Ultrasonic phased array automatic detection device and detection method thereof

Abstract

The invention discloses an ultrasonic phased array automatic detection device and a detection method thereof.The ultrasonic phased array automatic detection device comprises a vehicle body and an ultrasonic phased array detection assembly installed on the vehicle body, the vehicle body is provided with four wheels capable of synchronously steering, the ultrasonic phased array detection assembly comprises a transverse moving shaft and a probe part, the transverse moving shaft is fixed to the vehicle body, and the probe part is fixed to the vehicle body; the probe part is connected with a transverse moving shaft, the transverse moving shaft is provided with a transverse moving driving part, and the probe part does transverse reciprocating rectilinear motion under the driving of the transverse moving driving part. According to the invention, automatic detection can be realized, and the working intensity is reduced, so that the ultrasonic detection result is more accurate.

Description

Technical Field

[0001] The present invention belongs to the field of detection technology, and in particular relates to an ultrasonic phased array automatic detection device and a detection method thereof. Background Art

[0002] Raw material plates are widely used in the manufacture of power plant boilers and pressure vessels. Testing is a crucial step in quality control, as the quality of these plates directly impacts the safety and lifespan of these boilers and pressure vessels. Ultrasonic testing, with its high sensitivity, harmlessness, and low cost, is widely used in raw material quality control.

[0003] Traditional manual inspection begins at a starting point, moving longitudinally and scanning. Once at the desired location, the machine moves a certain distance laterally, then moves back longitudinally and scans. Once at the desired location, the machine again moves a certain distance laterally, then moves back longitudinally and scans again, until the entire area to be inspected has been scanned. The path follows a rectangular wave. Traditional manual inspection is relatively labor-intensive, prone to fatigue, and results are delayed, resulting in low inspection efficiency. Furthermore, due to human factors, it is difficult to ensure 100% inspection coverage of the workpiece being inspected. The operator's experience has a certain impact on the evaluation of raw material quality, which can easily lead to missed inspections and misjudgments. Lateral movement can also lead to low inspection data accuracy. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides an ultrasonic phased array automatic detection device and a detection method thereof, which can realize automatic detection and reduce work intensity, so that the ultrasonic detection results are more accurate.

[0005] The embodiments of the present invention are achieved through the following technical solutions:

[0006] An ultrasonic phased array automatic detection device and a detection method thereof include a vehicle body and an ultrasonic phased array detection component installed on the vehicle body, wherein the vehicle body has four wheels that can be steered synchronously, and the ultrasonic phased array detection component includes a transverse axis and a probe part, wherein the transverse axis is fixed to the vehicle body, and the probe part is connected to the transverse axis, and the transverse axis has a transverse drive part, and under the drive of the transverse drive part, the probe part performs transverse reciprocating linear motion.

[0007] In one embodiment of the present invention, each of the wheels is provided with a steering mechanism, which includes a steering servo, a support shaft and a transmission frame. The support shaft is rotatably connected to the vehicle body through a bearing, the upper end of the support shaft is connected to the steering servo fixed on the vehicle body, and the lower end of the support shaft is fixed to the transmission frame, and the wheel is mounted on the transmission frame.

[0008] In one embodiment of the present invention, each of the wheels is provided with a travel motor, and each wheel is a magnetic wheel.

[0009] In one embodiment of the present invention, the probe part includes a mounting seat, a floating connection mechanism, a mounting finger and an ultrasonic phased array probe, the mounting seat is connected to the transverse axis, the floating connection mechanism is fixed to the mounting seat, and the floating connection mechanism is provided with a mounting boss, the mounting finger is fixed on the mounting boss, and the ultrasonic phased array probe is fixed to the mounting finger.

[0010] In one embodiment of the present invention, the floating connection mechanism includes a slider, a floating linear slide rail and a return spring. The slider is fixed to the mounting seat, the floating linear slide rail is slidably connected to the slider, the bottom end of the floating linear slide rail is fixed to the mounting boss, the return spring is sleeved on the floating linear slide rail, and the return spring is located between the slider and the mounting boss.

