Beam steering for laser ultrasonic inspection systems

Abstract

To solve a problem in which, in one scanning technique that is useful for identifying defects in composite structures, lasers are used, but maintaining a consistent distance between the lasers and the surface of the structure is difficult as the robot arm moves the lasers along the surface of the structure.SOLUTION: Disclosed herein is a laser ultrasonic testing (UT) apparatus 100 for inspecting a surface of an object. The laser UT apparatus comprises an excitation laser 106, which is selectively operable to generate an excitation laser beam 118. The laser UT apparatus also comprises a first acousto-optic deflector (AOD) 114 and a second AOD 116. The laser UT apparatus additionally comprises a detection laser 108, which is selectively operable to generate a detection laser beam 142. The laser UT apparatus further comprises a third AOD 130 and a fourth AOD 136.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates generally to non-destructive inspection of parts, and more particularly to systems and methods for non-destructive inspection of parts using lasers. [Background technology]

[0002] Various manufactured components, such as vehicle parts, may be utilized during the manufacturing process. Such manufactured components may be composite structures formed from composite materials. The formation of these composite structures may inadvertently contain defects, such as delaminations, inclusions, voids, disbands, etc. Therefore, composite structures are scanned to assess the quality of the structure (e.g., identify defects within the structure).

[0003] One scanning technique useful for identifying defects in composite structures uses a laser. A laser aimed at the surface of the structure induces the generation of ultrasonic waves that pass through the structure, interacting with features within the structure before propagating back to the surface. A detector measures the ultrasonic waves propagating to the surface of the structure, and an analyzer determines whether a defect is present depending on the characteristics of the ultrasonic waves propagating from the surface. Typically, a robotic arm moves the laser along the surface of the structure. Unfortunately, it is difficult to maintain a consistent distance between the laser and the surface of the structure as the robotic arm moves the laser along the surface of the structure. Summary of the Invention

[0004] The subject matter of the present application provides an exemplary non-destructive testing device that overcomes the above-mentioned shortcomings of prior art techniques. The subject matter of the present application has been developed in response to the current state of the art, and in particular, in response to the shortcomings of current non-destructive testing devices.

[0005] Disclosed herein is a laser ultrasonic testing (UT) device for inspecting the surface of an object. The laser UT device includes an excitation laser selectively operable to generate an excitation laser beam. The laser UT device also includes a first acousto-optic deflector (AOD) configured to receive the excitation laser beam from the excitation laser and adjust the position of the excitation laser beam along a path parallel to a first direction. The laser UT device further includes a second AOD configured to receive the excitation laser beam from the first AOD and adjust the position of the excitation laser beam along a path parallel to a second direction different from the first direction. The laser UT device further includes a detection laser selectively operable to generate a detection laser beam. The laser UT device further includes a third AOD configured to receive the detection laser beam from the detection laser and adjust the position of the detection laser beam along a path parallel to the first direction. The laser UT device further includes a fourth AOD configured to receive the detection laser beam from the third AOD and adjust the position of the detection laser beam along a path parallel to the second direction. The foregoing subject matter of this paragraph characterizes Example 1 of the present disclosure.

[0006] The laser UT device further comprises an interferometer detector configured to detect ultrasonic energy emitted from the surface. The preceding subject matter of this paragraph characterizes Example 2 of the present disclosure, which also includes subject matter according to Example 1 above.

[0007] The laser UT device further includes a controller configured to control the first AOD and the third AOD to synchronize adjustment of the positions of the excitation laser beam and the detection laser beam along a path parallel to the first direction. The controller is also configured to control the second AOD and the fourth AOD to synchronize adjustment of the positions of the excitation laser beam and the detection laser beam along a path parallel to the second direction. The preceding subject matter of this paragraph characterizes Example 3 of the present disclosure, which also includes subject matter according to Example 1 or 2 above.

[0008] The laser UT device further comprises a surface profiler configured to identify a contour of the surface, generate contour information corresponding to the contour of the surface, and communicate the contour information to the controller. The preceding subject matter of this paragraph characterizes Example 4 of the present disclosure, which also includes subject matter according to Example 3 above.

[0009] The controller is configured to determine contour information corresponding to a contour of the surface based on a computer-aided design model of the object. The preceding subject matter of this paragraph characterizes Example 5 of the present disclosure, which also includes subject matter according to Example 3 or 4 above.

[0010] The first direction is perpendicular to the second direction. The preceding subject matter of this paragraph characterizes Example 6 of the present disclosure, which also includes subject matter according to any one of Examples 1 through 5 above.

[0011] The first AOD comprises a first piezoelectric transducer coupled to a first crystal and configured to generate a first acoustic wave in a first direction. The second AOD further comprises a second piezoelectric transducer coupled to the first AOD and coupled to a second crystal and configured to generate a second acoustic wave in a second direction. The preceding subject matter of this paragraph characterizes Example 7 of the present disclosure, which also includes subject matter according to any one of Examples 1 to 6 above.

[0012] The laser UT device further includes a plurality of AODs coupled to the second AOD, each of the plurality of AODs having a piezoelectric transducer configured to generate acoustic waves in a direction perpendicular to acoustic waves generated by adjacent AODs of the plurality of AODs. The preceding subject matter of this paragraph characterizes Example 8 of the present disclosure, which also includes subject matter according to Example 7 above.

[0013] The third AOD comprises a third piezoelectric transducer coupled to a third quartz element and is configured to generate third acoustic waves in the first direction. The fourth AOD further comprises a fourth piezoelectric transducer coupled to the third AOD and coupled to a fourth quartz element and is configured to generate fourth acoustic waves in the second direction. The preceding subject matter of this paragraph characterizes Example 9 of the present disclosure, which also includes subject matter according to Examples 7 or 8 above.

[0014] The laser UT device further includes a plurality of AODs coupled to the fourth AOD, each of the plurality of AODs having a piezoelectric transducer configured to generate acoustic waves in a direction perpendicular to acoustic waves generated by adjacent AODs of the plurality of AODs. The preceding subject matter of this paragraph characterizes Example 10 of the present disclosure, which also includes subject matter according to Example 9 above.

[0015] Also disclosed herein is a system for non-destructively inspecting an object. The system includes a robotic arm. The system also includes a controller configured to control movement of a tool center point (TCP) of the robotic arm. The system further includes a laser ultrasonic testing (UT) device coupled to the TCP. The laser UT device includes a first pair of acousto-optic deflectors (AODs). Each AOD of the first pair of AODs is configured to adjust an excitation laser beam generated by an excitation laser in one of an x-dimension or a y-dimension. The x-dimension is perpendicular to the y-dimension. The laser UT device also includes a second pair of AODs each configured to adjust a detection laser beam generated by a detection laser in one of the x-dimension or the y-dimension. The foregoing subject matter of this paragraph characterizes Example 11 of the present disclosure.

