Flaw detection positioning method of multi-degree-of-freedom mechanical arm type ultrasonic flaw detection device

Abstract

The invention relates to the technical field of flaw detection positioning, in particular to a flaw detection positioning method of a multi-degree-of-freedom mechanical arm type ultrasonic flaw detection device. According to the method, flaw detection condition reliability analysis is preliminarily carried out from two points of the positioning deviation rate and the ultrasonic beam incident angle error rate of the target flaw detection equipment, and then the target flaw detection equipment is calibrated, so that the positioning precision and flaw detection accuracy of the target flaw detection equipment are improved; and on the premise of accurate flaw detection positioning, flaw detection trajectory deviation evaluation and analysis are performed from the trajectory deviation angle, the situation that the flaw detection positioning error is too large due to the fact that the probe movement pose deviation of the target flaw detection equipment is too large is avoided, meanwhile, the excessive probe movement pose deviation is deeply subjected to self-adaptive automatic generation of a transition planning route, and the accuracy of flaw detection positioning is improved. Ultrasonic measurement data jump caused by sudden stop is avoided, so that the effectiveness of the whole flaw detection data is ensured, and the internal quality condition and the flaw position of the workpiece to be detected can be intuitively known based on flaw detection defect positioning feedback analysis under normal flaw detection movement.

Description

Technical Field

[0001] The present invention relates to the technical field of flaw detection and positioning, and in particular to a flaw detection and positioning method for a multi-degree-of-freedom robotic ultrasonic flaw detector. Background Art

[0002] Ultrasonic testing is one of the non-destructive testing methods. Non-destructive testing is a general term for various technical methods that inspect macroscopic defects of workpieces or measure workpiece characteristics without damage; it is a technology that uses ultrasonic waves to non-destructively inspect internal defects and scars of materials or mechanical components, and is widely used in departments such as machinery and metallurgy;

[0003] When ultrasonic waves propagate in the material to be detected, the acoustic characteristics of the material and the changes in the internal structure have a certain impact on the propagation of ultrasonic waves. The technology of understanding the performance and structural changes of materials by detecting the degree and condition of ultrasonic waves being affected is called ultrasonic testing. Currently, most of the steel materials used in rail transit, energy, high-end manufacturing, etc. have requirements for ultrasonic flaw detection. However, in the prior art, it is impossible to analyze the flaw detection and positioning accuracy of the current ultrasonic flaw detection device, which is not conducive to timely calibration of the ultrasonic flaw detection device, resulting in a decrease in the positioning accuracy of the ultrasonic flaw detection device, and there is a risk of excessive deviation in the moving pose of the probe, resulting in jumps in ultrasonic measurement data, affecting the effectiveness of positioning. At the same time, it is not conducive to visual processing of the defect position and is not conducive to intuitively understanding the internal defect situation of the workpiece.

[0004] In view of the above technical defects, a solution is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a flaw detection and positioning method for a multi-degree-of-freedom robotic ultrasonic flaw detector to solve the above-mentioned technical defects. The present invention initially conducts a reliability analysis of flaw detection conditions from two aspects: the positioning deviation rate of the target flaw detection device and the ultrasonic beam incident angle error rate, and then calibrates the target flaw detection device to improve the positioning accuracy and flaw detection accuracy of the target flaw detection device. And on the premise of accurate flaw detection and positioning, a flaw detection trajectory deviation evaluation and analysis is carried out from the perspective of trajectory deviation to avoid excessive deviation in the moving pose of the probe of the target flaw detection device, resulting in excessive flaw detection and positioning errors. At the same time, an adaptive automatic generation of a transition planning route is deeply carried out for the excessive deviation in the moving pose of the probe to avoid jumps in ultrasonic measurement data caused by sudden stops, so as to ensure the effectiveness of the entire flaw detection data, and a flaw detection defect positioning feedback analysis based on normal flaw detection movement is carried out to intuitively understand the internal quality status and defect position of the workpiece to be detected.