[0011] In one embodiment of the present invention, the mounting base is further fixed with a cantilever mounting plate, and the cantilever mounting plate is fixed with an edge detection switch.

[0012] In one embodiment of the present invention, the vehicle body further includes a transverse encoder assembly and a lifting mechanism, wherein the lifting mechanism is fixed to the vehicle body and controls the lifting and lowering of the transverse encoder assembly.

[0013] In one embodiment of the present invention, the transverse encoder assembly includes a connecting plate, a slider, a floating linear slide, a reset spring and a transverse encoder, the connecting plate is fixed to the lifting mechanism, the slider is fixed to the connecting plate, the floating linear slide is slidably connected to the slider, the bottom end of the floating linear slide is connected to the transverse encoder through a mounting boss, the reset spring is sleeved on the floating linear slide, and the reset spring is located between the slider and the mounting boss.

[0014] A detection method for an ultrasonic phased array automatic detection device, the detection method being applied to the ultrasonic phased array automatic detection device as described above, the detection method comprising the following steps:

[0015] Step 1: Set the detection parameter values ​​of the trolley, which include the starting point coordinate value, the single longitudinal displacement step value, the single lateral displacement step value, and the size of the object to be measured;

[0016] Step 2: Perform automatic detection based on the starting point;

[0017] Step 3: The scanning motor starts to operate, controlling the ultrasonic phased array probe to move in one direction horizontally for a single scan.

[0018] Step 4: After a single scan is completed, the scanning motor stops working, and the travel motor drives the wheels. Based on a single longitudinal displacement step value, the trolley automatically moves forward one step, and then the travel motor stops working.

[0019] Step 5: The scanning motor starts to operate, controlling the ultrasonic phased array probe to move in the opposite lateral direction to perform a single scan;

[0020] Step 6: After a single scan is completed, the wheel's travel motor starts working, and the vehicle is automatically moved forward one step based on a single longitudinal displacement step value. Steps 3 to 6 are repeated until the edge arrival signal sent by the edge detection switch is received and the repetition stops. When the edge arrival signal is received, no matter which step is being executed at this time, the repetition stops.

[0021] Step 7: The steering servo works and stops working after the wheel turns 90°; the wheel's travel motor works and the trolley moves according to the single lateral displacement step value. The controller receives the data transmitted by the lateral displacement encoder. When the lateral displacement is the same as the single lateral displacement step value, the wheel's travel motor stops working and the lateral movement is completed.

[0022] Step 8: Repeat steps 3 to 7 until the entire object is scanned.

[0023] It should be noted that, during the implementation of the above-mentioned detection method, the existing steering gyroscope inertial navigation angle deflection algorithm is used to give the vehicle body deflection angle in real time, and the system sends instructions to the car to automatically correct the angle, so that the car moves in a straight line.

[0024] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0025] The present invention uses a trolley as a carrier to carry the ultrasonic probe. When the trolley moves laterally, the steering gear drives the wheels to rotate 90 degrees to achieve lateral movement, without the trolley body turning. This allows precise control of the lateral position, resulting in more accurate overall measurement data. Furthermore, after the trolley's longitudinal displacement scan, it can directly perform a lateral displacement scan, while the trolley's orientation remains unchanged, without changing the probe's orientation, thus further enhancing the accuracy of the test results. The present invention uses a self-propelled trolley to carry the ultrasonic probe, enabling automated testing and reducing workload, resulting in more accurate ultrasonic testing results. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 Schematic diagram of an ultrasonic phased array automatic detection device in the present invention;

[0028] Figure 2is a schematic diagram of the wheel and steering mechanism of the present invention;

[0029] Figure 3 Schematic diagram of the transverse encoder assembly and the lifting mechanism in the present invention;

[0030] Figure 4 Schematic diagram of the ultrasonic phased array detection component in the present invention.

