Nondestructive inspection system and nondestructive inspection method

Abstract

To ensure that, even when the measured position of a probe for acquiring an inspection signal does not completely coincide with the position required for inspection, it is possible to record the inspection signal at the measured position by the probe taking the measured position as the position required for inspection.SOLUTION: Provided is an ultrasonic flaw detection system A comprising a probe 2 for acquiring an ultrasonic signal 3 with respect to an inspection object 1, a position measurement device 11 for measuring the position information of the probe and outputting as a measured position 12; and recording means 10 for recording the ultrasonic signal from the probe and the measured position from the position measurement device. The recording means 10 further sets a discretionary target position on the basis of the surface shape of the inspection object, sets an error permissible range for tolerating as an error to the target position. When the measured position is located within the error permissible range, the recording means 10 recognizes the measured position determined to be located in this range as a target position and records an ultrasonic signal acquired by the probe at the measured position recognized as the target position as the ultrasonic signal of the target position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE An embodiment of the present invention relates to a non-destructive inspection system and a non-destructive inspection method. [Background technology]

[0002] Ultrasonic testing (UT) and eddy current testing (ECT) are techniques that can non-destructively check the surface and internal integrity of structural materials, and have become indispensable non-destructive testing techniques in a variety of fields. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-112547 A [Patent Document 2] Patent No. 6296173 [Patent Document 3] JP 2022-158417 A [Patent Document 4] JP 2023-136390 A Summary of the Invention [Problem to be solved by the invention]

[0004] To non-destructively evaluate the soundness of structural materials using UT or the like, it is necessary to record not only the test results but also the location where the test results were obtained. Until now, automatic controllers such as scanners have been used to obtain digital data of position information (Patent Document 1). However, for example, in UT, due to the complicated installation work of the automatic controller, scanning means including manual scanning means generally do not have a self-positioning device, and the position has not been recorded digitally.

[0005] In recent years, digital position measuring devices that can be used for UT using scanning means that do not have a self-position measuring device have been proposed (Patent Documents 2, 3, and 4). Of these, Patent Document 2 is a technology in which a sheet is sandwiched between the target and an ultrasonic flaw detection probe. In UT or ECT using scanning means that do not have a self-position acquisition means (self-position measuring device), such as manual scanning means, there are errors in both the position measuring device and the scanning means, and it is common for recording to be at a position that does not completely match the position required for inspection.

[0006] An embodiment of the present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a non-destructive inspection system and a non-destructive inspection method that can record an inspection signal from the probe at an actual measured position, even if the actual measured position of the probe that acquires the inspection signal does not completely coincide with the position required for inspection, by treating this actual measured position as the position required for inspection. [Means for solving the problem]

[0007] A non-destructive inspection system in an embodiment of the present invention is a non-destructive inspection system having a probe that acquires an inspection signal for an object to be inspected, a position measuring device that measures position information of the probe and outputs it as an actual measured position, and a recording means that inputs and records the inspection signal from the probe and the actual measured position from the position measuring device, wherein the recording means is configured to set an arbitrary target position based on the surface shape of the object to be inspected, set an allowable error range that is allowed as an error for the target position, and when it is determined that the actual measured position is located within the allowable error range, record the inspection signal acquired by the probe at the actual measured position determined to be located as the detection signal of the target position.

[0008] A non-destructive inspection method in an embodiment of the present invention is characterized in that a non-destructive inspection system is prepared having a probe that acquires an inspection signal for an object to be inspected, a position measuring device that measures position information of the probe and outputs it as an actual measured position, and a recording means that inputs and records the inspection signal from the probe and the actual measured position from the position measuring device, and sequentially performs the following steps: a step in which the recording means sets an arbitrary target position based on the surface shape of the object to be inspected; a step in which the recording means sets an allowable error range that is allowed as an error for the target position; and a step in which, when the recording means determines that the actual measured position is located within the allowable error range, the recording means records the inspection signal acquired by the probe at the actual measured position determined to be located as the detection signal of the target position. Effect of the Invention

[0009] According to an embodiment of the present invention, even if the actual measured position of the probe acquiring the inspection signal does not exactly coincide with the position required for inspection, this actual measured position can be regarded as the position required for inspection, and the inspection signal from the probe at this actual measured position can be recorded. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing the configuration of an ultrasonic flaw detection system as a nondestructive inspection system according to a first embodiment. [Diagram 2] Basic diagram of the recording situation in the ultrasonic flaw detection system in Figure 1. [Diagram 3] FIG. 2 is an explanatory diagram regarding setting of an actual measured position error by the recording means of FIG. 1; [Figure 4] FIG. 3 is an explanatory diagram of types of error allowable ranges in FIG. 2. [Diagram 5] 2 is an explanatory diagram regarding types of position correction performed by the position correction unit in FIG. 1; [Figure 6] 2 is an explanatory diagram regarding types of actual position extraction by the actual position extraction means in FIG. 1; [Figure 7] 2 is an explanatory diagram regarding extraction of an actual measured position using extraction conditions by the actual measured position extraction means in FIG. 1; [Figure 8] FIG. 2 is an explanatory diagram regarding extraction of an actual measured position using the rotation measuring device by the recording means of FIG. 1; [Figure 9] 3 is an explanatory diagram relating to extraction of an actual measured position based on time information by the time information acquisition means of FIG. 1; [Figure 10] FIG. 2 is an explanatory diagram regarding conversion of an ultrasonic waveform into a flaw detection result image (B-scope) by the recording means of FIG. 1. [Figure 11] 2 is an explanatory diagram regarding conversion of an ultrasonic waveform into shape information by the recording means of FIG. 1. [Figure 12] FIG. 11 is a block diagram showing the configuration of an ultrasonic flaw detection system as a nondestructive inspection system according to a second embodiment. [Figure 13] Basic diagram of the recording situation in the ultrasonic flaw detection system of Figure 12. [Figure 14] 13 is an explanatory diagram regarding setting of an actual measured position error by the recording means of FIG. 12; [Figure 15] FIG. 14 is an explanatory diagram of types of error allowable ranges in FIG. 13 . [Figure 16] FIG. 14 is an explanatory diagram of an overlapping error allowable range with respect to the error allowable range in FIG. 13 . [Figure 17] 13 is an explanatory diagram regarding types of position correction performed by the position correction unit in FIG. 12 . [Figure 18] 13 is an explanatory diagram regarding conversion of an ultrasonic waveform into a three-dimensional flaw detection image by the recording means of FIG. 12. [Figure 19] 13 is an explanatory diagram regarding conversion of an ultrasonic waveform into a flaw detection result image (C-scope) by the recording means of FIG. 12. [Figure 20] FIG. 11 is a block diagram showing the configuration of an ultrasonic flaw detection system as a nondestructive inspection system according to a third embodiment. [Figure 21] Basic diagram of the recording situation in the ultrasonic flaw detection system of Figure 20. [Figure 22] FIG. 21 is an explanatory diagram regarding setting of an actual measured position error by the recording means of FIG. 20; [Figure 23] FIG. 22 is an explanatory diagram regarding types of error allowable ranges in FIG. 21. [Figure 24] FIG. 22 is an explanatory diagram of an overlapping error allowable range with respect to the error allowable range in FIG. 21 . [Diagram 25] 21 is an explanatory diagram regarding types of position correction performed by the position correction means in FIG. 20. [Figure 26] 21 is an explanatory diagram regarding conversion of ultrasonic waveforms of an inspection object having a curved surface shape into a three-dimensional flaw detection image by the recording means of FIG. 20. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [a] First embodiment (FIGS. 1 to 11) Fig. 1 is a block diagram showing the configuration of an ultrasonic inspection system as a non-destructive inspection system according to the first embodiment. As shown in Fig. 1 and Fig. 2, the ultrasonic inspection system A as a non-destructive inspection system includes a probe 2 that transmits and receives an ultrasonic signal 3 as an inspection signal to an inspection object 1, a position measuring device 11 that measures the position information of the probe 2 and outputs it as an actual measured position 12, and a recording means 10 that inputs and records the ultrasonic signal 3 from the probe 2 and the actual measured position 12 from the position measuring device 11. The recording means 10 is further configured to set an arbitrary target position 13 based on the surface shape of the inspection object 1, set an error allowable range 14 that is allowed as an error for the target position 13, and, when it is determined that the actual measured position 12 is located within the error allowable range 14, recognize the actual measured position 12 determined to be located as the target position 13, and record the ultrasonic signal 3 acquired by the probe 2 at the actual measured position 12 recognized as the target position 13 as the ultrasonic signal 3 of the target position 13. In this ultrasonic flaw detection system A, when the probe 2 is moved (scanned) by the scanning means 4, the position measuring device 11 outputs one-dimensional position information.