[0016] The system further comprises an interferometer detector configured to detect ultrasonic energy emitted from the surface of the object. The preceding subject matter of this paragraph characterizes Example 12 of the present disclosure, which also includes subject matter according to Example 11 above.

[0017] The controller is further configured to synchronize the excitation of the first pair of AODs with the excitation of the second pair of AODs. The preceding subject matter of this paragraph characterizes Example 13 of the present disclosure, which also includes subject matter according to Examples 11 or 12 above.

[0018] The system further comprises a surface profiler configured to identify a contour of the surface, generate contour information corresponding to the contour of the surface, and communicate the contour information to the controller. The preceding subject matter of this paragraph characterizes Example 14 of the present disclosure, which also includes subject matter according to any one of Examples 11 to 13 above.

[0019] The controller is configured to determine contour information corresponding to a contour of the surface based on a computer-aided design model of the object. The preceding subject matter of this paragraph characterizes Example 15 of the present disclosure, which also includes subject matter according to any one of Examples 11 to 14 above.

[0020] Also disclosed herein is a method for non-destructively inspecting an object. The method includes positioning a laser ultrasonic testing (UT) device adjacent to a surface of the object. The laser UT device includes a first pair of acousto-optic deflectors (AODs), each configured to adjust the deflection of an excitation laser beam in one of the x- or y-dimensions. The x-dimension is perpendicular to the y-dimension. The laser UT device also includes a second pair of AODs, each configured to adjust the deflection of a detection laser beam in one of the x- or y-dimensions. The method also includes matching the deflection of the excitation laser beam with the deflection of the detection laser beam by synchronizing the excitation of the first pair of AODs with the excitation of the second pair of AODs. The method further includes scanning the object to search for defects. The method further includes traversing the surface of the object using the laser UT device at a predetermined distance from the surface. The foregoing subject matter of this paragraph characterizes Example 16 of the present disclosure.

[0021] The method further includes detecting ultrasonic energy emitted from the object with an interferometer detector. The preceding subject matter of this paragraph characterizes Example 17 of the present disclosure, which also includes subject matter according to Example 16 above.

[0022] The method further includes analyzing the detected ultrasonic energy to identify the presence of defects in the object. The preceding subject matter of this paragraph characterizes Example 18 of the present disclosure, which also includes subject matter according to Example 17 above.

[0023] Scanning the object to search for defects further includes scanning the object according to contour information of the surface of the object. The subject matter above in this paragraph characterizes Example 19 of the present disclosure, and Example 19 also includes subject matter according to any one of Examples 16 to 18 above.

[0024] The method further includes maintaining a predetermined distance between the laser UT device and the object via the robotic arm based on the contour of the surface. The preceding subject matter of this paragraph characterizes Example 20 of the present disclosure, which also includes subject matter according to any one of Examples 16 to 19 above.

[0025] The described features, structures, advantages, and / or characteristics of the presently disclosed subject matter may be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to facilitate a comprehensive understanding of embodiments of the presently disclosed subject matter. Those skilled in the art will recognize that the presently disclosed subject matter can be practiced without one or more of the specific features, details, components, materials, and / or methods of a particular embodiment. In other cases, additional features and advantages may be recognized in a particular embodiment, but may not be present in all embodiments. Furthermore, in some instances, well-known structures, materials, or steps have not been described or shown in detail so as not to obscure aspects of the presently disclosed subject matter. The features and advantages of the presently disclosed subject matter will become more apparent from the following description and appended claims, or may be learned by practicing the subject matter as described below.

[0026] In order that the advantages of the present subject matter may be more readily understood, a more particular description of the present subject matter outlined above will be provided by reference to specific embodiments that are illustrated in the accompanying drawings. It will be understood that these drawings illustrate only typical embodiments of the present subject matter and should not be considered as limiting the scope of the present subject matter. The present subject matter will be described and explained with additional specificity and detail through the use of the drawings. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a schematic block diagram illustrating one embodiment of a laser ultrasonic testing device, in accordance with an embodiment of the disclosed subject matter. [Figure 2] FIG. 2 is a schematic block diagram illustrating one embodiment of an excitation laser assembly of the laser ultrasonic testing apparatus of FIG. 1 in accordance with an embodiment of the disclosed subject matter. [Figure 3] 2 is a schematic block diagram illustrating one embodiment of a detection laser assembly of the laser ultrasonic testing apparatus of FIG. 1 in accordance with an embodiment of the disclosed subject matter. [Figure 4] FIG. 1 is a schematic block diagram illustrating one embodiment of an acousto-optic deflector pair, in accordance with an embodiment of the disclosed subject matter. [Figure 5] FIG. 1 is a schematic block diagram illustrating one embodiment of a plurality of acousto-optic deflectors, in accordance with an embodiment of the disclosed subject matter. [Figure 6] 1 is a schematic block diagram illustrating one embodiment of a system for non-destructive inspection testing, in accordance with an embodiment of the disclosed subject matter. [Figure 7] FIG. 1 is a schematic block diagram illustrating an embodiment of a controller, in accordance with an embodiment of the disclosed subject matter. [Figure 8] FIG. 1 is a flowchart illustrating a method for non-destructively inspecting an object, according to an embodiment of the disclosed subject matter. [Figure 9] FIG. 1 is a perspective view of one embodiment of a structure according to an embodiment of the disclosed subject matter. DETAILED DESCRIPTION OF THE INVENTION

[0028] When reference is made herein to "one embodiment," "an embodiment," or similar phrases, it means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. The phrases "one embodiment," "an embodiment," or similar phrases used throughout this specification may, but do not necessarily, all refer to the same embodiment. Similarly, the term "embodiment" refers to an embodiment having a particular feature, structure, or characteristic described in connection with one or more embodiments of the present disclosure, but the embodiment may be associated with one or more embodiments unless there is a clear correlation suggesting otherwise.

[0029] Referring to FIG. 1 , a laser ultrasonic testing (UT) apparatus 100 for non-destructive testing of a surface 102 of an object 104 is shown in accordance with an embodiment of the disclosed subject matter. In a particular embodiment, the laser UT apparatus 100 includes an excitation laser assembly 101, a detection laser assembly 103, a controller 110, and an interferometer detector 112. For clarity, FIG. 1 shows a simplified diagram of the laser UT apparatus 100, including the excitation laser 106, the detection laser 108, the controller 110, and the interferometer detector 112, without showing the diffracted laser beams. FIGS. 2 and 3 depict separate diagrams of the excitation laser assembly 101 and the detection laser assembly 103, respectively, each showing the diffracted beams to illustrate how the laser UT apparatus 100 raster scans the excitation laser 106 and the detection laser 108 across the surface 102 of the object 104.