[0031] Icons: 1-body, 21-wheel, 22-travel motor, 31-steering servo, 32-transmission frame, 521-traverse axis, 522-scanning motor, 53-mounting seat, 54-mounting finger, 55-ultrasonic phased array probe, 56-mounting boss, 571-slider, 572-floating linear slide, 573-reset spring, 61-lifting motor, 62-lifting screw mechanism, 63-traverse encoder, 7-cantilever mounting plate, 8-edge detection switch, 9-marker. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0035] In the description of the present invention, it should be noted that if the terms "inside" and "outside" appear to indicate an orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the product of the invention is usually placed when in use. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0036] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "dispose," "install," "configure," and "connect" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] An ultrasonic phased array automatic detection device includes a vehicle body 1 and an ultrasonic phased array detection component installed on the vehicle body 1. The vehicle body 1 has four wheels 21 that can be steered synchronously. The ultrasonic phased array detection component includes a transverse axis 521 and a probe part, which is fixed to the vehicle body 1. The transverse axis 521 is fixed to the vehicle body 1. The probe part is connected to the transverse axis 521. The transverse axis 521 has a transverse driving part. Under the drive of the transverse driving part, the probe part performs transverse reciprocating linear motion.

[0038] The following embodiments are described in detail based on the above scheme.

[0039] Example

[0040] Please refer to Figure 1 This embodiment provides an ultrasonic phased array automatic detection device, including a vehicle body 1 and an ultrasonic phased array detection component installed on the vehicle body 1. The vehicle body 1 has four synchronously steerable wheels 21. Each wheel 21 is provided with a steering mechanism, which includes a steering servo 31, a support shaft, and a transmission frame 32. The support shaft is rotatably connected to the vehicle body 1 through a bearing. The upper end of the support shaft is connected to the steering servo 31 fixed to the vehicle body 1, and the lower end of the support shaft is fixed to the transmission frame 32. The wheels 21 are installed on the transmission frame 32. Each wheel 21 is provided with a travel motor 22, and each wheel 21 is a magnetic wheel, so that the vehicle body 1 can be magnetically attracted to the workpiece. When the forward direction of the vehicle body 1 needs to be changed from longitudinal to lateral, the controller such as PLC on the vehicle body 1 controls the travel motor 22 of the wheel 21 to stop, drives the support shaft to rotate through the steering servo 31, and the support shaft drives the wheel 21 to turn 90°, and then controls the travel motor 22 of the wheel 21 to start, so that the vehicle body 1 moves laterally, but the vehicle body 1 does not turn. After the vehicle body 1 moves laterally a preset distance, the steering servo 31 controls the wheel 21 to reset, so that the travel direction of the wheel 21 is restored to the longitudinal direction.

[0041] In this embodiment, the ultrasonic phased array detection component includes a transverse movement axis 521 and a probe part. The transverse movement axis 521 is fixed to the vehicle body 1. The transverse movement axis 521 adopts a KK linear module with a nut and screw pair. The transverse movement axis 521 has a transverse movement drive part, such as a scanning motor 522. The scanning motor 522 drives the KK linear module to make the screw nut move back and forth. The probe part with an ultrasonic phased array probe 55 is connected to the screw nut of the transverse movement axis 521. The motor drives the screw nut of the transverse movement axis 521 to move, so that the probe part can simultaneously move back and forth linearly during the scanning work.

[0042] In this embodiment, the probe unit includes a mounting base 53, a floating connection mechanism, mounting fingers 54, and an ultrasonic phased array probe 55. The mounting base 53 is fixed to the screw nut of the traverse axis 521. The floating connection mechanism is fixed to the mounting base 53 and is provided with a mounting boss 56. Two mounting fingers 54 are provided, each of which is fixed to the mounting boss 56 at one end and to the ultrasonic phased array probe 55 at the other end. The ultrasonic phased array probe 55 is located between the two mounting fingers 54 and is secured by the two mounting fingers 54. It should be noted that the ultrasonic phased array probe 55 is a commercially available product.

