Nondestructive testing system, method and device and storage medium

Abstract

The invention discloses a nondestructive testing system, method and device and a storage medium, and relates to the field of nondestructive testing, and the nondestructive testing system comprises a mobile scanning device which is used for obtaining ultrasonic testing data of a to-be-tested workpiece through an ultrasonic phased array and obtaining coordinates of a testing point through a photoelectric encoder; the positioning base station system is used for acquiring an initial point position coordinate of the mobile scanning equipment through the positioning label; and the data processing equipment is used for performing defect detection on the to-be-detected workpiece according to the ultrasonic detection data, the detection point position coordinates and the initial point position coordinates. According to the technical scheme provided by the embodiment of the invention, the defect detection efficiency of the nondestructive detection system is improved, the detection point location is closely associated with the defect detection result, the traceability is relatively high, meanwhile, the hardware cost and the control complexity of the nondestructive detection system are relatively low, and the nondestructive detection system is not limited by the type of the workpiece to be detected and has relatively high universality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of non-destructive testing, in particular to a non-destructive testing system, method, device and storage medium. BACKGROUND

[0002] Non-destructive testing technology is widely used in industrial production because it does not damage the object being tested, and ultrasonic testing is one of the most important detection methods in non-destructive testing technology.

[0003] In the prior art, ultrasonic testing is usually completed by manual scanning, that is, a user manually scans by holding an ultrasonic testing device, or the ultrasonic testing device is configured in a large mechanical structure (for example, a mechanical arm), and the ultrasonic testing device is moved by the mechanical structure to complete automatic scanning.

[0004] However, the manual scanning method not only has low detection efficiency, but also has poor traceability, often resulting in loss of detection point information. The traditional automatic scanning method has high hardware cost and high control complexity, and in addition, the type of workpiece that can be detected is limited by the size of the mechanical structure itself, and the universality is poor. SUMMARY

[0005] The present application provides a non-destructive testing system, method, device, storage medium and computer product to solve the problem of low detection efficiency and poor traceability of ultrasonic testing devices.

[0006] According to an aspect of the present application, a non-destructive testing system is provided, comprising: a mobile scanning device, a positioning base station system and a data processing device; the positioning base station system comprises at least one positioning base station; the mobile scanning device comprises a positioning tag, an optical encoder and an ultrasonic phased array;

[0007] The mobile scanning device is in communication connection with the data processing device, and is configured to acquire ultrasonic testing data of a workpiece to be tested by the ultrasonic phased array, and to acquire detection point coordinates by the optical encoder;

[0008] The positioning base station system is in communication connection with the data processing device, and is configured to acquire initial point coordinates of the mobile scanning device by the positioning tag;

[0009] The data processing device is configured to perform defect detection on the workpiece to be tested according to the ultrasonic testing data, the detection point coordinates and the initial point coordinates.

[0010] The mobile scanning device comprises a beam configured with a sliding rail groove; the positioning tag is connected to the sliding rail groove of the beam through a first connecting frame, the photoelectric encoder is connected to the sliding rail groove of the beam through a second connecting frame, and the ultrasonic phased array is connected to the sliding rail groove of the beam through a third connecting frame; wherein the first connecting frame, the second connecting frame and the third connecting frame are all fixed in the sliding rail groove of the beam by screws.

[0011] The positioning base station system comprises a plurality of positioning base stations distributed in different positions; the positioning base station system is specifically configured to draw a sphere with each positioning base station as a center and take the intersection of each sphere as an initial point of the mobile scanning device; wherein the radius of each sphere is the interval distance between the current positioning base station and the mobile scanning device.

[0012] The positioning base station system comprises two positioning base station subsystems, each of which comprises at least two positioning base stations; the heights of the positioning base stations in the same positioning base station subsystem are the same, and the heights of the positioning base stations in different positioning base station subsystems are different; the positioning base station system is in the form of a spherical plane.

[0013] The ultrasonic detection data comprises A-mode ultrasonic scanning data; the data processing device is further configured to acquire a B-mode ultrasonic scanning image according to the detection point coordinate, the initial point coordinate and the A-mode ultrasonic scanning data, and perform defect detection on the workpiece to be measured according to the B-mode ultrasonic scanning image.