[0006] The purpose of the present invention can be achieved by the following technical solutions: A flaw detection and positioning method for a multi-degree-of-freedom robotic ultrasonic flaw detector, comprising the following steps:

[0007] Step 1: Initially analyze the reliability of the flaw detection conditions from two aspects: the positioning deviation rate and the ultrasonic beam incident angle error rate of the target flaw detection device. If a stable signal is obtained, proceed to Step 2; if a calibration signal is obtained, feedback and output it.

[0008] Step 2: Conduct a flaw detection trajectory deviation evaluation and analysis from the perspective of trajectory deviation through an information progression method. Discriminate and process the obtained trajectory deviation risk value. If a normal signal is obtained, proceed to Step 4; if a re - planning signal is obtained, proceed to Step 3.

[0009] Step 3: Analyze the flaw detection transition planning route based on the re - planning signal, discriminate and process the obtained emergency stop interruption risk value, and output and feedback the obtained available signal or control signal.

[0010] Step 4: Based on the flaw detection defect location feedback analysis under normal flaw detection movement, convert the defect coordinate P of the workpiece to be measured in the probe coordinate system into the positioning coordinate W in the workpiece coordinate system, and calibrate the positioning coordinate W in the simulation model.

[0011] Preferably, the process of analyzing the reliability of the flaw detection conditions is as follows:

[0012] Collect the flaw detection operation period of the multi - degree - of - freedom robotic ultrasonic flaw detection device and set it as the time threshold. Set the multi - degree - of - freedom robotic ultrasonic flaw detection device as the target flaw detection device, obtain the positioning deviation rate and the ultrasonic beam incident angle error rate of the target flaw detection device within the time threshold, and discriminate and process the positioning deviation rate and the ultrasonic beam incident angle error rate to obtain a stable signal or a calibration signal.

[0013] Preferably, obtain the current base coordinate system of the target flaw detection device, obtain the deviation value between the flaw detection positioning coordinate and the actual positioning coordinate in the nearest n flaw detection operations of the target flaw detection device, where n is a natural number greater than 3. At the same time, obtain the difference between the actual ultrasonic beam incident angle and the standard ultrasonic beam incident angle in the nearest n flaw detection operations. Set the ratio of the total number of times when the deviation value between the flaw detection positioning coordinate and the actual positioning coordinate is greater than the preset threshold to n as the positioning deviation rate, and set the ratio of the total number of times when the difference between the actual ultrasonic beam incident angle and the standard ultrasonic beam incident angle is greater than the preset threshold to n as the ultrasonic beam incident angle error rate.

[0014] Preferably, the process of evaluating and analyzing the flaw detection trajectory deviation is as follows:

[0015] Obtain the normal vector deviation angle between the probe normal vector of the target flaw detection device and the set probe normal vector within the time threshold, and set the normal vector deviation angle between the probe normal vector of the target flaw detection device and the set probe normal vector as the trajectory deviation risk value, and perform discriminant processing on the trajectory deviation risk value: If the trajectory deviation risk value is less than the preset trajectory deviation risk value threshold, generate a normal signal; if the trajectory deviation risk value is greater than or equal to the preset trajectory deviation risk value threshold, generate a replanning signal.

[0016] Preferably, the analysis process of the flaw detection transition planning route is as follows:

[0017] Immediately generate a motion transition trajectory, obtain the corresponding basic parameters in the motion transition trajectory, and at the same time obtain the initial basic parameters in the planned flaw detection route corresponding to the moment when the replanning signal is generated, and compare and analyze the basic parameters with the initial basic parameters one by one, obtain the difference between each parameter in the basic parameters and the initial basic parameters, obtain the number corresponding to the difference between each parameter in the basic parameters and the initial basic parameters being greater than the preset threshold, and set it as the emergency stop interruption risk value, and perform discriminant processing on the emergency stop interruption risk value to obtain an available signal or a control signal.

