Ultrasonic inspection method and system

Abstract

An ultrasonic inspection method and system, which relate to the technical field of ultrasonic inspection. The ultrasonic inspection method comprises: marking a first area on a part entity, wherein the first area is an area which cannot be inspected by means of an automatic scanning device or an area that needs to be scanned in a second scanning mode, and the area that needs to be scanned in the second scanning mode covers the area which cannot be inspected by means of the automatic scanning device; and performing automatic scanning on an area of the part entity that can be inspected by means of automatic scanning, and scanning the first area in the second scanning mode, thereby completing the scanning inspection for the whole part entity. Therefore, when an existing automatic scanning area is limited, ultrasonic automatic inspection for an oversized part can be realized, it is not necessary to manually inspect the whole part, and it is also not necessary to customize a larger automatic scanning device, thereby reducing the costs and achieving high efficiency.

Description

Ultrasonic detection method and system Cross-references

[0001] This application claims priority to Chinese application No. 2023114598575, filed on November 3, 2023. The contents of the above application are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of ultrasonic detection technology, and in particular to an ultrasonic detection method and system. Background Art

[0003] In order to detect quality problems such as delamination, debonding, inclusions and porosity inside the parts, the parts need to be scanned and inspected.

[0004] As shown in Figures 1 and 2, Figure 2 is the main view of Figure 1. The height of the 8m-level hyperbolic wall panel produced by the applicant is about 4m. The maximum detection range of the existing detection equipment in the Z direction is 3.6m. Since the upper and lower edges of the parts are both hyperbolic structures, in order to ensure that the nozzles on both sides are perpendicular to the surface of the parts, the equipment requires a certain amount of turning head space (the turning head is compared with Figures 3 and 4, and the moving range of the shaded part in the figure is z0. Due to the different surface curvatures of different parts, the turning head angles for different parts are different. The detectable space z1 in Figure 3 is larger than the detectable space z2 in Figure 4). For the hyperbolic wall panel in Figure 1, the actual detectable space is only about 3.2m (ZA is the upper limit of the effective detection space of the equipment, and ZB is the lower limit of the effective detection space of the equipment). This further illustrates the limitations of the existing detection equipment.

[0005] Due to project requirements, the part needed to undergo ultrasonic testing to inspect for internal defects and provide guidance for process development. Outsourcing this testing would be expensive, and no suitable supplier on the market could perform this testing. Customizing new equipment would also be prohibitively expensive and time-consuming.

[0006] Manually inspecting entire parts with portable ultrasonic flaw detectors is inefficient and unreliable. Therefore, achieving automated ultrasonic penetration C-scan inspection of oversized hyperbolic panels under current conditions, and utilizing automated scanning equipment for ultrasonic testing of oversized parts, have become crucial technical challenges. Summary of the Invention

[0007] The purpose of this application is to provide an ultrasonic detection method and system to solve the technical problem of how to use automated scanning equipment to perform ultrasonic detection on oversized parts.

[0008] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions.

[0009] In a first aspect, an embodiment of the present application provides an ultrasonic detection method for use in situations where a part to be scanned cannot be completely placed within an area detectable by automated scanning, the ultrasonic detection method comprising:

[0010] Marking a first area on the part entity; the first area is an area that cannot be detected by the automated scanning device or an area that needs to be scanned by the second scanning method; the area that needs to be scanned by the second scanning method covers the area that cannot be detected by the automated scanning device;

[0011] Automatically scan the area detectable by automated scanning of the part entity;

[0012] The first area is scanned using a second scanning method.

[0013] Optionally, the step of marking the first area on the part entity includes:

[0014] Fix the relative positions of the part digital model and the tooling digital model in the scanning detection software; the part digital model is the digital model of the part entity, and the tooling digital model is the digital model of the tooling entity;

[0015] Establishing an initial scanning digital model based on the part digital model and the initial estimated detectable space;

[0016] Performing automated scanning path simulation planning based on the initial scan digital model;

[0017] Determining whether the initial scanning digital model needs to be adjusted based on the path simulation planning of the automated scanning;

[0018] If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model;

[0019] According to the final scanned digital model, the first area is marked on the part entity.