[0012] In the above-mentioned ultrasonic flaw detection system A, the recording means 10 sequentially performs the following steps: setting an arbitrary target position 13 based on the surface shape of the object to be inspected 1; setting an error tolerance range 14 that is allowed as an error for this target position 13; determining whether the actual measured position 12 is located within the error tolerance range 14; if it is determined that the actual measured position 12 is located within the error tolerance range 14, recognizing the actual measured position 12 as the target position 13 if it is determined that the actual measured position 12 is located within the error tolerance range 14; and recording the ultrasonic signal 3 acquired by the probe 2 at the actual measured position 12 recognized as the target position 13 as the ultrasonic signal 3 of the target position 13.

[0013] The probe 2 transmits and receives ultrasonic signals 3 to and from the inspection object 1 while being installed on the inspection object 1, and is generally called an ultrasonic probe. The probe 2 has a piezoelectric element capable of generating ultrasonic waves by the piezoelectric effect of ceramics, composite material, or other materials, a piezoelectric element made of a polymer film, or other mechanisms capable of generating ultrasonic waves. The probe 2 is further configured by combining a damping material (not shown) that damps ultrasonic waves and a front plate (not shown) attached to the ultrasonic oscillation surface as necessary. The probe 2 of the first embodiment will be described as a flaw detection method in which ultrasonic waves are transmitted and received by a single probe, but two or more probes may be used to transmit and receive ultrasonic waves separately. Also, a probe called an ultrasonic array probe in which multiple piezoelectric elements are arranged one-dimensionally or two-dimensionally may be used.

[0014] When the probe 2 is installed, a wedge (not shown) may be used to make ultrasonic waves incident on the inspection target 1 at a predetermined angle. The wedge may be made of an isotropic material such as acrylic, polyimide, gel, or other polymers through which ultrasonic waves can propagate and whose acoustic impedance is known. The wedge may be made of a material having an acoustic impedance close to or the same as that of the front plate, or a material having an acoustic impedance close to or the same as that of the inspection target 1. The wedge may also be made of a composite material that changes the acoustic impedance stepwise or gradually. Of course, the wedge may be made of a material other than the above-mentioned examples. In addition, the wedge may have a damping material disposed inside and outside the wedge, a mountain-shaped wave-eliminating shape, or a multiple reflection reduction mechanism so that multiple reflected waves inside the wedge do not affect the flaw detection results. In each of the first to third embodiments, the description of the wedge is omitted when ultrasonic waves are incident on the inspection target 1 from the probe 2.

[0015] UT using probe 2 may be a method generally referred to as ultrasonic testing, which uses a single probe, a probe combining a single probe with a wedge to provide a flaw detection refraction angle, or a probe in which the transducer and wedge are integrated, or a two-probe method in which separate probes are used for transmission and reception.

[0016] Furthermore, UT using the probe 2 is generally called phased array ultrasonic testing (PAUT), and may be based on a linear scan method in which an ultrasonic element is electronically scanned while forming an ultrasonic beam in a certain direction, a sector scan method in which an ultrasonic element is fixed or electronically operated to drive and the angle at which an ultrasonic beam is formed is changed in a fan shape, a total focusing method (TFM) in which a beam is focused by comprehensively setting a focus in an arbitrary coordinate region, or a so-called aperture synthesis method, etc. Furthermore, UT using the probe 2 may be a method of measuring thinning of the inspection object 1 using a plate thickness gauge, etc.

[0017] The ultrasonic signal 3 obtained by the probe 2 may be converted into ultrasonic waveform data, voxel intensity data forming a PAUT or TFM image, or imaged image data, which may be used as inspection data. In UT using the probe 2, in order to make ultrasonic waves enter the inside of the inspection object 1, it is necessary to apply an acoustic couplant between the probe 2 and the inspection object 1. Here, the acoustic couplant is a medium that can propagate ultrasonic waves, such as water, glycerin, machine oil, castor oil, acrylic, polystyrene, gel, etc., and of course other than the above examples can be applied.

[0018] The position measuring device 11 is a device that measures the position information of the probe 2, and when the probe 2 moves, it outputs position information in at least one direction as the measured position 12. The position measuring device 11 may use any method that can record the position to which the probe 2 has moved, and the output may be either an absolute value or a relative value. The coordinate system referred to by the position measuring device 11 is composed of axes that define at least one-dimensional position information. Here, the coordinate system refers to an origin and a coordinate system that records the measured position 12, and in addition to an orthogonal coordinate system generally represented in three directions, XYZ, there are oblique coordinate systems in which the directions do not intersect at right angles, polar coordinate systems represented by diameters and angles, coordinate systems in only one direction, coordinate systems in two directions, and other coordinate systems for outputting the measured position 12 in one or more dimensions.

