A weld detection method, a detection device, a storage medium, and a program product

Abstract

The embodiment of the present application provides a kind of weld automatic detection method, detection equipment, storage medium and program product, it is related to ultrasonic testing technical field, the method comprises: determining the refraction angle and the scanning distance corresponding to each probe;When trolley uniform velocity runs, control probe reciprocates in the first direction according to corresponding scanning distance, and control probe emits ultrasonic wave according to corresponding refraction angle, wherein, trolley in running process, wherein shaft position coincides with the extension direction of the weld to be measured, the extension direction of the weld to be measured is perpendicular to the first direction;Corresponding echo signal of each probe is received, and first detection image is generated according to echo signal;Whether the weld to be measured exists defect is detected based on first detection image.The present application can realize the automation control of weld detection process, improve detection efficiency and defect identification precision.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic testing technology, and in particular to an automatic weld inspection method, inspection equipment, storage medium, and program product. Background Technology

[0002] In the field of industrial non-destructive testing, ultrasonic testing technology is widely used for internal quality inspection of welds to identify defects such as cracks, slag inclusions, porosity, and delamination in welds.

[0003] Existing ultrasonic weld inspection technologies typically rely on inspectors manually controlling the probe for scanning, which affects inspection efficiency and the stability of the inspection process. At the same time, defect determination mainly depends on the experience and skill level of the inspectors, making it difficult to guarantee the accuracy of the inspection results. Summary of the Invention

[0004] This invention provides a weld inspection method, inspection equipment, storage medium, and program product, which can realize automated control of the weld inspection process and improve inspection efficiency and defect identification accuracy.

[0005] In a first aspect, the weld inspection method provided in this embodiment of the invention is applied to an inspection device. The inspection device is mounted on a trolley and moves under the drive of the trolley. A probe is respectively mounted on both sides of the trolley, and the inspection device is electrically connected to each probe. The method includes: determining the refraction angle and scanning distance corresponding to each probe; controlling the probe to reciprocate in a first direction according to the corresponding scanning distance while the trolley is moving at a constant speed, and controlling the probe to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the central axis position coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction; receiving the echo signal corresponding to each probe, and generating a first inspection image based on the echo signal; and detecting whether there is a defect in the weld to be tested based on the first inspection image.

[0006] Secondly, the weld inspection device provided in this embodiment of the invention is integrated into an inspection device. The inspection device is mounted on a trolley and moves under the drive of the trolley. A probe is respectively mounted on both sides of the trolley, and the inspection device is electrically connected to each probe. The device includes: a probe determination module for determining the refraction angle and scanning distance corresponding to each probe; a control module for controlling the probe to reciprocate along a first direction at the corresponding scanning distance while the trolley is moving at a constant speed, and controlling the probe to emit ultrasonic waves according to the corresponding refraction angle, wherein, during the movement of the trolley, its central axis position coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction; a signal receiving module for receiving the echo signal corresponding to each probe and generating a first inspection image based on the echo signal; and a detection module for detecting whether there are defects in the weld to be tested based on the first inspection image.

[0007] Thirdly, the detection device provided in the embodiments of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the weld detection method as described in any embodiment of the present invention.

[0008] Fourthly, the computer-readable storage medium provided in the embodiments of the present invention stores a computer program thereon, which, when executed by a processor, implements the weld inspection method as described in any embodiment of the present invention.

[0009] Fifthly, the computer program product provided in the embodiments of the present invention includes a computer program that, when executed by a processor, implements the weld inspection method as described in any embodiment of the present invention.

[0010] In this embodiment of the invention, by determining the refraction angle and scanning distance corresponding to each probe, parameter basis is provided for subsequent probe control, thereby improving the controllability of the detection process. When the trolley is moving at a constant speed, the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance, and the probe is controlled to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction. This can replace the manual operation in the traditional weld inspection process and improve the automation level of the inspection process. The echo signal corresponding to each probe is received, and a first detection image is generated based on the echo signal. Based on the first detection image, the presence of defects in the weld to be tested can be detected, which can realize the automatic detection of weld defects and improve the detection efficiency and detection accuracy. Attached Figure Description

[0011] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart of a weld inspection method provided in an embodiment of the present invention; Figure 2 This is another schematic diagram of the weld inspection method provided in the embodiment of the present invention; Figure 3 This is an example diagram of the trolley and its relative position to the weld provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a weld inspection device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the detection device provided in an embodiment of the present invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0015] Figure 1 This is a schematic flowchart of a weld inspection method provided in an embodiment of the present invention. The weld inspection method provided in this embodiment is applicable to scenarios involving automated ultrasonic testing of welds in industrial non-destructive testing. This weld inspection method can be executed by a weld inspection device provided in this embodiment, which can be implemented using software and / or hardware. In a specific embodiment, the device can be integrated into a testing equipment. The following embodiment uses the integration of a data migration device into a testing equipment as an example for illustration.