[0020] Optionally, the step of establishing an initial scanning digital model based on the part digital model and the initial estimated detectable space includes:

[0021] The part digital model is divided by the boundary of the initial estimated detectable space, and the initial scanning digital model is established based on the portion of the part digital model within the initial estimated detectable space.

[0022] Optionally:

[0023] (1) Before the step of marking the first area on the part entity according to the final scanned digital model, the ultrasonic testing method further includes:

[0024] Marking a physical reference point on the part entity;

[0025] Marking a digital model reference point on the digital model of the part;

[0026] The position of the entity reference point on the part entity is consistent with the position of the digital model reference point on the part digital model;

[0027] (2) Based on the final scanned digital model, the step of marking the first area on the part entity includes:

[0028] Clamping and fixing the part entity with a tool entity so that the difference between the coordinate of the entity reference point relative to the tool entity coordinate system and the coordinate of the digital model reference point relative to the tool digital model coordinate system is less than a preset threshold; the tool entity coordinate system corresponds to the tool digital model coordinate system;

[0029] After the part entity is clamped and fixed by a tooling entity, the first area is marked on the part entity according to the final scanned digital model.

[0030] Optionally, the step of clamping and fixing the part entity with a tool entity includes:

[0031] Initially clamping the part entity with a tool entity to obtain the initial coordinates of the entity reference point in the initial clamping state relative to the tool entity coordinate system;

[0032] According to the difference between the initial coordinates and the coordinates of the digital-model reference point relative to the tooling digital-model coordinate system, the clamping of the tooling entity on the part entity is adjusted so that the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital-model reference point relative to the tooling digital-model coordinate system is less than a preset threshold.

[0033] Optionally, the number of the physical reference points is 3, and the number of the digital-analog reference points is 3.

[0034] Optionally, the step of determining whether the initial scanning digital model needs to be adjusted according to the path simulation planning of the automated scanning includes:

[0035] Step A. If the area that can be scanned by the automated scanning path simulation is smaller than the initial scan digital model, the boundary of the initial scan digital model is reduced inward to obtain a reduced initial scan digital model based on the new boundary;

[0036] The step A is executed in a loop until the area that can be scanned by the path simulation of the automated scanning can include the initial scanning digital model, and the initial scanning digital model at this time is used as the final scanning digital model.

[0037] Optionally, the step of determining whether the initial scanning digital model needs to be adjusted according to the path simulation planning of the automated scanning includes:

[0038] Step B. If the area that can be scanned by the automated scanning path simulation is larger than the initial scan digital model, the boundary of the initial scan digital model is expanded outward to obtain an expanded initial scan digital model based on the new boundary;

[0039] The step B is executed in a loop until the area that can be scanned by the path simulation of the automated scanning cannot contain the initial scanning digital model, and the initial scanning digital model in the last loop step B is used as the final scanning digital model.

[0040] Optionally, after marking the first area on the part entity according to the final scanned digital model and before automatically scanning the area detectable by automated scanning of the part entity, the ultrasonic testing method further includes:

[0041] Perform a dry run scan to confirm that the nozzle spacing is correct during the scan.

[0042] In a second aspect, an embodiment of the present application provides an ultrasonic detection system for implementing the ultrasonic detection method of the first aspect, the ultrasonic detection system comprising:

[0043] A marking tool for marking the first area on the part entity; the first area is an area that cannot be detected by an automated scanning device or an area that needs to be scanned by a second scanning method;

[0044] Automated scanning equipment, used for automatically scanning the area of ​​the part body that can be detected by automated scanning;

[0045] The second scanning mode scanning device is used to scan the first area in the second scanning mode.