[0043] In this embodiment, the floating connection mechanism includes a slider 571, a floating linear slide 572, and a return spring 573. The slider 571 is fixed to the mounting seat 53, and the floating linear slide 572 is slidably connected to the slider 571. The slider 571 and the floating linear slide 572 are both commercially available products. The bottom end of the floating linear slide 572 is fixed to the mounting boss 56. The top end of the floating linear slide 572 has a stop block to prevent the floating linear slide 572 from separating from the slider 571. The return spring 573 is sleeved on the floating linear slide 572 and is located between the slider 571 and the mounting boss 56, so that the floating linear slide 572 always maintains a downward movement trend. When the vehicle body 1 is moving, when the workpiece surface has concave and convex surfaces or other uneven areas, the floating connection mechanism of this embodiment allows the ultrasonic phased array probe 55 to adapt.

[0044] In this embodiment, the mounting base 53 is also secured to a cantilever mounting plate 7, which is secured to an edge detection switch 8. Two edge detection switches 8 are provided, one on each side of the ultrasonic phased array probe 55. Assuming the front of the vehicle 1 is the side with the ultrasonic phased array probe 55, two edge detection switches 8 are also mounted on the rear of the vehicle. During inspection, the vehicle 1 travels in a straight longitudinal direction. When the edge detection switch 8 at the front detects the edge of a workpiece, the controller stops the vehicle 1, controls the wheels 21 to turn 90°, and then controls the vehicle 1 to move laterally a preset distance. The wheels 21 are then reset and flipped, causing the vehicle 1 to reverse in the longitudinal direction. When the edge detection switch 8 at the rear detects the edge of the workpiece, the aforementioned wheel 21 steering process is repeated. After the lateral movement of the vehicle 1 is completed, the vehicle 1 resumes forward movement in the longitudinal direction. This cycle repeats until the predetermined area is completely scanned.

[0045] In this embodiment, the vehicle body 1 also includes a transverse encoder assembly and a lifting mechanism. The lifting mechanism is fixed to the vehicle body 1. The lifting mechanism controls the lifting and lowering of the transverse encoder assembly. When the vehicle body 1 moves laterally, the lifting mechanism drives the transverse encoder assembly to descend, so that the transverse encoder 63 in the transverse encoder assembly contacts the surface of the workpiece. During the transverse movement of the vehicle body 1, the transverse distance of the vehicle body 1 is measured. When the transverse movement of the vehicle body 1 is completed, the lifting mechanism drives the transverse encoder assembly to rise. Specifically, the lifting mechanism includes a lifting motor 61 and a lifting screw mechanism 62. The lifting screw mechanism 62 adopts a commercially available KK linear module with a nut and screw pair. The transverse encoder assembly includes a connecting plate, a floating connection mechanism and a transverse encoder 63. The connecting plate is fixed to the screw nut of the lifting mechanism. The floating connection mechanism of the transverse encoder assembly is the same as the floating connection mechanism of the probe part. The slider 571 is fixed to the connecting plate. The floating linear slide 572 is slidingly connected to the slider 571. The bottom end of the floating linear slide 572 is connected to the transverse encoder 63 through the mounting boss 56. The top of the floating linear slide 572 is provided with a stop block to prevent the floating linear slide 572 from falling off the slider 571. The reset spring 573 is sleeved on the floating linear slide 572, and the reset spring 573 is located between the slider 571 and the mounting boss 56, so that the floating linear slide 572 always maintains a downward movement trend. In this embodiment, the lifting motor 61 drives the lifting screw mechanism 62 to realize the lifting and lowering of the connecting plate, and then the upgrading of the transverse encoder 63. In addition, the transverse encoder 63 adopts a floating connection structure, which can avoid the rigid contact between the transverse encoder 63 and the workpiece when it descends, thereby avoiding damage to the transverse encoder 63. At the same time, it can also adapt to non-flat areas on the surface of the workpiece.

[0046] The ultrasonic phased array automatic detection device of the present invention uses a clock. When the vehicle moves laterally, the steering servo 31 drives the wheel 21 to rotate 90° without the vehicle rotating. This allows precise control of the lateral position, resulting in more accurate overall measurement data. In the prior art, although Mecanum wheels can also rotate 90° directly, due to stability issues, they are primarily used in toys that do not require precision control and are difficult to apply in industry. Importantly, the present invention controls the longitudinal displacement of the vehicle during the lateral movement and then directly scans the lateral displacement, while maintaining the orientation of the vehicle body 1 and the probe position. This results in more accurate detection results.

