Array ultrasonic detection device and method for internal defects of heterogeneous laminates

Abstract

The present invention relates to the field of defect detection technology, and in particular to an array ultrasonic detection device and method for internal defects of heterogeneous laminates. The present invention provides a high-precision and high-efficiency device and method for internal defect detection of heterogeneous laminates. By focusing ultrasound to heat the defect area, the echo signal is enhanced and the defect recognition rate is improved. Combined with a robotic arm and a three-dimensional walking mechanism, automated large-scale scanning and local precision detection are achieved. This method can effectively avoid the problem of missed defect detection in heterogeneous laminates caused by sound attenuation and improve the defect detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of defect detection, and in particular to an array ultrasonic detection device and method for detecting internal defects of a heterogeneous laminate. Background Art

[0002] Heterogeneous laminates are heterogeneous composite materials formed by bonding two or more different materials. Due to their excellent performance, they integrate the chemical and mechanical properties of different materials and are widely used in important fields such as aerospace, automotive manufacturing, shipbuilding, energy, and construction. However, during the manufacturing and service processes of heterogeneous laminates, defects such as bubbles, voids, and cracks may appear within them, seriously degrading the overall performance of the product. Therefore, accurate and efficient detection of internal defects in heterogeneous laminates is of great engineering significance.

[0003] Ultrasonic testing has the characteristics of high sensitivity and wide application range, and has become a widely used non-destructive testing technology. The probe area used in conventional ultrasonic testing is very small, and the test results are usually presented in the form of pulse echoes, which are not easy to interpret. Array ultrasound arranges multiple array elements according to specific rules, and controls the deflection and focusing of the sound beam through time delay, which can quickly achieve imaging detection of a larger area under the probe. However, when ultrasonic waves propagate in heterogeneous laminates, they will cause serious energy loss due to scattering attenuation and absorption attenuation, and the imaging results of the defects will be submerged in electrical noise or structural noise, seriously affecting the effective identification of defects. When focused ultrasound acts on the material, the friction between the internal molecular chains will produce a thermal effect, which will increase the temperature of the focused area. In addition, the focused ultrasound has a strong directionality and can heat only the defect area, enhancing the characteristics of the defect. Therefore, using focused ultrasound as an auxiliary device for array ultrasonic testing is a new idea and method.

[0004] Although array ultrasonic testing is fast and has a large range, when applied to the inspection of large-area heterogeneous laminates, there are still problems with low detection efficiency and large detection errors, making it difficult to accurately and quickly assess their overall structural integrity; acoustic attenuation leads to weak defect signals and low imaging signal-to-noise ratio, which is prone to missed detection or false detection. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an array ultrasonic detection device and method for internal defects of heterogeneous laminates, so as to solve the problems of low detection efficiency and large detection error of existing detection methods.

[0006] Based on the above objectives, the present invention provides an array ultrasonic detection device for internal defects of heterogeneous laminates, comprising a water tank, a liftable bracket, a six-degree-of-freedom robotic arm, an array ultrasonic probe, a signal generator, a power amplifier, a focused ultrasonic transducer, a three-dimensional walking mechanism, a motion control system, and a main control computer;

[0007] The heterogeneous laminate is fixed in the water tank by a liftable bracket and maintains a gap with the bottom of the water tank;

[0008] Under the control of the main control computer, the array ultrasonic probe uses a linear focus scanning method to transmit sound waves to the area to be detected, and receives echo signals, converts them into electrical signals, and transmits them to the main control computer for imaging processing to determine whether there are defects;

[0009] The six-degree-of-freedom robotic arm is controlled by a motion control system, and an array ultrasonic probe is installed at its end to provide real-time feedback of probe position information during a two-dimensional scanning process of the surface of the heterogeneous laminate workpiece;

[0010] The output end of the signal generator is connected to the input end of the power amplifier, and the output end of the power amplifier is connected to the focused ultrasonic transducer. The signal generator generates a sinusoidal continuous electrical signal, which is amplified by the power amplifier and acts on the focused ultrasonic transducer to generate a focused ultrasonic field.