[0016] The weld inspection method of this embodiment is applied to an inspection device. The inspection device is mounted on a trolley and moves under the drive of the trolley. A probe is installed on each side of the trolley, and the inspection device is electrically connected to each probe. (See also...) Figure 1 The data migration method in this embodiment may include the following steps: Step 101: Determine the refraction angle and scanning distance for each probe.

[0017] The angle of refraction refers to the angle of propagation of the ultrasonic wave emitted by the probe relative to the normal direction of the incident interface as it propagates within the workpiece after the probe enters the workpiece. Different angles of refraction correspond to different ultrasonic beam propagation paths, used for coverage inspection of different areas of the weld. The scanning distance refers to the range of movement of the probe when it reciprocates in a direction perpendicular to the weld extension direction. It characterizes the scanning width of the probe in the lateral direction and can be determined based on the probe's angle of refraction and the workpiece thickness.

[0018] Specifically, based on the potential locations of defects in the workpiece under test, the weld inspection area to be covered is determined. Based on the geometric relationship between the weld inspection area to be covered and the ultrasonic beam propagation path, the refraction angle corresponding to each probe is determined. For example, a larger refraction angle can be selected when defects are likely concentrated in the shallow layer of the weld, and a smaller refraction angle can be selected when defects are likely concentrated in the deep layer of the weld. Based on the tangent of the refraction angle (K) and the thickness (T) of the workpiece under test, the coverage width P (P=2KT) of the ultrasonic beam in the direction perpendicular to the weld is calculated. To ensure sufficient coverage overlap between adjacent scanning paths and avoid missed detection areas, the scanning distance is set to a preset distance greater than the coverage width to ensure continuous and effective coverage of the weld area during the scanning process. Furthermore, the beam coverage width of adjacent scanning paths is at least 10% of the probe chip width.

[0019] Step 102: When the trolley is moving at a constant speed, control the probe to reciprocate in the first direction according to the corresponding scanning distance, and control the probe to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction.

[0020] Ultrasonic waves are high-frequency mechanical waves generated by the vibration of a piezoelectric crystal in a probe. In this embodiment, the probe structure, crystal size, and incident conditions are configured according to the refraction angle so that the ultrasonic waves propagate in the workpiece under test according to the corresponding refraction angle and form an ultrasonic beam propagation path.

[0021] Specifically, while controlling the trolley to travel at a constant speed along the extension direction of the weld to be tested, the position of the trolley's central axis is always aligned with the extension direction of the weld to be tested. At the same time, the probe set on the trolley is controlled to periodically reciprocate in a first direction perpendicular to the extension direction of the weld, according to a determined scanning distance, so as to achieve a comprehensive scan of the transverse area of ​​the weld to be tested. Furthermore, when the probe emits ultrasonic signals, the parameters of the ultrasonic incident conditions are configured according to the refraction angle, so that the ultrasonic waves propagate in the workpiece under test according to the corresponding refraction angle, forming an ultrasonic beam, thereby achieving comprehensive detection of the weld to be tested.

[0022] Step 103: Receive the echo signal corresponding to each probe and generate the first detection image based on the echo signal.

[0023] The echo signal refers to the ultrasonic electrical signal emitted by the ultrasonic probe, which is reflected back to the probe receiver when it encounters interfaces with different acoustic impedances during propagation in the workpiece under test. It includes reflected signals from different interfaces such as the workpiece surface, bottom surface, internal structure, and defects, and carries time, amplitude, and waveform information for subsequent detection analysis and defect identification. The first detection image refers to image data generated through signal processing and conversion based on the echo signal received by the probe, used to characterize the detection information. In one specific implementation, the first detection image is an A-scan image, used to reflect the waveform characteristics of the corresponding echo signal from the probe in a time-amplitude format, thereby reflecting the reflection of ultrasonic waves at local locations within the workpiece under test.