[0014] The data processing device is further configured to acquire a C-mode ultrasonic scanning image according to the detection point coordinate, the initial point coordinate and the A-mode ultrasonic scanning data, and perform defect detection on the workpiece to be measured according to the C-mode ultrasonic scanning image.

[0015] According to another aspect of the present application, a nondestructive testing method is provided, which is applied to the nondestructive testing system of any embodiment of the present application, and comprises:

[0016] The positioning base station system acquires the initial point coordinate of the mobile scanning device through the positioning tag and sends the initial point coordinate to the data processing device;

[0017] The mobile scanning device acquires the ultrasonic detection data of the workpiece to be measured through the ultrasonic phased array and acquires the detection point coordinate through the photoelectric encoder, and sends the ultrasonic detection data and the detection point coordinate to the data processing device;

[0018] The data processing device performs defect detection on the workpiece to be measured according to the ultrasonic detection data, the detection point coordinate and the initial point coordinate.

[0019] According to another aspect of the present application, there is provided a non-destructive testing device applied to the non-destructive testing system of any of the embodiments of the present application, comprising:

[0020] An initial point acquisition module configured in the positioning base station system, used to acquire initial point coordinates of the mobile scanning device through the positioning tag, and send the initial point coordinates to the data processing device;

[0021] A defect information acquisition module configured in the mobile scanning device, used to acquire ultrasonic detection data of the workpiece to be tested through the ultrasonic phased array, and acquire detection point coordinates through the photoelectric encoder, and send the ultrasonic detection data and the detection point coordinates to the data processing device;

[0022] A defect detection execution module configured in the data processing device, used to perform defect detection on the workpiece to be tested according to the ultrasonic detection data, the detection point coordinates and the initial point coordinates.

[0023] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the non-destructive testing method of any of the embodiments of the present application when executed.

[0024] According to another aspect of the present application, there is provided a computer program product comprising a computer program for implementing the non-destructive testing method of any of the embodiments of the present application when executed by a processor.

[0025] The technical solution of the embodiments of the present application acquires initial point coordinates of the mobile scanning device through the positioning tag by the positioning base station system, acquires ultrasonic detection data of the workpiece to be tested through the ultrasonic phased array probe by the mobile scanning device, and acquires detection point coordinates through the photoelectric encoder, and the data processing device performs defect detection on the workpiece to be tested according to the ultrasonic detection data, the detection point coordinates and the initial point coordinates. Therefore, the defect detection efficiency of the non-destructive testing system is improved, the detection point is closely related to the defect detection result, and the traceability is strong. At the same time, the hardware cost and control complexity of the non-destructive testing system are low, and the non-destructive testing system is not limited by the type of the workpiece to be tested, and has strong versatility.

[0026] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative effort based on the accompanying drawings should fall into the protection scope of the present application.

[0028] Figure 1 Fig. 1 is a structural schematic diagram of a non-destructive testing system according to an embodiment of the present application;

[0029] Figure 2 Fig. 2 is a front structural schematic diagram of a mobile scanning device according to the embodiment of the present application;

[0030] Figure 3 Fig. 3 is a back structural schematic diagram of the mobile scanning device according to the embodiment of the present application;

[0031] Figure 4 Fig. 4 is a schematic diagram of a positioning base station system drawing a sphere according to the embodiment of the present application;

[0032] Figure 5 Fig. 5 is a structural schematic diagram of another non-destructive testing system according to another embodiment of the present application;

[0033] Figure 6 Fig. 6 is a flow chart of a non-destructive testing method according to another embodiment of the present application;

[0034] Figure 7 Fig. 7 is a structural schematic diagram of a non-destructive testing device according to another embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative effort based on the accompanying drawings should fall into the protection scope of the present application.

[0036] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged under appropriate circumstances so that the embodiments of the application described herein can be implemented in sequences other than those illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a list of steps or units as processes, methods, systems, products, or apparatuses does not necessarily limit those steps or units to those clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, systems, products, or apparatuses.