[0018] Preferably, the analysis process of the flaw detection defect location feedback is as follows:

[0019] Obtain the ultrasonic echo data of the target flaw detection device within the time threshold, obtain the echo signal characteristic image in the ultrasonic echo data, and compare and analyze the echo signal characteristic image with the standard echo signal characteristic image. If the difference value between the echo signal characteristic image and the standard echo signal characteristic image is greater than the preset threshold, generate a defect signal; if the difference value between the echo signal characteristic image and the standard echo signal characteristic image is less than or equal to the preset threshold, generate a normal signal.

[0020] Preferably, when a defect signal is generated, set the origin of the probe coordinate system on the target flaw detection device at the center of the ultrasonic emission surface, the Z-axis is perpendicular to the emission surface and points to the workpiece, and the X / Y axes are aligned with the flange coordinate system at the end of the robotic arm on the target flaw detection device, and obtain the defect coordinates P(Px, Py, Pz) of the workpiece to be tested;

[0021] Obtain the constructed workpiece coordinate system of the workpiece to be tested, and at the same time obtain the basic dimension data of the workpiece to be tested through laser scanning technology. The basic dimension data includes length and width, and construct a simulation model of the workpiece to be tested based on the basic dimension data;

[0022] The defect coordinates P (Px, Py, Pz) of the workpiece to be measured in the probe coordinate system are converted into the positioning coordinates W (Wx, Wy, Wz) in the workpiece coordinate system through the prior art, and the positioning coordinates W (Wx, Wy, Wz) are sent to the display and management unit. After receiving the positioning coordinates W (Wx, Wy, Wz), the display and management unit calibrates the positioning coordinates W (Wx, Wy, Wz) in the simulation model.

[0023] The beneficial effects of the present invention are as follows:

[0024] (1) The present invention initially analyzes the reliability of the flaw detection conditions from two aspects: the positioning deviation rate of the target flaw detection device and the ultrasonic beam incident angle error rate, and then calibrates the target flaw detection device to improve the positioning accuracy and flaw detection accuracy of the target flaw detection device. Moreover, on the premise of accurate flaw detection positioning, the flaw detection trajectory deviation evaluation and analysis are carried out from the perspective of trajectory deviation to avoid excessive probe movement pose deviation of the target flaw detection device, resulting in excessive flaw detection positioning error.

[0025] (2) The present invention deeply and adaptively automatically generates a transition planning route for excessive probe movement pose deviation to avoid the jump of ultrasonic measurement data caused by sudden stop, so as to ensure the effectiveness of the entire flaw detection data, and perform flaw detection defect positioning feedback analysis based on normal flaw detection movement, so as to intuitively understand the internal quality status and defect location of the workpiece to be measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings;

[0027] Figure 1 is a schematic reference diagram of the method of the present invention;

[0028] Figure 2 is a local analysis reference diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

[0030] References to "embodiments" in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments;

[0031] Embodiment 1:

[0032] Please refer to Figures 1 to 2 as shown. The flaw detection and positioning method of the multi - degree - of - freedom robotic ultrasonic flaw detector of the present invention includes the following steps:

[0033] Step 1: Initially analyze the reliability of flaw detection conditions from two aspects: the positioning deviation rate of the target flaw detection device and the ultrasonic beam incident angle error rate. If a stable signal is obtained, proceed to Step 2; if a calibration signal is obtained, feedback and output it;

[0034] Step 2: Analyze the flaw detection trajectory deviation evaluation from the perspective of trajectory deviation through information progression, and discriminate and process the obtained trajectory deviation risk value. If a normal signal is obtained, proceed to Step 4; if a replanning signal is obtained, proceed to Step 3;

[0035] Step 3: Analyze the flaw detection transition planning route based on the replanning signal, discriminate and process the obtained emergency stop interruption risk value, and output and feedback the obtained available signal or regulation signal, that is, adaptively and automatically generate a transition planning route to avoid the jump of ultrasonic measurement data caused by emergency stop, so as to ensure the validity of the entire flaw detection data;

