Ultrasonic flaw detection apparatus and ultrasonic flaw detection method

Abstract

To provide an ultrasonic flaw detector capable of performing an efficient flaw detection plan in a specimen having a complicated shape or a specimen having an interference object.SOLUTION: The ultrasonic flaw detector 100 for performing ultrasonic flaw detection in a desired range of a specimen by using a scanner 5 for scanning an ultrasonic probe 4 includes a various information acquisition part 14 for referring to specimen data, scanner data, ultrasonic probe data, and flaw detection condition data. This device has an interference analysis part 15 for calculating an interference range between a specimen 1 including an interference object and a scanning device 5 mounted with an ultrasonic probe 4, and a scanning route planning part 18 for calculating a scanning route of the ultrasonic probe 4 on the basis of fetched flaw detection condition data so as to avoid the interference range by referring to the interference range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an ultrasonic flaw detection apparatus and an ultrasonic flaw detection method that automatically plan a scanning path of an ultrasonic probe, particularly for an object having a complex shape or an object having an interfering object. [Background technology]

[0002] Ultrasonic testing is used for flaw detection or thickness inspection of test objects such as pipes and vessels in power plants. Ultrasonic testing can be performed in two ways: manual scanning, in which an inspector moves an ultrasonic probe along the surface of the test object, and automatic scanning, in which a scanning device moves an ultrasonic probe along the surface of the test object. When the scanning range on the surface of the test object is wide, automatic scanning is preferable from the viewpoint of inspection efficiency.

[0003] In automatic scanning, it is necessary to plan the scanning path of the ultrasonic probe for the desired inspection range, taking into account the shape of the surface of the test object and the influence of interfering objects, and input the scanning path data into a control device. Therefore, in Patent Document 1, dead zone areas where normal inspection results cannot be obtained are determined based on the shape of the surface of the steel material measured by a measuring device, and the determined dead zone areas are stored in memory. Then, the dead zone areas are read from the memory, and the ultrasonic probe is controlled to inspect for defects only in areas other than the dead zone areas. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-194533 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with the ultrasonic flaw detector described in Patent Document 1, the determination of undetectable ranges based on multiple flaw detection conditions must be performed manually using CAD, etc. This poses a problem of requiring a large number of work steps, particularly when outputting flaw detection plans and flaw detection results for test objects with complex shapes or test objects with interfering objects.

[0006] The present invention has been made in view of the above, and aims to provide an ultrasonic flaw detection device and an ultrasonic flaw detection method that enable efficient flaw detection planning for an object having a complex shape or an object having interfering objects. [Means for solving the problem]

[0007] The ultrasonic flaw detection device of the present invention, which achieves the above-mentioned object, is an ultrasonic flaw detection device that ultrasonically detects a desired flaw detection range of an object using a scanning device that scans an ultrasonic probe, and is characterized by having a various information acquisition unit that references object data, scanning device data, ultrasonic probe data, and flaw detection condition data, an interference analysis unit that references the data acquired by the various information acquisition unit to calculate an interference range between the object including an interfering object and the scanning device to which the ultrasonic probe is attached, and a scan path planning unit that references the interference range and calculates a scan path of the ultrasonic probe based on the imported flaw detection condition data so as to avoid the interference range. Other aspects of the present invention will be described in the embodiments described later. [Effects of the Invention]

[0008] According to the present invention, it is possible to efficiently plan flaw detection for an object having a complex shape or an object having an interfering object. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing the configuration of an ultrasonic flaw detection device according to a first embodiment. [Figure 2] 10A and 10B are diagrams illustrating the state of the subject, the scanning device, and the ultrasonic probe when interference occurs in the Y axis. [Figure 3]10A and 10B are diagrams for explaining the state of the subject, the scanning device, and the ultrasonic probe when only the ultrasonic probe interferes. [Figure 4A] FIG. 2 is a diagram showing a flaw detection range when flaws are detected in a welded portion. [Figure 4B] FIG. 10 is a diagram showing ultrasonic wave incidence conditions for a test object with good ultrasonic wave transmittance. [Figure 4C] FIG. 1 is a diagram showing ultrasonic wave incidence conditions for an object with poor ultrasonic wave transmittance. [Figure 5] 10A and 10B are diagrams illustrating a process for calculating a flaw-detection undetectable range in the case of an object with good sound wave permeability. [Figure 6] 10A and 10B are diagrams illustrating a process for calculating a flaw-detection undetectable range in the case of an object with good sound wave permeability. [Figure 7] 10A and 10B are diagrams illustrating a process for calculating a flaw-detection undetectable range in the case of an object having poor sound wave transmittance. [Figure 8] 10A and 10B are diagrams illustrating a process for calculating a flaw-detection undetectable range in the case of an object having poor sound wave transmittance. [Figure 9] 5 is a flowchart showing the operation of a scanning planning unit according to the first embodiment. [Figure 10] 10 is a flowchart showing the operation of a scanning planning unit according to the second embodiment. [Figure 11A] FIG. 1 is a diagram showing application locations in a nuclear power plant. [Figure 11B] FIG. 2 is a diagram showing an outline of a scanning path of an ultrasonic probe. DETAILED DESCRIPTION OF THE INVENTION