[0024] Specifically, after receiving the ultrasonic signal reflected back from inside the workpiece by each probe, the signal is processed and converted into an A-scan image to characterize the ultrasonic echo features.

[0025] Step 104: Detect whether there are defects in the weld to be tested based on the first detection image.

[0026] The weld to be tested refers to the welded joint area that needs to be ultrasonically inspected. Defects refer to abnormal structures or discontinuities existing inside or on the surface of the weld to be tested, including cracks, porosity, lack of fusion, and slag inclusions, which usually cause abnormal echo signals during ultrasonic wave propagation.

[0027] Specifically, the two first detection images corresponding to the same detection position are analyzed to obtain the corresponding echo data such as amplitude, time and waveform characteristics. The echo data is then compared with normal echo data. When the echo amplitude exceeds the threshold, the echo time deviates, or the waveform characteristics are abnormal, it is determined that there is a defect in the weld at the corresponding detection position, thereby realizing the detection of abnormal areas inside the weld.

[0028] Optionally, the trolley is also equipped with a data acquisition device, which is electrically connected to the detection device. The weld detection method also includes: acquiring running images collected by the data acquisition device in real time during the trolley's movement; sending the running images and the first detection image to the interactive terminal; receiving correction signals sent by the interactive terminal, and adjusting the trolley's running parameters according to the correction signals. The correction signals are generated by the inspection personnel after judging that the trolley's running status is abnormal based on the running images and the first detection image.

[0029] The data acquisition device refers to the image acquisition unit, such as a camera or vision sensor, installed on the inspection vehicle to collect its operating status during movement. The running image refers to the image data acquired by the acquisition device reflecting the operating status of the inspection vehicle during its movement. The interactive terminal refers to the device that receives data and allows inspection personnel to observe and make judgments, such as AR glasses or a remote control terminal. The correction signal refers to the control command sent to the vehicle by the inspection personnel on the interactive terminal after determining that the vehicle's operation is abnormal based on the running image and the inspection image.

[0030] Specifically, the trolley is equipped with data acquisition devices. As the trolley travels along the weld seam to be inspected, these devices capture real-time images and simultaneously send them, along with the first generated inspection image, to an interactive terminal. Inspectors use the interactive terminal to comprehensively analyze the images to determine if there are any abnormalities in the trolley's operation. If abnormalities are found (e.g., excessively fast / slow speed, deviation from the weld seam, unstable trajectory), a correction signal is generated and sent. Upon receiving the correction signal, the inspection equipment adjusts the trolley's operating parameters accordingly, such as adjusting its speed and path. This method enables real-time monitoring and adjustment of the trolley's operating status and the inspection process, thereby improving the stability of the weld seam inspection process and the accuracy of the results, and avoiding missed detections or misjudgments due to trolley malfunctions.

[0031] In addition, the operational images may also include image data reflecting the probe's operational status acquired by the acquisition device during the trolley's movement. The inspection personnel perform comprehensive analysis of the operational images and the first inspection images through an interactive terminal to determine whether there are any abnormalities in the probe's operational status. If there are abnormalities (e.g., the scanning distance is too large or too small), a correction signal is generated and sent. After receiving the correction signal, the inspection device adjusts the probe's operational parameters according to the correction signal, thereby realizing real-time monitoring and adjustment of the probe's operational status and the inspection process. This improves the stability of the weld inspection process and the accuracy of the inspection results, avoiding missed detections or misjudgments due to abnormal probe operation.

[0032] In this embodiment, by determining the refraction angle and scanning distance corresponding to each probe, parameter basis is provided for subsequent probe control, thereby improving the controllability of the detection process. When the trolley is moving at a constant speed, the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance, and the probe is controlled to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction. This can replace the manual operation in the traditional weld inspection process and improve the automation level of the inspection process. The echo signal corresponding to each probe is received, and a first detection image is generated based on the echo signal. Based on the first detection image, the presence of defects in the weld to be tested can be detected, which can realize the automatic detection of weld defects and improve the detection efficiency and detection accuracy.

[0033] The weld inspection method of this embodiment is applied to an inspection device. The inspection device is mounted on a trolley and moves under the drive of the trolley. A probe is set on each side of the trolley, and the inspection device is electrically connected to each probe. Figure 2 This is another schematic flowchart of the weld inspection method provided in this embodiment of the invention, as shown below. Figure 2 As shown, the weld inspection method of this embodiment may include: Step 201: Determine the refraction angle and scanning distance for each probe.