[0030] In certain embodiments, the object 104 is any suitable structure, such as a portion of an aircraft (e.g., a wing, a fuselage, etc.) or another manufactured structure. The object 104 has a defect if there is a deformation on the surface of the object 104, such as a deformation due to air trapped below the surface 102 of the object 104, or a defect located within the object 104. In some situations, the air trapped below the surface 102 of the object 104 results from a delaminated layer / material. The laser UT device 100 is configured to detect defects in the object 104.

[0031] In certain embodiments, the excitation laser assembly 101 includes an excitation laser 106 configured to generate ultrasonic energy in the form of an excitation laser beam 118. Lasers suitable for use as the excitation laser 106 include, but are not limited to, gas lasers, chemical lasers, dye lasers, solid-state lasers, semiconductor lasers, etc. The excitation laser beam 118 of the excitation laser 106 generates ultrasonic energy waves due to a sudden thermal expansion of an area of ​​the surface 102. The sudden thermal expansion generates ultrasonic waves due to heating of a small area of ​​the surface 102. In certain embodiments, the frequency of the generated ultrasonic waves is determined by the pulsing frequency of the excitation laser 106. In some embodiments, the power level of the excitation laser 106 is sufficient to cause vaporization or ablation of a portion of the surface 102, and the ultrasonic energy is generated by the recoil effect of the vaporized material.

[0032] A portion of the ultrasonic energy waves is immediately reflected from the surface 102, while another portion of the ultrasonic energy waves propagates into the object 104. Further, a portion of these propagated waves is reflected, for example, from layer boundaries within the object 104, toward the location of the detection laser 108. In certain embodiments, these ultrasonic energy waves deform or move the surface 102 as they emit from the surface 102, resulting in a deflection of the detection laser beam 142 generated by the detection laser 108 of the detector laser assembly 103. This deflected detection laser beam is detected by the interferometer detector 112. Thus, the interferometer detector 112 is configured to detect ultrasonic energy and communicate information regarding the detected ultrasonic energy to the controller 110.

[0033] In certain embodiments, interferometer detector 112 is configured to detect multiple laser-produced interferometry points. Ultrasonic information generated by excitation laser 106 deflects a reflected beam from detection laser 108. The deflected reflected beam is detected by interferometer detector 112. The ultrasonic information is communicated to controller 110 and analyzed to identify defects in object 104.

[0034] In certain embodiments, a first acousto-optic deflector (“AOD” or “AODs” when referring to multiple acousto-optic deflectors) 114 and a second AOD 116 of the excitation laser assembly 101 are optically coupled to the excitation laser 106 and configured to direct an excitation laser beam 118 generated by the excitation laser 106 in a scanning motion across the surface 102 of the object 104. The first AOD 114 and the second AOD 116 are collectively referred to as a first pair of AODs 117. As depicted in FIGS. 1 and 2 , the first AOD 114 and the second AOD 116 cause the excitation laser beam 118 to raster scan (i.e., scan line-by-line) across the excitation area 120 of the object 104. In certain embodiments, each of the first AOD 114 and the second AOD 116 is configured to deflect the excitation laser beam 118 along a single axis. For ease of explanation, in the two-dimensional space defined by surface 102 of object 104, a first axis is the x-dimension, also referred to herein as first direction 125, and a second axis is the y-dimension, also referred to herein as second direction 127. In certain embodiments, x-dimension or first direction 125 is perpendicular to y-dimension or second direction 127.

[0035] The first AOD 114 and the second AOD 116 deflect the excitation laser beam 118 according to the Bragg diffraction principle. In a specific embodiment, the first AOD 114 includes a first quartz element 122 and a first piezoelectric transducer 124 coupled to the first quartz element 122. When the first piezoelectric transducer 124 generates acoustic waves, the excitation laser beam 118 passing through the first quartz element 122 is deflected. The angle of deflection is related to the frequency of the acoustic waves. The first quartz element 122 is a proprietary birefringent material with a variable refractive index. Increasing the acoustic waves increases the deflection of the excitation beam away from the central axis position of the excitation laser beam 118 along a path parallel to a first direction 125.

[0036] Similarly, the second AOD 116 includes a second quartz element 126 and a second piezoelectric transducer 128. The second AOD 116 is configured to deflect the excitation laser beam 118 along a path parallel to a second direction 127 that is substantially perpendicular to the first direction 125. As used herein, the term "substantially" refers to a value within a range of ±10% of the referenced value. For example, a "substantially perpendicular" direction includes an axis that forms an angle between approximately 80 and 100 degrees. Taken together, the first AOD 114 and the second AOD 116 are controllable by the controller 110 to direct the excitation laser beam 118 to raster scan across the excitation area 120.

[0037] In particular embodiments, the detection laser assembly 103 of the laser UT device 100 includes a third AOD 130 (including a third quartz element 132 and a third piezoelectric transducer 134) and a fourth AOD 136 (including a fourth quartz element 138 and a fourth piezoelectric transducer 140). In particular embodiments, the third AOD 130 and the fourth AOD 136 are referred to as a second pair of AODs 137. The third AOD 130 and the fourth AOD 136 are optically coupled to the detection laser 108. In other words, similar to the excitation laser 106 and the first and second AODs 114 and 116, the third AOD 130 and the fourth AOD 136 are in a relationship to receive the detection laser beam 142 of the detection laser 108. As described above, when the detection laser beam 142 passes through the third AOD 130 and the fourth AOD 136, the respective piezoelectric transducers 134, 140 cause deflection of the detection laser beam 142 along a path parallel to either the first direction 125 or the second direction 127 to achieve raster scanning of the detection area 144.

[0038] In certain embodiments, as described in more detail below, the laser UT device 100 is moved along the surface 102 of the object 104. A distance 146 between the excitation laser 106 and the detection laser 108, and subsequently between the excitation area 120 and the detection area 144, is maintained. In some embodiments, the detection area 144 partially intersects with the excitation area 120, as depicted in FIG. 1 . The offset distance 146 is advantageously minimized because the beam deflection or beam steering is achieved without mechanical interference, allowing for miniaturization of the laser UT device 100.