[0011] The three-dimensional walking mechanism is installed at the bottom of the water tank and is controlled by a motion control system. A focused ultrasonic transducer is installed at its terminal, which faces the heterogeneous laminate workpiece horizontally to perform directionally heating on the defective area, and an array ultrasonic probe performs secondary detection on the heated area.

[0012] The present invention also provides an array ultrasonic detection method for internal defects of heterogeneous laminates, comprising the following steps:

[0013] S1. Keep the array probe horizontal and vertical to the heterogeneous laminate workpiece to be measured;

[0014] S2. Several adjacent array elements in the array probe are set as a subaperture. By controlling the time delay law of the array probe, the subaperture emits a focused beam and transmits it to the detection area through water coupling. The reflected ultrasonic echo is received by the subaperture array element. The above excitation and reception process is repeated for all subapertures until the last subaperture.

[0015] S3, using the array probe to perform a complete scan of the heterogeneous laminate workpiece to be tested;

[0016] S4, collecting data according to step S2 and reconstructing the ultrasonic image, determining whether there is an abnormality in the image, and then determining whether there is a defect inside the workpiece, and recording the relative position;

[0017] S5. According to the position information x,z of the defect obtained in step S4, the focused ultrasonic transducer is moved to the position directly below the defect, and the thermal effect of the focused ultrasound is used to heat the local area of ​​the defect to enhance the characteristics of the defect.

[0018] S6. Use the array probe to perform imaging inspection on the defective area again to confirm whether there are defects inside the workpiece.

[0019] Preferably, the method further comprises:

[0020] S41, filtering the echo signal received by each array element of the array probe to remove unnecessary noise components and perform envelope detection;

[0021] S42, meshing the imaging area and determining interlayer interface parameters;

[0022] S43, calculating the travel time of the ultrasonic wave based on the geometric relationship of the focused beam propagating in the heterogeneous laminate, the properties of the media of each layer, and the ray tracing method;

[0023] S44: SA-BiPBF imaging method is used to image heterogeneous laminates to achieve visual inspection of heterogeneous laminates.

[0024] Preferably, step S43 specifically includes:

[0025] S431, calculating the focus point depth of the focused beam in the target layer according to the thickness of each layer of the heterogeneous laminate and the width of the sub-aperture;

[0026] S432, calculating the flight time of the focused beam propagating to the imaging point;

[0027] S433, calculating the flight time from the backscattered echo to the receiving array element;

[0028] S434. Add the results obtained in step S432 and step S433 to calculate the total travel time of the ultrasonic wave in the heterogeneous laminate.

[0029] Preferably, step S44 specifically includes:

[0030] S441, SA-BiPBF imaging method:

[0031] An array ultrasonic probe with N sub-apertures and M array elements in each sub-aperture collects ultrasonic data of the heterogeneous laminate, and the imaging area calculated by the SA-BiPBF imaging method is represented by a pixel matrix;

[0032] S442: Perform logarithmic normalization processing and dynamic range compression.

[0033] Preferably, step S5 specifically includes:

[0034] The defect area is focused and heated by using a focused ultrasonic transducer, so that the size of the defect changes. When the defect is detected by using an array probe, the echo signal of the defect will be enhanced.

[0035] Preferably, step S1 specifically includes:

[0036] The heterogeneous laminate workpiece is placed on a fixed bracket, and the motion control system sends a signal to control the robotic arm to move the array probe to the specified origin position of the heterogeneous laminate workpiece, and adjust the position of the robotic arm so that the array probe remains horizontal and vertical to the heterogeneous laminate workpiece.

[0037] Preferably, step S3 specifically includes:

[0038] The array probe is moved by a robotic arm to perform a spacing-by-spacing motion scan along the X direction. After completing the X-direction scan, it steps a certain distance along the Y direction and moves in the opposite direction along the X direction, thereby realizing a "bow"-shaped scanning detection in the XY plane.

