A non-destructive testing ("NDT") device, in particular for use with an unmanned aerial vehicle ("UAV"), a UAV and an NDT kit comprising the device

Abstract

A non-destructive testing device (100), in particular for unmanned aerial vehicles, comprising a contact sensor (101) having a sensor surface (102) configured to be brought into contact with a target to be tested, and a couplant dispensing nozzle (103) attached to the contact sensor and configured to deliver a couplant onto the sensor surface. The couplant dispensing nozzle is provided with a couplant dispensing portion (104) and a ridge portion (105). The ridge portion at least partially surrounds a test area (A) in which the sensor surface and the dispensing portion are located. The ridge portion (105) is configured to form a close fit with the target during testing so as to at least partially contain the couplant dispensed by the dispensing portion between the test area and the target.

Description

Technical Field

[0001] This invention relates to an apparatus for performing non-destructive testing (NDT) on structures, particularly for unmanned aerial vehicles (UAVs), and to an UAV and an NDT kit including the NDT apparatus. Background Technology

[0002] Non-destructive testing (NDT) of structures involves thoroughly inspecting the structure without damaging it or requiring extensive disassembly. Various types of NDT sensors can be used to collect data related to structures where internal defects can be identified. The data acquired by the sensors is typically processed by a processing unit, and the processed data can be presented to the user via a display.

[0003] Among the structures routinely subjected to non-destructive testing, there are some that present significant challenges during the testing process, such as cargo holds, bridges, dams, offshore platforms, oil refineries, power plants, chemical plants, and high-rise buildings, to name just a few.

[0004] Manual on-site inspections of such structures can be extremely time-consuming, expensive, complex, and often dangerous for the individuals performing them. Therefore, there is a need in this industry to address this problem.

[0005] A device for non-destructive inspection of structures, such as measuring the thickness of a structure using an ultrasonic probe, is known from WO2012 / 013878. The device includes a drone and an airborne measuring probe. The drone is capable of hovering and can preferably be piloted manually and remotely by an operator using a remote control device. The measuring probe is connected to the drone via a connection device.

[0006] The connection device allows the measuring probe, which is in contact with the surface of the structure to be inspected, to be positioned and temporarily fixed while the drone is being piloted. However, during drone hovering, the contact between the probe and the structural surface may become unstable, thereby reducing the accuracy of measurements taken through the probe.

[0007] A UAV suitable for providing more stable contact, particularly with a vertical wall, is known from WO2019 / 050401. The UAV includes a fuselage and a rotor, arm ends, a first leg end, and a second leg end, which intersect a front face and are adapted to contact the wall at three spaced-apart locations. Advantageously, a detection device, such as an ultrasonic sensor, can be attached to the arm and is adapted to measure wall characteristics.

[0008] The known aircraft cited above are advantageous for inspecting locations that would otherwise be difficult for humans to reach. However, inspections using such aircraft remain complex and time-consuming. This limitation stems from the difficulty in precisely positioning any measuring probe or sensor at the desired target location on the surface of the structure to be inspected.

[0009] Another limitation of these known aircraft is that, in harsh environments, they cannot withstand impacts with external objects without degrading their propulsion systems.

[0010] A suitable aircraft for withstanding collisions with the environment is known from WO2019 / 048439. This aircraft includes: an internal frame; an internal flight system mounted on the internal frame; an external frame; a gimbal system comprising at least two rotating couplings connecting the internal propulsion system to the external frame; a control system; a power source; and an external frame actuation system configured to actively orient the external frame relative to the internal frame. Advantageously, the external frame protects components mounted in this known aircraft from damage upon impact with external objects. However, it is evident that the external frame's rotating couplings and actuation system inevitably increase the size and complexity of the aircraft. Conversely, it is ideal to provide a more compact aircraft, thereby facilitating access to confined environments.

[0011] In addition to the issues described in the prior art cited above, it should also be noted that performing NDT on the surface of a structure may be further complicated by the presence of oxidation, corrosion, or contaminants such as common dirt, carbon, and grease on the surface of the structure.

[0012] A method for addressing this problem is known from WO2019 / 190325. This method is particularly suitable for inspecting and manipulating beams located below a roof or deck using a UAV. The UAV includes an inspection tool for inspecting a portion of the beam and a manipulating tool in the form of a cleaning device for cleaning that portion of the beam. When the UAV is in a suspended position—in which the UAV is supported on the beam—the method includes: operating the cleaning device to clean a portion of the beam; positioning the inspection tool at the cleaned location on the beam; and inspecting the cleaned location using the inspection tool.

[0013] While this known solution is particularly well-suited for inspecting and manipulating beams, it is clear that it is not optimal for inspecting structures other than beams. Furthermore, positioning the inspection tool at a clean location on the beam can be difficult and time-consuming, as this requires advancing the UAV along the beam's longitudinal direction.

[0014] A UAV suitable for withstanding impacts with external objects without degrading its propulsion system or sensors is known from WO2023 / 079523. This UAV is capable of performing high-precision NDT at precise locations on various structures, unrestricted by their surface spatial orientation, and able to maintain stable contact with them.

[0015] The aircraft includes an external protective cage, a propulsion system installed inside the external protective cage, and an arm with an attachment to a first end of the external protective cage, the arm being equipped with an NDT device.

[0016] The NDT device has an NDT sensor mounted at the second end of the arm and a couplant dispensing nozzle arranged to deliver couplant to the NDT sensor.