[0039] In certain embodiments, the laser pulses and beam deflections from the central axis (i.e., normal beam position) of both the excitation laser 106 and the detection laser 108 are synchronized by synchronizing the energy levels of the first AOD 114 and the second AOD 116 with the energy levels of the third AOD 130 and the fourth AOD 136. For example, the controller 110 is configured to control the voltages applied to the AODs both individually and / or collectively to synchronize the pulses and positions of the excitation and detection laser beams 142. This advantageously allows the detection laser beam 142 to be optimally positioned to detect the ultrasonic energy generated by the excitation laser 106. The controller 110 is configured to control each AOD 114, 116, 130, 136 from a single power supply using an algorithm based on the orientation of the crystal elements. As described in more detail below, the algorithm implements a time delay between adjustments of the excitation laser 106 and the detection laser 108 to allow for the generation and propagation of ultrasonic waves. The AODs 114 , 116 , 130 , 136 can also function as optical shutters (eg, beam choppers) to adjust the pulse times of the excitation laser beam 118 and the detection laser beam 142 .

[0040] Referring now to FIG. 4 , a perspective view of a first pair of AODs 148 is shown in accordance with an embodiment of the presently disclosed subject matter. While described as depicting the first AOD 114 and second AOD 116 of the excitation laser assembly 101, the description generally applies to the third AOD 130 and fourth AOD 136 of the detection laser assembly 103. In particular embodiments, the first AOD 114 is coupled to the second AOD 116. In some embodiments, the first AOD 114 and the second AOD 116 are physically coupled, while in other embodiments, the first AOD 114 and the second AOD 116 are optically coupled. The phrase “optically coupled” refers to being oriented or positioned in a relationship such that the excitation laser beam 118 of the excitation laser 106 passes through both the first AOD 114 and the second AOD 116. A first piezoelectric transducer 124 is disposed on a face of the first quartz element 122 such that the acoustic waves generated by the first piezoelectric transducer 124 travel in a direction transverse to the direction of travel of the excitation laser beam 118, as depicted by arrow 150.

[0041] In certain embodiments, a second piezoelectric transducer 128 is disposed on a face of the second quartz crystal element 126 such that acoustic waves generated by the second piezoelectric transducer 128 travel in a direction transverse to the excitation laser beam 118, as indicated by arrow 152. In certain embodiments, arrows 150 and 152 correspond to the first direction 125 and the second direction 127, respectively, in FIGS. 1-3. In some embodiments, the direction identified by arrow 150 is substantially perpendicular to the direction identified by arrow 152.

[0042] FIG. 5 is a perspective view of multiple AODs according to an embodiment of the disclosed subject matter. In certain embodiments, one or more additional AODs 156 are coupled to the first AOD 114 and the second AOD 116 (e.g., a first pair of AODs 117). Each of the additional AODs 156 is optically coupled to the first AOD 114 and the second AOD 116, thereby causing the excitation laser beam 118 to pass through each of the additional AODs 156. The grouping of additional AODs 156 is referred to as a plurality of AODs 154. As with FIG. 4, in some embodiments, the additional AODs 156 are coupled in a similar manner to the third AOD 130 and the fourth AOD 136 of the detection laser 108.

[0043] Each of the additional AODs 156 includes a quartz element 158 ​​and a piezoelectric transducer 160. In particular embodiments, the piezoelectric transducer 160 of each additional AOD 156 is positioned such that acoustic waves are generated in a direction perpendicular to adjacent AODs of the additional AOD 156. In other words, adjacent piezoelectric transducers 160 are positioned such that they alternate with the faces of the quartz element 158. While the quartz elements depicted in Figures 1-5 are rectangular, it is contemplated that the AODs may have any convenient number of faces (i.e., triangular, pentagonal, hexagonal, etc.).

[0044] 6, a schematic block diagram illustrates one embodiment of a system 200 for non-destructive inspection (NDI) of manufactured components (e.g., also referred to as object 104) in accordance with an embodiment of the presently disclosed subject matter. In particular embodiments, system 200 is used to inspect a variety of structures, including composite structures of a wide range of sizes and shapes, such as composite aircraft wings, spars, and fuselage barrels.

[0045] In certain embodiments, the system 200 includes a robot arm 202. The robot arm 202 is a jointed-arm robot configured to provide movement and positioning of a tool center point (TCP) 204. In certain embodiments, the TCP 204 is a mathematical point (located on the end of the robot arm 202) that the robot arm 202 moves through space relative to a robot base 206. In certain embodiments, the TCP 204 is positioned at the end of the robot arm 202 and configured to couple to a tool, such as the laser UT device 100. For example, the end of the robot arm 202 is a plate to which the laser UT device 100 or an end effector is attached. In certain embodiments, the TCP 204 is a point located a predetermined distance from the end of the robot arm that corresponds to an ideal distance from the laser UT device 100 for scanning the surface 102 of the object 104. The controller 110 is configured to control the movement and positioning of the TCP 204.

[0046] In certain embodiments, the controller 110 is implemented using software, hardware, firmware, or a combination thereof. When software is used, the operations performed by the controller 110 are implemented using program code configured to execute on, for example, a processor unit. When firmware is used, the operations are implemented using program code and data stored in persistent memory that executes on, for example, a processor unit. When hardware is used, the hardware includes one or more circuits that operate to perform the operations of moving the TCP 204. In certain embodiments, the hardware takes the form of a circuit system, an integrated circuit, an application specific integrated circuit (ASIC), a programmable logic device, etc.

[0047] In certain embodiments, the controller 110 is configured to control the movement of the robot arm 202, which allows movement with up to six or more degrees of freedom. In certain embodiments, the robot arm 202 is configured to be coupled to an end effector (e.g., the laser UT device 100). In one embodiment, the end effector is integrated as part of the robot arm 202 or is detachably coupled to the TCP 204. In certain embodiments, the inspection of the object 104 uses the laser UT device 100, as described above with reference to FIGS. 1-5. The structure of the object 104 is scanned by the laser UT device 100 to ensure that the object 104 is free of defects.

[0048] In certain embodiments, the object 104 has a portion with a varying radius and varying angle of curvature. For effective scanning, the laser UT device 100 is positioned adjacent to the object 104. In certain embodiments, the laser UT device 100 is maintained at a specific distance and angle or orientation relative to a specific location on the object 104. To accomplish this, the controller 110 is configured to communicate with the surface profiler 208. In certain embodiments, the surface profiler 208 is a laser profiler configured to determine the contour or curvature of the surface 102 of the object 104. In some embodiments, the surface profiler 208 is configured to analyze and determine contour information for the object 104 from a computer-aided design model of the object 104. In certain embodiments, the surface profiler 208 communicates the contour information to the controller 110. After determining the curvature, the controller 110 is configured to maintain an appropriate distance between the laser UT device 100 and the surface 102 of the object 104.