[0037] Embodiment one

[0038] Figure 1 A structural schematic diagram of a non-destructive testing system provided for the first embodiment of the present application is shown in Figure 1 The non-destructive testing system includes a mobile scanning device 100, a positioning base station system 200, and a data processing device 300; the positioning base station system 200 includes at least one positioning base station 201; the mobile scanning device 100 includes a positioning tag 101, an optical encoder 102, and an ultrasonic phased array 103; the mobile scanning device 100 is in communication connection with the data processing device 300, for acquiring ultrasonic detection data of a workpiece to be detected through the ultrasonic phased array 103, and acquiring detection point coordinate through the optical encoder 102.

[0039] Specifically, the optical encoder 102 can include a rotary optical encoder 102 and a mobile optical encoder 102; taking the rotary optical encoder 102 as an example, it converts the mechanical geometric displacement amount on the output shaft into a pulse or digital quantity sensor through photoelectric conversion, which is composed of light source, grating and light detector, the light source emits light to the surface of the object, the grating divides the incident light into a plurality of different beams, the light detector measures the position and light intensity change of these beams and converts them into electrical signals, and then determines the specific position and motion state by decoding these electrical signals.

[0040] The photoelectric encoder 102 can be arranged at the bottom of the mobile scanning device 100, and the photoelectric encoder 102 records the coordinates of the mobile scanning device 100 in the local coordinate system synchronously while the mobile scanning device 100 is constantly moving; wherein the local coordinate system is constructed with the initial position of the mobile scanning device (i.e. the static position before starting to move) as the origin, and the initial position is specifically the position of the positioning label 101, and since the relative position of the positioning label 101 and the photoelectric encoder 102 is fixed, the initial position of the photoelectric encoder 102 in the local coordinate system can also be known, and thus the position information of each moving point recorded by the photoelectric encoder 102, i.e. the coordinates of the moving point in the local coordinate system, is reflected.

[0041] The ultrasonic phased array 103 is composed of a plurality of radiation units arranged in an array, and by controlling the amplitude and phase of each radiation unit in the array antenna, the radiation direction of the electromagnetic wave is adjusted, so that a flexible and fast focused scanning radar beam is synthesized in a certain spatial range, for example, the ultrasonic phased array 103 can be composed of 64 radiation units; while the mobile scanning device 100 is constantly moving, the ultrasonic phased array 103 synchronously records the detection data (i.e. ultrasonic detection data, for example, A-mode ultrasonic scanning data) of each detection point on the workpiece to be measured.

[0042] Since the relative position of the photoelectric encoder 102 and the ultrasonic phased array 103 is fixed, each moving point recorded by the photoelectric encoder 102 has a corresponding detection point of the ultrasonic phased array 103, that is, the coordinates of the detection point of the ultrasonic phased array 103 can be obtained at this time; thus, the ultrasonic detection data of each detection point on the workpiece to be measured obtained by the ultrasonic phased array 103 can be associated with the corresponding detection point coordinates; wherein the detection point coordinates also refer to the coordinates of the detection point in the local coordinate system.

[0043] Optionally, in the embodiment of the present application, the mobile scanning device 100 comprises a cross beam 104, and the cross beam 104 is arranged with a sliding rail groove 105; the positioning label 101 is connected to the sliding rail groove 105 of the cross beam 104 through a first connecting frame 106, the photoelectric encoder 102 is connected to the sliding rail groove 105 of the cross beam 104 through a second connecting frame 107, and the ultrasonic phased array 103 is connected to the sliding rail groove 105 of the cross beam 104 through a third connecting frame 108; wherein the first connecting frame 106, the second connecting frame 107 and the third connecting frame 108 are all fixed in the sliding rail groove 105 of the cross beam 104 by screws 109.