[0034] Optionally, the refraction angle and scanning distance corresponding to each probe are determined, including: selecting the refraction angle corresponding to each probe according to the structural parameters of the welded joint of the workpiece to be tested; and determining the scanning distance corresponding to each probe according to the refraction angle corresponding to each probe and the thickness of the workpiece to be tested.

[0035] Welded joint structural parameters refer to the characteristic parameters of the weld and its surrounding structure, including workpiece thickness, weld type (butt weld / T-weld / fillet weld), bevel type (V-groove / U-groove), and weld width. The workpiece thickness to be measured refers to the thickness dimension of the welded workpiece within the inspection area.

[0036] Specifically, based on the structural parameters of the welded joint of the workpiece under test, the possible locations of defects are determined, and a suitable refraction angle is selected accordingly to ensure that the ultrasonic beam can cover the target inspection area of ​​the weld. Furthermore, the tangent value (K) can be determined based on the refraction angle corresponding to each probe. Based on the tangent value (K) and the thickness (T) of the workpiece under test, the scanning distance corresponding to the probe can be set to 1.25P (P=2KT).

[0037] For example, when the weld joint structural parameters show a single-sided V-groove and a large workpiece thickness, this structural feature indicates a long fusion path during welding, and relatively limited energy transfer in the bottom region. This makes the weld root region more prone to defects such as incomplete penetration or lack of fusion compared to other regions. Therefore, a smaller refraction angle, such as 45°, can be preferentially selected to enhance the coverage of the ultrasonic beam in the deep region. When the weld joint structural parameters show a U-groove, this structural feature indicates a relatively smooth weld transition and a relatively uniform distribution of the fusion area during welding. Defects are more likely to be distributed in the middle region. Therefore, a medium refraction angle, such as 60°, can be selected to achieve effective coverage of the middle region. When the weld joint structural parameters show a V-groove structure with a large opening, this structural feature indicates a relatively large fusion area in the upper region of the weld, and the energy distribution is more biased towards the surface region. Therefore, the probability of defects in the surface region is relatively high. A larger refraction angle, such as 70°, can be selected to achieve comprehensive detection of the surface region.

[0038] Step 202: When the trolley is moving at a constant speed, the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance, and the probe is controlled to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction.

[0039] Optionally, the vehicle's speed can be determined based on the probe's transmission frequency.

[0040] The trolley travel speed refers to the speed at which the detection trolley moves along the weld seam extension direction, used to control the length of the weld seam scanned per unit time. The transmission frequency refers to the number of ultrasonic pulses emitted by the probe per unit time.

[0041] For example, suppose the preset maximum sampling interval is Δx, which can be determined based on the minimum defect size, detection resolution requirements, or experience. During the detection process, the probe emits at a fixed frequency. f Continuous ultrasonic waves are emitted, and the trolley moves at a constant speed along the weld seam. To ensure that the longitudinal sampling density meets the requirement of a maximum sampling interval of Δx, the trolley's speed v should satisfy: v ≤ f ×Δx is used to ensure that the spacing between the collected ultrasonic data points in the longitudinal direction does not exceed the preset maximum sampling spacing during the movement of the trolley, thereby ensuring the continuity of the detection process and the reliability of weld defect identification.

[0042] Step 203: Receive the echo signal corresponding to each probe and generate the first detection image based on the echo signal.

[0043] Step 204: Based on the first detection image of one probe in the Nth detection cycle and the first detection image of another probe in the N+1th detection cycle, determine whether there is a defect at the Nth detection position of the weld to be tested, where N is a positive integer.

[0044] The relative distance between the two probes in the extension direction of the weld to be tested is equal to the product of the trolley's speed and the testing cycle.

[0045] The detection cycle refers to the time interval for generating the first detection image during the constant speed movement of the trolley. The relative distance between adjacent detection positions is determined by multiplying the trolley's speed by the detection cycle. The detection position refers to a discrete spatial location point along the scanning direction of the weld seam to be tested, used to identify the specific spatial region corresponding to the defect.

[0046] Specifically, the relative distance between the two probes in the extension direction of the weld to be tested is predetermined based on the vehicle's speed and the testing cycle, so that the first detection image of one probe in the Nth testing cycle and the first detection image of the other probe in the N+1th testing cycle both correspond to the Nth detection position of the weld to be tested. Subsequently, the two first detection images corresponding to the Nth detection position are comprehensively analyzed to determine whether there is a defect at the Nth detection position of the weld to be tested.

