Ultrasonic inspection device and ultrasonic inspection method

Abstract

The objective of the present invention is to provide an ultrasonic inspection device and an ultrasonic inspection method for assisting an inspection worker so that no flaws are missed in an ultrasonic flaw detection test.　An ultrasonic inspection device according to the present invention is characterized by including: an ultrasonic flaw detection condition setting unit that sets an ultrasonic flaw detection condition, including a probe placement position, on a model of an object of inspection; a model retention unit that stores a result of the setting by the ultrasonic flaw detection condition setting unit; an imaging unit that captures an image of the object of inspection; a shape acquisition means that acquires a shape of the object of inspection from a result of the imaging by the imaging unit; and a matching processing unit that aligns the model stored in the model retention unit with shape information obtained by the shape acquisition means.

Description

Ultrasonic inspection apparatus and ultrasonic inspection method

[0001] The present invention relates to an ultrasonic inspection apparatus and an ultrasonic inspection method.

[0002] With the progress of product weight reduction for realizing a carbon-neutral society and improvement of manufacturing efficiency by three-dimensional printers, various products have more complicated structures than conventional products. It is still necessary to guarantee reliability for these products with complex shapes as before, and non-destructive inspection is applied for the purposes of product quality assurance, maintenance, and investigation when problems occur.

[0003] Non-destructive inspection includes various methods such as ultrasonic flaw detection testing, radiographic flaw detection testing, eddy current flaw detection testing, magnetic particle flaw detection testing, and visual testing. For example, in ultrasonic flaw detection, a probe is placed on the surface of a product, and the ultrasonic wave generated from the probe is reflected by a defect and reaches the probe again, so that the existence of a defect can be detected.

[0004] In response to the increasing complexity of these products, automation of non-destructive inspection has been progressing. However, particularly in ultrasonic flaw detection testing, since the propagation path of ultrasonic waves is not visible, it is difficult to confirm whether ultrasonic waves have reached the target flaw detection site. In particular, when an inspection operator manually scans a probe for flaw detection on a product with a complicated structure, it is impossible to visually confirm which part of the inspection object the probe should be placed on, so there is a risk of missed detection.

[0005] For example, Patent Document 1 discloses an ultrasonic flaw detection system and an ultrasonic flaw detection method that displays at least one of ultrasonic data, ultrasonic echo height, ultrasonic propagation time, ultrasonic propagation distance, and an imaging processing result obtained from a signal processing unit using an augmented reality technique.

[0006] Japanese Unexamined Patent Publication No. 2022-158417

[0007] As described above, many means for visualizing the results of ultrasonic flaw detection testing have been proposed. When an inspection operator manually scans a probe for flaw detection, there has been no mention of means for visually confirming which part of the inspection object the probe should be placed on.

[0008] The object of the present invention is to provide an ultrasonic inspection device and ultrasonic inspection method that support inspectors in preventing missed defects during ultrasonic flaw detection testing.

[0009] The ultrasonic inspection apparatus of the present invention is characterized by comprising: an ultrasonic flaw detection condition setting unit that sets ultrasonic flaw detection conditions, including the probe installation position, on a model of the object to be inspected; a model holding unit that stores the results set by the ultrasonic flaw detection condition setting unit; an imaging unit that images the object to be inspected; a shape acquisition means that acquires the shape of the object to be inspected from the results captured by the imaging unit; and a matching processing unit that aligns the model stored in the model holding unit with the shape information obtained by the shape acquisition means.

[0010] Furthermore, the ultrasonic inspection method of the present invention is characterized by including: an ultrasonic flaw detection condition setting step in which ultrasonic flaw detection conditions, including the probe installation position, are set on a model of the object to be inspected; a model holding step in which the results set in the ultrasonic flaw detection condition setting step are stored; an imaging step in which the object to be inspected is imaged; a shape acquisition step in which the shape of the object to be inspected is obtained from the results imaged in the imaging step; and a matching processing step in which the model stored in the model holding step and the shape information obtained in the shape acquisition step are aligned.