[0010] The following describes embodiments with reference to the drawings. Note that the following is merely an example of implementation and is not intended to limit the content of the invention to the specific embodiment described below. The invention itself can be implemented in various forms as long as it conforms to the content described in the claims.

[0011] First Embodiment The first embodiment will be described below with reference to FIGS. FIG. 1 is a diagram showing the configuration of an ultrasonic flaw detection device 100 according to the first embodiment. A pipe, which is an object 1 in this embodiment, has connectors 2 and 3 to which other pipes are connected. The surface of the pipe is generally cylindrical, but the shape changes in the vicinity of the connectors 2 and 3. The ultrasonic flaw detection device of this embodiment is used to detect flaws in pipes and the like.

[0012] The ultrasonic flaw detection device 100 of this embodiment includes an ultrasonic probe 4, a scanning device 5 that causes the ultrasonic probe 4 to scan along the pipe surface (outer surface), a scanning control device 6 that controls the scanning device 5, and an ultrasonic transmission / reception device 7 that transmits and receives ultrasonic waves using the ultrasonic probe 4.

[0013] The ultrasonic flaw detection device 100 of this embodiment also includes a calculation device 8 connected to the scan control device 6 and the ultrasonic transmission / reception device 7 via wiring, a storage device 9 connected to the calculation device via wiring, a display device 10 connected to the calculation device 8 via wiring, and an input device 40 connected to the calculation device 8 via wiring. The calculation device 8 has a processor that executes processing according to a program, and a memory that stores programs and data. The storage device 9 is composed of a hard disk or the like, and stores shape data of the piping of the test object 1, etc. The display device 10 is composed of a display or the like. The input device is composed of a keyboard, a mouse, etc.

[0014] The scanning device 5 includes a first guide rail 51 attached to the pipe of the subject 1 and extending in the circumferential direction of the pipe, a first movement mechanism 52 (specifically, composed of a motor, etc.) that moves a carriage along the first guide rail 51, a second guide rail 53 attached to the carriage and extending in the axial direction of the pipe, and a second movement mechanism 54 (specifically, composed of a motor, etc.) that moves a probe support along the second guide rail 53. The probe support has, for example, a gimbal mechanism that supports the ultrasonic probe 4 so that it can tilt in the axial and circumferential directions of the pipe, and a pressing mechanism such as a spring that presses the ultrasonic probe against the surface of the pipe. This allows the bottom surface of the ultrasonic probe 4 (in other words, the surface that comes into contact with the pipe) to conform to the surface of the pipe.

[0015] The scanning control device 6 has a control circuit that controls the first moving mechanism 52 and the second moving mechanism 54 in response to commands from the calculation device 8, and controls the position of the ultrasonic probe 4. As a specific example of the movement procedure of the ultrasonic probe 4, from the movement start position (X0, Y0), it repeatedly moves in the axial direction (positive direction of the Y axis) by a pitch ΔY until it reaches a position (X0, Yn). Next, it moves in the circumferential direction (positive direction of the X axis) by a pitch ΔX until it reaches a position (X0 + ΔX, Yn). Next, it repeatedly moves in the axial direction (negative direction of the Y axis) by a pitch ΔY until it reaches a position (X0 + ΔX, Y0). This is repeated until it reaches the movement end position (Xn, Yn).