[0019] Examples of position measurement devices 11 include robotic arms, scanners, encoders, GPS (Global Positioning System), motion capture, position detection by probe photography, position setting by photographing two-dimensional patterns, self-position estimation by photographing the surrounding environment, laser range finders, ultrasonic range finders, visible light range finders, infrared range finders, and acceleration sensors.

[0020] The measured position 12 is the position information of the probe 2 output using a coordinate system set in the position measuring device 11. The data output as the measured position 12 may be output not only as an integer but also as a decimal, a fraction, an exponent, a real number, an imaginary number, or the like. If the actual position differs from the measured position 12 output by the position measuring device 11 due to an error contained in the position measuring device 11 itself, the recording means 10 can set the measured position error 15 generated due to the error of the position measuring device 11 itself when the position measuring device 11 outputs the measured position (FIG. 3). The recording means 10 may output an arbitrary position within the range of the measured position error 15 for the initially recorded measured position 12 as a corrected measured position 15-1 obtained by correcting the measured position 12 to an appropriate position.

[0021] Here, the setting of the actual position error 15 is configured with a range that includes at least the actual position 12. Types of the actual position error 15 in one dimension include a range that spreads evenly in the positive and negative directions centered on the actual position 12, a range that is biased in either the positive or negative direction with respect to the actual position 12, a range only in the positive direction, and a range only in the negative direction. Also, the corrected actual position 15-1 may be at least within the range of the actual position error 15, and examples of the corrected actual position 15 include the center position, center of gravity, average value position, minimum value position, maximum value position, and any other position within the range of the actual position error 15.

[0022] The target position 13 is a position that is set as a necessary position together with the ultrasonic signal 3 in the UT, and can be set to any position. The number of positions that can be set as the target position 13 needs to be at least one. There are two methods for setting the target position 13: setting it in a coordinate system that outputs the actual measured position 12, or outputting it in a coordinate system different from the actual measured position 12 by referring to external information. In particular, in the latter case, it is necessary to associate the coordinate system that outputs the actual measured position 12 with the coordinate system in which the target position 13 is set. Here, the external information refers to position information outside the coordinate system of the actual measured position 12, and examples of this include reference positions and origin information based on a two-dimensional pattern, and feature points shown in three-dimensional shape data.

[0023] The target position 13 is set by the recording means 10 to which the actual measured position 12 from the position measuring device 11 and the ultrasonic signal 3 from the probe 2 are input and recorded. For example, the recording means 10 may set the target position 13 before the actual measured position 12 is output by the position measuring device 11. Alternatively, the recording means 10 may set the target position 13 by inputting the target position 13 via the input device 5 before or after UT is performed.

[0024] The error tolerance 14 is a range for determining whether the actual position 12 is at a position that allows for an allowable error with respect to the target position 13. When there is a single target position 13, the error tolerance 14 is a range that exceeds 0 (zero) with respect to the target position 13 and is smaller than the inspection target 1, and when there are multiple target positions 13, the error tolerance 14 of one target position 13 is a range that does not include the other target position 13. When the actual position 12 is one-dimensional, the error tolerance 14 is set as a one-dimensional range that includes at least the target position 13.

[0025] As shown in FIG. 4, the types of the error allowable range 14 in one dimension include a range that spreads evenly in the positive and negative directions with the target position 13 as the center (FIG. 2), a range that is biased in either the positive or negative direction with respect to the target position (FIG. 4(A)), a range that spreads only in the positive direction (FIG. 4(B)), and a range that spreads only in the negative direction. Also, as shown in FIG. 4(C), the error allowable ranges 14 for different target positions 13 may overlap. When the actual position 12 is output in the overlapping error allowable ranges 14, the actual position 12 may be determined to be within all the overlapping error allowable ranges 14, or one error allowable range 14 may be selected and determined to be within that range. Methods for setting the error allowable range 14 include a method of setting the target position 13 in the same coordinate system as the actual position 12 as a reference, and a method of setting the target position 13 in a coordinate system different from the actual position 12 as a reference based on the coordinate system of the target position 13.

[0026] The recording means 10 judges whether or not the actual positions 12 are located inside the error allowable range 14, and if it judges that the actual positions 12 are located inside the error allowable range 14, records the ultrasonic signal 3 at each actual position 12 as the ultrasonic signal 3 at the target position 13. In this case, the recording means 10 may record the target position 13, the error allowable range 14, the actual position error 15, and the above judgment result simultaneously with the ultrasonic signal 3 corresponding to each actual position 12.

[0027] The recording means 10 records the ultrasonic signal 3 from the probe 2 and the actual position 12 from the position measuring device 11 when scanning is performed using the scanning means 4 that does not have a self-position acquisition means. Here, the scanning means 4 is a mechanism that freely scans the probe 2 and moves it to any position on the inspection object 1. The self-position acquisition means refers to a means for recording the amount of movement of the scanning means 4 itself as digital data. The scanning means 4 that does not have a self-position acquisition means has a movement error of the scanning means 4 itself, and may be controlled to a position different from the actual position. Examples of the scanning means 4 include manual scanning of the probe 2, robots such as drones and radio-controlled robots that are controlled by manually operating a controller, and semi-automatic control in which a scanner is attached and operated manually.

[0028] In order to correct the error of the position measuring device 11 and the error of the scanning device 4, the recording device 10 has a position correction device 7 that calculates the distance between the measured position 12 determined to be within the error tolerance 14 and the target position 13 and corrects this distance (FIG. 1). The position corrected by the position correction device 7 may be either the measured position 12 or the target position 13. As shown in FIG. 5, the types of correction include correction in only one direction of the coordinate system of the measured position 12 (FIG. 5(A)), correction in two or more directions using the position measuring device 11 capable of outputting two or more dimensional position information (FIG. 5(B)), and the average position, center position, and center of gravity position of multiple measured positions 12 determined to be within the error tolerance 14 (FIG. 5(C)). FIGS. 5(D) and (E) show the target position 13 corrected by the position correction device 7.

[0029] The recording means 10 has a measured position extraction means 8 (FIG. 1) that extracts an appropriate position as an extracted measured position 8-1 (FIG. 6) when a plurality of measured positions 12 are determined to be inside an error allowable range 14 set for one target position 13. There is no limit to the number of extracted measured positions 8-1, and one position or a plurality of positions may be extracted. Also, if there is no suitable measured position 12, it is not necessary to extract it. As shown in FIG. 6, the types of extracted measured positions 8-1 include the closest position (FIG. 6(A)) and the farthest position (FIG. 6(B)) to the target position 13, the maximum position (FIG. 6(B)) and the minimum position (FIG. 6(C)) in the error allowable range 14, the first recorded position and the last recorded position (not shown) in the error allowable range 14, all positions inside the error allowable range 14 (FIG. 6(D)), and positions that satisfy the extraction conditions among the measured positions 12 inside the error allowable range 14.