[0039] Beneficial effects of the present invention:

[0040] 1. The present invention uses a robotic arm to clamp an array ultrasonic probe to perform a large-scale scan of heterogeneous laminates. When a suspected defect is detected, the focused ultrasonic transducer is moved to the bottom of the defect location through a three-dimensional walking mechanism under the water tank, and the defect area is focused and heated. The array ultrasonic probe is then used again for imaging detection. This method can effectively avoid the problem of missed defects in heterogeneous laminates due to acoustic attenuation and improve the accuracy of defect detection.

[0041] 2. The array ultrasonic probe of the present invention adopts the focusing law for each sub-aperture. Compared with the traditional array ultrasonic detection method, the echo signal of each defect is stronger, thereby ensuring good detection accuracy and detection signal-to-noise ratio, so as to detect deeper internal defects in heterogeneous laminates.

[0042] 3. This method uses a robotic arm to drive an array ultrasonic probe for scanning, and a three-dimensional walking mechanism ultrasonic focusing transducer for auxiliary detection. Compared with traditional manual inspection, it expands the detection range and improves detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the present invention or 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 for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 Schematic diagram of an array ultrasonic detection device according to an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of the focus area and focus depth according to an embodiment of the present invention;

[0046] Figure 3A flowchart of performing ultrasonic imaging of internal defects of heterogeneous laminates by a computer according to an embodiment of the present invention;

[0047] Figure 4 This is a flow chart of an array ultrasonic detection method according to an embodiment of the present invention.

[0048] The following are marked in the figure: 1. Water tank; 2. Liftable bracket; 3. Heterogeneous laminate workpiece; 4. Six-degree-of-freedom robotic arm; 5. Array ultrasonic probe; 6. Signal generator; 7. Power generator; 8. Focused ultrasonic transducer; 9. Three-dimensional walking mechanism; 10. Motion control system; 11. Main control computer. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0050] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0051] like Figure 1 As shown, an array ultrasonic automated detection device for internal defects of a large heterogeneous laminate in this embodiment includes a water tank 1, a liftable bracket 2, a heterogeneous laminate workpiece 3, a six-degree-of-freedom robotic arm 4, an array ultrasonic probe 5, a signal generator 6, a power amplifier 7, a focused ultrasonic transducer 8, a three-dimensional walking mechanism 9, a motion control system 10, and a main control computer 11.

[0052] The heterogeneous laminate workpiece 3 is fixed in the water tank 1 by the liftable bracket 2 and maintains a gap with the bottom of the water tank 1 so that the focused ultrasonic transducer 8 acts on the area to be detected;

[0053] Under the control of the main control computer 11, the array ultrasonic probe 5 uses a linear focus scanning method to transmit sound waves to the area to be detected, and receives the echo signal, converts it into an electrical signal, and transmits it to the main control computer 11 for imaging processing to determine whether there is a defect;

[0054] The six-degree-of-freedom robotic arm 4 is controlled by a motion control system 10, and an array ultrasonic probe 5 is installed at its end to provide real-time feedback of probe position information during the two-dimensional scanning of the surface of the heterogeneous laminate workpiece 3;

[0055] The output end of the signal generator 6 is connected to the input end of the power amplifier 7, and the output end of the power amplifier 7 is connected to the focused ultrasonic transducer 8. The signal generator 6 generates a sinusoidal continuous electrical signal, which is amplified by the power amplifier 7 and acts on the focused ultrasonic transducer 8 to generate a focused ultrasonic field.

[0056] The three-dimensional walking mechanism 9 is installed at the bottom of the water tank 1 and is controlled by the motion control system 10. A focused ultrasonic transducer 8 is installed at its terminal, facing horizontally toward the heterogeneous laminate workpiece 3 to perform directionally heating on the defective area, and the array ultrasonic probe 5 performs secondary detection on the heated area.