[0011] Other solutions will be described as appropriate in the examples.

[0012] According to the present invention, it is possible to provide an ultrasonic inspection device and an ultrasonic inspection method that support inspectors in preventing missed defects during ultrasonic flaw detection testing.

[0013] A block diagram showing the configuration of the ultrasonic inspection device. A conceptual diagram explaining the ultrasonic flaw detection condition setting section of the ultrasonic inspection device. A conceptual diagram showing the method for setting the ultrasonic flaw detection conditions of the ultrasonic inspection device. A conceptual diagram showing the imaging unit and shape acquisition means of the ultrasonic inspection device. A conceptual diagram showing the operation of the ultrasonic inspection device. An overall flowchart showing the procedure of the ultrasonic inspection method. A block diagram showing the configuration of the ultrasonic inspection device. A conceptual diagram showing the operation of the ultrasonic inspection device. A block diagram showing the configuration of the ultrasonic inspection device. A conceptual diagram showing the operation of the ultrasonic inspection device.

[0014] Embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate. Hereinafter, embodiments of the present invention will be described using the drawings. In each drawing, the same components are denoted by the same reference numerals, and detailed descriptions of overlapping parts will be omitted.

[0015] The ultrasonic inspection apparatus and ultrasonic inspection method according to Example 1 will be explained with reference to Figures 1 to 5.

[0016] Figure 1 is a block diagram showing the configuration of an ultrasonic inspection device. In Figure 1, the ultrasonic inspection device mainly includes an ultrasonic flaw detection condition setting unit 101 that sets ultrasonic flaw detection conditions, including the probe placement position, on a model of the object to be inspected, and a model holding unit 102 that holds the setting results. It also includes an imaging unit 103 that images the object to be inspected, a shape acquisition means 104 that acquires the shape of the object to be inspected from the results of the imaging unit 103, and a matching processing unit 105 that aligns the model with the acquired shape. Furthermore, it has a display unit 106 that displays the matching processing results using a method based on augmented reality or virtual reality.

[0017] The ultrasonic inspection apparatus includes an ultrasonic flaw detection condition setting unit 101 that sets ultrasonic flaw detection conditions, including the probe placement position, on a model of the object to be inspected; a model holding unit 102 that stores the results set by the ultrasonic flaw detection condition setting unit 101; and an imaging unit 103 that images the object to be inspected. It also includes a shape acquisition means 104 that acquires the shape of the object to be inspected from the results captured by the imaging unit 103, and a matching processing unit 105 that aligns the model stored in the model holding unit 102 with the shape information obtained by the shape acquisition means 104. This makes it possible to provide an ultrasonic inspection apparatus and ultrasonic inspection method that support the inspector so that no defects are missed during ultrasonic flaw detection testing.

[0018] Furthermore, by having a display unit that shows the processing results of the matching processing unit 105 using augmented reality or virtual reality-based methods, it is possible to present an appropriate inspection method to the inspection operator.

[0019] Figure 2 is a conceptual diagram illustrating the ultrasonic flaw detection condition setting unit of an ultrasonic inspection device. In the ultrasonic flaw detection condition setting unit 101, the object to be inspected 201 is represented on a computer as a CAD (Computer-Aided Design) model. Figure 2 illustrates the setting of ultrasonic flaw detection test conditions for a T-shaped joint weld 202.

[0020] The placement of the ultrasonic probe relative to the inspection target area 203, and the ultrasonic testing conditions for T-shaped joint welds, are often determined according to certain standards, such as Japanese Industrial Standards (JIS). In the ultrasonic testing condition setting unit 101, the cursor and other parameters are operated using input devices such as a mouse or keyboard on the CAD model to set the predetermined placement of the ultrasonic probe and other conditions. At this time, it is also possible to automatically set the placement of the ultrasonic probe and other conditions by searching for standard documents on the computer.