[0016] The ultrasonic probe 4 is, for example, an angle probe made up of a piezoelectric element and a shoe (more specifically, a probe that emits ultrasonic waves in a direction oblique to the normal direction of the surface of the pipe).

[0017] The ultrasonic transmitting / receiving device 7 includes a pulser and a receiver, not shown. The pulser applies a pulse signal to the piezoelectric element in response to a command from the calculation device 8, causing the piezoelectric element to transmit ultrasonic waves via a shoe. If a defect exists inside the pipe, the piezoelectric element receives ultrasonic waves reflected by the defect, converts the reflected ultrasonic waves into a waveform signal, and outputs the waveform signal. The receiver converts the waveform signal input from the piezoelectric element from an analog signal to a digital signal, etc., to obtain waveform data, which is then output to the calculation device 8.

[0018] The computing device 8 has, as its functional configuration, a scan planning unit 11, an acquisition control unit 12, and an evaluation analysis unit 13. The scan planning unit 11 of the computing device 8 has, as its functional configuration, a various information acquisition unit 14, an interference analysis unit 15, an ultrasonic propagation range analysis unit 16, an undetectable range analysis unit 17, a scan path planning unit 18, a various diagram generation unit 19, and a control data output unit 20. The computing device 8 displays various data and analysis results on the display device 10 via the display control unit 60.

[0019] The various information acquisition unit 14 has the function of taking in shape data of the object to be inspected including interfering objects stored in the storage device 9, shape data and axial configuration data of the scanning device 5, and data on the ultrasonic wave incident angle and flaw detection conditions.

[0020] The interference analysis unit 15 has the function of calculating the interference range between the object, the scanning device 5, and the ultrasonic probe 4 based on the above-mentioned imported data. As a specific example of interference analysis, first, a flaw detection range is set on the object based on the weld position and groove shape included in the imported shape data of the object and the flaw detection range included in the data of the flaw detection conditions. Based on the ultrasonic incident angle and flaw detection direction included in the data of the flaw detection conditions, the scanning range of the ultrasonic probe 4 on the surface of the object is calculated so that the flaw detection range satisfies the ultrasonic propagation range. The ultrasonic probe 4 is placed at each position in the calculated scanning range, and the position and attitude of the scanning device at that position are calculated. Based on the calculation results, the presence or absence of interference with an interfering object included in the shape data of the object is calculated. The range where interference is present is extracted as the interference range.

[0021] FIG. 2 is a diagram illustrating the state of the subject 1, scanning device 5, and ultrasound probe 4 when there is interference along the Y axis. Interference example 2A is a case where the Y-axis tip of second guide rail 53 of scanning device 5 hits and interferes with connection 2. In this case, first guide rail 51 cannot be moved along the Y axis to the right in the drawing. Interference example 2B is a case where the Y-axis base side of second guide rail 53 of scanning device 5 hits and interferes with connection 2. In this case, first moving mechanism 52 cannot be moved around the X axis.

[0022] 3 is a diagram illustrating the state of the subject 1, scanning device 5, and ultrasonic probe 4 when only the ultrasonic probe 4 interferes. Interference example 3A is a case where the ultrasonic probe 4 hits the connecting portion 3 and interferes. In this case, the ultrasonic probe 4 cannot be moved to the right on the Y axis in the drawing. Interference example 3B is a case where the ultrasonic probe 4 hits the connecting portion 2a and interferes. In this case, the ultrasonic probe 4 cannot be moved around the X axis.

[0023] Returning to FIG. 1, the ultrasonic propagation range analysis unit 16 calculates the ultrasonic propagation range within the subject when the ultrasonic probe 4 scans a scanning range outside the interference range, based on the interference range described above.

[0024] The undetectable range analyzer 17 superimposes the ultrasonic propagation ranges calculated for each inspection condition and distinguishes between ranges where the ultrasonic propagation ranges overlap under multiple conditions, ranges where only one condition applies, and ranges where no ultrasonic propagation range exists. Furthermore, the undetectable range is calculated based on the criteria for determining the undetectable range.

[0025] The scanning path planning unit 18 calculates the scanning path of the ultrasonic probe 4 based on the acquired flaw detection condition data so as to avoid the calculated interference range. The various diagram generating unit 19 generates two-dimensional or three-dimensional diagrams of the calculated interference range, ultrasonic wave propagation range, undetectable range, and scanning path plan. The control data output unit 20 generates input data for controlling the scanning device based on the calculated scanning path plan.