[0036] Step 4: Based on the flaw detection defect positioning feedback analysis under normal flaw detection movement, convert the defect coordinate P of the workpiece to be measured in the probe coordinate system into the positioning coordinate W in the workpiece coordinate system, and calibrate the positioning coordinate W in the simulation model;

[0037] Initially analyze the reliability of flaw detection conditions from two aspects: the positioning deviation rate of the target flaw detection device and the ultrasonic beam incident angle error rate, and then calibrate the target flaw detection device to improve the positioning accuracy and flaw detection accuracy of the target flaw detection device. The specific process of flaw detection condition reliability analysis is as follows:

[0038] Collect the flaw detection operation period of the multi - degree - of - freedom robotic ultrasonic flaw detector and set it as the time threshold. Set the multi - degree - of - freedom robotic ultrasonic flaw detector as the target flaw detection device, and obtain the positioning deviation rate and ultrasonic beam incident angle error rate of the target flaw detection device within the time threshold;

[0039] And discriminate and process the positioning deviation rate and ultrasonic beam incident angle error rate:

[0040] If the positioning deviation rate is less than the preset positioning deviation rate threshold and the ultrasonic beam incident angle error rate is less than the preset ultrasonic beam incident angle error rate threshold, generate a stable signal;

[0041] If the positioning deviation rate is greater than or equal to the preset positioning deviation rate threshold, or the ultrasonic beam incident angle error rate is greater than or equal to the preset ultrasonic beam incident angle error rate threshold, a calibration signal is generated, and the stable signal or calibration signal is sent to the display and management unit. After receiving the stable signal or calibration signal, the display and management unit immediately displays the preset warning text corresponding to the stable signal or calibration signal, and then calibrates the target flaw detection device to improve the positioning accuracy and flaw detection accuracy of the target flaw detection device;

[0042] Among them, the current base coordinate system of the target flaw detection device is obtained, the deviation value between the flaw detection positioning coordinate and the actual positioning coordinate in the nearest n flaw detection operations of the target flaw detection device is obtained, n is a natural number greater than 3, and at the same time, the difference between the actual ultrasonic beam incident angle and the standard ultrasonic beam incident angle in the nearest n flaw detection operations is obtained. The ratio of the total number of times when the deviation value between the flaw detection positioning coordinate and the actual positioning coordinate is greater than the preset threshold to n is set as the positioning deviation rate, and the ratio of the total number of times when the difference between the actual ultrasonic beam incident angle and the standard ultrasonic beam incident angle is greater than the preset threshold to n is set as the ultrasonic beam incident angle error rate. It should be noted that the larger the values of the positioning deviation rate and the ultrasonic beam incident angle error rate, the greater the current positioning deviation risk of the target flaw detection device and the higher the need for positioning correction;

[0043] When a stable signal is generated, a flaw detection trajectory deviation evaluation and analysis is carried out from the perspective of trajectory deviation in a way of information progression to avoid excessive probe pose deviation of the target flaw detection device, resulting in excessive flaw detection positioning error. The specific flaw detection trajectory deviation evaluation and analysis process is as follows:

[0044] The planned flaw detection route of the target flaw detection device for the workpiece to be detected is obtained, and the target flaw detection device is controlled to perform flaw detection operations on the workpiece to be detected based on the planned flaw detection route;

[0045] The normal vector deviation angle between the probe normal vector of the target flaw detection device and the set probe normal vector within the time threshold is obtained, and the normal vector deviation angle between the probe normal vector of the target flaw detection device and the set probe normal vector is set as the trajectory deviation risk value, and the trajectory deviation risk value is judged and processed:

[0046] If the trajectory deviation risk value is less than the preset trajectory deviation risk value threshold, a normal signal is generated;

[0047] If the trajectory deviation risk value is greater than or equal to the preset trajectory deviation risk value threshold, a replanning signal is generated, and the normal signal or the replanning signal is sent to the display and management unit. After receiving the normal signal or the replanning signal, the display and management unit immediately performs the preset warning operation corresponding to the normal signal or the replanning signal, thereby avoiding excessive probe pose deviation of the target flaw detection device and resulting in excessive flaw detection positioning error.