[0046] Compared with the prior art, this application has the following beneficial effects:

[0047] The ultrasonic testing method and equipment provided in the embodiments of this application divides a part into two areas: one area that can be scanned by automated scanning, and the remaining area that can be scanned by methods other than automated scanning, thus completing the entire part's physical scanning. This allows for automated ultrasonic testing of oversized parts within the limited area of ​​existing automated scanning, eliminating the need for manual inspection of the entire part or customizing larger automated scanning equipment, resulting in cost savings and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0049] FIG1 is a schematic diagram showing that existing scanning equipment cannot scan the entire part;

[0050] FIG2 is a front view of FIG1;

[0051] Figures 3 and 4 are comparisons of the detectable areas of different parts;

[0052] FIG5 is a schematic diagram of an automatic scanning method for the boundary of an undetectable area and a second scanning method for the boundary of a supplementary detection area provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, but not all of the embodiments. Generally, the components of the embodiments of the present application described in the drawings herein can be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is claimed, but rather merely represents selected embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative effort are within the scope of protection of this application. The following embodiments and features therein may be combined with each other unless there is a conflict.

[0055] In the description of this application, it should be noted that relational terms such as first and second are used solely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The term "connected" should be understood broadly, for example, it can mean fixed connection, detachable connection, or integral connection; it can be directly connected or indirectly connected through an intermediate medium.

[0056] Under the condition of limited existing automated scanning area, it is impossible to realize ultrasonic automatic penetration C-scan inspection of oversized parts.

[0057] To overcome the above problems, an embodiment of the present application provides an ultrasonic detection method for situations where the part to be scanned cannot be completely placed within the area detectable by the automated scanner. The ultrasonic detection method includes the following steps (the present application does not limit the order of the steps; any logical arrangement of the steps is acceptable):

[0058] Mark a first area on the part entity (the first area can be an area that cannot be detected by the automated scanning device, or an area that needs to be scanned by the second scanning method; the area that needs to be scanned by the second scanning method covers the area that cannot be detected by the automated scanning device, and can be a larger area to ensure that the entire part entity is scanned; the second scanning method is a method independent of the automated scanning method to overcome the deficiency that the automated scanning device cannot scan the entire part);

[0059] Automatically scan the area of ​​the part body that can be detected by automatic scanning using an automated scanning device;

[0060] The first area is scanned using a second scanning method.

[0061] The first area plus the area detectable by automated scanning covers the entire part entity, completing the scanning inspection of the entire part entity. Automated scanning equipment can use automated inspection / scanning methods such as penetration testing, pulse reflection testing, or phased array technology. When analyzing the inspection data, it can be displayed as a C-scan, or as an A-scan at a certain point, or as a B-scan for a selected cross section. The second scanning method can be a manual A-scan, manual C-scan, or manual phased array inspection method. Manual inspection can be performed by technicians, robots, or other automated equipment.

[0062] In one embodiment, this solution enables automated ultrasonic penetration C-scan inspection of oversized parts, even with the limited scanning area of ​​existing automated systems. This eliminates the need for manual inspection of the entire part and the need for custom-built, larger automated scanning equipment, resulting in cost savings and increased efficiency, a key benefit of this application.

[0063] For the step of "marking the first area on the part entity", the scanning and inspection software can be used to find the first area. For reference, Figures 1 to 4 are provided. The curved surface represents the part entity to be scanned. In addition to the part, the area composed of blocks in the figure represents the tooling entity of the scanning equipment. In the scanning and inspection software, a digital model of the part and the tooling corresponding to the shape and size is created (the digital model refers to the digital 3D model in the software, which can be in the form of a point cloud). Then, the following steps are implemented:

[0064] Fix the relative position of the part digital model and the tooling digital model in the scanning and detection software (the part digital model is the digital model of the part entity, and the tooling digital model is the digital model of the tooling entity);

[0065] Establish an initial scan digital model based on the part digital model and the initial estimated detectable space (for example, use the boundary of the initial estimated detectable space to divide the part digital model, just like framing a portion of the part digital model, and the portion of the part digital model within the initial estimated detectable space is used as the initial scan digital model);

[0066] Perform automated scanning path simulation planning based on the initial scan digital model;

[0067] Based on the automated scanning path simulation planning, determine whether the initial scan model needs to be adjusted (because the initial estimated detectable space may be inaccurate, resulting in some parts of the initial scan model not being scanned, so a smaller range needs to be used to frame the part model as the final scan model);

[0068] If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model;

[0069] Therefore, according to the final scanned digital model in the scanning and detection software, the first area can be marked on the part entity.