[0021] In ultrasonic testing, it is often specified that the inspection target area 203 be inspected from multiple directions. Accordingly, multiple locations are set on the CAD model, such as ultrasonic probe placement position 204, ultrasonic probe placement position 205, and ultrasonic probe placement position 206.

[0022] Figure 3 is a conceptual diagram showing how to set ultrasonic flaw detection conditions for an ultrasonic inspection device. As mentioned above, ultrasonic flaw detection conditions are often determined according to standards such as JIS, but unique flaw detection conditions may be set for new shapes. For example, the probe placement position can be automatically determined using simulations with FEM (Finite Element Method), simplified ray tracing, or geometric calculations.

[0023] On the CAD model 301, which is a cross-sectional model of the object to be inspected, the characteristics of the inspection probe 303, such as the ultrasonic frequency, probe size, ultrasonic incidence angle, and whether it is a longitudinal or transverse wave, are set. In geometric calculations, the probe placement position is calculated from the assumed defect location 302 using the ultrasonic transmission / reception angle θ and the plate thickness t. In the example in Figure 3, if the ultrasonic propagation direction 304 is represented by a straight line, the probe will be placed at a center position at a distance x = 2t * tanθ away.

[0024] If the exact location of a defect within the weld is unknown, the range of probe placement can be determined by performing the same calculation across the entire weld area.

[0025] As described above, the model holding unit 102 defines the characteristics of the inspection probe, such as the ultrasonic frequency, probe size, ultrasonic incidence angle, and whether it is a longitudinal or transverse wave, as well as the range of the lobe installation position. This information is then added to and stored in the CAD model.

[0026] Figure 4 is a conceptual diagram showing the imaging unit and shape acquisition means of an ultrasound inspection apparatus. The imaging unit 103 and shape acquisition means 104 image the actual object 401 corresponding to the object to be inspected 201 represented on CAD using the imaging device, and reconstruct the three-dimensional shape from the imaging results. Various imaging devices can be used as long as they can acquire the information necessary for reconstructing the three-dimensional shape.

[0027] When the imaging unit 103 is composed of one or more cameras, the information that can be acquired is a series of two-dimensional images. When imaging with one camera, the image series is acquired by combining the imaging results from multiple directions. Also, when imaging with multiple cameras such as imaging devices 402, 403, 404, 405, and 406, the cameras may be fixed and imaging may be performed around the object to be inspected. Alternatively, imaging results from multiple directions may be acquired by rotating and moving the object to be inspected. Similarly, it is also possible to combine these multiple methods.

[0028] The shape acquisition means 104 can utilize algorithms for reconstructing three-dimensional shapes from two-dimensional images. Image processing for three-dimensional reconstruction can utilize the positional shifts of the target object observed from multiple cameras with different viewpoints. Furthermore, various methods exist, such as utilizing the movement of the target object on the image plane. For example, methods such as NeRF (Neural Radiance Fields), a reconstruction method using a machine learning model, and SfM (Structure from Motion), which reconstructs the shape by back-projecting the image's pixel values ​​onto three-dimensional voxels, can be used. It is desirable to reconstruct the three-dimensional shape using a machine learning model with the image group obtained from the imaging unit 103. Alternatively, it is desirable to reconstruct the three-dimensional shape by back-projecting the image's pixel values ​​onto three-dimensional voxels with the image group obtained from the imaging unit 103. Such three-dimensional shape reconstruction allows for obtaining necessary information about ultrasound inspection methods to support the inspection operator.

[0029] When the imaging unit 103 is configured as an X-ray CT scanner, the information that can be acquired is the density information of the object. In this case, the shape acquisition means 104 can utilize a three-dimensional reconstruction means commonly used in X-ray CT scanners. For example, a reconstruction method called FBP (Filtered Back Projection), which is a filter-corrected back projection method, is often used.

[0030] The imaging unit 103 can also be configured with a laser-based surveying device. For example, devices such as laser displacement meters or LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) can be used. In these cases, the shape acquisition means 104 processes the surface shape of the object to be inspected as a point cloud.