[0048] Embodiment 2:

[0049] When a replanning signal is generated, that is, based on the analysis of the flaw detection transition planning route under the replanning signal, to ensure the trajectory accuracy during the flaw detection operation of the target flaw detection device, and at the same time adaptively generate the transition planning route automatically to avoid the jump of ultrasonic measurement data caused by sudden stop, so as to ensure the validity of the entire flaw detection data. The specific process of analyzing the flaw detection transition planning route is as follows:

[0050] Immediately generate a motion transition trajectory, obtain the corresponding basic parameters in the motion transition trajectory. The basic parameters include running speed, acceleration, etc. At the same time, obtain the initial basic parameters in the planned flaw detection route corresponding to the moment when the replanning signal is generated. The initial basic parameters include running speed, acceleration, etc., and compare and analyze the basic parameters with the initial basic parameters one by one, obtain the difference between each parameter in the basic parameters and the initial basic parameters, obtain the number of differences between each parameter in the basic parameters and the initial basic parameters that are greater than the preset threshold, and set it as the sudden stop interruption risk value, and perform discriminant processing on the sudden stop interruption risk value:

[0051] If the sudden stop interruption risk value is equal to zero, an available signal is generated;

[0052] If the sudden stop interruption risk value is not equal to zero, a regulation signal is generated, and the available signal or the regulation signal is sent to the display and management unit. After receiving the available signal or the regulation signal, the display and management unit immediately performs the preset warning operation corresponding to the available signal or the preset warning operation corresponding to the regulation signal to ensure the trajectory accuracy during the flaw detection operation of the target flaw detection device, and at the same time adaptively generate the transition planning route automatically to avoid the jump of ultrasonic measurement data caused by sudden stop, so as to ensure the validity of the entire flaw detection data;

[0053] When a normal signal is generated, based on the flaw detection defect location feedback analysis under normal flaw detection movement, so as to intuitively understand the internal quality condition and defect location of the workpiece to be measured. The specific process of analyzing the flaw detection defect location feedback is as follows:

[0054] Obtain the ultrasonic echo data of the target flaw detection device within the time threshold, obtain the echo signal feature image in the ultrasonic echo data, and perform a comparison and analysis between the echo signal feature image and the standard echo signal feature image. If the difference value between the echo signal feature image and the standard echo signal feature image is greater than the preset threshold, a defect signal is generated. If the difference value between the echo signal feature image and the standard echo signal feature image is less than or equal to the preset threshold, a normal signal is generated;

[0055] When a defect signal is generated, set the origin of the probe coordinate system on the target flaw detection device at the center of the ultrasonic emission surface, with the Z-axis perpendicular to the emission surface and pointing to the workpiece, and the X / Y axes aligned with the coordinate system of the flange at the end of the robotic arm on the target flaw detection device. Obtain the defect coordinates P(Px, Py, Pz) of the workpiece to be measured in the probe coordinate system;

[0056] Obtain the constructed workpiece coordinate system of the workpiece to be measured, and at the same time obtain the basic dimension data of the workpiece to be measured through laser scanning technology. The basic dimension data includes length, width, etc. Based on the basic dimension data, construct a simulation model of the workpiece to be measured;

[0057] Through existing technology, convert the defect coordinates P(Px, Py, Pz) of the workpiece to be measured in the probe coordinate system into the positioning coordinates W(Wx, Wy, Wz) in the workpiece coordinate system, and send the positioning coordinates W(Wx, Wy, Wz) to the display and management unit. After receiving the positioning coordinates W(Wx, Wy, Wz), the display and management unit calibrates the positioning coordinates W(Wx, Wy, Wz) in the simulation model to intuitively understand the internal quality status and defect location of the workpiece to be measured;