[0070] The following points should be noted when fixing the relative positions of the part model and the tooling model in the scanning and inspection software:

[0071] (1) Relative to the position of the tooling digital model, there is an initial estimated detectable space. The "initial estimated detectable space" can be a predefined space, such as the 3200mm high space between planes ZA and ZB in Figure 1, but it is not the real detectable space. The real detectable space can be larger or smaller than the "initial estimated detectable space". In other words, the predefined space can be (a) significantly larger than the real detectable space, or (b) significantly smaller than the real detectable space. The simplest way is to directly use the maximum detectable space (i.e., z0 in Figure 3) as the "initial estimated detectable space".

[0072] (2) Place as much of the part model as possible into the "initial estimated detectable space" so that as much of the part as possible can be scanned automatically later. However, it is not necessary to take the ideal position; "as much as possible" is the preferred approach. For example, in the ideal case, 90% of the part can be placed into the initial estimated detectable space. In practice, 80% is sufficient, but only 50% is disadvantageous.

[0073] Corresponding to the two implementations (a) and (b) above, there are also two steps for "determining whether to adjust the initial scanning model based on the path simulation planning of the automated scanning":

[0074] (a) Step A. If the area that can be scanned by the automated scanning path simulation is smaller than the initial scan digital model, the boundary of the initial scan digital model is reduced inward, and a reduced initial scan digital model is obtained based on the new boundary;

[0075] Step A is executed repeatedly until the area that can be scanned by the automated scanning path simulation can contain the initial scan digital model, and the initial scan digital model at this time is used as the final scan digital model.

[0076] (b) Step B. If the area that can be scanned by the automated scanning path simulation is larger than the initial scan digital model, the boundary of the initial scan digital model is expanded outward to obtain an expanded initial scan digital model based on the new boundary;

[0077] Execute step B repeatedly until the area that can be scanned by the path simulation of the automated scan cannot contain the initial scan model, and use the initial scan model in the previous cycle of step B as the final scan model.

[0078] Once the final scanned model is obtained, and the part is confirmed to be scannable, the part boundary can be annotated. The annotated boundary can be the same as the boundary of the final scanned model, or slightly larger than the boundary of the final scanned model to ensure that the second scan method can cover the area that was not automatically scanned.

[0079] In order to ensure that the relative position relationship between the part entity and the tooling entity is consistent with the relative position relationship between the part digital model and the tooling digital model, the reference point can be marked on the part and the coordinates of the reference point relative to the tooling coordinate system can be determined as follows:

[0080] Mark the entity reference point on the part entity and mark the digital model reference point on the part digital model. The position of the entity reference point on the part entity is consistent with the position of the digital model reference point on the part digital model. The number of reference points can be selected as 3, and 3 reference points can accurately locate a part with complex surface.

[0081] When the tooling entity is used to clamp and fix the part entity, the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital model reference point relative to the tooling digital model coordinate system is less than a preset threshold (for example, 5mm); the tooling entity coordinate system corresponds to the tooling digital model coordinate system; after the tooling entity is used to clamp and fix the part entity, the first area is marked on the part entity according to the final scanned digital model.

[0082] Clamping and fixing the part entity with a fixture entity is not necessarily completed in one clamping. It may be an initial clamping, then adjusting the position, and finally clamping and fixing. The process can be as follows:

[0083] Use the fixture entity to initially clamp the part entity, and obtain the initial coordinates of the entity reference point in the initial clamping state relative to the fixture entity coordinate system;

[0084] According to the difference between the initial coordinates and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system, the clamping of the tooling entity to the part entity is adjusted so that the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system is less than a preset threshold.

[0085] After clamping is completed, in order to ensure the correct position, you can first perform a dry run scan to confirm that the nozzle spacing is normal during the scanning process. After confirming that the nozzle spacing is normal during the scanning process, you can then perform automated scanning.