[0049] In certain embodiments, the controller 110 includes a timer 210. The timer 210 is configured to synchronize but delay the adjustment of the detection laser 108 via the third AOD 130 and the fourth AOD 136. In certain embodiments, the controller 110 includes a single piezoelectric driver that provides a drive signal to the piezoelectric transducers 124, 128, 134, 140. The timer 210 introduces a delay in the drive signal to account for the time required to generate an ultrasonic wave, allow the wave to propagate through the object 104, and potentially reflect back from the surface 102 for detection. Even if small, the delay allows the detection laser 108 to be adjusted to the appropriate position to detect the ultrasonic wave. This delay varies based on the curvature of the surface 102. For example, a substantially flat surface requires less delay than a concave or convex surface. In certain embodiments, the timer 210 is configured to update the delay based on curvature information derived by the surface profiler 208.

[0050] 7 is a schematic block diagram illustrating a controller 110 according to an embodiment of the disclosed subject matter. The controller 110 is one embodiment of a computing device, which, in some embodiments, may be used to implement one or more components of embodiments of the present disclosure. Computer-usable program code or instructions for implementing processes for an exemplary embodiment may be located within the controller 110. In this exemplary embodiment, the controller includes a communications fabric 214, which provides communications between a processor unit 216, a memory 218, a surface profiler 208, a persistent storage device 220, a communications unit 235, and a display 237.

[0051] In particular embodiments, a surface profiler 208 is disposed on the robotic arm 202 and configured to scan the surface of the object 104 to determine the curvature of the surface 102 of the object 104. The surface profiler 208 is also configured to measure the distance between the TCP 204 and the object 104 and communicate the distance to the controller 110. The controller 110 is, in turn, configured to move the TCP 204 in accordance with the determined distance.

[0052] In some embodiments, processor unit 216 serves to execute instructions for software loaded into memory 218. In one embodiment, processor unit 216 may be a set of one or more processors or a multi-processor core, depending on the particular implementation. Additionally, processor unit 216 is implemented using one or more heterogeneous processor systems, where, according to some embodiments, a primary processor resides on a single chip along with secondary processors. As another illustrative example, processor unit 216 is a symmetric multi-processor system that includes multiple processors of the same type.

[0053] Memory 218 and persistent storage 220 are examples of storage device 228. A storage device is any hardware capable of temporarily and / or persistently storing information, such as, for example, without limitation, data, functional form of program code, and / or other suitable information. In these examples, memory 218 may be a random access memory or any other suitable volatile or non-volatile storage device. Persistent storage 220 takes various forms depending on the particular implementation. In one embodiment, persistent storage 220 comprises one or more components or devices. In one embodiment, persistent storage 220 is a hard drive, flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination thereof. In some embodiments, the media used by persistent storage 220 is removable. For example, in various implementations, a removable hard drive is used for persistent storage 220.

[0054] In these examples, communications unit 235 provides for communication with other data processing systems or devices. In these examples, communications unit 235 is a network interface card. Communications unit 235 provides for communication through the use of either or both physical and wireless communications links. In some examples, communications unit 235 also provides a connection for user input via a keyboard, a mouse, and / or some other suitable input device. Further, in various examples, input / output unit sends output to a printer or receives input from any other peripheral device. Display 237 provides a mechanism for displaying information to a user.

[0055] In some embodiments, instructions for the operating system, applications, and / or programs are located in storage device 228, which is in communication with processor unit 216 via communications fabric 214. In these embodiments, the instructions are in a functional form on persistent storage 220. In some embodiments, these instructions are loaded into memory 218 for execution by processor unit 216. In particular embodiments, the processes of various embodiments are performed by processor unit 216 using computer-implemented instructions, which are located in a memory, such as memory 218.

[0056] These instructions are referred to as program code, computer usable program code, or computer readable program code, which may be read and executed by a processor in processor unit 216. In different embodiments, the program code may be embodied on different physical or computer readable storage media, such as memory 218 or persistent storage 220.

[0057] Program code 230 is located in a functional form on computer-readable medium 232. Computer-readable medium 232 is selectively removable and may be loaded onto or transmitted to controller 110 for execution by processor unit 216. In some embodiments, program code also encompasses a computer-aided design of object 104. Program code 230 and computer-readable medium 236 form computer program product 234. In one embodiment, computer-readable medium 232 is computer-readable storage medium 236 or computer-readable signal medium 238. In one embodiment, computer-readable storage medium 236 comprises an optical or magnetic disk inserted into or placed into a drive or other device that is part of persistent storage 220 for transfer to a storage device, such as a hard drive that is part of persistent storage 220. In other embodiments, computer-readable storage medium 236 may also take the form of a persistent storage device (e.g., a hard drive, thumb drive, or flash memory) connected to controller 110. In some cases, the computer-readable storage medium 236 is not removable from the controller 110 .

[0058] Alternatively, program code 230 may be transmitted to controller 110 using computer-readable signal media 238. In one embodiment, computer-readable signal media 238 is a propagated data signal embodied with program code 230. In one embodiment, for example, computer-readable signal media 238 is an electromagnetic signal, an optical signal, and / or any other suitable type of signal. These signals may be transmitted via wireless communications links, fiber optic cable, coaxial cable, a wire, and / or other suitable types of communications links. In other words, in exemplary embodiments, communications links and / or connections may be physical or wireless. In some embodiments, computer-readable media also take the form of intangible media, such as communications links or wireless transmissions embodied with the program code.

[0059] In some illustrative embodiments, program code 230 is downloaded over a network from another device or data processing system to persistent storage 220 via computer-readable signal medium 238 for use within controller 110. In one embodiment, program code stored in a computer-readable storage medium within a server data processing system is downloaded over a network from the server to controller 110. According to various embodiments, the system providing program code 230 is a server computer, a client computer, or some other device capable of storing and transmitting program code 230.

[0060] The different components illustrated for controller 110 are not meant to provide physical or architectural limitations to the manner in which different embodiments may be implemented. Various illustrative embodiments may be implemented in a controller that includes components in addition to and / or instead of those illustrated for controller 110. Other components illustrated in FIG. 7 may vary from the illustrative embodiment shown. Various embodiments may be implemented using any hardware drive or system capable of executing program code. For example, storage devices in controller 110 are any hardware apparatus capable of storing data. Memory 218, persistent storage 220, and computer-readable media 232 are examples of storage devices taking a tangible form.