[0031] Thus, the imaging unit 103 is at least one of the following: at least one camera, an X-ray CT scanner, and a laser-based surveying device. These images allow for obtaining necessary information about the ultrasound examination method to support the inspection operator.

[0032] The matching processing unit 105 performs alignment using the three-dimensional model, which is a CAD model, and the ultrasonic testing conditions stored in the model holding unit 102, and the three-dimensional shape information obtained and reconstructed by the shape acquisition means 104. Hereinafter, it is assumed that both the CAD model held in the model holding unit 102 and the shape of the object to be inspected obtained by the shape acquisition means 104 have been converted into three-dimensional point cloud data.

[0033] Three-dimensional point cloud data holds three-dimensional positional information in the X, Y, and Z directions. Shape features are calculated from both data sets. In three-dimensional point cloud alignment, matching points are identified between the two point cloud sets, and one point cloud is deformed to match the other. This deformation process includes at least one of the following: rotation, translation, affine transformation, and non-rigid transformation.

[0034] As described above, the matching processing unit 105 converts both the three-dimensional model held in the model holding unit 102 and the three-dimensional shape reconstructed by the shape acquisition means 104 into three-dimensional point clouds and calculates the shape features of both. Then, it aligns the shape features based on at least one of rotation, translation, affine transformation, and non-rigid body transformation. Through these processes, it is possible to obtain the necessary information for an ultrasonic inspection method to support the inspection operator.

[0035] Representative methods for 3D point cloud alignment include ICP (Iterative Closest Point) and CPD (Coherent Point Drift). Algorithms that improve upon the shortcomings of these methods are also known. These methods allow for accurate alignment of the CAD model and the actual object 401 under inspection, resulting in the precise determination of which location on the object 401 corresponds to the ultrasonic testing conditions, including the probe placement.

[0036] Figure 5 is a conceptual diagram showing the operation of the ultrasonic inspection device. The inspector 501 places the ultrasonic probe 503 on the actual object 401 to be inspected while checking the display device 502, which includes the display unit 106, and performs the ultrasonic flaw detection test.

[0037] Here, the HMD (head-mounted display) display device 502 is equipped with a camera that captures images of the actual object 401 to be inspected from the viewpoint of the inspector 501. The camera position is calculated from the imaging results and the reconstructed three-dimensional shape, and the coordinate system of the inspector 501's viewpoint and the three-dimensional shape are matched. As a result, the ultrasonic probe installation positions 204 to 206 set in the ultrasonic flaw detection condition setting unit 101 are superimposed on the actual object 401 to be inspected and displayed on the display device 502.

[0038] For example, a head-mounted display (HMD) or a regular liquid crystal display can be used as the display device 502. When a head-mounted display is used, ultrasonic testing conditions can be displayed in the line of sight of the inspector 501 using augmented reality techniques. When a liquid crystal display or the like is used, the ultrasonic testing conditions can be checked from an arbitrary viewpoint using virtual reality techniques while rotating the three-dimensional shape of the object using input devices such as a mouse or keyboard.

[0039] By configuring the system as described above, inspectors can intuitively grasp the inspection conditions and probe placement during ultrasonic testing, reducing the risk of overlooking defects. In other words, it is possible to support inspectors in preventing overlooked defects during ultrasonic testing.

[0040] Next, using Figure 6, the ultrasonic inspection method using the ultrasonic inspection apparatus in this embodiment will be explained. The details of the operation in each operation step are the same as those of the parts of the ultrasonic inspection apparatus that have already been described.

[0041] Figure 6 is an overall flowchart showing the procedure for the ultrasonic inspection method. First, in the condition setting step S11, the ultrasonic inspection conditions, including the CAD model loading probe placement position, are set on the model of the object to be inspected and held.

[0042] Next, in imaging step S12, the imaging device captures images of the object to be inspected from multiple directions.

[0043] In the shape acquisition step S13, the shape of the object to be inspected is acquired from the imaging results using a three-dimensional reconstruction method.

[0044] Subsequently, in matching step S14, the CAD model and the acquired shape are aligned, and both are superimposed and stored on a computer.