[0086] Based on the above optional implementation methods, a complete optional process is as follows:

[0087] Fix the relative positions of the part model and the tooling model in the scanning and inspection software, and fit the part model into the "initial estimated detectable space" as much as possible;

[0088] The part digital model is divided by the boundary of the initially estimated detectable space, and an initial scanning digital model is established based on the portion of the part digital model within the initially estimated detectable space;

[0089] Mark the physical reference points on the part entity within the estimated detectable space, and take the digital model reference points on the part digital model within the estimated detectable space. The physical reference points and the digital model reference points are one-to-one reference points, and the digital model reference points are also located within the range of the initial digital model scan. (This part is too large. If a corner point at the edge is selected as the digital model reference point, the device cannot move the probe to the physical reference point position of the corresponding part entity for coordinate acquisition. Therefore, the digital model reference point needs to be selected and set within the space that the device probe can reach to achieve part positioning and detection. On the other hand, three points with as large a distance as possible can be used as reference points. This can best represent the actual position of the part. For example, the starting point, end point, and vertex can be selected as the three reference points in the following way: select a point with a smaller X-axis value and a lower Z-axis value as the starting point, select a point with a larger X-axis value and a lower Z-axis value as the end point, and select a point with an X-axis value between the starting and end points and a higher Z-axis value as the vertex).

[0090] Perform automated scanning path simulation planning based on the initial scan digital model;

[0091] According to the path simulation planning of the automated scanning, determine whether the initial scanning digital model needs to be adjusted;

[0092] If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model;

[0093] Before clamping the part, mark the first area on the part according to the boundary of the final scanned digital model;

[0094] Clamp the part physically, that is, fix the part, then use the point probe to collect and locate the coordinates of the physical reference point, and adjust the posture of the part appropriately according to the deviation between the physical reference point and the digital model reference point;

[0095] After confirming that the deviation between the physical reference point and the digital model reference point is acceptable, perform a dry run scan with a larger nozzle distance from the part surface and a larger step size to confirm that the distance between the nozzle and the part surface is acceptable and that no collision occurs during the scanning process.

[0096] Set the inspection parameters, including scanning speed, water spray flow rate, set distance and stepping distance from the part surface using a normal nozzle, and then complete the automated scanning according to the inspection parameters;

[0097] For parts outside the automated scanning detectable area, follow the marked position and expand at least 50mm to perform manual pulse reflection method A-scan detection, ultimately achieving 100% detection of the part, as shown in Figure 5. The single arrow indicates the boundary of the area undetectable by the automated scanning, and the double arrow mark indicates the boundary of the A-scan supplementary detection area.

[0098] Based on the above embodiment, the present application further provides an ultrasonic detection system for implementing the above ultrasonic detection method. The ultrasonic detection system includes:

[0099] A marking tool is used to mark a first area on the part entity; the first area is an area that cannot be detected by automated scanning equipment or an area that needs to be scanned by a second scanning method; the marking tool can be a ruler or a marker, with the ruler used for measurement and the marker used for manual marking; or a dedicated device such as a laser projection device can be used to project the contour line and mark the part surface according to the projection line.

[0100] Automated scanning equipment, used for automatically scanning the area of ​​the part body that can be detected by automated scanning;

[0101] The second scanning mode scanning device is used to scan the first area in the second scanning mode.

[0102] In general, this application proposes an ultrasonic detection method and system. Under equipment-limited conditions, the application of the embodiments of this application can realize ultrasonic automated penetration C-scan detection of most areas of 8m-level large-scale hyperbolic wall panel parts, saving the company the cost of outsourcing detection and equipment modification / procurement, improving detection efficiency, and ensuring detection quality.

[0103] The above-described device and system embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art may understand and implement the present invention without inventive effort.

[0104] The above are merely preferred embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An ultrasonic detection method, characterized in that: For situations where the part entity to be scanned cannot be completely placed in the area detectable by automated scanning, the ultrasonic detection method includes: Marking a first area on the part entity; the first area is an area that cannot be detected by the automated scanning device or an area that needs to be scanned by the second scanning method; the area that needs to be scanned by the second scanning method covers the area that cannot be detected by the automated scanning device; Automatically scan the area that can be detected by automatic scanning of the part entity; The first area is scanned in a second scanning manner.