[0061] In another example, a bus system may be used to implement communications fabric 214 and may be comprised of one or more buses, such as a system bus or an input / output bus. Of course, in some examples, the bus system may be implemented using any suitable type of architecture that provides for transfer of data between various components attached to the bus system. In further examples, a communications unit may include one or more devices used to send and receive data, such as a modem or network adapter. Further, a memory may be, for example, memory 218 or a cache, such as found in an interface and memory controller hub that may be included in communications fabric 214.

[0062] Computer program code for carrying out operations for aspects of the presently disclosed subject matter may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or a connection may be made to an external computer (e.g., through the Internet using an Internet Service Provider).

[0063] These computer program instructions may be stored on a computer-readable medium, where the instructions stored on the computer-readable medium may instruct a computer, other programmable data processing apparatus, or other device to function in a particular manner, such as to produce an article of manufacture, and the computer program instructions include instructions that implement the functions / acts identified in one or more blocks of the flowcharts and / or block diagrams. The computer program instructions may also be loaded into a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus, or other device to generate computer-implemented processes, such that the instructions executing on the computer or other programmable apparatus provide steps for performing the functions / acts identified in one or more blocks of the flowcharts and / or block diagrams.

[0064] 8 is a flowchart illustrating a method 300 for non-destructively inspecting a part, according to an embodiment of the disclosed subject matter. The method, at block 302, includes positioning a laser UT device 100 adjacent to a surface 102 of an object 104. In certain embodiments, the laser UT device 100 is configured as described above with reference to FIGS. 1-5 . That is, the laser UT device 100 includes a first AOD 114, a second AOD 116, a third AOD 130, and a fourth AOD 136. At block 304, the method 300 includes matching a deflection of the excitation laser beam 118 of the excitation laser 106 with a deflection of the detection laser beam 142 of the detection laser 108 by synchronizing the excitation of the first AOD 114 and the second AOD 116 with the third AOD 130 and the fourth AOD 136. In certain embodiments, the controller 110 uses the same excitation signal to excite or energize (i.e., apply voltage to) the AODs 114, 116, 130, and 136, so that the deflection of the excitation laser beam 118 matches the deflection of the detection laser beam 142.

[0065] At block 306, the method includes scanning the object 104 for defects. In particular embodiments, scanning the object 104 for defects includes the controller 110 instructing the excitation laser 106 to generate ultrasound waves and the controller 110 instructing the detection laser 108 to detect the ultrasound waves. At block 308, the method 300 includes traversing the surface 102 of the object 104 with the laser UT device 100. In particular embodiments, traversing the surface 102 of the object 104 includes the controller 110 instructing the robot arm 202 to move the laser UT device 100 across the surface 102 of the object 104.

[0066] 9 , an example of a structure 400 on which non-destructive testing may be performed, according to embodiments of the presently disclosed subject matter, is shown herein. In certain embodiments, the structure 400 is an aircraft or any suitable manufactured device, such as a vehicle, aircraft, turbine, engine, and equipment operable in a space-like environment (e.g., satellite, rocket, missile, space station, etc.). In certain embodiments, the object 104 is a component of the structure 400, such as a wing, fuselage, wing spar, etc. The structure is tested using the laser UT device 100. In some embodiments, the laser UT device 100 enables ultrasonic testing on a surface 102 of the structure 400.

[0067] In the above description, certain terms may be used, such as "top," "bottom," "upper," "lower," "horizontal," "vertical," "left," "right," "above," and "below." These terms are used, where necessary, to provide some clarity to the description when dealing with interrelationships. However, these terms are not intended to imply absolute relationships, positions, and / or orientations. For example, with respect to an object, the "upper" surface may become the "lower" surface simply by turning the object upside down. This is still the same object. Furthermore, terms such as "include," "comprise," and "have," and variations thereof, mean "including, but not limited to," unless expressly stated otherwise. Listed items do not imply that any or all of the items are mutually exclusive and / or inclusive, unless expressly stated otherwise. Terms such as "a," "an," and "the" also mean "one or more," unless expressly stated otherwise. Furthermore, the term "plurality" may be defined as "at least two."

[0068] Furthermore, as used herein, "connected" an element to another element may include direct connection and indirect connection. A direct connection may be defined as one element being connected to the other element and being in some contact with the other element. An indirect connection may be defined as a connection between two elements that are not in direct contact with each other but have one or more additional elements between the connected elements. Furthermore, as used herein, fixing one element to another element may include direct fixation and indirect fixation. Furthermore, as used herein, "adjacent" does not necessarily mean in contact. For example, one element may be adjacent to the other element without contacting it.

[0069] As used herein, the phrase "at least one of" used in conjunction with enumerated items means that various combinations of one or more of the enumerated items may be used, and that only one of each enumerated item may be required. An item may be a specific object, article, or category. That is, "at least one of" means that any combination or number of items from the list may be used, but not all of the listed items may be required. For example, "at least one of item A, item B, and item C" may mean, e.g., "item A," "item A and item B," "item B," "item A, item B, and item C," or "item B and item C." In some cases, "at least one of item A, item B, and item C" may mean, for example, without limitation, "two item A, one item B, and ten item C," "four item B, and seven item C," or other suitable combinations.

[0070] Unless otherwise indicated, terms such as "first," "second," etc. are used herein merely as labels and are not intended to impose any sequential, positional, or hierarchical requirements on the items they represent. Further, for example, reference to a "second" item does not require or exclude, for example, a "first" or smaller item and / or a "third" or larger item.

[0071] As used herein, a system, device, structure, article, element, component, or hardware that is "configured to" perform a particular function is not, in fact, capable of performing that particular function without any modification, but rather may perform that particular function after further modification. In other words, a system, device, structure, article, element, component, or hardware that is "configured to" perform a particular function is specifically selected, created, implemented, utilized, programmed, and / or designed for the purpose of performing that particular function. As used herein, the phrase "configured to" refers to the existing characteristics of a system, device, structure, article, element, component, or hardware that enable the system, device, structure, article, element, component, or hardware to perform a particular function without further modification. In this disclosure, a system, device, structure, article, element, component, or hardware described as being "configured to" perform a particular function may additionally or alternatively be described as being "adapted to" and / or "operative to" perform that function.

[0072] The schematic flowcharts contained herein are generally presented as logical flowcharts. Accordingly, the order of description and labeled steps represent one embodiment of the presented method. Other steps and methods may be conceived that are equivalent in function, logic, or effect to one or more steps, or portions thereof, of the depicted method. Furthermore, it is understood that the format and symbols employed are provided to illustrate the logical steps of the method and are not intended to limit the scope of the method. While various types of arrows and lines may be used in a flowchart, they are not intended to limit the scope of the corresponding method. Indeed, some arrows or other connectors may be used to indicate only the logical flow of the method. For example, arrows may indicate an indefinite amount of waiting or monitoring time between listed steps of the described method. Furthermore, the order in which a particular method occurs may or may not strictly follow the order of the corresponding steps shown.