[0045] Finally, in display step S15, the matching result is displayed by a method based on augmented reality or virtual reality.

[0046] In other words, the present ultrasonic inspection method includes: an ultrasonic flaw detection condition setting step for setting ultrasonic flaw detection conditions including a probe installation position on a model of an inspection object; and a model holding step for storing the result set in the ultrasonic flaw detection condition setting step. The method further includes: an imaging step of imaging the inspection object; a shape acquisition step of acquiring the shape of the inspection object from the result imaged in the imaging step; and a matching processing step of aligning the model stored in the model holding step with the shape information obtained in the shape acquisition step. This makes it possible to provide an ultrasonic inspection method that supports inspection workers to prevent missed detection in ultrasonic flaw detection tests.

[0047] Furthermore, by performing a display step of displaying the processing result of the matching processing step by a method based on augmented reality or virtual reality, an appropriate inspection method can be presented to an inspection worker.

[0048] With the above arrangement, in an ultrasonic flaw detection test, an inspection worker can intuitively grasp the flaw detection conditions and the probe installation position, and the risk of missed detection can be reduced.

[0049] An ultrasonic apparatus according to Embodiment 2 will be described with reference to FIGS. 7 and 8.

[0050] FIG. 7 is a block diagram showing the configuration of an ultrasonic inspection apparatus. In the present embodiment, an ultrasonic flaw detection signal acquiring unit 701, a probe position acquiring unit 702, and an inspected / uninspected identifying unit 703 are provided downstream of the matching processing unit 105 of Embodiment 1.

[0051] The ultrasonic flaw detection signal acquisition means 701 acquires ultrasonic flaw detection signals such as ultrasonic data, ultrasonic echo height, ultrasonic propagation time, ultrasonic propagation distance, and imaging processing results. By acquiring this data, it is possible to know when ultrasonic flaw detection was performed and to determine that it was performed.

[0052] The probe position acquisition means 702 acquires the position and orientation of the probe using a camera mounted on the display device 502 or another measuring means installed in the inspection area. The measuring means may be other means besides a camera, such as a laser, radar, or mechanical scanner. The probe position and orientation acquired by these measuring means are compared with the three-dimensional shape calculated by the matching processing unit 105 and the probe installation position assigned to the CAD model by the ultrasonic flaw detection condition setting unit 101.

[0053] The identification unit 703, which identifies whether the flaw detection has been completed or not, identifies whether the probe position and orientation acquired by the probe position acquisition means 702 matched the conditions assigned to the CAD model at the timing of the ultrasonic flaw detection acquired by the ultrasonic flaw detection signal acquisition means 701. If the identification result is YES, information indicating that flaw detection under those conditions has been completed is added to the CAD model. If NO, the information is not updated.

[0054] In addition to displaying the probe installation range in Embodiment 1, the display unit 106 also displays the identification result of whether the flaw detection has been completed or not.

[0055] Figure 8 is a conceptual diagram showing the operation of the ultrasonic inspection device. The probe position acquisition means 702 is exemplified as a camera 801 mounted on the display device 502. The display device 502 displays the ultrasonic probe installation positions 204 to 206 set by the ultrasonic flaw detection condition setting unit 101 superimposed on the actual object to be inspected 401, and in addition, the inspected area 802 and the uninspected area 803 are displayed separately.

[0056] The ultrasonic inspection device includes an ultrasonic flaw detection signal acquisition means 701 that acquires the transmission and reception results of the ultrasonic probe, and a probe position acquisition means 702 that acquires the position information of the ultrasonic probe. It also has an identification unit 703 that identifies the flaw detection status of the probe installation range set by the ultrasonic flaw detection condition setting unit 101 based on the ultrasonic flaw detection signal acquired by the ultrasonic flaw detection signal acquisition means 701, the position information of the ultrasonic probe acquired by the probe position acquisition means 702, and the results of the matching processing unit 105, and a display unit 106 that displays the identification result by the identification unit 703.