2. The scanning detection method according to claim 1, characterized in that: The steps of marking the first area on the part entity include: Fixing the relative positions of the part digital model and the tooling digital model in the scanning detection software; the part digital model is the digital model of the part entity, and the tooling digital model is the digital model of the tooling entity; Establishing an initial scanning digital model based on the part digital model and the initial estimated detectable space; Performing path simulation planning for automated scanning based on the initial scan digital model; According to the path simulation planning of the automated scanning, determining whether the initial scanning digital model needs to be adjusted; If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model; According to the final scanned digital model, the first area is marked on the part entity.

3. The ultrasonic detection method according to claim 2, characterized in that: The steps of establishing an initial scanning digital model according to the part digital model and the initial estimated detectable space include: The part digital model is divided by the boundary of the initial estimated detectable space, and the initial scanning digital model is established according to the portion of the part digital model within the initial estimated detectable space.

4. The ultrasonic detection method according to claim 2, characterized in that: Before the step of marking the first area on the part entity according to the final scanned digital model, the ultrasonic testing method further includes: Marking a physical reference point on the part entity; Marking a digital model reference point on the digital model of the part; The position of the entity reference point on the part entity is consistent with the position of the digital model reference point on the part digital model; According to the final scanned digital model, the step of marking the first area on the part entity includes: The part entity is clamped and fixed by a tooling entity so that the difference between the coordinate of the entity reference point relative to the tooling entity coordinate system and the coordinate of the digital model reference point relative to the tooling digital model coordinate system is less than a preset threshold; the tooling entity coordinate system corresponds to the tooling digital model coordinate system; After the part entity is clamped and fixed by a tooling entity, the first area is marked on the part entity according to the final scanned digital model.

5. The ultrasonic detection method according to claim 4, characterized in that: The steps of clamping and fixing the part entity with a tooling entity include: Initially clamping the part entity with a tooling entity to obtain the initial coordinates of the entity reference point in the initial clamping state relative to the tooling entity coordinate system; According to the difference between the initial coordinates and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system, the clamping of the tooling entity on the part entity is adjusted so that the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system is less than a preset threshold.

6. The ultrasonic detection method according to claim 4, characterized in that: The number of the physical reference points is 3, and the number of the digital-analog reference points is 3.

7. The ultrasonic detection method according to claim 2, characterized in that: According to the path simulation planning of the automated scanning, the step of determining whether the initial scanning digital model needs to be adjusted includes: Step A. If the area that can be scanned by the path simulation of the automated scanning is smaller than the initial scanning digital model, the boundary of the initial scanning digital model is reduced inward, and a reduced initial scanning digital model is obtained according to the new boundary; The step A is executed repeatedly until the area that can be scanned by the path simulation of the automated scanning can contain the initial scanning digital model, and the initial scanning digital model at this time is used as the final scanning digital model.

8. The ultrasonic detection method according to claim 2, characterized in that: According to the path simulation planning of the automated scanning, the step of determining whether the initial scanning digital model needs to be adjusted includes: Step B. If the area that can be scanned by the path simulation of the automated scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is expanded outward, and an increased initial scanning digital model is obtained according to the new boundary; The step B is executed in a loop until the area that can be scanned by the path simulation of the automated scanning cannot contain the initial scanning digital model, and the initial scanning digital model in the last cycle of step B is used as the final scanning digital model.

9. The ultrasonic detection method according to claim 2, characterized in that: After marking the first area on the part entity according to the final scanned digital model and before automatically scanning the area detectable by the automated scanning of the part entity, the ultrasonic testing method further includes: Perform a dry run scan to ensure that the nozzle is at the correct distance from the solid surface of the part during the scan.

10. An ultrasonic detection system, characterized in that: For implementing the ultrasonic detection method according to any one of claims 1 to 9, the ultrasonic detection system comprises: A marking tool, used to mark the first area on the part entity; the first area is an area that cannot be detected by an automated scanning device or an area that needs to be scanned by a second scanning method; Automated scanning equipment, used for automatically scanning the area detectable by automated scanning of the part entity; The second scanning mode scanning device is used to scan the first area in the second scanning mode.

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