[0073] The present disclosure further includes embodiments according to the following examples. Example 1 1. A laser ultrasonic testing (UT) apparatus for inspecting a surface of an object, comprising: an excitation laser selectively operable to generate an excitation laser beam; a first acousto-optic deflector (AOD) configured to receive the excitation laser beam from the excitation laser and adjust a position of the excitation laser beam along a path parallel to a first direction; a second AOD configured to receive the excitation laser beam from the first AOD and adjust the position of the excitation laser beam along a path parallel to a second direction different from the first direction; a detection laser selectively operable to generate a detection laser beam; a third AOD configured to receive the detection laser beam from the detection laser and adjust a position of the detection laser beam along a path parallel to the first direction; and a fourth AOD configured to receive the detection laser beam from the third AOD and adjust the position of the detection laser beam along a path parallel to the second direction. Example 2. 2. The laser UT apparatus of claim 1, further comprising an interferometer detector configured to detect ultrasonic energy emitted from the surface. Example 3 A laser UT device as described in Example 1 or 2, further comprising a controller configured to control the first AOD and the third AOD to synchronize adjustment of the positions of the excitation laser beam and the detection laser beam along the path parallel to the first direction, and to control the second AOD and the fourth AOD to synchronize adjustment of the positions of the excitation laser beam and the detection laser beam along the path parallel to the second direction. Example 4. 4. The laser UT apparatus of example 3, further comprising a surface profiler configured to identify a contour of the surface, generate contour information corresponding to the contour of the surface, and communicate the contour information to the controller. Example 5. 5. The laser UT apparatus of claim 3 or 4, wherein the controller is configured to identify contour information corresponding to a contour of the surface based on a computer-aided design model of the object. Example 6 6. The laser UT device according to any one of claims 1 to 5, wherein the first direction is perpendicular to the second direction. Example 7 A laser UT device described in any one of Examples 1 to 6, wherein the first AOD comprises a first piezoelectric transducer coupled to a first quartz element and is configured to generate a first acoustic wave in the first direction, and the second AOD is coupled to the first AOD and further comprises a second piezoelectric transducer coupled to a second quartz element and is configured to generate a second acoustic wave in the second direction. Example 8 A laser UT device as described in Example 7, further comprising a plurality of AODs coupled to the second AOD, each of the plurality of AODs having a piezoelectric transducer configured to generate acoustic waves in a direction perpendicular to acoustic waves generated by adjacent AODs of the plurality of AODs. Example 9. A laser UT device as described in Example 7 or 8, wherein the third AOD comprises a third piezoelectric transducer coupled to a third quartz element and is configured to generate a third acoustic wave in the first direction, and the fourth AOD is coupled to the third AOD and further comprises a fourth piezoelectric transducer coupled to a fourth quartz element and is configured to generate a fourth acoustic wave in the second direction. Example 10. A laser UT device as described in Example 9, further comprising a plurality of AODs coupled to the fourth AOD, each of the plurality of AODs having a piezoelectric transducer configured to generate acoustic waves in a direction perpendicular to the acoustic waves generated by adjacent AODs of the plurality of AODs. Example 11 A system for non-destructively inspecting an object, comprising: a robot arm; a controller configured to control movement of a tool center point (TCP) of the robot arm; and a laser ultrasonic testing (UT) device described in any one of Examples 1 to 10 coupled to the TCP. Example 12 1. A system for non-destructively inspecting an object, comprising: a robotic arm; a controller configured to control movement of a tool center point (TCP) of the robotic arm; and a laser ultrasonic testing (UT) device coupled to the TCP, wherein the laser UT device comprises: a first pair of acousto-optic deflectors (AODs), each AOD of the first pair configured to adjust an excitation laser beam generated by an excitation laser in one of an x-dimension or a y-dimension, the x-dimension being perpendicular to the y-dimension; and a second pair of AODs, each AOD configured to adjust a detection laser beam generated by a detection laser in one of the x-dimension or the y-dimension. Example 13 13. The system of claim 11 or 12, further comprising an interferometer detector configured to detect ultrasonic energy emitted from the surface of the object. Example 14. 14. A system described in any one of Examples 11 to 13, wherein the controller is further configured to synchronize excitation of the first pair of AODs with excitation of the second pair of AODs. Example 15. 15. The system of any one of Examples 11 to 14, further comprising a surface profiler configured to identify a contour of a surface, generate contour information corresponding to the contour of the surface, and communicate the contour information to the controller. Example 16. 16. A system described in any one of Examples 11 to 15, wherein the controller is configured to identify contour information corresponding to a surface contour based on a computer-aided design model of the object. Example 17. A method for non-destructively inspecting an object, comprising: positioning a laser ultrasonic testing (UT) device of a system described in any one of Examples 11 to 16 adjacent to a surface of the object; synchronizing the excitation of a first pair of AODs with the excitation of a second pair of AODs to match the deflection of the excitation laser beam with the deflection of the detection laser beam; scanning the object to search for defects; and traversing the surface of the object using the laser UT device located at a predetermined distance from the surface of the object. Example 18. A method for non-destructively inspecting an object, comprising: positioning a laser ultrasonic testing (UT) device described in any one of Examples 1 to 10 adjacent to a surface of the object; matching the deflection of the excitation laser beam with the deflection of the detection laser beam by synchronizing the excitation of a first pair of AODs with the excitation of a second pair of AODs; scanning the object to search for defects; and traversing the surface of the object using the laser UT device located at a predetermined distance from the surface of the object. Example 19. 1. A method for non-destructively inspecting an object, comprising: positioning a laser ultrasonic testing (UT) device adjacent to a surface of the object, the laser UT device comprising: a first pair of acousto-optic deflectors (AODs), each AOD in the first pair of AODs configured to adjust a deflection of an excitation laser beam in one of an x-dimension or a y-dimension, the x-dimension being perpendicular to the y-dimension; and a second pair of AODs, each AOD in the second pair of AODs configured to adjust a deflection of an excitation laser beam in one of the x-dimension or the y-dimension. a laser UT device having a second pair of AODs configured to adjust the deflection of a detection laser beam adjacent to the surface of the object; synchronizing the excitation of the first pair of AODs with the excitation of the second pair of AODs to match the deflection of the excitation laser beam with the deflection of the detection laser beam; scanning the object to search for defects; and traversing the surface of the object using the laser UT device at a predetermined distance from the surface of the object. Example 20. 20. The method of any one of Examples 17 to 19, further comprising detecting ultrasonic energy emitted from the object with an interferometric detector. Example 21. 21. The method of example 20, further comprising analyzing the detected ultrasonic energy to identify the presence of defects in the object. Example 22. 22. The method of any one of Examples 17 to 21, wherein scanning the object to search for defects further comprises scanning the object according to contour information of the surface of the object. Example 23. 23. The method of any one of Examples 17 to 22, further comprising maintaining a predetermined distance between the laser UT device and the object via a robotic arm based on the contour of the surface.