[0017] The couplant dispensing nozzle is equipped with multiple couplant outlets arranged around the NDT sensor for delivering couplant between the NDT sensor and the surface of the structure to be tested, thereby improving the transmission of measurement signals between them.

[0018] While the known solution is highly regarded and performs well when using contact sensors to detect structures, there has been room for improvement in the reliability of the detection.

[0019] The term "contact sensor" preferably refers to a sensor configured to perform detection by establishing direct or indirect contact between the sensor itself and the structure being detected.

[0020] ES2893048A1 discloses another example of an unmanned aerial vehicle (UAV)-based NDT system.

[0021] US2018 / 275103A1 discloses an ultrasonic probe designed for inspection inside holes, equipped with an eccentric device. This eccentric device includes two elastically deformable strips connected to the ultrasonic probe and configured to firmly press the probe's transmitter head against the wall of the hole to be inspected. However, this probe is limited to the geometry of cylindrical holes, which restricts its application to other surface shapes.

[0022] The technical problem solved by the present invention is to provide a non-destructive testing device specifically for a UAV, as well as a UAV and a kit including the non-destructive testing device, the non-destructive testing device, the UAV and the kit being configured in structure and function to at least partially overcome one or more disadvantages set forth in the prior art referenced above.

[0023] In addressing this problem, a primary objective of the present invention is to provide an NDT device capable of improving the reliability of detections performed thereon compared to known NDT devices.

[0024] A second objective of the present invention is to provide an NDT device that can significantly reduce the amount of coupling agent required to effectively ensure the transmission of measurement signals between the NDT sensor and the surface of the structure to be tested.

[0025] Another object of the present invention is to provide a lighter NDT device that can increase the flight endurance of a UAV equipped with the NDT device while ensuring that the NDT device can perform a number of tests comparable to those of a UAV equipped with a known NDT device. Summary of the Invention

[0026] According to one aspect of the invention, this problem is solved, and these objectives are achieved by providing a non-destructive testing (“NDT”) apparatus, specifically for use in UAVs. The NDT apparatus may include: - A contact sensor, which has a sensor surface configured to contact the target to be detected; and / or - Coupling nozzle, which is attached to the contact sensor and configured to deliver couplant onto the sensor surface.

[0027] The couplant dispensing nozzle may be provided with a couplant dispensing section, which may be arranged in a first region, and the first region may be annular relative to the sensor surface.

[0028] The coupling agent dispensing nozzle may have a ridge, specifically a protruding ridge that surrounds the detection area, where the sensor surface and the dispensing part are located.

[0029] The term “ridge” as used in this article can refer to the lip or edge, and more specifically to a prominent lip or edge.

[0030] The ridge can be configured to adhere to or be bonded to the target during detection, or to fit with the target, particularly in a tight fit, so as to include, or at least partially include, a partially distributed coupling agent between the detection area and the target.

[0031] The term “configured to adhere to a target” as used herein preferably refers to the ability to conform to a target when in contact with it, but does not necessarily mean having the ability to stick to a target.

[0032] The ridge can protrude relative to the sensor surface so that when the sensor surface is pressed against or against the target for detection, the ridge adheres to the target or forms a tight fit with the target.

[0033] Preferably, the ridge protrudes relative to the sensor surface, so that a gap remains between the sensor surface and the target when the sensor surface is pressed against or against the target for detection.

[0034] Accordingly, by distributing a portion of the coupling agent into the detection area, the ridge advantageously contains it between the detection area and the target, thereby preventing the diffusion of the coupling agent. In this way, the gap between the sensor surface and the target can be effectively filled.

[0035] As used herein, the term "detection area" preferably refers to the area between the sensor surface, the ridge, and the target being detected. The detection area preferably includes a first area that may be annular relative to the sensor surface and may be surrounded by the ridge. The detection area may also include the gap between the sensor surface and the target being detected.

[0036] As used herein, the term "contact sensor" preferably refers to a sensor used for non-destructive testing of structures, particularly by establishing direct or indirect contact (e.g., through the presence of a coupling agent) between the sensor itself and the structure being tested. For example, a contact sensor may be suitable for measuring the thickness of the structure being tested or for sensing defects in the structure being tested.

[0037] Contact sensors can be configured to transmit measurement signals and receive return signals in response to those measurement signals. The transmitted measurements may be affected by the material of the structure being measured, in order to provide a return signal representing the physical state of the structure.

[0038] It is understood that the NDT device according to the present invention can effectively provide continuous contact between the sensor surface and the target, thereby ultimately improving the reliability and effectiveness of the NDT device compared to known NDT devices.

[0039] The couplant dispensing nozzle may include a couplant discharge section configured to allow excess couplant and / or air to flow out from the detection area. The discharge section may be opposite the dispensing section relative to the sensor surface, preferably such that, in operation, the couplant dispensed into the detection area covers, and in particular completely covers, the sensor surface as it flows from the dispensing section to the discharge section.

[0040] Understandably, the resistance encountered by the couplant as it flows from the dispensing section to the dispensing section and through the detection area increases the couplant pressure in the detection area, thereby forcing the couplant to fill the gaps and preventing air bubbles from existing between the sensor surface and the target. The pressure of the couplant exiting the dispensing section can be set to a value sufficient to overcome the force generated when the sensor surface is pressed against or against the target, allowing the couplant to provide couplant bearing between the sensor surface and the target, on which the contact sensor can float.