[0047] For example, Figure 3 This is an example diagram of the trolley and its relative position to the weld seam provided in an embodiment of the present invention. Figure 3 As shown, the trolley moves along the extension direction of the weld, and the weld is located at the central axis of the trolley. Two probes are set on each side of the trolley. The two probes are staggered along the weld direction to avoid mutual interference of the ultrasonic waves emitted by the two probes. S is the relative distance between the two probes in the extension direction of the weld to be tested.

[0048] Optionally, the weld inspection method further includes: generating a second inspection image corresponding to each probe based on all the first inspection images corresponding to each probe; if a defect exists at any inspection location, marking the defect location on the second inspection image corresponding to any probe, and sending the marked second inspection image to a remote terminal for visual display of the defect location on the remote terminal.

[0049] The first detection image refers to the image generated by a single probe within one detection cycle based on the echo signal, such as an A-scan image, used to reflect the ultrasonic response characteristics of a local location in the weld. The second detection image refers to a spatial distribution map formed by rearranging and fusing all the first detection images acquired by a single probe over multiple detection cycles, according to the detection location, such as a B-scan image. A remote terminal refers to an external device used to receive and visualize the detection results, such as a computer, server, or mobile terminal.

[0050] Specifically, the first detection images acquired by each probe in multiple detection cycles are processed to generate a second detection image corresponding to each probe. When a defect is found at a certain detection location of the weld to be tested, any second detection image is selected as the display carrier, and the corresponding defect location is selected in the second detection image. At the same time, defect information of the detection location can be added below the selected area, such as one or more of the following: abnormal echo amplitude, defect type, defect length, and defect depth, so as to achieve an intuitive and visual display of the defect location and its characteristic information.

[0051] Step 205: If a defect exists at any detection location, a control command is obtained.

[0052] Control commands refer to the instruction information that controls the trolley and probe to perform secondary ultrasonic testing on the target path containing defects, including target path information.

[0053] Specifically, when the testing equipment detects a defect at any testing location of the weld to be tested, it can automatically generate a control command; when the testing personnel determine that a defect exists at any testing location of the weld to be tested through the interactive terminal, they can manually send a control command through the interactive terminal, thereby achieving flexible control of the testing process.

[0054] Step 206: Control the trolley to travel at a constant speed on the target path according to the control command, and control the probe to reciprocate in the first direction according to the corresponding scanning distance and emit ultrasonic waves according to the corresponding refraction angle to perform secondary detection on the target path, wherein the target path includes at least one detection position with defects.

[0055] Specifically, after receiving the control command, the testing equipment controls the trolley to perform a second inspection of the target path segment of the weld to be tested, in order to verify the location of suspected defects found in the first inspection, thereby achieving accurate defect location and reliability verification.

[0056] In this embodiment, by determining the refraction angle and scanning distance corresponding to each probe, parameter basis is provided for subsequent probe control, thereby improving the controllability of the detection process. While the trolley is moving at a constant speed, the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance, and the probe is controlled to emit ultrasonic waves according to the corresponding refraction angle. During the trolley's movement, its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction. This can replace manual operation in the traditional weld inspection process, improving the automation level of the detection process. The echo signal corresponding to each probe is received, and a first detection image is generated based on the echo signal. Based on the first detection image corresponding to the Nth detection cycle of a probe... One detection image and the first detection image corresponding to the N+1th detection cycle of another probe are used to determine whether there is a defect at the Nth detection position of the weld to be tested. This can reduce the superposition of signals from multiple probes at the same detection position, reduce the impact of mutual interference on the detection results, and improve the stability and accuracy of the detection results. If a defect exists at any detection position, a control command is obtained. According to the control command, the trolley is controlled to move at a constant speed on the target path, and the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance and emit ultrasonic waves according to the corresponding refraction angle to perform secondary detection on the target path, thereby improving the accuracy and reliability of defect detection, reducing invalid scans, and improving the overall detection efficiency.