[0030] Here, the extraction conditions refer to conditions based on the ultrasonic signal 3, time information, position information, rotation information, and other information. An example of an extraction condition is a gate signal in the ultrasonic signal 3 (Fig. 7). The gate signal is a signal that is output when the ultrasonic waveform exceeds a gate G that is predefined to determine whether or not the crest value at a certain time of the ultrasonic waveform in the ultrasonic signal 3 exceeds a threshold. It is possible to set extraction conditions that extract only the actual position 12 where the gate signal is output. Note that in Fig. 7, symbol Sa is the incident echo, symbol Sb is the reflected echo, and symbol 8-2 is the actual position that does not meet the extraction conditions.

[0031] The recording means 10 may set an arbitrary target probe angle (not shown) for the orientation of the probe 2, set an error allowable probe angle range 16-1 (FIG. 8) that is allowable as an error based on the target probe angle, determine whether the measured probe angle 16-2 included in the actual measurement position 12 is located within the error allowable probe angle range 16-1, and record the ultrasonic signal 3 from the probe 2 when it is determined that the measured probe angle 16-2 is located within the error allowable probe angle range 16-1. The probe 2 may also include a rotation measurement device 16 that outputs orientation information of the probe 2. This rotation measurement device 16 may be capable of acquiring at least the probe angle in any one direction in the probe 2. The rotation information output by the rotation measurement device 16 may be expressed in any form, such as Euler angles, radians, and quaternions. The recording means 10 may combine the determination result regarding the probe angle with the actual measurement position extraction means 8 and use it as an extraction condition in the actual measurement position extraction means 8. Here, the reference numeral 8-2 in FIG. 8 is an actual measurement position that is not suitable for the extraction condition of the target position 13.

[0032] The recording means 10 has a time information acquiring means 9 shown in Fig. 1. This time information acquiring means 9 is a means for collecting time information for the position measuring device 11 at a fixed time interval when the recording means 10 is applied. The time information acquiring means 9 does not matter in what form the time information is, and may acquire, for example, time information or elapsed time from an arbitrary start time. Furthermore, as shown in Fig. 9, when the amount of movement of the actual measured position 12 is obviously large compared to the time interval, the time information acquiring means 9 determines that the actual measured position 12 was recorded at an abnormal speed and is not suitable for the conditions, and processes the actual measured position 12 as an actual measured position 8-2 that is not suitable for the extraction conditions of the target position 13.

[0033] Other information may be linked based on the time information recorded by the time information acquisition means 9. For example, in the position measurement device 11, a measurement method of collecting the actual position 12 at a fixed time interval, and estimation of speed and acceleration by continuously recording the time information and the actual position 12 may be mentioned. Furthermore, the time information acquisition means 9 may be combined with the actual position extraction means 8 to set extraction conditions based on the elapsed time of the first position, the last position, etc., or extraction conditions based on the amount of movement per time interval of the speed, acceleration, etc.

[0034] 10, the recording means 10 can process the ultrasonic waveform based on the target position 13 by acquiring the ultrasonic signal 3 at the target position 13, particularly the ultrasonic waveform of the ultrasonic signal 3, and convert the waveform of this ultrasonic signal 3 (particularly the presence or absence of a defect echo Sc) into a two-dimensional or three-dimensional flaw detection result image 17 of the inspection target 1 in correspondence with the target position 13. The recording means 10 causes the display device 6 to display this flaw detection result image 17. Here, the flaw detection result image 17 is voxel intensity data of the inspection target 1 obtained by converting the wave height value at each time of the ultrasonic waveform of the ultrasonic signal 3 into signal intensity at each two-dimensional distance from the target position 13 along the depth direction of the inspection target 1.

[0035] Examples of the flaw detection result image 17 include a B-scope which is a flaw detection result image 17 of a cross section parallel to the depth direction of the inspection target 1, and a C-scope which is a flaw detection result image 17 in a certain depth plane of the inspection target 1. Here, the symbol M in Fig. 10 is an intensity scale of the flaw detection result image 17, and the symbols 13A, 13B, 13C, and 13D indicate the respective target positions.

[0036] 11, the recording means 10 acquires the ultrasonic signal 3 at the target position 13, processes the ultrasonic signal 3 based on the target position 13, and obtains an ultrasonic propagation path 18-1 from time differences t1, t2, t3, t4... between the incident echo Sa and the reflected echo Sb (rear-surface reflected echo) of the ultrasonic signal 3, thereby converting the ultrasonic signal 3 into shape information 18 of the inspection object 1 at the target position 13. The recording means 10 causes the display device 6 to display this shape information 18.

[0037] Examples of shape information 18 of the inspection target 1 that can be obtained by the ultrasonic signal 3 include the thickness of the inspection target 1, thinning on the back surface of the inspection target, rust, and other material changes. The shape information 18 converted based on the ultrasonic signal 3 may be output in any data format, such as numerical information at each target position 13, drawing information created based on the shape information 18 of each target position 13, or any other format that identifies the shape information 18.

[0038] As configured as above, the first embodiment provides the following advantages (1) to (8). (1) When the recording means 10 determines that the actual measured position 12 of the probe 2 is located within the error tolerance 14, it recognizes the actual measured position 12 as the target position 13 and records the ultrasonic signal 3 at the actual measured position 12 as the ultrasonic signal 3 at the target position 13. Therefore, even if the actual measured position 12 of the probe 2 does not completely match the position required for inspection due to errors occurring in the position measuring device 11 and the scanning means 4 in the UT, the actual measured position 12 is regarded as the position required for inspection, and the ultrasonic signal 3 acquired by the probe 2 at the actual measured position 12 is recorded. This allows the probe 2 to robustly scan the position required for inspection, reducing the burden on controlling the probe 2 and improving the efficiency of the entire inspection process.

[0039] (2) The recording means 10 can acquire ultrasonic signals 3 of positions required for imaging the UT results (target positions 13 including actual measured positions 12 recognized as target positions 13), and therefore can convert the UT results into images and display them. This allows the UT results to be displayed as images even in scanning means 4 that does not have a self-position acquisition means and was previously unable to measure the required positions and therefore unable to convert images. As a result, UT results that are highly explainable even to people with little knowledge of UT can be easily displayed, and the efficiency of reporting work can be improved.

[0040] (3) The recording means 10 can convert the ultrasonic signal 3 at the target position 13, including the actual measurement position 12 that is recognized as the target position 13, into shape information 18 of the inspection target 1 based on the UT result and display it. This makes it possible to evaluate thinning using the inspection results at an appropriate position, especially in thinning inspection. In addition, since the ultrasonic signal 3 at the target position 13, including the actual measurement position 12 that is recognized as the target position 13, is recorded, it becomes possible to confirm whether UT has been performed at the target position 13 required for evaluation of thinning inspection, and inspection omissions can be reduced. This makes it possible to reduce the back-track inspection process that occurs when an uninspected portion is found after UT is completed. As a result, the time required for the entire inspection process can be reduced, and inspection efficiency can be improved.