[0041] The discharge section may be opposite the distribution section relative to the sensor surface, preferably such that, during operation, the coupling agent distributed to the detection area flows out after covering the sensor surface, and even more preferably such that, during operation, the coupling agent distributed to the detection area only flows out after completely covering the sensor surface.

[0042] According to one aspect of this solution, the distribution section may include an outlet, and preferably consists of only a single outlet located next to the sensor surface.

[0043] The ridge can extend around the sensor surface to form a boundary for the coupling agent flowing out of the outlet.

[0044] The discharge section may include a discontinuous portion of the ridge to discharge excess coupling agent that may be distributed during operation into the volume defined by the detection area, the ridge, and the target.

[0045] Through this discontinuity, excess coupling agent can be discharged after filling the gap between the sensor surface and the target.

[0046] The term "discontinuity" preferably refers to a break or interruption in a previously continuous ridge surrounding the sensor surface.

[0047] This fracture in the ridge allows excess coupling agent to be discharged from the outlet.

[0048] Essentially, it provides a specific point or opening in the ridge through which the coupling agent can flow out. Its function is to drain excess coupling agent relative to the amount needed to fill the detection area when the sensor surface is placed on the target to be detected.

[0049] Depending on a specific aspect of this solution, the ridge can extend in a circular shape from a location near or next to the dispensing section to the discharge section.

[0050] In other words, in a top view, the ridge can follow a circular shape.

[0051] The discontinuous portion may be opposite the dispensing portion in the diametrical direction, preferably such that, during operation, the coupling agent dispensed into the detection area can advantageously cover the sensor surface as it flows from the dispensing portion to the discharge portion.

[0052] The discontinuous portion may be opposite the distribution portion in the diametrical direction, preferably such that the coupling agent covers the sensor surface when flowing out of the detection area.

[0053] The discontinuous portion may be opposite the distribution portion in the diametrical direction, preferably such that the coupling agent flows out of the detection area after covering the sensor surface, and even more preferably such that the coupling agent flows out of the detection area only after completely covering the sensor surface.

[0054] The ridge is preferably made of a compliant or non-rigid material. The ridge can be made of a flexible and / or elastic material, which can be configured to form a tight fit with the target, particularly when the ridge and / or sensor surface press against the target. The material of the ridge is preferably a polymer material, and even more preferably an elastomer material. Therefore, the ridge can ensure a tight fit with the surface of the target against which the sensor surface is pressed for detection.

[0055] Preferably, an elastomer material with a Shore A hardness of 70-90 is used to form the ridge to ensure a tight fit between the ridge and the target and to limit the pressure required to achieve this tight fit.

[0056] In the context of this disclosure, the configuration of "fitting to the target," "adhering to the target," "forming a fit with the target," or "forming a tight fit with the target" preferably refers to the ability to create a contact state between the ridge and the target that prevents or inhibits the undesirable leakage of coupling agent between the ridge and the target to the outside of the detection area. However, it should be understood that this state does not preclude the intentional discharge of excess coupling agent and / or air through discontinuities in the ridge (e.g., through coupling agent discharge sections).

[0057] The contact sensor may be a contact ultrasonic sensor, and preferably a dual-crystal ultrasonic sensor; however, a single-crystal ultrasonic sensor may also be used without departing from the scope of the appended claims.

[0058] The sensor surface is preferably planar; however, a curved sensor surface may also be used without departing from the scope of the invention.

[0059] According to another aspect of this solution, the contact sensor may include or consist of an ultrasonic scanner.

[0060] As used herein, the term "contact ultrasonic sensor" preferably refers to a sensor configured to perform ultrasonic testing ("UT") by means of direct or indirect contact between the sensor and the structure being tested (e.g., by means of the presence of a coupling agent).

[0061] As used herein, the term "coupling agent" preferably refers to a fluid medium that facilitates sound transmission between an NDT sensor and the surface of the structure being tested.

[0062] Advantageously, the coupling agent tends to flow from the dispensing section to the discharging section within the detection area. Understandably, this flow provides a cleaning effect on the surface of the target defining the detection area. In other words, the coupling agent exiting from the dispensing section also serves to clean the target surface, which improves coupling and thus enhances detection reliability.

[0063] To further improve detection reliability, the coupling agent may also include one or more cleaning agents, such as detergents, degreasers, abrasives, and / or acids, for cleaning the target in the detection area.

[0064] Preferably, the NDT device is configured to adjust the viscosity of the dispensed coupling agent according to the operating temperature to improve detection reliability. For this purpose, the NDT device can be operatively connected to a temperature sensor.

[0065] According to another aspect of this solution, the NDT device includes a releasable attachment element configured to releasably attach to a target. Specifically, the releasable attachment element can be configured to releasably attach a contact sensor having a sensor surface and a coupling agent dispensing nozzle to the target, preferably such that the sensor surface and / or ridge press against the target. The releasable attachment element can be connected to the contact sensor and / or the coupling agent dispensing nozzle. The releasable attachment element includes, for example, a suction cup and / or one or more magnets, which can be arranged flush with or slightly below the level of the sensor surface. It is understood that the releasable attachment between the NDT device and the target allows for more stable contact between the sensor surface and the target, thereby improving detection reliability. An engagement surface configured to engage with the target can be defined on the attachment element and, for example, arranged flush with the surfaces of one or more magnets. The ridge and / or sensor surface can protrude slightly in front of the engagement surface. Preferably, the ridge protrudes slightly in front of the sensor surface, and the sensor surface protrudes slightly in front of the mating surface and / or the surface of one or more magnets.