[0026] The recording control unit 12 has a control data acquisition unit 61 that acquires control data from the memory device 9, an ultrasonic transmission / reception control unit 62 that transmits and receives data to and from the ultrasonic transmission / reception device 7, a scanning device control unit 63 that controls the scanning control device 6, and a flaw detection data recording unit 64 that records the flaw detection data from the ultrasonic transmission / reception control unit 62 and the scanning device control unit 63 in the memory device 9.

[0027] The evaluation analysis unit 13 has a flaw detection data acquisition unit 65 that acquires flaw detection data from the storage device 9, and a flaw detection data analysis unit 66 that analyzes whether or not there are flaws or the like based on the acquired flaw detection data.

[0028] (flaw detection conditions) Fig. 4A is a diagram showing the inspection range when inspecting a weld, Fig. 4B is a diagram showing ultrasonic wave incidence conditions for an object with good ultrasonic transmittance, and Fig. 4C is a diagram showing ultrasonic wave incidence conditions for an object with poor ultrasonic transmittance.

[0029] In the inspection range 31 shown in Figure 4A, when the specimen is made of carbon steel, low-alloy steel, or other steel with good ultrasonic transparency as shown in Figure 4B, incidence from two opposing directions is required at the weld, but incidence from at least one direction is sufficient in the inspection range around the weld.In contrast, when the specimen is made of austenitic stainless steel, or other steel with poor sound transparency as shown in Figure 4C, incidence from two opposing directions is required in the entire inspection range, including the weld and its surrounding area, to ensure the inspectability of the ultrasonic inspection test.

[0030] Note that "facing" means, for example, in Figures 1 and 5, that the ultrasonic probes 4 face each other at adjacent positions separated by a predetermined distance in the longitudinal direction (left-right direction) of the surface of the pipe, which is the subject 1. In this embodiment, there is only one ultrasonic probe 4, so facing each other means facing each other at a left position before movement of the scanning path and at a right position after movement. Incidentally, the scanning path is in the longitudinal direction of the pipe, but the scanning path may also be in the circumferential direction of the pipe. Also, two ultrasonic probes 4 may be provided, and configured to face each other.

[0031] (Calculation process for the area that cannot be detected when the object has good sound transmission) 5 is a diagram explaining the calculation process for the undetectable range for an object with good sound wave permeability (when scanning near the center of an interfering object). Scanning Example 5A and Scanning Example 5B are diagrams showing the scanning path that avoids the interfering object and the ultrasonic propagation range when ultrasonic waves are incident on the left and right sides of the weld. Ultrasonic wave propagation range 5C is a diagram in which the respective ultrasonic wave propagation ranges are superimposed, and it clarifies the range where ultrasonic waves are incident in two opposing directions, the range where ultrasonic waves are incident in only one direction, and the range where ultrasonic waves are not incident. Ultrasonic wave incidence condition 5D is a diagram of the inspection conditions shown in FIG. The calculation result 5E of the range where flaws cannot be detected is calculated by superimposing the ultrasonic propagation range 5C and the ultrasonic incidence condition 5D, and the range where flaws cannot be detected is calculated as being in violation of the inspection condition of the ultrasonic incidence condition 5D.

[0032] 6 is a diagram explaining the calculation process for the undetectable range for an object with good sound wave permeability (when scanning a position away from interfering objects). Scanning Example 6A and Scanning Example 6B are diagrams showing the scanning path that avoids interfering objects and the ultrasonic propagation range when ultrasonic waves are incident on the weld from the left and right. Ultrasonic wave propagation range 6C is a diagram in which the respective ultrasonic wave propagation ranges are superimposed, and it clarifies the range where ultrasonic waves are incident in two opposing directions, the range where ultrasonic waves are incident in only one direction, and the range where ultrasonic waves are not incident. Ultrasonic wave incidence condition 6D is a diagram of the inspection conditions shown in Figure 4. Since there is no interference and the scanning path is sufficient for the range to be inspected, the calculation result 6E of the range that cannot be inspected shows that no range that cannot be inspected occurs.