[0047] It should be noted that this embodiment further includes a marker 9 for marking the defect position. The marker 9 is a commercially available product.

[0048] A detection method for an ultrasonic phased array automatic detection device, the detection method being applied to the ultrasonic phased array automatic detection device as described above, the detection method comprising the following steps:

[0049] Step 1: Set the detection parameter values ​​of the trolley, which include the starting point coordinate value, the single longitudinal displacement step value, the single lateral displacement step value, and the size of the object to be measured;

[0050] Step 2: Perform automatic detection based on the starting point;

[0051] Step 3: The scanning motor 522 operates to control the ultrasonic phased array probe to move in a unidirectional manner to perform a single scan;

[0052] Step 4: After a single scan is completed, the scanning motor 522 stops working, and the travel motor 22 drives the wheel 21 to control the trolley to automatically move forward one step based on the single longitudinal displacement step value, and then the travel motor 22 stops working;

[0053] Step 5: The scanning motor 522 operates to control the ultrasonic phased array probe to move in a reverse lateral unidirectional direction to perform a single scan;

[0054] Step 6: After a single scan is completed, the travel motor 22 of the wheel 21 starts to work, and the trolley is controlled to automatically move forward one step based on a single longitudinal displacement step value; steps 3 to 6 are repeated until the edge arrival signal sent by the edge detection switch 8 is received and the repetition stops; when the edge arrival signal is received, no matter which step is being executed at this time, the repetition stops.

[0055] Step 7: The steering servo 31 works, and after the wheel 21 turns 90 degrees, the steering servo 31 stops working; the travel motor 22 of the wheel 21 works, and the trolley moves according to the single lateral displacement step value. The controller receives the data transmitted by the lateral displacement encoder 63. When the lateral displacement is the same as the single lateral displacement step value, the travel motor 22 of the wheel 21 stops working, completing the lateral movement;

[0056] Step 8: Repeat steps 3 to 7 until the entire object is scanned.

[0057] It should be noted that, during the implementation of the above-mentioned entire detection method, the existing steering gyroscope inertial navigation angle deflection algorithm is used to give the deflection angle of the vehicle body 1 in real time, and the system sends a command to the car to automatically correct the angle, so that the car moves in a straight line.

[0058] The present invention uses a trolley as a carrier to carry the ultrasonic probe. When the trolley moves laterally, the steering gear drives the wheel 21 to rotate 90° to achieve lateral movement, and the trolley body 1 does not need to turn, so that the lateral position control is accurate, so that the overall measurement data is more accurate. Moreover, after the longitudinal displacement scan, the trolley directly moves laterally, and the orientation of the body 1 remains unchanged, and the orientation of the probe does not change, so that the detection results are more accurate. The present invention uses a trolley that can move automatically to carry an ultrasonic probe, which can automatically record the detection results and reduce the work intensity, so that the ultrasonic detection results are more accurate. In addition, for high-risk environments where the on-site conditions are not suitable for detection personnel to work, or high-altitude work scenes that are difficult for personnel to reach, the ultrasonic phased array automatic detection device of the present invention can replace manual detection work.

[0059] It should be noted that the ultrasonic phased array automatic detection device of the present invention is equipped with other components for automatic detection, automatic recording, and automatic movement, such as a storage device.

[0060] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements 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 ultrasonic phased array automatic detection device, comprising a vehicle body and an ultrasonic phased array detection component mounted on the vehicle body, characterized in that: The vehicle body has four wheels that can be steered synchronously. The ultrasonic phased array detection component includes a transverse axis and a probe part. The transverse axis is fixed to the vehicle body, and the probe part is connected to the transverse axis. The transverse axis has a transverse driving part. Under the drive of the transverse driving part, the probe part performs transverse reciprocating linear motion.