[0066] Understandably, the force applied to the target by the attachment element allows the ridge to be pressed against the target, thus providing a tighter fit between the ridge and the target. The force applied to the target by the attachment element also allows the sensor surface to be pressed against the target, thereby improving the contact between the sensor surface and the target.

[0067] According to another aspect of this solution, the NDT device is mounted on the arm, and preferably at one longitudinal end of the arm. At the opposite longitudinal end, the arm may include fastening elements for releasable connection to the UAV. The contact sensor and / or the arm may extend longitudinally along the axis. The sensor surface and / or mating surface may be perpendicular to the axis. Ridges may project in front of the sensor surface and / or mating surface in a direction parallel to the axis. The sensor surface may also project in front of the mating surface in the same direction.

[0068] According to another aspect of this solution, an unmanned aerial vehicle (“UAV”) is disclosed.

[0069] UAVs may include the aforementioned NDT devices and propulsion systems, such as flight propulsion systems.

[0070] The propulsion system may include, for example, a frame that can support one or more rotating bodies.

[0071] Preferably, the propulsion system includes an external protective cage.

[0072] The external protective cage can define two separate spaces, one inside the external protective cage and the other outside the external protective cage. The propulsion system frame can be installed inside the external protective cage. Furthermore, the external protective cage can be fixed to the propulsion system frame, preferably in a rigid manner.

[0073] Advantageously, the external protective cage surrounds and protects the propulsion system's frame and / or rotating body from impacts with external objects, including impacts with surfaces of structures to be non-destructively inspected by the UAV. To better absorb impact energy, the external protective cage may include multiple interconnected beams forming a polygonal grid or mesh-like structure. Furthermore, the external protective cage may have an at least partially rounded external shape, such as an at least partially ellipsoidal, oval, quasi-spherical, or spherical shape, such that the propulsion system's frame and / or rotating body are protected from all sides in the event of a collision with an external object. It is understood that the external shape of the external protective cage may be substantially flat at the bottom of the UAV to advantageously facilitate stable landing. Additionally, the UAV may include an image capture device, and therefore the external shape of the external protective cage may be substantially flat in areas where the image capture device can protrude through the external protective cage, such that the image capture device's field of view is advantageously unobstructed at large angles from the environment surrounding the UAV.

[0074] The UAV may also include an arm extending away from the propulsion system. Preferably, the contact sensors and coupling agent dispensing nozzles of the NDT device are mounted on the arm.

[0075] The arm can be connected to the external protective cage and extend outside the external protective cage.

[0076] The arm may have a first end attached to the propulsion system (more specifically, to the external protective cage). A contact sensor and a coupling agent dispensing nozzle may be mounted at a second end of the arm, which extends away from the propulsion system and preferably outward from the external protective cage.

[0077] Preferably, the arm has a longitudinal extension along, for example, a linear or curved path. The first end and the second end of the arm may extend in opposite directions along the longitudinal direction of the arm.

[0078] Preferably, the first end of the arm is attached to or can be attached to an external protective cage. The arm can extend outward from the external protective cage, and preferably, the second end of the arm is arranged at the distal end of the arm outside the external protective cage, such that the second end of the arm is advantageously exposed to contact the surface of the structure to be inspected, while the external protective cage can be advantageously held at a distance from the surface of the structure. The arm may include a flexible portion. The flexible portion may be arranged to extend longitudinally along the arm, particularly between the first and second ends. The flexible portion may include a spring (e.g., a helical spring) or an elastic material (e.g., an elastomer). Advantageously, the degrees of freedom released by the flexible portion improve the reliability of contact between the NDT device and the target, and also facilitate the stability of the propulsion system during hovering flight during target inspection.

[0079] Preferably, the NDT device includes the aforementioned releasable attachment element mounted on the arm (particularly on the second end of the arm). In this way, the NDT device can remain attached to the target during hovering flight of the propulsion system.

[0080] According to this aspect of the solution, due to the increased efficiency of the NDT device in using the coupling agent, and thus the reduction in the amount of coupling agent required to effectively perform any single detection, the UAV has extended flight endurance compared to known UAVs capable of performing the same number of detections.

[0081] According to another aspect of this solution, compared to known UAVs with the same total weight and flight performance, this UAV can perform an increased number of detections on the target structure.

[0082] The terms “structure” or “target structure” or “target” used in this article should be understood in a broad sense, referring not only to buildings but also to other types of structures, such as aircraft structures, cargo holds, fuel tanks, sewers, power grids, etc., for illustrative purposes only.

[0083] According to another aspect of this solution, a kit for non-destructive testing including the aforementioned NDT device is disclosed.

[0084] The dispensing nozzle may include a body and multiple front panels, which can be interchangeably attached to the body to accommodate different contact sensors.

[0085] Each front panel may have a through-hole through which the sensor surface is exposed to contact the target to be detected after the body is assembled with the contact sensor and the front panel.

[0086] Each of the multiple front panels has a different size to match the contact sensors with sensor surfaces of correspondingly different sizes.

[0087] In this way, the NDT device or the UAV equipped with the NDT device can be easily adapted to contact sensors with large or small sensor surfaces by simply equipping the body of the dispensing nozzle with an appropriate front panel.