[0074] The present subject matter may be embodied in other specific forms without departing from its essential characteristics. The described embodiments are to be considered in all respects as illustrative and not restrictive. All variations and modifications that come within the scope and range of equivalence of the appended claims are within the scope of the present invention.

Claims

1. A laser ultrasonic testing (UT) device (100) for inspecting a surface (102) of an object (104), comprising: an excitation laser (106) selectively operable to generate an excitation laser beam (118); a first acousto-optic deflector (AOD) (114) configured to receive the excitation laser beam (118) from the excitation laser (106) and adjust the position of the excitation laser beam (118) along a path parallel to a first direction (125); a second AOD (116) configured to receive the excitation laser beam (118) from the first AOD (114) and adjust the position of the excitation laser beam (118) along a path parallel to a second direction (127) different from the first direction (125); a detection laser (108) selectively operable to generate a detection laser beam (142); a third AOD (130) configured to receive the detection laser beam (142) from the detection laser (108) and adjust the position of the detection laser beam (142) along a path parallel to the first direction (125); a fourth AOD (136) configured to receive the detection laser beam (142) from the third AOD (130) and adjust the position of the detection laser beam (142) along a path parallel to the second direction (127); and A controller (110), controlling the first AOD (114) and the third AOD (130) to synchronize adjustments of the position of the excitation laser beam (118) and adjustments of the position of the detection laser beam (142) along the path parallel to the first direction (125); and A laser UT device (100) comprising a controller (110) configured to control the second AOD (116) and the fourth AOD (136) to synchronize adjustment of the position of the excitation laser beam (118) and adjustment of the position of the detection laser beam (142) along the path parallel to the second direction (127).

2. The laser UT device (100) of claim 1, wherein the first direction (125) is perpendicular to the second direction (127).

3. the first AOD (114) comprises a first piezoelectric transducer (124) coupled to a first quartz element (122) and configured to generate a first acoustic wave in the first direction (125); 3. The laser UT device (100) of claim 1 or 2, wherein the second AOD (116) is coupled to the first AOD (114), and the second AOD (116) further comprises a second piezoelectric transducer (128) coupled to a second quartz element (126), and is configured to generate a second acoustic wave in the second direction (127).

4. 4. The laser UT device (100) of claim 3, further comprising a plurality of AODs (154) coupled to the second AOD (116), each of the plurality of AODs (154) having a piezoelectric transducer (160) configured to generate acoustic waves in a direction perpendicular to acoustic waves generated by adjacent AODs of the plurality of AODs (154).

5. the third AOD (130) comprises a third piezoelectric transducer (134) coupled to a third quartz element (132) and configured to generate third acoustic waves in the first direction (125); 5. The laser UT device (100) of claim 3 or 4, wherein the fourth AOD (136) is coupled to the third AOD (130), and the fourth AOD (136) further comprises a fourth piezoelectric transducer (140) coupled to a fourth quartz element (138) and is configured to generate a fourth acoustic wave in the second direction (127).

6. A system (200) for non-destructive inspection of an object (104), comprising: a robot arm (202); a controller (110) configured to control movement of a tool center point (TCP) (204) of the robot arm; and a laser ultrasonic testing (UT) device (100) coupled to the TCP (204), the laser UT device (100) comprising: a first pair of acousto-optic deflectors (AODs) (117), each AOD of the first pair of AODs (117) configured to adjust the position of an excitation laser beam (118) generated by an excitation laser (106) in one of an x-dimension (125) or a y-dimension (127), the x-dimension (125) being perpendicular to the y-dimension (127); and a second pair of AODs (137), each configured to adjust the position of a detection laser beam (142) generated by a detection laser (108) in one of the x-dimension (125) or the y-dimension (127); The controller is further configured to control the first pair of AODs (117) and the second pair of AODs (137) to synchronize adjustment of the position of the excitation laser beam (118) with adjustment of the position of the detection laser beam (142) along a path parallel to a first direction, and to synchronize adjustment of the position of the excitation laser beam (118) with adjustment of the position of the detection laser beam (142) along a path parallel to a second direction different from the first direction.

7. The system of claim 6, further comprising an interferometer detector configured to detect ultrasonic energy emitted from the surface of the object.

8. The system of claim 6 or 7, wherein the controller (110) is further configured to synchronize the excitation of the first pair of AODs (117) with the excitation of the second pair of AODs (137).

9. 9. The system of claim 6, further comprising a surface profiler configured to identify a contour of a surface, generate contour information corresponding to the contour of the surface, and communicate the contour information to the controller.

10. 10. The system of claim 6, wherein the controller is configured to determine contour information corresponding to a contour of the surface based on a computer-aided design model of the object.

11. A method (300) for non-destructively inspecting an object (104), comprising: Positioning a laser ultrasonic testing (UT) device (100) adjacent to a surface (102) of the object (104), the laser UT device (100) comprising: a first pair of acousto-optic deflectors (AODs) (117), each AOD of the first pair of AODs (117) configured to adjust the deflection of the excitation laser beam (118) in one of an x-dimension (125) or a y-dimension (127), the x-dimension (125) being perpendicular to the y-dimension (127); and arranging a second pair of AODs (137), each AOD in the second pair of AODs (137) configured to adjust the deflection of a detection laser beam (142) in one of the x-dimension (125) or the y-dimension (127); matching the deflection of the excitation laser beam (118) with the deflection of the detection laser beam (142) by synchronizing the excitation of the first pair of AODs (117) with the excitation of the second pair of AODs (137); scanning the object (104) for defects; and A method (300) comprising traversing the surface (102) of the object (104) with the laser UT device (100) at a predetermined distance (126) from the surface (102) of the object (104).

12. The method (300) of claim 11, further comprising detecting ultrasonic energy emitted from the object (104) with an interferometer detector (112).

13. 13. The method (300) according to claim 11 or 12, wherein scanning the object (104) to search for defects further comprises scanning the object (104) according to contour information of the surface (102) of the object (104).

14. 14. The method (300) of any one of claims 11 to 13, further comprising maintaining a predetermined distance (126) between the laser UT device (100) and the object (104) via a robotic arm (202) based on the contour of the surface (102).

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