[0044] Specifically, as shown in FIG. 1, the mobile scanning device 100 comprises a positioning label 101, a photoelectric encoder 102 and an ultrasonic phased array 103. Figure 2 and Figure 3As shown, the slide rail groove 105 is arranged on the crossbeam 104 of the mobile scanning device 100, the positioning label 101 is connected to the slide rail groove 105 of the crossbeam 104 through the first connecting frame 106, the bottom of the first connecting frame 106 is fixed in the slide rail groove 105 of the crossbeam 104 through the screw 109; the photoelectric encoder 102 is connected to the slide rail groove 105 of the crossbeam 104 through the second connecting frame 107, the top of the second connecting frame 107 is fixed in the slide rail groove 105 of the crossbeam 104 through the screw 109; the ultrasonic phased array 103 is connected to the slide rail groove 105 of the crossbeam 104 through the third connecting frame 108, the top of the third connecting frame 108 is fixed in the slide rail groove 105 of the crossbeam 104 through the screw 109; thus, through the fixing effect of the slide rail groove 105 and the screw 109, the positions of the positioning label 101, the photoelectric encoder 102 and the ultrasonic phased array 103 are stable during the movement of the mobile scanning device 100, and the deviation of the defect detection result caused by the vibration of the device is avoided.

[0045] In addition, the mobile scanning device 100 is driven by the driving device arranged inside to drive the four rollers 110 outside to roll forward, the driving device can be in communication connection with the data processing device 300, and is used for acquiring the scanning execution instruction sent by the data processing device 300; the two rear rollers 110 of the mobile scanning device 100 are directly connected to the crossbeam 104 of the mobile scanning device 100, and the two front rollers 110 are connected to the slide rail groove 105 of the crossbeam 104 through the fourth connecting frame 111 and the fifth connecting frame 112 respectively, and the top of the fourth connecting frame 111 and the fifth connecting frame 112 is also fixed in the slide rail groove 105 of the crossbeam 104 through the screw 109.

[0046] In particular, the back of the mobile scanning device 100 can also be provided with a handle 113, when the driving device fails to drive the mobile scanning device 100, the mobile scanning device 100 can be pushed forward by the handle 113 with external force; and the mobile scanning device 100 and the data processing device 300 can communicate through a wired mode, for example, through the first communication line 114 for communication, or through the first wireless communication module arranged inside the mobile scanning device 100 for communication.

[0047] Optionally, in the embodiment of the present application, the positioning base station system 200 includes a plurality of positioning base stations 201 distributed at different positions; the positioning base station system 200 is specifically used for drawing a sphere with each positioning base station 201 as the origin, and taking the intersection of each sphere as the initial point of the mobile scanning device 100; wherein the radius of each sphere is the interval distance between the current positioning base station 201 and the mobile scanning device 100.

[0048] Specifically, the positioning base station 201 can communicate with the positioning tag 101 through wireless communication, for example, through Ultra-Wide Band (UWB) communication, that is, the positioning base station 201 and the positioning tag 101 are actually electronic devices with UWB communication function at this time; the positioning base stations 201 distributed at different positions near the workpiece to be measured all send communication signals to the positioning tag 101 and obtain feedback signals of the positioning tag 101, the positioning base station 201 determines the transmission time of the communication signal according to the sending time and the receiving time, and then obtains the interval distance between itself and the positioning tag 101 according to the signal transmission speed and the signal transmission time, and each positioning base station 201 sends the above interval distance to the master positioning base station 201.

[0049] Since each positioning base station 201 is located at a fixed position, the master positioning base station 201 can know the position of each slave positioning base station 201, and take each positioning base station 201 as the origin, respectively, and draw a sphere with the interval distance between the current positioning base station 201 and the positioning tag 101 as the radius, and the intersection point of each sphere is the position of the mobile scanning device 100, that is, the initial point coordinate of the positioning tag 101 of the mobile scanning device 100 in the global coordinate system.

[0050] As shown in Figure 4 , taking the intersection point of the spheres drawn by the four positioning base stations 201 as an example, the initial point coordinate of the mobile scanning device 100 is obtained. Thus, when the positioning base station 201 cannot directly obtain the initial point coordinate of the mobile scanning device 100 through the positioning tag 101, the precise positioning of the mobile scanning device 100 can be realized by the multiple positioning base stations 201 arranged near the workpiece to be measured, which greatly improves the application range of the nondestructive testing system.