[0088] According to this aspect of the solution, the ridge can protrude from the front panel, and each front panel can have a ridge adapted to surround the through hole and match its size. Attached Figure Description

[0089] The features and advantages of the present invention will become clear from the following detailed description of preferred but non-exclusive exemplary embodiments shown by way of non-limiting example with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a UAV including an NDT device according to an embodiment of the present invention; Figure 2 This is a side view of a UAV including an NDT device according to an embodiment of the present invention; Figure 3 This is a perspective view of an assembly including an arm and an NDT device according to an embodiment of the present invention; Figure 4 yes Figure 3 Front view of the NDT device in the image; Figure 5 yes Figure 3 Cross-sectional view of the components; Figure 6 It shows Figure 5 Details of the cross-sectional diagram; Figure 7 It includes Figure 3 A perspective view of the NDT device kit in the image; Figure 8 yes Figure 2 A 3D view showing the details of the UAV. Detailed Implementation

[0090] refer to Figures 1 to 2 For example, a UAV 1 for performing non-destructive testing (“NDT”) on a target T according to an embodiment of the present invention includes a propulsion system 2.

[0091] The propulsion system 2 may include a frame 20, which preferably supports one or more rotating bodies 21. The rotating bodies may be controlled by a control system and may be powered by one or more batteries mounted on the frame 20. The rotating bodies may include one or more propellers, which are preferably driven by electric motors. Within the scope of the invention, the propellers may also be driven by other types of motors, such as combustion motors, and the energy may be provided in the form of, for example, liquid fuel. In a preferred embodiment, the propulsion system 2 may include three or four rotating bodies 21, for example, in a rectangular configuration, with the propellers controlled individually or in pairs to control the roll, yaw, and pitch angles of the UAV, enabling the UAV to fly or hover.

[0092] like Figure 2 As shown in the embodiment, the propulsion system 2 may include an external protective cage 11. This external protective cage preferably defines two separate spaces, one inside the external protective cage and the other outside the external protective cage. The propulsion system frame 20 is preferably mounted inside the external protective cage. The external protective cage can be fixed to the propulsion system frame, preferably in a rigid manner.

[0093] Advantageously, the external protective cage 11 surrounds and protects the frame 20 and / or the rotating body 21 from impacts with external objects. To better absorb impact energy, the external protective cage may include multiple interconnected beams 22 to form a polygonal grid or mesh-like structure. Furthermore, the external protective cage may have an at least partially rounded external shape, such as at least a partially elliptical, oval, quasi-spherical, or spherical external shape, such that the frame and / or the rotating body are protected from all sides in the event of a collision with an external object. In some embodiments, the external protective cage may be substantially flat at the bottom to facilitate a stable landing.

[0094] Beams 22 can be connected together to form cage modules 23. The cage modules can have an outer pentagonal shape and can be fixed together in an interchangeable manner, particularly at the corners of their outer pentagonal shape, for example, by connectors 24. Connectors 24 can be permanently attached to the longitudinal ends of the beams, or, in a preferred embodiment, connectors 24 can be configured to allow removable connections between cage modules 23, such that the outer protective cage can be assembled from cage modules and can be at least partially disassembled. Assembly and disassembly of the cage modules facilitate the transport of the UAV by providing the outer protective cage as components, which are connected together before use, and disconnected in two or more components for packaging, storage, and transport. Disassembly of the cage modules 23 can also facilitate maintenance, for example, by replacing cage modules with broken beams, or by facilitating access to the frame 20 inside the outer protective cage.

[0095] The UAV may include a sensor system 17 coupled to the propulsion system 2. The sensor system 17 may include an image capture device, such as a video camera for capturing moving or still images, and the sensor system 17 may also include an illumination system specifically for projecting infrared or visible light onto the image capture device.

[0096] In this embodiment, the sensor system 17 is coupled to the frame 20. If an external protective cage 11 is present, it is preferable that the external protective cage has an opening through which the sensor system 17 protrudes, providing the sensor system with an unobstructed field of view in the wide-angle environment surrounding the UAV. Furthermore, the external protective cage 11 can be substantially flat in the area where the sensor system 17 protrudes through, further widening the sensor system's field of view.

[0097] Alternatively or additionally, the sensor system 17 may be coupled to the external protective cage 11 and may extend to the outside of the external protective cage. In one embodiment, the sensor support system 18 is fixed to the external protective cage 11, and the sensor system 17 may be coupled to the sensor support system 18.

[0098] Preferably, the UAV includes an arm 3. The arm 3 may be connected to the propulsion system 2, and more particularly to the frame 20 or the external protective cage 11. It is also preferred that the arm 3 extends away from the propulsion system 2, and more particularly from the frame 20 and (if present) the external protective cage 11. In an embodiment, the external protective cage 11 may have an opening allowing the arm 3 to protrude through it to the outside of the external protective cage. However, it is preferred that the arm is arranged outside the external protective cage (particularly entirely outside).