[0033] When ultrasonic waves are irradiated from two opposite directions to a desired inspection range (for example, inspection range 31 in FIG. 4A), undetectable range analysis unit 17 calculates a second ultrasonic propagation range where the ultrasonic propagation ranges from the two directions overlap, based on the ultrasonic propagation ranges calculated from each direction (ultrasonic propagation ranges 33a, 33b), and calculates the range within the desired inspection range that is not the second ultrasonic propagation range in a specific inspection range (for example, the weld in FIG. 4) as an undetectable range (undetectable range 35). Note that "from each direction" means "from one direction (for example, from a position on the right)" and "from the other direction (for example, from a position on the left)" in two opposite directions.

[0034] (Calculation process for the area that cannot be detected when the object has poor sound transmission) Figure 7 is a diagram explaining the calculation process for the undetectable range in the case of an object with poor sound wave permeability (when scanning near the center of an interfering object). Even if the interference range and scanning path are the same as in Figure 5, it can be seen that the undetectable range in the calculation result 7E for the undetectable range differs depending on the ultrasonic wave incidence conditions 8D.

[0035] Figure 8 is a diagram explaining the calculation process for the undetectable range in the case of an object with poor sound wave permeability (when scanning a position away from interfering objects). Although the interference range and scanning path are the same as in Figure 6, there is a difference in the ultrasonic wave incidence conditions 8D. However, because there is no interference and the scanning path is sufficient for the detection range, the calculation result 8E for the undetectable range shows that no undetectable range has occurred.

[0036] When ultrasonic waves are irradiated from two directions opposite to a desired inspection range (e.g., inspection range 31 in Figure 4A), the undetectable range analysis unit 17 calculates a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap based on the ultrasonic propagation ranges calculated from each direction (e.g., ultrasonic propagation ranges 33a, 33b), and calculates the range within the desired inspection range that is not the second ultrasonic propagation range as an undetectable range (e.g., undetectable range 35).

[0037] FIG. 9 is a flowchart showing the operation of the scan planning unit 11 according to the first embodiment. In step S101, the various information acquisition unit 14 acquires shape data of the object including interfering objects stored in the storage device 9, shape data and axial configuration data of the scanning device 5, and data on the ultrasonic wave incident angle and flaw detection conditions.

[0038] In step S102, the interference analysis unit 15 calculates the scanning range of the ultrasonic probe 4 that satisfies the inspection range based on the above-mentioned acquired data.

[0039] In step S103, the interference analysis unit 15 calculates the interference range between the test object 1, the scanning device 5, and the ultrasonic probe 4 in the calculated scanning range. As a specific example of interference analysis, first, a flaw detection range 31 (see FIG. 4A) is set on the test object 1 based on the welding position and groove shape included in the imported shape data of the test object and the flaw detection range included in the data of the flaw detection conditions. Based on the incident angle and flaw detection direction of the ultrasonic waves included in the data of the flaw detection conditions, the set flaw detection range 31 is calculated (computed) so that the ultrasonic propagation range satisfies the flaw detection range 31. The scanning range 32a (see FIG. 5 when ultrasonic waves are incident from the left) and the scanning range 32b (see FIG. 5 when ultrasonic waves are incident from the right) of the ultrasonic probe 4 on the test object surface are calculated.

[0040] Furthermore, the interference analysis unit 15 places the ultrasound probe 4 at each position within the calculated scanning ranges 32a and 32b, calculates the position and posture of the scanning device 5 at that position, and calculates the presence or absence of interference with an interfering object included in the shape data of the object according to the calculation results. The range where interference is present is extracted as the interference range. The relationship between the object 1, scanning device 5, and ultrasound probe 4 when interference is present may be, for example, as shown in Figure 3, a state where the Y axis of the scanning device 5 interferes, or a state where only the ultrasound probe 4 interferes.

[0041] In step S104, based on the interference range described above, the ultrasonic propagation range analysis unit 16 calculates (calculates) an ultrasonic propagation range 33a (see the case where ultrasonic waves are incident from the left in FIG. 5) and an ultrasonic propagation range 33b (see the case where ultrasonic waves are incident from the right in FIG. 5) within the subject when the ultrasonic probe 4 scans a scanning range outside the interference range.