[0041] (4) The recording means 10 allows the error of the position measuring device 11 itself to be allowed as the actual position error 15, thereby making it possible to record the ultrasonic signal 3 even when the actual position 12 does not completely coincide with the target position 13 due to this actual position error 15. As a result, it is now possible to perform UT by measuring the position of the probe 2 using the position measuring device 11, which could not previously be introduced into actual UT due to insufficient measurement accuracy.

[0042] (5) By applying the position correction means 7, it becomes possible to use the actual measured position 12, which does not completely coincide with the target position 13 due to the inclusion of the actual measured position error 15 by the position measurement device 11 and the movement error by the scanning means 4, as the same position as the target position 13. This simplifies the movement (scanning) of the probe 2 to the position required for the inspection in an inspection that requires recording the ultrasonic signal 3 at the same position as the target position 13, such as in image conversion and shape information management, and makes it possible to streamline the overall inspection man-hours.

[0043] (6) By applying the actual measurement position extraction means 8, it becomes possible to select ultrasonic signals 3 under appropriate conditions for a plurality of actual measurement positions 12 within the error tolerance 14. This makes it possible to prevent inspection omissions due to erroneous flaw detection during UT, such as when the probe 2 and the inspection object 1 are not in contact with each other, and therefore reduces the frequency of backtracking inspection processes.

[0044] (7) The introduction of the rotation measuring device 16 (Fig. 8) ensures that UT is performed with ultrasonic waves incident in the same direction on the inspection target 1. In particular, in angle beam inspection, it is possible to suppress changes in the acquired results due to different incident directions even when the position is the same, and an appropriate ultrasonic signal 3 can be acquired. This enables inspection under appropriate conditions in manual ultrasonic inspection by inspectors, and enables the reporting of normal ultrasonic inspection results.

[0045] (8) The introduction of the time information acquisition means 9 makes it possible to obtain the speed or acceleration of the probe 2 based on the measured position 12 acquired by the position measurement device 11 at every hour. This ensures that the scanning of the probe 2 is performed normally, suppressing the recording of abnormalities in the ultrasonic signal 3 due to abnormal scanning such as slippage of the probe 2, and making it possible to report normal ultrasonic inspection results. Furthermore, with this ultrasonic inspection system A, the automatic controller employed in Patent Document 1 is not necessary, making it possible to reduce the introduction cost and maintenance cost of this automatic controller.

[0046] [b] Second embodiment (FIGS. 12 to 19) 12 is a block diagram showing the configuration of an ultrasonic inspection system as a non-destructive inspection system according to the second embodiment. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and the description thereof will be simplified or omitted.

[0047] An ultrasonic inspection system B as a non-destructive inspection system in the second embodiment differs from the first embodiment in that a position measuring device 21 outputs a two-dimensional measured position 22, as shown in Figures 12 and 13. As the measured position 22 is changed to be two-dimensional, a target position 23, an error allowable range 24, a measured position error 25, and a corrected measured position 25-1 are also expressed two-dimensionally, as shown in Figures 13 and 14. Moreover, the ultrasonic inspection system B is configured to have a probe 2 and a recording means 20 in addition to the position measuring device 21.

[0048] The position measuring device 21 is a device that measures the position movement of the probe 2 in two dimensions, and when the probe 2 moves, it outputs two-dimensional position information as the measured position 22. The position measuring device 21 may use any method that can measure position information in at least two directions with respect to the position to which the probe 2 has moved, and the output may be either an absolute value or a relative value. The coordinate system referred to by the position measuring device 21 is composed of two axes that define position information in at least two directions. Examples of the coordinate system include an orthogonal coordinate system generally represented in three directions, XYZ, an oblique coordinate system in which each direction does not intersect at a right angle, a polar coordinate system represented by a diameter and an angle, a two-directional coordinate system, and other coordinate systems for outputting the measured position 22 in two or more dimensions. Examples of the position measuring device 21 include a robot arm, a scanner, a GPS, motion capture, position detection by probe photography, position measurement by photography of a two-dimensional pattern, measurement by self-position estimation by photography of the surrounding environment, measurement by combined use of multiple range finders, and an acceleration sensor.

[0049] The measured position 22 is two-dimensional position information of the probe 2 output using a coordinate system set in the position measuring device 21. The data in two directions outputted from the measured position 22 may be outputted not only as integers but also as decimals, fractions, exponents, real numbers, imaginary numbers, etc. When the actual position differs from the measured position 22 outputted from the position measuring device 21, as shown in FIG. 14, the recording means 20 can set a measured position error 25 generated in the position measuring device 21. Furthermore, the recording means 20 may output a corrected measured position 25-1 obtained by correcting the measured position 22 to an appropriate position with reference to the range of the measured position error 25 for the initially recorded measured position 22 as the measured position 22.

[0050] Here, the measured position error 25 is set in a region that includes at least the measured position 22. Although not shown, types of the measured position error 25 in two dimensions include a region that spreads evenly in the positive and negative directions of both axes centered on the measured position 22, a region with a constant radius centered on the measured position 22, a region in which the range of the measured position error 25 is in only one direction in the coordinate system, a region that is biased in either the positive or negative direction with respect to the measured position 22, a region that spreads only in the positive direction, and a region that spreads only in the negative direction. In setting the measured position error 25, the shape of the region may be any shape that can be output from position information in two directions, such as a square, a rectangle, a circle, an ellipse, etc.

[0051] As shown in FIG. 14, the corrected measured position 25-1 may be any position within the range of the measured position error 25, such as the center position, center of gravity, average value position, minimum value position, maximum value position, or any other position within the range of the measured position error 25.

[0052] 13 is a position set in two dimensions as necessary information together with the ultrasonic signal 3 in the UT, and the position can be set arbitrarily in each dimension. Other than that, the setting method and restrictions of the target position 23 are the same as those of the target position 13 in one dimension.

[0053] The error tolerance 24 is a range for determining whether the actual position 22 falls within the error of the target position 23. When the actual position 22 is two-dimensional, the error tolerance 24 is formed of a two-dimensional region including the target position 23. As shown in FIG. 15, the types of the error tolerance 24 in two dimensions include a region that spreads evenly in the positive and negative directions with the target position 23 as the center (FIGS. 15(A), (C), and (F)), a region that has a certain radius with the target position 23 as the center (FIG. 15(D)), a region that has the target position 23 in only one direction in the coordinate system (FIG. 15(E)), a range that is biased in either the positive or negative direction with respect to the target position 23 (FIG. 15(B)), a region that spreads only in the positive direction, a region that spreads only in the negative direction, and the like. In setting the error tolerance 24, the shape of the region may be any shape that can be output from position information in two directions, such as a square, a rectangle, a circle, an ellipse, and the like.