[0057] In this embodiment, the weld inspection device is integrated into the inspection equipment. The inspection equipment is mounted on a trolley and moves under the drive of the trolley. A probe is set on each side of the trolley, and the inspection equipment is electrically connected to each probe. Figure 4 This is a schematic diagram of a weld inspection device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the device includes: The probe determination module 401 is used to determine the refraction angle and scanning distance corresponding to each probe. The control module 402 is used to control the probe to reciprocate in the first direction according to the corresponding scanning distance when the trolley is moving at a constant speed, and to control the probe to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction. The signal receiving module 403 is used to receive the echo signal corresponding to each probe and generate a first detection image based on the echo signal; The detection module 404 is used to detect whether there are defects in the weld to be tested based on the first detection image.

[0058] In one embodiment, the probe determination module 401 is specifically used for: Based on the structural parameters of the welded joint of the workpiece to be tested, select the refraction angle corresponding to each probe; The scanning distance for each probe is determined based on the refraction angle of each probe and the thickness of the workpiece to be measured.

[0059] In one embodiment, the relative distance between the two probes in the extension direction of the weld to be tested is equal to the product of the trolley's speed and the detection cycle; the detection module 404 is specifically used for: Based on the first detection image of one probe in the Nth detection cycle and the first detection image of another probe in the N+1th detection cycle, determine whether there is a defect at the Nth detection position of the weld to be tested, where N is a positive integer.

[0060] In one embodiment, the weld inspection device further includes a visualization module for: Based on all the first detection images corresponding to each probe, generate a second detection image corresponding to each probe. If a defect exists at any detection location, the defect location is marked on the second detection image corresponding to any probe, and the marked second detection image is sent to the remote terminal for visualization of the defect location on the remote terminal.

[0061] In one embodiment, the weld inspection device further includes a secondary inspection module, used for: If a defect is found at any detection location, a control command is obtained; According to the control command, the trolley is controlled to travel at a constant speed on the target path, and the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance and emit ultrasonic waves according to the corresponding refraction angle to perform secondary detection on the target path. The target path includes at least one detection position where there is a defect.

[0062] In one embodiment, the trolley is also equipped with a data acquisition device, which is electrically connected to the detection device. The weld detection device also includes a correction module for: During the vehicle's movement, real-time images of its operation are acquired by the data acquisition device. Send the running image and the first detection image to the interactive terminal; The system receives correction signals sent by the interactive terminal and adjusts the vehicle's operating parameters according to the correction signals. The correction signals are generated by the inspection personnel after they determine that the vehicle's operating status is abnormal based on the operating images and the first inspection image.

[0063] In one embodiment, the vehicle's speed is determined based on the probe's transmission frequency.

[0064] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0065] The apparatus of this invention improves the controllability of the detection process by determining the refraction angle and scanning distance corresponding to each probe, providing parameter basis for subsequent probe control. While the trolley is moving at a constant speed, the probes are controlled to reciprocate along a first direction at the corresponding scanning distance, and to emit ultrasonic waves according to the corresponding refraction angle. During the trolley's movement, its central axis coincides with the extension direction of the weld to be tested, which is perpendicular to the first direction. This replaces manual operation in traditional weld inspection processes, improving the automation level of the inspection process. The apparatus receives echo signals corresponding to each probe and generates a first detection image based on the echo signals. Based on the first detection image, it detects whether defects exist in the weld to be tested, enabling automatic detection of weld defects and improving detection efficiency and accuracy.

[0066] The following is for reference. Figure 5 It shows a schematic diagram of the structure of a computer system 500 suitable for implementing the detection device of the present invention. Figure 5 The detection device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0067] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 502 or programs loaded from storage section 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the computer system 500. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0068] The following components are connected to I / O interface 505: input section 506 including keyboard, mouse, etc.; output section 507 including cathode ray tube, liquid crystal display, etc., and speakers, etc.; storage section 508 including hard disk, etc.; and communication section 509 including network interface card, such as modem, etc. Communication section 509 performs communication processing via a network such as the Internet. Drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0069] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs the functions defined above in the system of this invention.

[0070] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, etc., or any suitable combination thereof.

[0071] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0072] The modules and / or units described in the embodiments of the present invention can be implemented in software or hardware. The described modules and / or units can also be housed in a processor; for example, a processor can be described as including a probe determination module, a control module, a signal receiving module, and a detection module. The names of these modules do not necessarily limit the module itself.

[0073] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the device to include: The refraction angle and scanning distance corresponding to each probe are determined; while the trolley is moving at a constant speed, the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance, and the probe is controlled to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction; the echo signal corresponding to each probe is received, and a first detection image is generated based on the echo signal; the presence of defects in the weld to be tested is detected based on the first detection image.