[0057] By doing so, in ultrasonic flaw detection testing, inspectors can intuitively grasp the flaw detection conditions and probe placement positions, improving the convenience of the inspectors and reducing the risk of overlooking defects.

[0058] The ultrasonic device according to Example 3 will be described with reference to Figures 9 and 10.

[0059] Figure 9 is a block diagram showing the configuration of an ultrasonic inspection apparatus. In this embodiment, an ultrasonic flaw detection signal acquisition means 701, a probe position acquisition means 702, and a data processing unit 901 are located downstream of the matching processing unit 105 of Embodiment 1. The operation of the ultrasonic flaw detection signal acquisition means 701 and the probe position acquisition means 702 is the same as in Embodiment 2.

[0060] The data processing unit 901, at the timing when ultrasonic testing is performed and acquired by the ultrasonic testing signal acquisition means 701, combines the probe position and orientation acquired by the probe position acquisition means 702 with the ultrasonic testing signals acquired by the ultrasonic testing signal acquisition means 701, such as ultrasonic data, ultrasonic echo height, ultrasonic propagation time, ultrasonic propagation distance, and imaging processing results, and performs processing to superimpose the testing results onto the shape data of the object to be inspected.

[0061] In the data processing unit 901, the superimposition of inspection results can utilize results from simulations using FEM as shown in the explanation in Figure 3, as well as ray tracing and geometric calculations. By combining these calculation results with propagation distance, the intensity distribution of strong ultrasonic echoes can be superimposed onto the object being inspected and visualized. This allows the inspector to more intuitively understand whether an object has been inspected or not.

[0062] The ultrasonic inspection apparatus includes an ultrasonic flaw detection signal acquisition means 701 that acquires the transmission and reception results of an ultrasonic probe, a probe position acquisition means 702 that acquires the position information of the ultrasonic probe, a data processing unit 901 that superimposes the flaw detection results onto the shape data of the object to be inspected based on the ultrasonic flaw detection signal acquired by the ultrasonic flaw detection signal acquisition means 701, the position information of the ultrasonic probe acquired by the probe position acquisition means 702, and the results of the matching processing unit 105, and a display unit that displays the processing results of the data processing unit 901.

[0063] The intensity distribution of strong ultrasonic echoes can be superimposed onto the object being inspected and visualized, allowing inspectors to more intuitively understand whether or not the object has been inspected for defects.

[0064] Figure 10 is a conceptual diagram showing the operation of the ultrasonic inspection device. In addition to displaying the probe placement range in Example 1, the display unit 106 displays the flaw detection results 1001 superimposed on the shape data of the object being inspected.

[0065] By doing so, in ultrasonic flaw detection testing, the inspector can intuitively grasp the flaw detection conditions and probe placement position, thereby reducing the risk of overlooking defects.

[0066] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are included. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and are not necessarily limited to those having all the configurations described.

[0067] Furthermore, each of the aforementioned configurations, functions, processing units, processing means, etc., may be implemented in hardware, either partially or entirely, by designing them as integrated circuits, for example. Alternatively, each of the aforementioned configurations, functions, etc., may be implemented in software by having the processor interpret and execute programs that realize each function. Information such as programs, tables, and files that realize each function can be stored in memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0068] Furthermore, the control lines and information lines shown are those deemed necessary for explanatory purposes, and do not necessarily represent all control lines and information lines in the actual product. In practice, it is reasonable to assume that almost all components are interconnected.

[0069] 101... Ultrasonic flaw detection condition setting unit, 102... Model holding unit, 103... Imaging unit, 104... Shape acquisition means, 105... Matching processing unit, 106... Display unit, 201... Object to be inspected, 202... T-shaped joint weld, 203... Area to be inspected, 204... Ultrasonic probe installation position, 205... Ultrasonic probe installation position, 206... Ultrasonic probe installation position, 301... CAD model, 302... Assumed defect location, 303... Inspection probe, 304... Ultrasonic propagation direction, 401... Actual object to be inspected, 402... Image Image device, 403...imaging device, 404...imaging device, 405...imaging device, 406...imaging device, 501...inspection worker, 502...display device, 701...ultrasonic flaw detection signal acquisition means, 702...probe position acquisition means, 703...identification unit, 801...camera, 802...inspected area, 803...uninspected area, 901...data processing unit, 1001...flaw detection result, S11...condition setting step, S12...imaging step, S13...shape acquisition step, S14...matching step, S15...display step.