[0099] In an embodiment, arm 3 extends longitudinally along axis X from a first end 31 (which may be connected to the propulsion system) to a second end 32 (preferably opposite to the propulsion system). The position of arm 3 may be defined by the orientation of axis X. The longitudinal extension of arm along axis X may be substantially linear, at least in a predefined operating position, and / or may be adjustable, for example, by one or more adjustable connectors 33. In other words, the arm may be hinged along its longitudinal extension by one or more adjustable connectors 33. The adjustable connectors 33 advantageously allow the user to adjust the orientation or arrangement of the arm relative to the propulsion system to best suit the orientation of the surface of the target T or to bypass any obstacles between the UAV and the target, thereby facilitating attachment in hard-to-reach locations. Preferably, the adjustable connector 33 is provided at the first end 31 of the arm. The term "adjustable connector" as used herein may refer to a hinged connector or articulated connector, preferably having an adjustable angular position.

[0100] The arm may include a flexible portion 30, which may be arranged along the longitudinal extension X of the arm, particularly between the first end 31 and the second end 32. The flexible portion 30 (preferably an elastically flexible portion) may be configured to apply an elastic bias that causes the arm 3 to move toward a predefined operating position, while advantageously allowing the propulsion system 2 to move relative to the second end 32 of the arm against this elastic bias. Figure 5 As shown in the example, the flexible portion 30 may include a spring 34 (e.g., a helical spring) and preferably includes a sleeve 35 surrounding the spring to protect it from dust.

[0101] Preferably, the second end 32 of the arm is arranged at the distal end of the arm outside the outer protective cage 11, such that the second end 32 of the arm is advantageously exposed to contact the target, while the outer protective cage 11 can be advantageously held at a certain distance from the target.

[0102] The target can be, for example, the metal wall of the structure to be tested by ultrasound.

[0103] refer to Figures 3 to 7 An example is provided, which discloses an NDT device 100 according to an embodiment of the present invention. The NDT device 100 may be mounted on the arm 3, and preferably on the second end 32 of the arm.

[0104] The NDT device 100 may include a contact sensor 101 and a coupling agent dispensing nozzle 103.

[0105] The contact sensor 101 and the coupling agent dispensing nozzle 103 can be mounted on the arm 3, and preferably on the second end 32 of the arm.

[0106] The contact sensor 101 may have a sensor surface 102 configured to contact the target T to be detected. The contact sensor may be a contact ultrasonic sensor, particularly a dual-crystal or single-crystal ultrasonic sensor. In an embodiment, the contact sensor may be a 5 MHz ultrasonic sensor. The contact sensor may extend longitudinally along an axis preferably coinciding with the axis X of the arm. The sensor surface may be planar and preferably perpendicular to the axis of the contact sensor.

[0107] The couplant dispensing nozzle 103 can be attached to the contact sensor 101, and the couplant dispensing nozzle 103 is configured to deliver couplant onto the sensor surface 102.

[0108] refer to Figure 2 and Figure 8 For example, a UAV or NDT device may include a couplant dispensing system 82. The couplant dispensing system 82 may be mounted on the propulsion system and is preferably mounted inside the external protective cage 11. The UAV or NDT device may include a piping system 83 for fluidly connecting the couplant dispensing system 82 to the couplant dispensing nozzle 103. The piping system may be flexible to allow movement of the arm 3. The couplant dispensing system 82 may include a couplant reservoir 84 and a pump 85, the pump being fluidly connected to the couplant reservoir for delivering couplant from the couplant reservoir 84 to the couplant dispensing nozzle 103.

[0109] In one embodiment, the couplant dispensing system 82 is configured to adjust the viscosity of the dispensed couplant according to the operating temperature to improve detection reliability. For this purpose, the couplant dispensing system 82 may also include a temperature sensor.

[0110] The coupling agent dispensing nozzle 103 may be provided with a coupling agent dispensing section 104, which may be arranged in a first region R, and the first region R may be annular relative to the sensor surface 102.

[0111] The coupling agent dispensing nozzle 103 may have a ridge 105, particularly an elastic ridge, surrounding a detection region A in which the sensor surface and the dispensing portion are located. In one embodiment, the ridge 105 defines a crown, such as an annular crown, around the sensor surface 102.

[0112] The ridge 105 can be configured to engage with the target during detection, particularly to engage tightly, so as to contain a coupling agent distributed by the dispensing portion 104 between the detection area A and the target T.

[0113] The ridge 105 may protrude relative to the sensor surface 102 so as to engage with the target when the sensor surface is pressed against or against the target for target detection.

[0114] In this manner, the coupling agent dispensed into the detection area A by the dispensing section 104 is advantageously contained by the ridge between the detection area and the target, thereby preventing undesirable diffusion of the coupling agent. In this way, the gap between the sensor surface and the target can be effectively filled.

[0115] The couplant dispensing nozzle 103 may include a couplant discharge section 107, which is configured to allow excess couplant to flow out from the detection area A.

[0116] The discharge section 107 can be opposite the distribution section 104 with respect to the sensor surface 102. In this way, during operation, the coupling agent distributed in the detection area A can advantageously cover the sensor surface 102 as it flows from the distribution section 104 to the discharge section 107.

[0117] The distribution section 104 may include an outlet, and preferably consists of only a single outlet, located next to the sensor surface 102 (especially in the detection area A).

[0118] In one embodiment, the ridge 105 extends around the sensor surface 102 to form a boundary for the coupling agent flowing out from the outlet.

[0119] The discharge section 107 may include a discontinuous portion of the ridge to discharge excess coupling agent that may be distributed during operation into the volume defined by the detection area, the ridge, and the target.

[0120] Through this discontinuity, excess coupling agent can be discharged after filling the gap between the sensor surface and the target.