[0058] Among them, the defect coordinates P(Px, Py, Pz) of the workpiece to be measured are converted into the positioning coordinates W(Wx, Wy, Wz) of the workpiece coordinate system through the rotation matrix R and the translation vector T;

[0059] The rotation matrix R is a 3×3 orthogonal matrix that describes the rotation transformation relationship between the probe and the workpiece. This matrix is calculated through the probe attitude (Euler angle or quaternion);

[0060] T is a three-dimensional vector representing the offset of the origin of the probe coordinate system in the workpiece coordinate system;

[0061] In summary, the present invention initially analyzes the reliability of flaw detection conditions from two aspects: the positioning deviation rate of the target flaw detection device and the incident angle error rate of the ultrasonic beam, and then calibrates the target flaw detection device to improve the positioning accuracy and flaw detection accuracy of the target flaw detection device. Moreover, on the premise of accurate flaw detection positioning, the flaw detection trajectory deviation evaluation and analysis are carried out from the perspective of trajectory deviation to avoid excessive deviation of the probe movement pose of the target flaw detection device, resulting in excessive flaw detection positioning errors. At the same time, an adaptive automatic generation of a transition planning route is deeply carried out for the excessive deviation of the probe movement pose to avoid the jump of ultrasonic measurement data caused by sudden stops, so as to ensure the validity of the entire flaw detection data, and the flaw detection defect positioning feedback analysis based on normal flaw detection movement is carried out to intuitively understand the internal quality condition and defect location of the workpiece to be tested.

[0062] The setting of the threshold value is for the convenience of comparison. Regarding the size of the threshold value, it depends on the amount of sample data and the base quantity set by those skilled in the art for each group of sample data; as long as the proportional relationship between the parameter and the quantified value is not affected.

[0063] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A flaw detection and positioning method for a multi-degree-of-freedom robotic ultrasonic flaw detector, characterized in that, It includes the following steps: Step 1: Initially conduct a reliability analysis of the flaw detection conditions from two aspects: the positioning deviation rate of the target flaw detection device and the error rate of the ultrasonic beam incident angle. If a stable signal is obtained, proceed to Step 2; if a calibration signal is obtained, feedback and output it. Step 2: Conduct a flaw detection trajectory deviation evaluation and analysis from the perspective of trajectory deviation through an information progression method, and perform a discriminant process on the obtained trajectory deviation risk value. If a normal signal is obtained, proceed to Step 4; if a replanning signal is obtained, proceed to Step 3. Step 3: Based on the analysis of the flaw detection transition planning route under the replanning signal, perform a discriminant process on the obtained emergency stop interruption risk value, and output and feedback the obtained available signal or control signal. Step 4: Based on the flaw detection defect location feedback analysis under normal flaw detection movement, convert the defect coordinate P of the workpiece to be measured in the probe coordinate system into the positioning coordinate W in the workpiece coordinate system, and calibrate the positioning coordinate W in the simulation model.

2. The flaw detection and positioning method of the multi-degree-of-freedom robotic ultrasonic flaw detector according to claim 1, characterized in that, The process of the reliability analysis of the flaw detection conditions is as follows: Collect the flaw detection operation period of the multi-degree-of-freedom robotic ultrasonic flaw detection device and set it as the time threshold. Set the multi-degree-of-freedom robotic ultrasonic flaw detection device as the target flaw detection device, obtain the positioning deviation rate and the error rate of the ultrasonic beam incident angle of the target flaw detection device within the time threshold, and perform a discriminant process on the positioning deviation rate and the error rate of the ultrasonic beam incident angle to obtain a stable signal or a calibration signal.