[0057] Example 2: Combination Figure 2 、 Figure 3 、 Figure 4 This embodiment describes an array ultrasonic detection method for internal defects of a heterogeneous laminate. The specific steps of the detection method are as follows:

[0058] Step 1: Place the heterogeneous laminate workpiece on a fixed bracket. The motion control system sends a signal to control the robotic arm to move the array probe to the specified origin position of the heterogeneous laminate workpiece and adjust the robotic arm posture so that the array probe and the heterogeneous laminate workpiece remain horizontal and vertical.

[0059] Step 2: Set several adjacent array elements in the array probe as a subaperture. Use a computer to control the time delay law of the array probe so that the subaperture emits a focused beam and transmits it to the detection area through water coupling. The reflected ultrasonic echo is received by the subaperture array element. Repeat the above excitation and reception process for all subapertures until the last subaperture.

[0060] Step 3: The robotic arm moves the array probe along the horizontal direction (X direction) to perform a pitch-by-pitch motion scan. After completing the X-direction scan, it steps a certain distance along the vertical direction (Y direction) and moves in the opposite direction along the X direction, thereby achieving a "bow"-shaped scanning detection in the XY plane.

[0061] Step 4: After each movement of the robotic arm, the probe collects data according to step 2 and transmits it to the computer. The computer reconstructs the ultrasonic image, determines whether there are any abnormalities in the image, and then determines whether there are defects inside the workpiece, and records the relative position (x, z);

[0062] Step 5: Set the signal generator to generate a sinusoidal continuous electrical signal, which is amplified by the power amplifier and then loaded into the focused ultrasonic transducer. Based on the defect location information (x, z) obtained in step 4, the focused ultrasonic transducer is moved to the bottom of the defect through the three-dimensional walking mechanism. The thermal effect of the focused ultrasound is used to heat the local area of ​​the defect to enhance the characteristics of the defect.

[0063] Step 6: Use the array probe to perform imaging inspection on the defective area again to confirm whether there are defects inside the workpiece;

[0064] In some embodiments of the present invention, the array ultrasonic probe in step 1 is kept horizontally and vertically to the heterogeneous laminate, the water layer thickness is set to 10 mm, and the probe detects the heterogeneous laminate vertically from the upper left corner.

[0065] In some embodiments of the present invention, the array ultrasound probe used in step 2 is set to a linear array with 128 elements, a center frequency of 7.5 MHz, an element distance of 0.3 mm, the number of elements in a single sub-aperture is 36, the probe width is 20 mm, the signal sampling frequency is 75 MHz, the focal depth is set to the maximum range of the near field, the sound beam is not deflected, the electronic scanning direction is along the array direction, and each sub-aperture is separated by one element.

[0066] In some embodiments of the present invention, in step 3, in order to reduce the impact of the blind area at the edge of the array probe on the detection, after the array ultrasound probe is clamped by the robotic arm and moved along the X-axis, the overlapping range of the two detection areas is 36×0.3×2 mm, and the probe moves 10 mm along the Y-axis.

[0067] In some embodiments of the present invention, the focused ultrasound transducer in step 5 has an aperture of 95 mm, a geometric focal length of 150 mm, and a center frequency of 1.12 MHz;

[0068] In some embodiments of the present invention, the process of performing ultrasonic imaging of internal defects of heterogeneous laminates by a computer in step 4 is as follows: Figure 3 The specific steps are as follows:

[0069] S41: The computer filters the echo signals received by each element of the array probe to remove unnecessary noise components and perform envelope detection;

[0070] S42: Meshing the imaging area and determining the interlayer interface parameters;

[0071] The x-axis is parallel to the surface of the workpiece being measured and points to the right along the array direction, while the z-axis is perpendicular to the array surface and points into the interior of the workpiece being measured. By setting the resolution of the x- and z-axes, the measured area is gridded to obtain the coordinate position of each pixel point. The pixel resolution is set to 0.1mm.

[0072] S43: Calculate the travel time of ultrasonic waves based on the geometric relationship of focused beam propagation in heterogeneous laminates, the properties of each layer of media, and the use of ray tracing method.