[0054] 16, the error tolerance ranges 24 may overlap for a plurality of target positions 23A, 23B, 23C, 23D, .... There is no restriction on the judgment when the actual position 22 is output in overlapping error tolerance ranges 24, and the actual position 22 may be judged to be within all of the overlapping error tolerance ranges 24, or one error tolerance range 24 may be selected and judged to be within that range. Methods for setting the error tolerance range 24 include a method of setting it based on a target position 23 in the same coordinate system as the actual position 22, and a method of setting it based on the coordinate system of the target position 23 with respect to a target position 23 in a coordinate system different from the actual position 22.

[0055] 12 and 13, the recording means 20 judges whether or not the actual positions 22 are located inside the error allowable range 24, and if it judges that the actual positions 22 are located inside the error allowable range 24, records the ultrasonic signal 3 at each actual position 22. The recording means 20 may record the judgment result as to whether or not the actual positions 22 are within the error allowable range 24, at the same time as recording the ultrasonic signal 3 and the actual positions 22. Furthermore, the recording means 20 does not have to record the actual positions 22 and the ultrasonic signal 3 at those positions that are judged to be outside the error allowable range 24.

[0056] The recording means 20 has a position correction means 26 to correct errors of the position measurement device 21 and the scanning means 4. As shown in Fig. 17, the position correction means 26 calculates the distance between the measured position 22 and the target position 23, and corrects the position of the measured position 22 by using this distance as an error to obtain a corrected position 26-1. There is no limit to what is to be corrected, and either the measured position 22 or the target position 23 may be corrected. The calculated distance may be the Euclidean distance between the measured position 22 and the target position 23, or the distance in only one of the two coordinate axes used for measurement.

[0057] 17, the types of correction by the position correction means 26 include correction in both orthogonal directions in the coordinate system of the measured position 22 (FIG. 17(A)), correction in only one direction in the coordinate system of the measured position 22 (FIGS. 17(B) and (C)), and correction in three orthogonal directions (not shown) using a position measurement device 21 capable of outputting three-dimensional position information. The position correction means 26 may also calculate a corrected position from a plurality of measured positions 22 determined to be within the error tolerance 24, and may use a calculation method such as an average position, a center position, or a center position for each direction, such as an average position for one direction of the coordinate system, or a center position for two directions of the coordinate system.

[0058] The recording means 20 can obtain the ultrasonic signal 3 at the target position 23, particularly the ultrasonic waveform, and process the ultrasonic waveform based on the target position 23 to convert the ultrasonic waveform of the ultrasonic signal 3 (incident echo Sa, defect echo Sc, etc.) into a flaw detection result image 27 of the inspection object 1 (FIG. 18). In addition, since the target position 23 has two-dimensional position information, the recording means 20 can process the ultrasonic signal 3 and convert it into a three-dimensional flaw detection image (one form of the flaw detection result image 27). This three-dimensional flaw detection image is voxel intensity data of the inspection object 1 obtained by converting the wave height value at each time of the ultrasonic waveform of the ultrasonic signal 3 into signal intensity at a three-dimensional distance from the target position 23.

[0059] As configured above, the second embodiment provides the following advantages (9) to (11) in addition to the advantages (1) to (8) of the first embodiment.

[0060] (9) Even if the actual measured position 22 is not located at exactly the same coordinates as the target position 23, if the actual measured position 22 is within the error tolerance 24, the recording means 20 of the ultrasonic inspection system B recognizes the actual measured position 22 of the probe 2 as the target position 23 and records the actual measured position 22 recognized as the target position 23 and the ultrasonic signal 3 at that position. In addition, the position correction means 26 can correct the actual measured position 22 by taking into account an error area generated in the position measuring device 21 and the scanning means 4 in the UT. As a result, particularly in the UT using the scanning means 4 without a self-position acquisition means such as manual flaw inspection, the control of the probe 2 to a position required for inspection by the scanning means 4 can be simplified, and the ultrasonic signal 3 at the required position can be robustly recorded.

[0061] (10) The ultrasonic inspection system B makes it possible to acquire ultrasonic signals 3 at positions required for imaging the UT results, and the recording means 20 converts the UT results into a three-dimensional form for display on the display device 6. Therefore, the distribution of abnormalities (e.g., defects) obtained as inspection results in the inspection object 1 can be displayed in three-dimensional coordinates, so that UT results that are highly explainable even to those who are new to UT can be easily displayed, and the efficiency of reporting work can be improved.

[0062] (11) The recording means 20 can convert the ultrasonic waveform of the ultrasonic signal 3 into two-dimensional shape information of the inspection target 1 based on the UT result and display it. That is, as shown in Fig. 19, based on the flaw detection result of each target position 23, it is possible to obtain the time differences t11, t12, t13... between the incident echo Sa and the reflected echo Sb (back surface reflected echo) of the ultrasonic waveform, calculate the intensity of the ultrasonic signal 3 at each depth, and output the flaw detection result image 28 (C-scope) based on the two-dimensional shape information. As a result, even if a single probe 2 is manually mechanically scanned, the flaw detection result at each depth can be visualized as a C-scope, and the UT result with high explainability can be easily displayed even to a beginner of UT, so that the efficiency of the reporting work can be improved.

[0063] [c] Third embodiment (Figs. 20 to 26) 20 is a block diagram showing the configuration of an ultrasonic inspection system as a non-destructive inspection system according to the third embodiment. In the third embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and the description thereof will be simplified or omitted.

[0064] An ultrasonic inspection system C as a non-destructive inspection system in the third embodiment differs from the first embodiment in that a position measuring device 31 outputs a three-dimensional measured position 32. As the measured position 32 is changed to be three-dimensional, a target position 33, an error allowable range 34, a measured position error 35, and a corrected measured position 35-1 are also expressed three-dimensionally, as shown in Fig. 21 and Fig. 22. Moreover, the ultrasonic inspection system C is configured to have a probe 2 and a recording means 30 in addition to the position measuring device 31.

[0065] The position measurement device 31 is a device that measures the position movement of the probe 2 in three dimensions, and when the probe 2 moves, it outputs three-dimensional position information as an actual measured position 32. The position measurement device 31 may use any method that can measure the position to which the probe 2 has moved in three directions, and the output may be either an absolute value or a relative value. The coordinate system referred to by the position measurement device 31 is composed of three axes that define position information in at least three directions. Examples of the coordinate system include an orthogonal coordinate system that is generally represented by three directions of XYZ, an oblique coordinate system in which each direction does not intersect at a right angle, a polar coordinate system that is represented by a diameter and an angle, and other coordinate systems for outputting a three-dimensional actual measured position 32. Examples of the position measurement device 31 include a robot arm, a scanner, a GPS, motion capture, position measurement by probe photography with multiple cameras, position measurement by photography of a two-dimensional pattern, measurement by self-position estimation by photography of the surrounding environment with multiple cameras, and measurement by using multiple range finders in combination.