[0051] The positioning base station system 200 is in communication connection with the data processing device 300, and is used to obtain the initial point coordinate of the mobile scanning device 100 through the positioning tag 101. The positioning base station 201 is a position detection device located at a fixed position, for example, the positioning base station 201 can include a profile scanner, which obtains the profile information and the interval distance of the mobile scanning device 100 through the emitted laser scanning signal. Since the positioning tag 101 is located at a fixed position in the mobile scanning device 100, the position of the positioning tag 101, that is, the initial point coordinate of the positioning tag 101 in the global coordinate system, can be obtained according to the profile information and the interval distance of the mobile scanning device 100; wherein the global coordinate system is a coordinate system constructed with the position of the positioning base station 201 as the origin; when the positioning base station system 200 includes multiple positioning base stations 201, any one of the positioning base stations 201 can be specified as the master positioning base station 201, and the master positioning base station 201 completes the above operation.

[0052] The data processing device 300 is configured to perform defect detection on the workpiece to be detected according to the ultrasonic detection data, the detection point coordinates and the initial point coordinates. According to the initial point coordinates of the mobile scanning device 100, the point mapping relationship between the local coordinate system and the global coordinate system can be obtained, so that the detection point in the local coordinate system can be mapped to the global coordinate system, that is, the data processing device 300 can obtain the coordinates of each detection point on the workpiece to be detected in the global coordinate system, and meanwhile, the corresponding ultrasonic detection data of each detection point can be obtained.

[0053] The ultrasonic detection data can include one or more types of ultrasonic scanning data, for example, A-mode ultrasonic scanning data, B-mode ultrasonic scanning data and C-mode ultrasonic scanning data, etc. For the scanning images corresponding to different types of scanning data, the corresponding type of scanning image can be identified by the pre-trained image recognition model to determine whether there is a defect in the scanning image and the position of the defect; wherein the image recognition model can be pre-built and trained based on artificial neural network technology; in addition, the data processing device 300 can also display different types of ultrasonic scanning images to the detection personnel to guide the detection personnel to complete manual detection.

[0054] Optionally, in the embodiment of the present application, the ultrasonic detection data includes A-mode ultrasonic scanning data; the data processing device 300 is further configured to obtain B-mode ultrasonic scanning images according to the detection point coordinates, the initial point coordinates and the A-mode ultrasonic scanning data, and perform defect detection on the workpiece to be detected according to the B-mode ultrasonic scanning images.

[0055] Specifically, the A-mode ultrasonic scanning image is actually a waveform graph, the horizontal coordinate (i.e. t-axis) represents time, and the vertical coordinate (i.e. z-axis) represents amplitude. According to the shape of the waveform, it can be determined whether there is an abnormality and a defect in the measured object, as well as the position and size of the defect; as described in the above technical solution, the ultrasonic phased array 103 in the embodiment of the present application can be composed of 64 radiation units, and the 64 radiation units are arranged along the y-axis. Therefore, according to the A-mode ultrasonic scanning images obtained by the 64 radiation units respectively, a B-mode ultrasonic scanning image can actually be formed. The B-mode ultrasonic scanning image is a probe image composed of t-axis, y-axis and z-axis, which reflects the detection defects of the 64 radiation units in the arrangement direction. Therefore, when the A-mode ultrasonic scanning data is obtained by the ultrasonic phased array 103, the B-mode ultrasonic scanning image can be obtained at the same time, and the defect detection based on the B-mode ultrasonic scanning image can be realized, which expands the ultrasonic detection mode of the workpiece to be detected and ensures the comprehensiveness of the defect detection result.

[0056] Optionally, in the embodiment of the present application, the data processing device 300 is further configured to acquire a C-mode ultrasonic scan image according to the detection point coordinates, the initial point coordinates and the A-mode ultrasonic scan data, and perform defect detection on the workpiece to be measured according to the C-mode ultrasonic scan image.