[0073] S431, calculate the focus point depth of the focused beam in the target layer:

[0074] The angle between the refracted beam and the normal to the interface depends on the propagation speed of the ultrasound in the two media and the angle of incidence. Therefore, after the focused beam passes through the interface, its half-angle satisfies:

[0075]

[0076] Where θ1 represents the known incident angle of the sound beam, θ2 and θ3 are the refraction angles of the sound beam after passing through interfaces 1 and 2, respectively, and c1, c2, and c3 are the propagation speeds of the sound wave in the three-layer medium. If the thickness of each layer in the layered medium is known, then the depth z of the focus point after the focused beam passes through the second interface is fi The calculation expression is as follows:

[0077]

[0078] Where x center represents half of the subaperture width, x1 and x2 are the lateral distances that the beam propagates in the first and second layers of medium, respectively, and d1 and d2 are the thicknesses of the first and second layers of medium, respectively.

[0079] S432, calculate the flight time t of the focused beam propagating to the imaging point i (x,z):

[0080] The horizontal coordinate x of the focal point fi The time t from the formation of the corrected focused beam to the imaging point P(x,z) can be determined based on the center of the i-th sub-aperture. i (x,z) is:

[0081]

[0082] S433, calculate the flight time t of the backscattered echo to the receiving array element i (x,z):

[0083] The interlayer interface is discretized into nodes with a certain interval, and the nodes of each layer are connected to the nodes of the adjacent layer in a straight line according to the specified rules. Assuming that Q nodes are set on each layer interface, for three layers of medium, Q2 different paths will be generated. The shortest time is taken as the actual propagation time of the ultrasonic wave. The time delay t between any imaging point P(x,z) in the third layer of medium and the receiving array element is j (x,z) is:

[0084]

[0085] S434. Total travel time of ultrasonic waves in heterogeneous laminates:

[0086] The total travel time required for the ultrasonic wave to be emitted from the i-th sub-aperture, propagate inside the heterogeneous laminate, and reach the j-th sensor for reception is:

[0087] t ij (x,z)=t i (x,z)+t j (x,z)

[0088] S44: SA-BiPBF imaging method is used to image heterogeneous laminates to achieve visual inspection of heterogeneous laminates.

[0089] An array ultrasonic probe with N sub-apertures and M array elements in each sub-aperture collects ultrasonic data of a heterogeneous laminate. The pixel matrix of the imaging area calculated by the SA-BiPBF imaging method is expressed as:

[0090]

[0091] Where S ij (t) indicates that the i-th sub-aperture transmits and the j-th sensor receives the ultrasonic echo signal.

[0092] S442: Perform logarithmic normalization and dynamic range compression:

[0093] The pixel matrix after logarithmic normalization is:

[0094]

[0095] Wherein, max() represents the maximum value function, the pixel value is expressed in decibels, and the imaging range is set to include 85% of the pixel amplitude range.

[0096] In this way, the imaging of internal defects of heterogeneous laminates can be obtained, and visual detection of internal defects can be achieved.

[0097] Those skilled in the art will understand that the discussion of any of the above embodiments is merely illustrative and is not intended to limit the scope of the present invention to these examples. Within the spirit and principles of the present invention, the technical features of the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and many other variations exist for the various aspects of the present invention described above, which are not provided in detail for the sake of clarity. Any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An array ultrasonic detection device for internal defects of heterogeneous laminates, characterized in that: It includes a water tank, a lifting bracket, a six-degree-of-freedom robotic arm, an array ultrasound probe, a signal generator, a power amplifier, a focused ultrasound transducer, a three-dimensional walking mechanism, a motion control system, and a main control computer; The heterogeneous laminate is fixed in the water tank by a liftable bracket and maintains a gap with the bottom of the water tank; Under the control of the main control computer, the array ultrasonic probe uses a linear focus scanning method to transmit sound waves to the area to be detected, and receives echo signals, converts them into electrical signals, and transmits them to the main control computer for imaging processing to determine whether there are defects; The six-degree-of-freedom robotic arm is controlled by a motion control system, and an array ultrasonic probe is installed at its end to provide real-time feedback of probe position information during a two-dimensional scanning process of the surface of the heterogeneous laminate workpiece; The output end of the signal generator is connected to the input end of the power amplifier, and the output end of the power amplifier is connected to the focused ultrasonic transducer. The signal generator generates a sinusoidal continuous electrical signal, which is amplified by the power amplifier and acts on the focused ultrasonic transducer to generate a focused ultrasonic field. The three-dimensional walking mechanism is installed at the bottom of the water tank and is controlled by a motion control system. A focused ultrasonic transducer is installed at its terminal, which faces the heterogeneous laminate workpiece horizontally to perform directionally heating on the defective area, and an array ultrasonic probe performs secondary detection on the heated area.