3. The flaw detection and positioning method of the multi-degree-of-freedom robotic ultrasonic flaw detector according to claim 2, characterized in that, Obtain the current base coordinate system of the target flaw detection device, obtain the deviation value between the flaw detection positioning coordinate and the actual positioning coordinate in the nearest n flaw detection operations of the target flaw detection device, where n is a natural number greater than 3. At the same time, obtain the difference between the actual ultrasonic beam incident angle and the standard ultrasonic beam incident angle in the nearest n flaw detection operations. Set the ratio of the total number of times when the deviation value between the flaw detection positioning coordinate and the actual positioning coordinate is greater than the preset threshold to n as the positioning deviation rate, and set the ratio of the total number of times when the difference between the actual ultrasonic beam incident angle and the standard ultrasonic beam incident angle is greater than the preset threshold to n as the error rate of the ultrasonic beam incident angle.

4. The flaw detection and positioning method of the multi-degree-of-freedom robotic ultrasonic flaw detection device according to claim 1, characterized in that The process of the flaw detection trajectory deviation evaluation and analysis is as follows: Obtain the normal vector deviation angle between the probe normal vector of the target flaw detection device and the set probe normal vector within the time threshold, and set the normal vector deviation angle between the probe normal vector of the target flaw detection device and the set probe normal vector as the trajectory deviation risk value, and perform a discriminant process on the trajectory deviation risk value: if the trajectory deviation risk value is less than the preset trajectory deviation risk value threshold, generate a normal signal; If the trajectory deviation risk value is greater than or equal to the preset trajectory deviation risk value threshold, generate a replanning signal.

5. The flaw detection and positioning method of the multi-degree-of-freedom robotic ultrasonic flaw detection device according to claim 1, characterized in that, The process of the flaw detection transition planning route analysis is as follows: Immediately generate a motion transition trajectory, obtain the corresponding basic parameters in the motion transition trajectory, and at the same time obtain the initial basic parameters in the planned flaw detection route corresponding to the moment when the re-planning signal is generated. Then, compare and analyze the basic parameters with the initial basic parameters one by one, obtain the differences between the parameters in the basic parameters and the initial basic parameters, obtain the number of differences between the parameters in the basic parameters and the initial basic parameters that are greater than a preset threshold, and set it as the emergency stop interruption risk value. Then, perform discriminant processing on the emergency stop interruption risk value to obtain an available signal or a control signal.

6. The flaw detection positioning method of the multi-degree-of-freedom robotic ultrasonic flaw detector according to claim 1, characterized in that, The flaw detection defect location feedback analysis process is as follows: Obtain the ultrasonic echo data of the target flaw detection device within the time threshold, obtain the echo signal feature image in the ultrasonic echo data, and compare and analyze the echo signal feature image with the standard echo signal feature image. If the difference value between the echo signal feature image and the standard echo signal feature image is greater than the preset threshold, generate a defect signal. If the difference value between the echo signal feature image and the standard echo signal feature image is less than or equal to the preset threshold, generate a normal signal.

7. The flaw detection and positioning method of the multi-degree-of-freedom robotic ultrasonic flaw detector according to claim 6, characterized in that, When a defect signal is generated, set the origin of the probe coordinate system on the target flaw detection device at the center of the ultrasonic emission surface, the Z-axis is perpendicular to the emission surface and points to the workpiece, and the X / Y axes are aligned with the flange coordinate system at the end of the robotic arm on the target flaw detection device. Obtain the defect coordinates P(Px, Py, Pz) of the workpiece to be tested. Obtain the workpiece coordinate system constructed for the workpiece to be tested, and at the same time obtain the basic dimension data of the workpiece to be tested through laser scanning technology. The basic dimension data includes length and width. Based on the basic dimension data, construct a simulation model of the workpiece to be tested. Convert the defect coordinates P(Px, Py, Pz) of the workpiece to be tested in the probe coordinate system into the positioning coordinates W(Wx, Wy, Wz) in the workpiece coordinate system through the existing technology, and send the positioning coordinates W(Wx, Wy, Wz) to the display and management unit. After receiving the positioning coordinates W(Wx, Wy, Wz), the display and management unit calibrates the positioning coordinates W(Wx, Wy, Wz) in the simulation model.

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