[0074] The technical solution of this invention improves the controllability of the detection process by determining the refraction angle and scanning distance corresponding to each probe, providing parameter basis for subsequent probe control. While the trolley is moving at a constant speed, the probes are controlled to reciprocate in a first direction according to the corresponding scanning distance, and the probes emit ultrasonic waves according to the corresponding refraction angle. During the trolley's movement, its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction. This replaces manual operation in traditional weld inspection processes, improving the automation level of the inspection process. The echo signal corresponding to each probe is received, and a first detection image is generated based on the echo signal. Based on the first detection image, the presence of defects in the weld to be tested is detected, enabling automatic detection of weld defects and improving detection efficiency and accuracy.

[0075] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the weld inspection method provided in any embodiment of this invention.

[0076] In the implementation of a computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​as well as conventional procedural programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including local area networks (LANs) or wide area networks (WANs), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0077] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0078] It should be noted that the collection, use, storage, sharing, and transfer of user personal information involved in the technical solution of this invention all comply with the provisions of relevant laws and regulations, and require notification to the user and obtaining the user's consent or authorization. Where applicable, user personal information has undergone de-identification and / or anonymization and / or encryption technical processing. In addition, a corresponding operation entry is provided for the user to choose to agree to or reject the automated decision result; if the user chooses to reject, the process proceeds to the expert decision-making process.

[0079] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A weld inspection method, characterized in that, The method is applied to a testing device, which is mounted on a trolley and moves under the drive of the trolley. A probe is mounted on each side of the trolley, and the testing device is electrically connected to each probe. Determine the refraction angle and scanning distance for each probe; While the trolley is moving at a constant speed, the probe is controlled to reciprocate in the first direction according to the corresponding scanning distance, and the probe is controlled to emit ultrasonic waves according to the corresponding refraction angle. During the movement of the trolley, the position of its central axis coincides with the extension direction of the weld to be tested, and the extension direction of the weld to be tested is perpendicular to the first direction. Receive the echo signal corresponding to each probe, and generate a first detection image based on the echo signal; Based on the first detection image, detect whether there are defects in the weld to be tested.

2. The method according to claim 1, characterized in that, Determining the refraction angle and scanning distance for each probe includes: Based on the structural parameters of the welded joint of the workpiece to be tested, select the refraction angle corresponding to each probe; The scanning distance for each probe is determined based on the refraction angle corresponding to each probe and the thickness of the workpiece to be tested.

3. The method according to claim 1, characterized in that, The relative distance between the two probes in the extension direction of the weld to be tested is equal to the product of the trolley's speed and the testing cycle. The step of detecting whether there are defects in the weld seam to be tested based on the first detection image includes: Based on the first detection image of one probe in the Nth detection cycle and the first detection image of another probe in the N+1th detection cycle, it is determined whether there is a defect at the Nth detection position of the weld to be tested, where N is a positive integer.

4. The method according to claim 3, characterized in that, The method further includes: Based on all the first detection images corresponding to each probe, generate a second detection image corresponding to each probe. If a defect exists at any detection location, the defect location is marked on the second detection image corresponding to any probe, and the marked second detection image is sent to the remote terminal for visualization of the defect location on the remote terminal.

5. The method according to claim 3, characterized in that, The method further includes: If a defect is found at any detection location, a control command is obtained; The control command controls the trolley to travel at a constant speed on the target path, and controls the probe to reciprocate in the first direction according to the corresponding scanning distance and emit ultrasonic waves according to the corresponding refraction angle to perform secondary detection on the target path, wherein the target path includes at least one detection position where a defect exists.

6. The method according to claim 1, characterized in that, The trolley is also equipped with a data acquisition device, which is electrically connected to the detection device. The method further includes: During the movement of the vehicle, the images captured by the acquisition device are obtained in real time. The running image and the first detection image are sent to the interactive terminal; The system receives a correction signal sent by the interactive terminal and adjusts the operating parameters of the vehicle according to the correction signal. The correction signal is generated by the inspector after determining that the vehicle's operating status is abnormal based on the operating image and the first detection image.

7. The method according to claim 1, characterized in that, The speed of the vehicle is determined by the transmission frequency of the probe.

8. A detection device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the weld inspection method as described in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the weld inspection method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the weld inspection method as described in any one of claims 1 to 7.

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