2. The ultrasonic phased array automatic detection device according to claim 1, characterized in that: Each wheel is provided with a steering mechanism, which includes a steering servo, a support shaft and a transmission frame. The support shaft is rotatably connected to the vehicle body through a bearing, the upper end of the support shaft is connected to the steering servo fixed on the vehicle body, and the lower end of the support shaft is fixed to the transmission frame, and the wheel is mounted on the transmission frame.

3. The ultrasonic phased array automatic detection device according to claim 1, characterized in that: Each of the wheels is provided with a travel motor, and each wheel is a magnetic wheel.

4. The ultrasonic phased array automatic detection device according to claim 1, characterized in that: The probe part includes a mounting seat, a floating connection mechanism, a mounting finger and an ultrasonic phased array probe. The mounting seat is connected to the transverse movement axis, the floating connection mechanism is fixed to the mounting seat, and the floating connection mechanism is provided with a mounting boss. The mounting finger is fixed on the mounting boss, and the ultrasonic phased array probe is fixed to the mounting finger.

5. The ultrasonic phased array automatic detection device according to claim 4, characterized in that: The floating connection mechanism includes a slider, a floating linear slide rail and a return spring. The slider is fixed to the mounting seat, the floating linear slide rail is slidably connected to the slider, the bottom end of the floating linear slide rail is fixed to the mounting boss, the return spring is sleeved on the floating linear slide rail, and the return spring is located between the slider and the mounting boss.

6. The ultrasonic phased array automatic detection device according to claim 4, characterized in that: The mounting seat is further fixed with a cantilever mounting plate, and the cantilever mounting plate is fixed with an edge detection switch.

7. The ultrasonic phased array automatic detection device according to claim 1, characterized in that: The vehicle body further comprises a transverse encoder assembly and a lifting mechanism, wherein the lifting mechanism is fixed to the vehicle body and controls the lifting and lowering of the transverse encoder assembly.

8. The ultrasonic phased array automatic detection device according to claim 7, characterized in that: The transverse encoder assembly includes a connecting plate, a slider, a floating linear slide, a reset spring and a transverse encoder. The connecting plate is fixed to the lifting mechanism, the slider is fixed to the connecting plate, the floating linear slide is slidably connected to the slider, the bottom end of the floating linear slide is connected to the transverse encoder through a mounting boss, the reset spring is sleeved on the floating linear slide, and the reset spring is located between the slider and the mounting boss.

9. A detection method for an ultrasonic phased array automatic detection device, characterized in that: The detection method is applied to the ultrasonic phased array automatic detection device according to claims 1-8, and the detection method comprises the following steps: Step 1: Set the detection parameter values ​​of the trolley, which include the starting point coordinate value, the single longitudinal displacement step value, the single lateral displacement step value, and the size of the object to be measured; Step 2: Perform automatic detection based on the starting point; Step 3: The scanning motor starts to operate, controlling the ultrasonic phased array probe to move in one direction horizontally for a single scan. Step 4: After a single scan is completed, the scanning motor stops working, and the travel motor drives the wheels. Based on a single longitudinal displacement step value, the trolley automatically moves forward one step, and then the travel motor stops working. Step 5: The scanning motor starts to operate, controlling the ultrasonic phased array probe to move in the opposite lateral direction to perform a single scan; Step 6: After a single scan is completed, the wheel's travel motor starts to operate, and the vehicle is automatically moved forward one step based on the single longitudinal displacement step value. Steps 3 to 6 are repeated until an edge arrival signal from the edge detection switch is received, at which point the process stops. When an edge arrival signal is received, the process stops regardless of which step is being executed from 3 to 6. Step 7: The steering servo works and stops working after the wheel turns 90°; the wheel's travel motor works and the trolley moves according to the single lateral displacement step value. The controller receives the data transmitted by the lateral displacement encoder. When the lateral displacement is the same as the single lateral displacement step value, the wheel's travel motor stops working and the lateral movement is completed. Step 8: Repeat steps 3 to 7 until the entire object is scanned.

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