[0042] In step S105, the undetectable range analysis unit 17 superimposes the ultrasonic propagation ranges 33a, 33b (see Figure 5) calculated for each detection condition, and distinguishes between ultrasonic propagation range 34 where the ultrasonic propagation range overlaps under multiple conditions, a range where there is only one condition, and a range where there is no ultrasonic propagation range.

[0043] In step S106, the undetectable range analysis unit 17 calculates the undetectable range 35 based on the criteria for determining the undetectable range.

[0044] In step S107, the scan path planning unit 18 calculates a scan path for the ultrasonic probe 4 based on the imported flaw detection condition data so as to avoid the calculated interference range. For example, in the case of interference example 2A and interference example 2B in Fig. 2, the ultrasonic probe 4 cannot scan the interfering range due to interference with the scanning device 5, so no scan path is generated, whereas in the case of interference example 3A and interference example 3B in Fig. 2 where only the ultrasonic probe 4 interferes, a scan path is generated that partially detects flaws excluding the range where the ultrasonic probe 4 interferes.

[0045] In step S108, the various diagram generating unit 19 generates two-dimensional or three-dimensional diagrams of the calculated interference range, ultrasonic wave propagation range, undetectable flaw range 35, and scanning path plan.

[0046] In step S109, the control data output unit 20 generates input data (control and recording device setting file) for controlling the scanning device based on the calculated scanning path plan.

[0047] The effects of the first embodiment configured as above will be described. In automatic scanning, in which a scanning device 5 moves an ultrasonic probe 4 along the surface of an object 1, it is necessary to plan a scanning path for the ultrasonic probe 4 for the desired inspection range, taking into account the shape of the object surface and the influence of interfering objects, and input the scanning path data into a control device. Therefore, Patent Document 1 uses the following method: Based on the shape of the steel surface measured by a measuring device, a dead zone area where normal inspection results cannot be obtained is determined, and the determined dead zone area is stored in memory. The dead zone area is then read from memory, and the ultrasonic probe 4 is controlled to inspect defects only in areas other than the dead zone area. However, with the ultrasonic flaw detection device described in Patent Document 1, the determination of undetectable areas based on multiple inspection conditions must be performed manually using CAD or the like. This poses a problem of requiring a large amount of work, especially when outputting inspection plans and inspection results for objects with complex shapes or objects with interfering objects.

[0048] To address this issue, in the first embodiment, an ultrasonic flaw detection device that ultrasonically detects a desired flaw detection range of an object 1 using a scanning device 5 that scans an ultrasonic probe 4 is provided with means including a various information acquisition unit 14 that references object data, scanning device data, ultrasonic probe data, and flaw detection condition data, an interference analysis unit 15 that references the data acquired by the various information acquisition unit 14 to calculate the interference range between the object 1, including interfering objects, and the scanning device 5 to which the ultrasonic probe 4 is attached, and a scanning path planning unit 18 that references the interference range and calculates the scanning path of the ultrasonic probe 4 based on the imported flaw detection condition data so as to avoid the interference range. This makes it possible to automatically plan the scanning path of the ultrasonic probe 4, which makes it possible to reduce the number of steps compared to when it is done manually using CAD or the like, especially for objects with complex shapes or objects with interfering objects.

[0049] Second Embodiment The second embodiment will be described with reference to FIG. 10 is a flowchart showing the operation of the scanning planning unit according to the second embodiment. Steps S101 to S109 are the same as steps S101 to S109 in the first embodiment, and therefore a description thereof will be omitted.

[0050] In the second embodiment, the calculations of steps S102 to S106 are repeatedly performed on N cases of probe data by loop processing of steps S110, S111, and S112, and in step S113, the probe data with the smallest undetectable range is selected from the N cases, and the calculations of steps S107 to S109 are performed under the selected conditions.

[0051] That is, the second embodiment includes a selection step in which the undetectable range is calculated for a plurality of ultrasonic probe data, and the ultrasonic probe data conditions that minimize the undetectable range are selected.

[0052] The effects of the second embodiment configured as above will be described. In the second embodiment, in an ultrasonic flaw detection method for ultrasonically detecting a desired flaw detection range of a test object using a scanning device 5 that scans an ultrasonic probe 4, the flaw detection undetectable range for a plurality of flaw detection conditions is calculated, and the flaw detection condition that minimizes the flaw detection undetectable range is selected, making it possible to select a more reliable ultrasonic probe 4.