[0057] Specifically, assuming that the mobile scanning device 100 moves along the x-axis direction, after acquiring the B-mode ultrasonic scan image of each detection point of the mobile scanning device 100, the B-mode ultrasonic scan images of all the detection points can actually form an exploration image represented by the t-axis, the y-axis, the z-axis and the x-axis. After specifying an arbitrary depth on the z-axis, the exploration image formed by the t-axis, the y-axis and the x-axis at the depth can be acquired, which represents the defect detection result at the current depth, i.e., the C-mode ultrasonic scan image at the depth is acquired. Thus, when the A-mode ultrasonic scan data is acquired by the ultrasonic phased array 103, the C-mode ultrasonic scan image can be acquired at the same time when the A-mode ultrasonic scan image is generated, and the defect detection based on the C-mode ultrasonic scan image is realized, which expands the ultrasonic detection mode of the workpiece to be measured and ensures the comprehensiveness of the defect detection result.

[0058] The technical scheme of the embodiment of the present application is that the positioning base station system acquires the initial point coordinates of the mobile scanning device through the positioning tag, the mobile scanning device acquires the ultrasonic detection data of the workpiece to be measured through the ultrasonic phased array probe, and acquires the detection point coordinates through the photoelectric encoder, and the data processing device performs defect detection on the workpiece to be measured according to the ultrasonic detection data, the detection point coordinates and the initial point coordinates. Not only the defect detection efficiency is improved, but also the detection point is closely related to the defect detection result and has strong traceability. Meanwhile, the hardware cost and control complexity are low, and the type of the workpiece to be measured is not limited, and the device has strong versatility.

[0059] Embodiment two

[0060] Figure 5 A structure diagram of a nondestructive testing system provided by the embodiment two of the present application is shown in FIG. 2. Figure 5 As shown in FIG. 2, the positioning base station system 200 includes two positioning base station subsystems, each of which includes at least two positioning base stations 201. The heights of the positioning base stations 201 in the same positioning base station subsystem are the same, and the heights of the positioning base stations 201 in different positioning base station subsystems are different. The positioning base station system 200 presents in the form of a spherical plane.

[0061] Figure 5For example, the four A positioning base stations 201 in the A positioning base station subsystem are low in height and arranged in a rectangular manner around the workpiece to be measured; the four B positioning base stations 201 in the B positioning base station subsystem are high in height, for example, the height of the B positioning base station 201 is twice the height of the A positioning base station 201, and each B positioning base station 201 is located at the midpoint of two adjacent A positioning base stations 201, and the entire positioning base station system 200 as a whole presents a spherical plane.

[0062] Therefore, when the spheres are drawn by the positioning base stations 201 in different positioning base station subsystems, it is ensured that the intersection points of the spheres are intersection points in a three-dimensional space, that is, it is ensured that the heights of at least two spheres are different, and meanwhile, it is also possible to avoid that due to the excessively large difference in the heights of the positioning base stations 201, the degree of obstruction of the signal transmission paths by the obstruction is different, the transmission speed and transmission time of part of the transmission signals are deviated, and the calculation result of the initial point coordinates of the mobile scanning device 200 is deviated. In particular, the positioning base station system 200 can communicate with the data processing device 300 based on a wired manner, for example, through the second communication line 301, or can communicate through the second wireless communication module arranged in the main positioning base station 201.

[0063] The technical scheme of the embodiment of the present application is that the positioning base station system includes two positioning base station subsystems, each positioning base station subsystem includes at least two positioning base stations, the heights of the positioning base stations in the same positioning base station subsystem are the same, the heights of the positioning base stations in different positioning base station subsystems are different, and the positioning base station system presents a spherical plane. Therefore, when the spheres are drawn by the positioning base stations in different positioning base station subsystems, it is ensured that the intersection points of the spheres are intersection points in a three-dimensional space, that is, it is ensured that the heights of at least two spheres are different, and meanwhile, it is also possible to avoid that due to the excessively large difference in the heights of the positioning base stations, the degree of obstruction of the signal transmission paths by the obstruction is different, the transmission speed and transmission time of part of the transmission signals are deviated, and the calculation result of the initial point coordinates of the mobile scanning device is deviated.