[0121] The term "discontinuity" preferably refers to a break or interruption in the originally continuous ridge 105 surrounding the sensor surface.

[0122] This break in the ridge 105 allows excess coupling agent to be discharged from the outlet. Essentially, it provides a specific point or opening in the ridge through which the coupling agent can flow out, and its function is to discharge excess coupling agent relative to the amount required to fill the detection area when the sensor surface is placed on the target to be detected.

[0123] The ridge 105 can extend in a circular shape from a position near or beside the dispensing portion 104 to the discharging portion 107. In an embodiment, such as Figure 4 As shown in the example, in the top view, the ridge follows a circular shape.

[0124] The discontinuous portion can be opposite the distribution portion 104 in the diametrical direction, so that the coupling agent completely covers the sensor surface 102 when it flows out of the detection area A.

[0125] The ridge 105 is preferably made of a flexible and / or elastic material, which can be configured to form a tight fit with the target T. This material is preferably a polymer material, and even more preferably an elastomeric material. Therefore, the ridge ensures a tight fit with the surface of the target, with the sensor surface pressed against the surface of the target for testing.

[0126] In this implementation, an elastomer material with a Shore A hardness of 75-85 is used to form the ridge to ensure a tight fit between the ridge and the target and to limit the pressure required to achieve this tight fit.

[0127] In an embodiment, the dispensing nozzle 103 may include a body 110, which may be connected to the arm 3, particularly the second end 32 of the arm.

[0128] The dispensing nozzle 103 may include a front panel 111, which may be made of a flexible and / or elastic material, particularly a polymeric or elastomeric material. In embodiments, the front panel 111 and the ridge 105 are made of the same material and are preferably integrally formed. The front panel 111 is preferably attachable to the body 110, particularly through a sealed connection.

[0129] The front panel 111 may have a through-hole 112 through which the sensor surface 102 is exposed to contact the target to be detected after the body 110 is assembled with the contact sensor 101 and the front panel. Preferably, the through-hole 112 is at least partially surrounded by a ridge.

[0130] The ridge 105 can protrude from the front panel 111, particularly along the X-axis of the contact sensor. In an embodiment, the ridge protrudes from the front panel to the level of or slightly beyond the sensor surface 102. In other words, the foremost surface of the ridge can be flush with the sensor surface, or can protrude slightly beyond the sensor surface, for example... Figure 6 As shown in the example.

[0131] In one embodiment, the body 110 includes a tubular element 113 that can be configured to receive the contact sensor 101 from a side opposite to the sensor surface 102. The tubular element 113 can extend longitudinally along the X-axis of the contact sensor.

[0132] The body 110 may include a flange 114, which may be attached to the tubular element 113, particularly via a releasable connection, such as a threaded connection or a bayonet connection.

[0133] The couplant can enter the couplant dispensing nozzle 103 through an opening 115 defined in the body. The opening 115 can be fluidly connected to the couplant dispensing system 82 via a piping system 83. The couplant dispensing channel 116 can be defined in the space between the contact sensor 101, the body 110, and the front panel 111. The couplant can be delivered from the couplant dispensing channel 116 to the detection area A via the couplant dispensing section 104.

[0134] In one embodiment, the front panel 111 includes an annular lip 117 surrounding the through-hole 112. This annular lip can be configured to provide a sealed connection between the front panel and the contact sensor. The annular lip may include a discontinuity defining a couplant dispensing portion 104. In other words, couplant can be delivered to the detection area through the discontinuity of the annular lip 117. The term "discontinuity" preferably refers to a break or interruption in the otherwise continuous annular lip 117 surrounding the contact sensor. Such a break in the annular lip allows couplant to be dispensed from the couplant dispensing channel 116.

[0135] Preferably, the detection area A is defined between the sensor surface 102, the ridge 105, the annular lip 117 and the target being measured.

[0136] In one embodiment, the NDT device 100 includes a releasable attachment element 120 configured to releasably attach to a target. The attachment element 120 may have an engagement surface S configured to engage with the target. In another embodiment, the attachment element 120 includes one or more magnets 121, such as permanent magnets (particularly neodymium magnets) or electromagnets, preferably arranged flush with the engagement surface S. Alternatively or additionally, the attachment element 120 may include a suction cup configured to adhere to the target surface using negative fluid pressure of air, creating a partial vacuum.

[0137] In one embodiment, the ridge 105 protrudes from the front panel 111 to the level of or slightly beyond the level of the mating surface S. In other words, the foremost surface of the ridge may be flush with the mating surface S, or may protrude slightly beyond the mating surface. In another embodiment, the mating surface S is flush with the sensor surface 102.

[0138] In one embodiment, the releasable attachment element 120 may be mounted on the flange 114. For example, a plurality of magnets 121 may be attached to the flange 114 for releasable attachment of the flange to the target T, particularly where the target is preferably a metallic target.

[0139] To ensure good contact for NDT measurements, magnet 121 is preferably arranged flush with sensor surface 102 and / or mating surface S. In this embodiment, three magnets are used to advantageously allow for balanced contact with the target.

[0140] The NDT device 100, and more specifically the flange 114, may include a plurality of radial branches 122 on which magnets can be mounted. These branches may be located in a plane perpendicular to the X-axis of the contact sensor and may project radially about this axis. Preferably, these branches are spaced apart from each other at a constant angle A1. (Reference) Figure 4 For example, the flange has three branches, which are preferably spaced apart from each other by a constant angle A1 of 120 degrees.