[0066] The measured position 32 is the position information of the probe 2 output using a coordinate system set in the position measurement device 31. All data in three directions from which the measured position 32 is output may be output not only as integers but also as decimals, fractions, exponents, real numbers, imaginary numbers, etc. When the actual position differs from the measured position 32 output by the position measurement device 31, it is possible to set a measured position error 35 generated in the position measurement device 31 as shown in FIG. 22. A corrected measured position 35-1 obtained by correcting the measured position 32 to an appropriate position with reference to the range of the measured position error 35 for the initially recorded measured position 32 may be output as the measured position 32.

[0067] Here, the measured position error 35 is set in a space including the measured position 32. Although not shown, types of the measured position error 35 in three dimensions include a space that spreads equally in all three positive and negative directions centered on the measured position 32, a spherical space with a constant diameter centered on the measured position 32, a space biased in either the positive or negative direction with respect to the measured position 32, a space that spreads only in the positive direction, and a space that spreads only in the negative direction. In setting the measured position error 35, the shape of the space may be any shape that can be output from position information in three directions, such as a cube, a rectangular parallelepiped, a sphere, an ellipsoid, a cylinder, a rectangular prism, a cone, a pyramid, etc.

[0068] The corrected actual position 35-1 is included within the space of the actual position error 35, and may be any position within the space of the actual position error 35, such as the center position, center of gravity, average value position, minimum value position, maximum value position, etc. of the actual position error 35.

[0069] 21, the target position 33 is a position set in three dimensions as necessary information together with the ultrasonic signal 3 in the UT, and the position can be set arbitrarily in each dimension. Otherwise, the setting method and restrictions of the target position 33 are the same as those of the target position 13 in one dimension.

[0070] The error tolerance 34 is a range for determining whether the measured position 32 falls within the error of the target position 33. When the measured position 32 output by the position measurement device 31 is three-dimensional, the error tolerance 34 is formed in a three-dimensional space including the target position 33. As shown in FIG. 23, the types of the error tolerance 34 in three dimensions include a space that spreads evenly in the positive and negative directions with the target position 33 as the center (FIGS. 23(A) to (D)), a space having a certain diameter with the target position 33 as the center (FIG. 23(B)), a space that is biased in either the positive or negative direction on any axis with respect to the target position 33, a space that spreads only in the positive direction, and a space that spreads only in the negative direction. In setting the error tolerance 34, the shape of the space may be any shape that can be output from position information in three directions, such as a cube, a rectangular parallelepiped, a sphere, an ellipsoid, a cylinder, a rectangular prism, a cone, a pyramid, etc.

[0071] 24, the error tolerance ranges 34 may overlap for a plurality of target positions 33A, 33B, .... There is no restriction on the judgment when the actual position 32 is output in the space of overlapping error tolerance ranges 34, and the actual position 32 may be judged to be within all of the overlapping error tolerance ranges 34, or one error tolerance range 34 may be selected and judged to be within that range. Methods for setting the error tolerance range 34 include a method of setting it based on a target position 33 in the same coordinate system as the actual position 32, and a method of setting it based on the coordinate system of the target position 33 with the target position 33 in a coordinate system different from the actual position 32 as the reference.

[0072] 20 and 21, the recording means 30 judges whether or not the actual measured positions 32 are located inside the error allowable range 34, and if it is judged that the actual measured positions 32 are located inside the error allowable range 34, records the ultrasonic signal 3 at each actual measured position 32. The recording means 30 may record the judgment result as to whether or not the actual measured positions 32 are within the error allowable range 34, at the same time as recording the ultrasonic signal 3 and the actual measured positions 32. Furthermore, the recording means 30 does not have to record the actual measured positions 32 and the ultrasonic signal 3 at those positions when it is judged that the actual measured positions 32 are outside the error allowable range 34.

[0073] The recording means 30 has a position correction means 36 to correct errors of the position measurement device 31 and the scanning means 4. As shown in Fig. 25, the position correction means 36 calculates the distance between the measured position 32 and the target position 33, and corrects the position of the measured position 32 by using this distance as an error to obtain a corrected position 36-1. There is no limit to what is to be corrected, and either the measured position 32 or the target position 33 may be corrected. The distance to be calculated may be the Euclidean distance between the measured position 32 and the target position 33, as well as the distance in one or two axial directions among the three coordinate axes used for measurement.

[0074] 25(A) in the coordinate system of the actual measured position 32 (FIG. 25(B)), correction in only one direction in the coordinate system of the actual measured position 32 (FIG. 25(C)), and correction in two directions in the coordinate system of the actual measured position 32 (FIG. 25(D)). The position correction means 36 may calculate a corrected position from a plurality of actual measured positions 32 determined to be within the error tolerance 34, and may use a calculation method such as an average position, a center position, or a center position for each direction, such as an average position for one direction of the coordinate system, or a center position for two directions of the coordinate system.

[0075] The recording means 30 can obtain the ultrasonic signal 3, particularly the ultrasonic waveform, at the target position 33, and process the ultrasonic waveform based on the target position 33 to convert the ultrasonic signal 3 into a flaw detection result image 38 of the inspection target 1 (FIG. 26). The recording means 30 can also convert the ultrasonic signal 3 into a stereoscopic flaw detection image (one form of the flaw detection result image 38) using two-dimensional or three-dimensional position information of the target position 33. When converting into a stereoscopic flaw detection image using the three-dimensional target position 33, the recording means 30 may input rotation information of the orientation of the probe 2 by the rotation measuring device 16 (see FIG. 8) to identify the incident direction 37 of the ultrasonic waves from the probe 2 in the three-dimensional coordinate system, and reflect this incident direction 37 in the conversion process into a stereoscopic flaw detection image.

[0076] The recording means 30 acquires the ultrasonic signal 3 at the target position 33, processes the ultrasonic signal 3 based on the target position 33, and can convert the ultrasonic waveform (incident echo Sa and reflected echo (back surface reflected echo) Sb) of the ultrasonic signal 3 into shape information 18 of the inspection object 1 measured from the target position 33 (see FIG. 11). Examples of the shape information 18 of the inspection object 1 that can be acquired from the ultrasonic signal 3 include the thickness of the inspection object 1, thinning of the back surface of the inspection object 1, and material changes such as rust. The data format of the shape information 18 converted based on the ultrasonic signal 3 does not matter, and it may be output in a format that identifies numerical information at each target position 33, drawing information created based on the shape information of each target position 33, or other shape information.