[0064] Embodiment Three

[0065] Figure 6 A flowchart of a nondestructive testing method provided by the third embodiment of the present application is shown in the figure. The method can be executed by a nondestructive testing device, which can be realized in the form of hardware and / or software, and can be configured in the nondestructive testing system in any embodiment of the present application. As shown in the figure, the method includes the following steps. Figure 6

[0066] ​S601, the positioning base station system acquires the initial point coordinate of the mobile scanning device through the positioning tag, and sends the initial point coordinate to the data processing device.

[0067] S602, the mobile scanning device acquires the ultrasonic detection data of the workpiece to be measured through the ultrasonic phased array, and acquires the detection point coordinate through the photoelectric encoder, and sends the ultrasonic detection data and the detection point coordinate to the data processing device.

[0068] S603, the data processing device performs defect detection on the workpiece to be measured according to the ultrasonic detection data, the detection point coordinate and the initial point coordinate.

[0069] The technical scheme of the embodiment of the application, the positioning base station system acquires the initial point coordinate of the mobile scanning device through the positioning tag, the mobile scanning device acquires the ultrasonic detection data of the workpiece to be measured through the ultrasonic phased array probe, and acquires the detection point coordinate through the photoelectric encoder, and the data processing device performs defect detection on the workpiece to be measured according to the ultrasonic detection data, the detection point coordinate and the initial point coordinate; not only improves the defect detection efficiency, but also makes the detection point and the defect detection result closely related, and has strong traceability, at the same time, the hardware cost and the control complexity are relatively low, and it is not limited by the type of the workpiece to be measured, and has strong general type.

[0070] Embodiment four

[0071] Figure 7 is a structural block diagram of a nondestructive testing device provided by the fourth embodiment of the application, which specifically comprises:

[0072] The initial point acquisition module 701 is configured in the positioning base station system, and is used for acquiring the initial point coordinate of the mobile scanning device through the positioning tag, and sending the initial point coordinate to the data processing device;

[0073] The defect information acquisition module 702 is configured in the mobile scanning device, and is used for acquiring the ultrasonic detection data of the workpiece to be measured through the ultrasonic phased array, and acquiring the detection point coordinate through the photoelectric encoder, and sending the ultrasonic detection data and the detection point coordinate to the data processing device;

[0074] The defect detection execution module 703 is configured in the data processing device, and is used for performing defect detection on the workpiece to be measured according to the ultrasonic detection data, the detection point coordinate and the initial point coordinate.

[0075] The technical scheme of the embodiment of the present application, the positioning base station system obtains the initial point coordinate of the mobile scanning device through the positioning tag, the mobile scanning device obtains the ultrasonic detection data of the workpiece to be detected through the ultrasonic phased array probe, and obtains the detection point coordinate through the photoelectric encoder, and the data processing device detects defects of the workpiece to be detected according to the ultrasonic detection data, the detection point coordinate and the initial point coordinate; not only the defect detection efficiency is improved, but also the detection point and the defect detection result are closely related, the traceability is strong, at the same time, the hardware cost and the control complexity are low, and the type of the workpiece to be detected is not limited, and the general type is strong.

[0076] The above device can perform the nondestructive testing method provided by any embodiment of the present application, has the corresponding function modules and beneficial effects of the execution method. Technical details not described in detail in the present embodiment can be referred to the nondestructive testing method provided by any embodiment of the present application.

[0077] Embodiment five

[0078] In some embodiments, the nondestructive testing method can be implemented as a computer program, which is tangibly contained in a computer readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on the heterogeneous hardware accelerator via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the processor, one or more steps of the nondestructive testing method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform the nondestructive testing method by any other appropriate means (for example, by means of firmware).

[0079] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0080] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be implemented in a high level procedural or object oriented programming language to communicate with a computer processing unit or processing units. These computer programs can be implemented in assembly or machine language, if desired. In any case, the language can be a compiled or interpreted language. Computer programs used to implement the methods of the present application can be provided to a computer processing unit or processing units via a suitable medium (e.g., floppy disk, CD-ROM, etc.) or signal (e.g., via a communications network or by wireline). The computer programs can be stored in any

