is performed independently.

[0116] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0120] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A path-adaptive ultrasonic scanning method, characterized in that: include: The pilot probe and the main probe move successively along the surface of the workpiece; The pilot probe scans the workpiece to obtain a first data set, wherein the first data set is at least used to characterize a path to be measured on the surface of the workpiece; According to the path to be measured, correct the path of the main probe; The main probe scans the workpiece to obtain a second data set, where the second data set is used to characterize internal defects of the workpiece; The second data set is calibrated according to the deviation between the path to be measured and the actual path of the main probe.

2. The path-adaptive ultrasonic scanning method according to claim 1, characterized in that: The pilot probe moves along a preset path, and the main probe follows the pilot probe at a set interval.

3. The path-adaptive ultrasonic scanning method according to claim 1, characterized in that: Correcting the path of the main probe includes determining a sampling point of the main probe according to the path to be measured, and updating the next path of the main probe according to the sampling point.

4. The path-adaptive ultrasonic scanning method according to claim 3, characterized in that: The next path of the main probe is updated according to the sampling points, including determining the theoretical path points of the main probe under a first boundary condition according to the sampling points, and determining the next actual path points and path of the main probe under a second boundary condition according to the theoretical path points and the current path of the main probe.

5. The path-adaptive ultrasonic scanning method according to claim 4, characterized in that: The first boundary condition includes that, at the theoretical path point, the orientation of the main probe is along the normal vector of the sampling point; and the distance from the main probe to the sampling point is equal to a preset distance.

6. The path-adaptive ultrasonic scanning method according to claim 4, characterized in that: The second boundary condition includes at least that, at the actual path point, the orientation of the main probe is along the normal vector of the sampling point; the deviation between the theoretical path point and the actual path point does not exceed the allowable error; the speed of the main probe is greater than or equal to the lower limit speed; and the acceleration of the main probe is less than or equal to the upper limit acceleration.

7. The path-adaptive ultrasonic scanning method according to claim 6, characterized in that: calibrating the second data set, This includes correcting the spatial coordinates of the defect based on a deviation between the theoretical path point and the actual path point.

8. An ultrasonic scanning device, characterized in that: include: A main driving module, used to control the pilot probe and the main probe to move successively along the surface of the workpiece; A first acquisition module, used for controlling the pilot probe to scan the workpiece to obtain a first data set, wherein the first data set is at least used for characterizing a path to be measured on the surface of the workpiece; A first calibration module, used for correcting the path of the main probe according to the path to be measured; A second acquisition module, used for controlling the main probe to scan the workpiece to obtain a second data set, where the second data set is used for characterizing internal defects of the workpiece; The second calibration module is used to calibrate the second data set according to the deviation between the path to be measured and the actual path of the main probe.

9. A computer device, characterized in that: The computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the path-adaptive ultrasound scanning method according to any one of claims 1 to 7.

10. A computer-readable medium, characterized in that The computer-readable medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to perform the path-adaptive ultrasound scanning method according to any one of claims 1 to 7.

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