[0053] <Application example> An application example of the ultrasonic flaw detector 100 of this embodiment will be described. 11A is a diagram showing application locations in a nuclear power plant. Fig. 11A shows an example of ultrasonic flaw detection inspection using the ultrasonic flaw detection device 100 of this embodiment on a reactor pressure vessel (RPV) and piping of a nuclear power plant. Target locations include various weld lines of the RPV, various piping, and nozzles connecting the RPV.

[0054] 11B is a diagram showing an outline of the scanning path of the ultrasonic probe 4. A rectangular scan is performed by scanning the outer surface of the specimen with the ultrasonic probe 4 in two directions, the circumferential direction (X-axis direction) and the axial direction (Y-axis direction), so as to irradiate ultrasonic waves over the entire plate thickness direction of the requested inspection range. When planning this scanning trajectory, if there is a structure (interfering object) such as an instrumentation nozzle near the weld line, a scanning trajectory plan (flaw inspection plan) is planned that avoids the interfering object so that the scanning device 5 including the ultrasonic probe 4 does not interfere.

[0055] The ultrasonic flaw detection device 100 of this embodiment has been described above, and the ultrasonic flaw detection method has the following features. (1) An ultrasonic flaw detection method for ultrasonically detecting a desired flaw detection range of an object 1 using a scanning device 5 that scans an ultrasonic probe 4, characterized by comprising: a variety of information acquisition step that references object data, scanning device data, ultrasonic probe data, and flaw detection condition data; an interference analysis step that references the data acquired in the variety of information acquisition step to calculate an interference range between the object 1 including an interfering object and the scanning device 5 to which the ultrasonic probe 4 is attached; and a scan path planning step that references the interference range and calculates a scan path of the ultrasonic probe based on the imported flaw detection condition data so as to avoid the interference range. This allows for efficient flaw detection planning for objects with complex shapes or objects with interfering objects.

[0056] (2) The ultrasonic flaw detection method of (1) includes an ultrasonic propagation range analysis step of calculating the ultrasonic propagation range (e.g., ultrasonic propagation ranges 33a and 33b in FIG. 5) within the object when the ultrasonic probe 4 is scanned over a scanning range outside the interference range, with reference to the interference range.

[0057] (3) In the ultrasonic flaw detection method of (2), when ultrasonic waves are irradiated from two directions opposite to a desired flaw detection range (e.g., flaw detection range 31 in Figure 4), a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap is calculated based on the ultrasonic propagation ranges calculated from each direction, and a range within the desired flaw detection range that is not the second ultrasonic propagation range in a specific flaw detection range (e.g., the weld in Figure 4) is calculated as an undetectable flaw detection range (e.g., the undetectable flaw detection range 35 in Figure 5) (see Figures 5 and 6).

[0058] (4) In the ultrasonic flaw detection method of (2), when ultrasonic waves are irradiated from two directions opposite to the desired flaw detection range, a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap is calculated based on the ultrasonic propagation ranges calculated from each direction, and an undetectable flaw detection range analysis step is included in which a range within the desired flaw detection range that is not the second ultrasonic propagation range is calculated as an undetectable flaw detection range (see Figures 7 and 8).

[0059] (5) In the ultrasonic flaw detection method described in (3) or (4), the undetectable range is calculated for a plurality of ultrasonic probe data, and a selection step (e.g., step S113 in Figure 10) is included in which the conditions of the ultrasonic probe data that make the undetectable range the smallest is selected. [Explanation of symbols]

[0060] 1. Subject 2,3 Connection 4 Ultrasonic probe 5 Scanning Device 6 Scanning control device 7. Ultrasonic transmitter / receiver 8 Computing equipment 9 Storage device 10 Display device 11 Scanning Planning Department 12 Recording control section 13 Evaluation and Analysis Department 14 Various information acquisition department 15 Interference Analysis Section 16 Ultrasonic propagation range analysis unit 17 Undetectable area analysis section 18 Scanning path planning unit 19 Various diagram generation section 20 Control data output section 31 Flaw detection range 32a Scanning range (ultrasound incident from the left) 32b Scanning range (when ultrasonic waves are incident from the right) 33a Ultrasonic propagation range (when ultrasonic waves are incident from the left) 33b Ultrasonic wave propagation range (when ultrasonic waves are incident from the right) 34 Ultrasonic propagation range (overlapping range of 32 and 33) 35 Undetectable range 40 Input Devices 51 First guide rail 52 First moving mechanism 53 Second guide rail 54 Second moving mechanism 60 Display control unit 61 Control data acquisition unit 62 Ultrasonic transmission / reception control section 63 Scanning device control section 64 Flaw detection data recording section 65 Flaw detection data acquisition unit 66 Flaw detection data analysis section 100 Ultrasonic flaw detection equipment