Claims

1. An ultrasonic inspection apparatus characterized by comprising: an ultrasonic flaw detection condition setting unit for setting ultrasonic flaw detection conditions, including the probe installation position, on a model of the object to be inspected; a model holding unit for storing the results set by the ultrasonic flaw detection condition setting unit; an imaging unit for imaging the object to be inspected; a shape acquisition means for acquiring the shape of the object to be inspected from the results imaged by the imaging unit; and a matching processing unit for aligning the model stored in the model holding unit with the shape information obtained by the shape acquisition means.

2. An ultrasonic inspection apparatus according to claim 1, characterized in that it has a display unit that displays the processing result of the matching processing unit using a method based on augmented reality or virtual reality.

3. An ultrasonic inspection apparatus according to claim 1, characterized in that the imaging unit is at least one of at least one camera, an X-ray CT apparatus, and a laser-based surveying apparatus.

4. An ultrasonic inspection apparatus according to claim 1, characterized in that the shape acquisition means reconstructs a three-dimensional shape using a machine learning model with respect to the image group obtained from the imaging unit.

5. An ultrasonic inspection apparatus according to claim 1, characterized in that the shape acquisition means reconstructs a three-dimensional shape by back-projecting the pixel values ​​of the images onto a three-dimensional voxel using the image group of imaging results from the imaging unit.

6. An ultrasonic inspection apparatus according to claim 1, wherein the matching processing unit converts both the three-dimensional model held in the model holding unit and the three-dimensional shape reconstructed by the shape acquisition means into three-dimensional point clouds, calculates shape feature quantities for both, and aligns the shape feature quantities based on at least one of rotation, translation, affine transformation and non-rigid body transformation.

7. An ultrasonic inspection apparatus according to claim 1, comprising: an ultrasonic flaw detection signal acquisition means for acquiring the transmission and reception results of an ultrasonic probe; a probe position acquisition means for acquiring the position information of an ultrasonic probe; an identification unit for identifying the flaw detection status of a probe installation range set by an ultrasonic flaw detection condition setting unit based on the ultrasonic flaw detection signal acquired by the ultrasonic flaw detection signal acquisition means, the position information of the ultrasonic probe acquired by the probe position acquisition means, and the results of the matching processing unit; and a display unit for displaying the identification result by the identification unit.

8. An ultrasonic inspection apparatus according to claim 1, comprising: an ultrasonic flaw detection signal acquisition means for acquiring the transmission and reception results of an ultrasonic probe; a probe position acquisition means for acquiring the position information of an ultrasonic probe; a data processing unit for superimposing the flaw detection results onto the shape data of the object to be inspected, based on the ultrasonic flaw detection signal acquired by the ultrasonic flaw detection signal acquisition means, the position information of the ultrasonic probe acquired by the probe position acquisition means, and the results of the matching processing unit; and a display unit for displaying the processing results of the data processing unit.

9. An ultrasonic inspection method characterized by comprising: an ultrasonic flaw detection condition setting step of setting ultrasonic flaw detection conditions, including the probe installation position, on a model of the object to be inspected; a model holding step of storing the results set in the ultrasonic flaw detection condition setting step; an imaging step of imaging the object to be inspected; a shape acquisition step of acquiring the shape of the object to be inspected from the results of imaging in the imaging step; and a matching processing step of aligning the model stored in the model holding step with the shape information obtained in the shape acquisition step.

10. An ultrasound inspection method according to claim 9, characterized in that it includes a display step in which the processing result of the matching processing step is displayed using a method based on augmented reality or virtual reality.

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