[0141] refer to Figure 5 For example, the NDT device may optionally include a laser 118, which is configured to aim at a target.

[0142] The NDT device can be operatively connected to the UAV's control system via wiring 119.

[0143] refer to Figure 7 An example is disclosed of a kit 10 for nondestructive testing including an NDT device 100, wherein the dispensing nozzle 103 includes a body 110 and a plurality of front panels 111, the plurality of front panels being interchangeably attached to the body to accommodate different contact sensors 101. The different contact sensors may also be part of the kit 10.

[0144] Each front panel 111 may have a through hole 112 through which the sensor surface is exposed to contact the target to be detected after the body is assembled with the contact sensor and the front panel.

[0145] Each of the multiple front panels 111 can have a different size to match the contact sensor 101, which has a correspondingly different sensor surface size. In this way, an NDT device or a UAV equipped with an NDT device can be easily adapted to a contact sensor with a larger or smaller sensor surface by simply equipping the body of the dispensing body with a suitable front panel. A ridge 105 can protrude from the front panel 111, and each front panel can have a ridge adapted to surround the through-hole 112 and match its size.

[0146] Therefore, the present invention solves the problems raised and achieves numerous advantages, including providing a reliable NDT device and a multifunctional UAV that can safely and effectively perform accurate non-destructive testing of structures in hard-to-reach locations.

Claims

1. A non-destructive testing (NDT) device (100), particularly, said NDT device is used for an unmanned aerial vehicle (UAV), said NDT device comprising: A contact sensor (101) having a sensor surface (102) configured to contact a target to be detected, and A coupling agent dispensing nozzle (103) is attached to the contact sensor and is configured to deliver coupling agent onto the sensor surface. The coupling agent dispensing nozzle is provided with a coupling agent dispensing part (104) and a ridge (105). The ridge (105) at least partially surrounds the detection area (A), the sensor surface and the distribution portion are located in the detection area; the ridge (105) is configured to form a tight fit with the target during detection so as to contain at least partially a coupling agent distributed by the distribution portion (104) between the detection area and the target.

2. The NDT device (100) according to claim 1, wherein, The couplant dispensing nozzle (103) includes a couplant discharge section (107) configured to allow excess couplant to flow out from the detection area (A).

3. The NDT device (100) according to claim 2, wherein, The discharge section (107) is opposite the distribution section (104) to the sensor surface (102), preferably such that, in operation, the coupling agent distributed to the detection area (A) covers the sensor surface as it flows from the distribution section to the discharge section.

4. The NDT device (100) according to claim 2 or 3, wherein, The dispensing section (104) includes an outlet (108) located next to the sensor surface; the ridge (105) extends around the sensor surface; wherein the discharge section (107) includes a discontinuous portion (109) of the ridge through which excess coupling agent can be discharged.

5. The NDT device (100) according to claim 2, 3 or 4, wherein, The ridge (105) extends in a circular shape from a position next to the distribution portion (104) to the discharge portion (107), which is opposite to the distribution portion in the diametrical direction.

6. The NDT device (100) according to one or more of the preceding claims, wherein, The ridge (105) protrudes relative to the sensor surface (102) so as to form a tight fit with the target when the sensor surface is pressed against the target.

7. The NDT device (100) according to one or more of the preceding claims, wherein, The ridge (105) is made of a flexible, elastic material configured to fit closely with the target, particularly when the ridge presses against the target.

8. The NDT device (100) according to one or more of the preceding claims, wherein, The ridge (105) is made of a polymer material, preferably, the ridge (105) is made of an elastomer material.

9. The NDT device (100) according to one or more of the preceding claims, the NDT device (100) comprising a releasable attachment element (120) configured to releasably attach the contact sensor (101) having the sensor surface (102) and the coupling agent dispensing nozzle (103) to the target, preferably such that the sensor surface and / or the ridge press against the target.

10. The NDT device (100) according to one or more of the preceding claims, wherein, The contact sensor (101) is a contact ultrasonic sensor or an ultrasonic scanner.

11. The NDT device (100) according to one or more of the preceding claims, wherein the NDT device (100) further comprises the coupling agent, wherein, The coupling agent includes one or more cleaning agents for cleaning the target in the detection area (A).

12. An unmanned aerial vehicle (UAV) (1), the unmanned aerial vehicle comprising: - Propulsion system (2) - The arm (3) extending away from the propulsion system, and The NDT device (100) according to one or more of the preceding claims, wherein the contact sensor (101) and the coupling agent dispensing nozzle (103) are mounted on the arm.

13. The UAV (1) according to claim 12, wherein, The propulsion system (2) includes an external protective cage (11), and the arm (3) is connected to the external protective cage and extends to the outside of the external protective cage.

14. A kit (10) for nondestructive testing, said kit (10) comprising an NDT device (100) according to one or more of claims 1 to 11, wherein, The dispensing nozzle (103) includes a body (110) and a plurality of front panels (111), which are interchangeably attached to the body to accommodate different contact sensors (101); each front panel has a through hole (112) through which the sensor surface (102) is exposed to contact the target to be detected after the body is assembled with the contact sensor and the front panel; wherein each of the plurality of front panels (111) has a different size to match the contact sensor (101) having a sensor surface of a correspondingly different size.

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