Claims

1. An ultrasonic flaw detection apparatus for ultrasonically detecting a desired flaw detection range of an object using a scanning device that scans an ultrasonic probe, a various information acquisition unit that refers to object data, scanning device data, ultrasonic probe data, and flaw detection condition data; an interference analysis unit that refers to the data acquired by the various information acquisition unit and calculates an interference range between the object including an interfering object and the scanning device to which the ultrasonic probe is attached; a scanning path planning unit that refers to the interference range and calculates a scanning path of the ultrasonic probe based on the imported flaw detection condition data so as to avoid the interference range; An ultrasonic flaw detection device characterized by:

2. The ultrasonic flaw detection device according to claim 1, an ultrasonic propagation range analysis unit that refers to the interference range and calculates an ultrasonic propagation range within the subject when the ultrasonic probe is scanned over a scanning range outside the interference range; An ultrasonic flaw detection device characterized by:

3. The ultrasonic flaw detection device according to claim 2, and an undetectable range analysis unit that, when ultrasonic waves are irradiated from two directions opposite to the desired flaw detection range, calculates a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap based on the ultrasonic propagation ranges calculated from each direction, and calculates a range within the desired flaw detection range that is not the second ultrasonic propagation range in a specific flaw detection range as an undetectable range. An ultrasonic flaw detection device characterized by:

4. The ultrasonic flaw detection device according to claim 2, and an undetectable range analysis unit that, when ultrasonic waves are irradiated from two directions opposite to the desired flaw detection range, calculates a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap based on the ultrasonic propagation ranges calculated from each direction, and calculates a range within the desired flaw detection range that is not the second ultrasonic propagation range as an undetectable range. An ultrasonic flaw detection device characterized by:

5. An ultrasonic flaw detection method for ultrasonically detecting a desired flaw detection range of a test object using a scanning device that scans an ultrasonic probe, comprising: a step of acquiring various information by referring to object data, scanning device data, ultrasonic probe data, and flaw detection condition data; an interference analysis step of calculating an interference range between the object including an interfering object and the scanning device equipped with the ultrasonic probe by referring to the data acquired in the various information acquisition step; a scanning path planning step of calculating a scanning path of the ultrasonic probe based on the imported flaw detection condition data by referring to the interference range so as to avoid the interference range; An ultrasonic flaw detection method characterized by:

6. The ultrasonic flaw detection method according to claim 5, and an ultrasonic propagation range analysis step of calculating an ultrasonic propagation range within the subject when the ultrasonic probe is scanned over a scanning range outside the interference range by referring to the interference range. An ultrasonic flaw detection method characterized by:

7. The ultrasonic flaw detection method according to claim 6, When ultrasonic waves are irradiated from two directions opposite to the desired flaw detection range, a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap is calculated based on the ultrasonic propagation ranges calculated from each direction, and a range within the desired flaw detection range that is not the second ultrasonic propagation range in a specific flaw detection range is calculated as an undetectable flaw detection range. An ultrasonic flaw detection method characterized by:

8. The ultrasonic flaw detection method according to claim 6, When ultrasonic waves are irradiated from two directions opposite to the desired flaw detection range, a second ultrasonic propagation range in which the ultrasonic propagation ranges from the two directions overlap is calculated based on the ultrasonic propagation ranges calculated from each direction, and a range within the desired flaw detection range that is not the second ultrasonic propagation range is calculated as an undetectable flaw detection range. An ultrasonic flaw detection method characterized by:

9. The ultrasonic flaw detection method according to claim 7 or 8, The method includes a selection step of calculating the undetectable range for a plurality of ultrasonic probe data and selecting the ultrasonic probe data conditions that minimize the undetectable range. An ultrasonic flaw detection method characterized by:

Images