2. An array ultrasonic detection method for internal defects of heterogeneous laminates, characterized in that: The method comprises the following steps: S1. Keep the array probe horizontal and vertical to the heterogeneous laminate workpiece to be measured; S2. Several adjacent array elements in the array probe are set as a subaperture. By controlling the time delay law of the array probe, the subaperture emits a focused beam and transmits it to the detection area through water coupling. The reflected ultrasonic echo is received by the subaperture array element. The above excitation and reception process is repeated for all subapertures until the last subaperture. S3, using the array probe to perform a complete scan of the heterogeneous laminate workpiece to be tested; S4, collecting data according to step S2 and reconstructing the ultrasonic image, determining whether there is an abnormality in the image, and then determining whether there is a defect inside the workpiece, and recording the relative position; S5. Based on the defect location information x,z obtained in step S4, the focused ultrasonic transducer is moved to the position directly below the defect, and the thermal effect of the focused ultrasound is used to heat the local area of ​​the defect to enhance the characteristics of the defect; S6. Use the array probe to perform imaging detection on the defective area again to confirm whether there are defects inside the workpiece.

3. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: The method further comprises: S41, filtering the echo signal received by each array element of the array probe to remove unnecessary noise components and perform envelope detection; S42, meshing the imaging area and determining interlayer interface parameters; S43, calculating the travel time of the ultrasonic wave based on the geometric relationship of the focused beam propagating in the heterogeneous laminate, the properties of the media of each layer, and the ray tracing method; S44: SA-BiPBF imaging method is used to image heterogeneous laminates to achieve visual inspection of heterogeneous laminates.

4. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 3, characterized in that: Step S43 specifically includes: S431, calculating the focus point depth of the focused beam in the target layer according to the thickness of each layer of the heterogeneous laminate and the width of the sub-aperture; S432, calculating the flight time of the focused beam propagating to the imaging point; S433, calculating the flight time from the backscattered echo to the receiving array element; S434. Add the results obtained in step S432 and step S433 to calculate the total travel time of the ultrasonic wave in the heterogeneous laminate.

5. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 3, characterized in that: Step S44 specifically includes: S441, SA-BiPBF imaging method: An array ultrasonic probe with N sub-apertures and M array elements in each sub-aperture collects ultrasonic data of the heterogeneous laminate, and the imaging area calculated by the SA-BiPBF imaging method is represented by a pixel matrix; S442: Perform logarithmic normalization and dynamic range compression.

6. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: Step S5 specifically includes: The defect area is focused and heated by using a focused ultrasonic transducer, so that the size of the defect changes. When the defect is detected by using an array probe, the echo signal of the defect will be enhanced.

7. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: Step S1 specifically includes: The heterogeneous laminate workpiece is placed on a fixed bracket, and the motion control system sends a signal to control the robotic arm to move the array probe to the specified origin position of the heterogeneous laminate workpiece, and adjust the position of the robotic arm to keep the array probe horizontal and vertical to the heterogeneous laminate workpiece.

8. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: Step S3 specifically includes: The array probe is moved by a robotic arm to perform a spacing-by-spacing motion scan along the X direction. After completing the X-direction scan, it steps a certain distance along the Y direction and moves in the opposite direction along the X direction, thereby realizing a "bow"-shaped scanning detection in the XY plane.

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