[0077] As configured above, the third embodiment provides the following advantages (12) to (14) in addition to the advantages (1) to (8) of the first embodiment.

[0078] (12) Even if the measured position 32 is not located at exactly the same coordinates as the target position 33, the recording means 30 of the ultrasonic inspection system C can recognize the measured position 32 of the probe 2 as the target position 33 and record the measured position 32 recognized as the target position 33 and the ultrasonic signal 3 at that position, as long as the measured position 32 is within the error tolerance range 34. In addition, the position correction means 36 can correct the measured position 32 in UT, taking into account an error space such as a measured position error 35 by the position measuring device 31 and a movement error of the scanning means 4. As a result, in UT using the scanning means 4 without a self-position acquisition means such as manual scanning for an inspection object 1 having a curved or complex shape, it is possible to simplify the control of the probe 2 to a position required for inspection by the scanning means 4, and to robustly record the ultrasonic signal 3 at the required position.

[0079] (13) The ultrasonic inspection system C makes it possible to obtain ultrasonic signals 3 at positions required for imaging the UT results, and the recording means 30 converts the UT results into a three-dimensional form and displays them on the display device 6. In addition, by introducing a rotation measuring device 16 (FIG. 8) and measuring the direction of the probe 2 simultaneously with the target position 33, ultrasonic signals 3 having different incident directions 37 can be converted into an inspection result image 38 and a three-dimensional inspection image (one form of the inspection result image 38) by using the ultrasonic waveforms (incident echo Sa, defect echo Sc). This makes it possible to visualize the inspection results in UT of curved or complex shapes such as pipes, and improves the explainability of the inspection results to UT beginners, thereby making it possible to efficiently report the inspection results.

[0080] (14) The ultrasonic inspection system C uses a position measuring device 31 that records three-dimensional measured positions 32, making it possible to record shape information based on the UT results for an inspection target 1 having a curved or complex shape such as a pipe. This makes it possible to calculate shape information for each target position 33 for thinning in the pipe, and to visualize the amount of thinning that occurs on the inner surface of the pipe and display it on the display device 6. As a result, it is easier to explain the inspection results to those who are new to UT, and reporting of the inspection results can be made more efficient.

[0081] Although the embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, changes, and combinations can be made without departing from the gist of the invention, and these substitutions, changes, and combinations are included in the scope and gist of the invention, as well as in the scope of the invention and its equivalents described in the claims.

[0082] For example, the detection signal acquired by the probe 2 is an ultrasonic signal 3 in UT, but may be an eddy current signal by ECT. In the case of ECT, flaw detection using a single probe such as a pancake coil or cross coil, as well as an array coil that combines multiple probes, is also included. [Explanation of symbols]

[0083] 1...inspection object, 2...probe, 3...ultrasonic signal, 7...position correction means, 8...actual position extraction means, 9...position information acquisition means, 10...recording means, 11...position measurement device, 12...actual position, 13...target position, 14...error tolerance range, 15-1...corrected actual position, 16...rotation measurement device, 16-1...error tolerance probe angle, 16-2...actual probe angle, 17...flaw detection result image, 18...shape information, 20...recording means, 21...position measurement device, 22...actual position, 23... Target position, 24...error tolerance, 25-1...corrected actual position, 26...position correction means, 27, 28...flaw detection result image, 30...recording means, 31...position measurement device, 32...actual position, 33...target position, 34...error tolerance, 35-1...corrected actual position, 36...position correction means, 38...flaw detection result image, A...ultrasonic flaw detection system (non-destructive testing system), B...ultrasonic flaw detection system (non-destructive testing system), C...ultrasonic flaw detection system (non-destructive testing system)

Claims

1. a probe for acquiring a test signal from an object to be tested; a position measuring device that measures position information of the probe and outputs the measured position; a recording means for inputting and recording the inspection signal from the probe and the actual measured position from the position measuring device, the recording means is configured to set an arbitrary target position based on the surface shape of the object to be inspected, set an allowable error range for an error relative to the target position, and, when it is determined that the actual measured position is located within the allowable error range, record the inspection signal acquired by the probe at the actual measured position determined to be located as the detection signal of the target position.

2. The non-destructive inspection system according to claim 1, characterized in that the recording means is configured to recognize an actual measurement position determined to be within an allowable error range as a target position, process an inspection signal at the actual measurement position recognized as the target position, and convert it into a two-dimensional or three-dimensional inspection result image corresponding to the target position.

3. The non-destructive inspection system according to claim 1, characterized in that the recording means is configured to recognize an actual measurement position determined to be within an allowable error range as a target position, process an inspection signal at the actual measurement position recognized as the target position, and convert it into shape information of the inspection object at the target position.

4. 4. The nondestructive inspection system according to claim 1, wherein the recording means is configured to include a position correction means that calculates an error, which is a distance between a target position and an actual measured position recognized as the target position by using an error allowance range, and corrects the error in the actual measured position.

5. 4. The nondestructive inspection system according to claim 1, wherein the recording means is configured to include an actual measurement position extracting means for extracting an appropriate actual measurement position from a plurality of actual measurement positions recorded within an error allowance range set for one target position.

6. The recording means sets an arbitrary target probe angle, and sets an error allowable probe angle range that is allowable as an error based on the target probe angle, The non-destructive inspection system according to any one of claims 1 to 3, characterized in that, when it is determined that an actual measured probe angle included in an actual measured position is located within the error allowable probe angle range, an inspection signal acquired by the probe at the actual measured position determined to be located in this range is recorded together with the actual measured position.

7. 4. The nondestructive inspection system according to claim 1, wherein the recording means comprises time information acquiring means for acquiring time information about the position measuring device.

8. 4. The non-destructive inspection system according to claim 1, wherein the probe is configured to be scanned by a scanning means having no self-position acquisition means.

9. 4. The nondestructive inspection system according to claim 1, wherein the recording means is configured to set an actual measurement position error that occurs when the actual measurement position is output by the position measurement device, and to output any position within a range of this actual measurement position error as a corrected actual measurement position obtained by correcting the actual measurement position.

10. 4. The non-destructive inspection system according to claim 1, wherein the inspection signal acquired by the probe is an ultrasonic signal in an ultrasonic flaw detection test or an eddy current signal in an eddy current flaw detection test.

11. a probe for acquiring a test signal from an object to be tested; a position measuring device that measures position information of the probe and outputs the measured position; a recording means for inputting and recording the inspection signal from the probe and the actual measured position from the position measuring device; a step in which the recording means sets an arbitrary target position based on a surface shape of the inspection object; setting an allowable error range that the recording means allows as an error with respect to the target position; and when the recording means determines that the actual measured position is located within the error tolerance, recording the inspection signal acquired by the probe at the actual measured position determined to be located as the detection signal of the target position.

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