[0081] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the computer-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0082] To provide for interaction with a user, the systems and techniques described here can be implemented on a heterogeneous hardware accelerator having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the heterogeneous hardware accelerator. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0083] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0084] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0085] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in series, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0086] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A nondestructive testing system, characterized in that: include: Mobile scanning equipment, positioning base station system and data processing equipment; the positioning base station system includes at least one positioning base station; the mobile scanning equipment includes a positioning tag, a photoelectric encoder and an ultrasonic phased array; The mobile scanning device is in communication with the data processing device and is used to obtain ultrasonic detection data of the workpiece to be detected through an ultrasonic phased array and to obtain detection point coordinates through a photoelectric encoder; The positioning base station system is in communication with the data processing device and is used to obtain the initial point coordinates of the mobile scanning device through the positioning tag; The data processing device is used to perform defect detection on the workpiece to be detected based on the ultrasonic detection data, the detection point coordinates and the initial point coordinates.

2. The nondestructive testing system according to claim 1, characterized in that The mobile scanning device includes a crossbeam, and the crossbeam is configured with a slide rail groove; The positioning tag is connected to the slide rail groove of the crossbeam through a first connecting frame, the photoelectric encoder is connected to the slide rail groove of the crossbeam through a second connecting frame, and the ultrasonic phased array is connected to the slide rail groove of the crossbeam through a third connecting frame; wherein, the first connecting frame, the second connecting frame and the third connecting frame are all fixed in the slide rail groove of the crossbeam by screws.

3. The nondestructive testing system according to claim 1, characterized in that The positioning base station system includes a plurality of positioning base stations distributed at different locations; The positioning base station system is specifically used to draw spheres with each positioning base station as the origin, and use the intersection of each sphere as the initial point position of the mobile scanning device; wherein the radius of each sphere is the interval distance between the current positioning base station and the mobile scanning device.

4. The nondestructive testing system according to claim 3, characterized in that The positioning base station system includes two positioning base station subsystems, each positioning base station subsystem includes at least two positioning base stations; the heights of the positioning base stations in the same positioning base station subsystem are the same, and the heights of the positioning base stations in different positioning base station subsystems are different; the positioning base station system is presented in the form of a spherical plane.

5. The nondestructive testing system according to claim 1, characterized in that The ultrasonic detection data includes A-type ultrasonic scanning data; The data processing device is further used to obtain a B-type ultrasonic scanning image based on the detection point coordinates, the initial point coordinates and the A-type ultrasonic scanning data, and perform defect detection on the workpiece to be tested based on the B-type ultrasonic scanning image.

6. The nondestructive testing system according to claim 5, characterized in that: The data processing device is further used to obtain a C-type ultrasonic scanning image based on the detection point coordinates, the initial point coordinates and the A-type ultrasonic scanning data, and perform defect detection on the workpiece to be tested based on the C-type ultrasonic scanning image.

7. A non-destructive testing method, characterized in that: The nondestructive testing system according to any one of claims 1 to 6 comprises: The positioning base station system obtains the initial point coordinates of the mobile scanning device through the positioning tag and sends the initial point coordinates to the data processing device; The mobile scanning device acquires ultrasonic detection data of the workpiece to be measured through an ultrasonic phased array, and acquires detection point coordinates through a photoelectric encoder, and sends the ultrasonic detection data and the detection point coordinates to a data processing device; The data processing equipment performs defect detection on the workpiece to be detected according to the ultrasonic detection data, the detection point coordinates and the initial point coordinates.

8. A nondestructive testing device, characterized in that: The nondestructive testing system according to any one of claims 1 to 6 comprises: An initial point acquisition module, configured in the positioning base station system, is used to obtain the initial point coordinates of the mobile scanning device through the positioning tag and send the initial point coordinates to the data processing device; a defect information acquisition module, configured on the mobile scanning device, for acquiring ultrasonic detection data of the workpiece to be detected through an ultrasonic phased array, and acquiring detection point coordinates through a photoelectric encoder, and sending the ultrasonic detection data and the detection point coordinates to a data processing device; The defect detection execution module is configured in the data processing device and is used to perform defect detection on the workpiece to be detected based on the ultrasonic detection data, the detection point coordinates and the initial point coordinates.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the nondestructive testing method according to claim 7 when executed.

10. A computer program product comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the non-destructive testing method according to claim 7.

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