CN115469015A - Curved surface component ultrasonic self-adaptive detection method - Google Patents

Curved surface component ultrasonic self-adaptive detection method Download PDF

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CN115469015A
CN115469015A CN202211344912.1A CN202211344912A CN115469015A CN 115469015 A CN115469015 A CN 115469015A CN 202211344912 A CN202211344912 A CN 202211344912A CN 115469015 A CN115469015 A CN 115469015A
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ultrasonic
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CN115469015B (en
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韩军
潘文联
龙晋桓
付磊
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Quanzhou Institute of Equipment Manufacturing
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0609—Display arrangements, e.g. colour displays
    • G01N29/0645—Display representation or displayed parameters, e.g. A-, B- or C-Scan
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material

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Abstract

The invention provides an ultrasonic self-adaptive detection method for a curved surface member, which utilizes the action of ultrasonic scanning to acquire data and utilize algorithm adjustment, does not need to add external hardware, has a unified coordinate system and reduces the complexity of the system, comprises the following steps of clamping an ultrasonic probe on an ultrasonic sampling platform to perform ultrasonic detection on the curved surface workpiece by utilizing a mechanical arm, and comprises the following steps of: s1, acquiring point cloud data of a curved surface workpiece, adjusting the posture of the point cloud, and planning a scanning path of the point cloud; s2, importing the adjusted point cloud data into a controller of the mechanical arm to complete the planning of a motion path of the mechanical arm and ensure that the direction of an ultrasonic sound beam is consistent with the normal vector direction of a detection point in the scanning process; and S3, ultrasonic C-scan imaging, wherein the ultrasonic C-scan adopts a time coding mode to acquire data, an equal-step segmentation reconstruction is carried out on an imaging coordinate system by utilizing the relation between time and speed, and the sampled data and the equal-step coordinate points are imaged in a one-to-one correspondence manner.

Description

Curved surface component ultrasonic self-adaptive detection method
Technical Field
The invention relates to the technical field of nondestructive testing, in particular to an ultrasonic self-adaptive testing method for a curved surface member.
Background
Curved surface work piece is becoming extensive in fields such as car, boats and ships, aerospace, and any tiny defect in the work piece all probably causes very big potential safety hazard in high temperature, high pressure, high-speed service environment, therefore must carry out comprehensive detection to it before putting into service.
The ultrasonic detection has the advantages of high sensitivity, low cost, no harm to human bodies and the like, and can realize automatic detection with high precision, high efficiency and high reliability, when a curved surface workpiece is detected by utilizing ultrasonic waves, the normal direction of the workpiece changes along with the curved surface, a sound beam is difficult to keep a vertical incidence state all the time, the incident posture needs to be adjusted along with the shape of the curved surface, and the vertical posture fixation of the sound beam is completed by adjusting the posture of a control point position on a motion path.
Although the existing method for acquiring and adjusting unknown workpiece data has considerable precision, external hardware equipment is mostly required to be added, and the coordinate system of the external equipment is different from the detection coordinate system, so that the system is complex and positioning errors are easily introduced.
Disclosure of Invention
Therefore, aiming at the problems, the invention provides the curved surface member ultrasonic self-adaptive detection method which utilizes ultrasonic waves to acquire data and utilize algorithm adjustment, does not need to increase external hardware, has a uniform coordinate system and reduces the complexity of the system.
In order to realize the technical problem, the invention adopts the technical scheme that the ultrasonic self-adaptive detection method for the curved surface component comprises the following steps of clamping an ultrasonic probe by a mechanical arm to carry out ultrasonic detection on a curved surface workpiece:
s1, acquiring point cloud data of a curved surface workpiece, adjusting the attitude of the point cloud, and planning a scanning path of the point cloud;
s2, importing the adjusted point cloud data into a controller of the mechanical arm to complete the planning of a motion path of the mechanical arm and ensure that the direction of an ultrasonic sound beam is consistent with the normal vector direction of a detection point in the scanning process;
s3, ultrasonic C-scan imaging;
the flow for acquiring the point cloud data of the curved surface workpiece in the step S1 is as follows:
firstly, decomposing a curved surface into a plurality of curves capable of representing the characteristics of the curved surface;
secondly, dividing each curve into a plurality of detection points;
thirdly, manually selecting part of detection points to perform posture adjustment so that the selected part of detection points meet the detection requirements;
fourthly, performing interpolation fitting on the detection points after the posture adjustment;
the interpolation fitting method in the fourth step is that for a point-taking curve S located on an X-Z plane, a point location y value is unchanged, a Z value changes with an X value, each curvature change point on S has a circle center C corresponding to the circle center C, a curvature point P (X, Z) is respectively connected with the curvature circle center C and a coordinate origin O to obtain two right triangles, γ is an unknown attitude V value, θ is an arctangent value of a ratio of a longitudinal coordinate and a horizontal coordinate of the curvature point, both θ and γ change with the change of the curve S, and a synchronous corresponding relationship is presented between the two, the idea of interpolation fitting is introduced into an attitude adjustment algorithm, and a piecewise cubic Hermite interpolation function is used to fit the corresponding relationship between the two, and the formula is as follows:
Figure 882851DEST_PATH_IMAGE001
Figure 905033DEST_PATH_IMAGE002
=0,1,2,3……
in the formula
Figure 900802DEST_PATH_IMAGE003
、
Figure 257703DEST_PATH_IMAGE004
Is that
Figure 980808DEST_PATH_IMAGE005
、
Figure 608230DEST_PATH_IMAGE006
The function value corresponding to the position of the position is determined,
Figure 541944DEST_PATH_IMAGE007
、
Figure 136874DEST_PATH_IMAGE008
is that
Figure 883244DEST_PATH_IMAGE005
、
Figure 880019DEST_PATH_IMAGE006
At the value of the corresponding first derivative,
Figure 450546DEST_PATH_IMAGE009
、
Figure 17925DEST_PATH_IMAGE010
、
Figure 82833DEST_PATH_IMAGE011
、
Figure 717470DEST_PATH_IMAGE012
for the expression of multiple power terms in the function, the calculation formula is as follows:
Figure 944052DEST_PATH_IMAGE013
Figure 264306DEST_PATH_IMAGE014
Figure 382173DEST_PATH_IMAGE015
Figure 87960DEST_PATH_IMAGE016
。
the further improvement is that: and the gesture adjustment method for manually selecting the detection point in the third step flow is to adjust the gesture of the detection point by utilizing an ultrasonic distance measurement principle and an amplitude maximum principle, and when the acoustic wave underwater acoustic distance and the amplitude are not changed or fluctuate within a small range, the normal incidence of the acoustic beam at the point can be considered.
The further improvement is that: and in the step S3, the ultrasonic C-scan adopts a time coding mode to acquire data, an imaging coordinate system is subjected to equal-step segmentation and reconstruction by utilizing the relation between time and speed, and the sampled data and equal-step coordinate points are imaged in a one-to-one correspondence manner.
The further improvement is that: the method for carrying out equal step length segmentation reconstruction on the imaging coordinate system comprises the step length of the step direction
Figure 501755DEST_PATH_IMAGE017
The method comprises the steps of setting equal step length for imaging, obtaining path length through scanning time and scanning speed of a single path, dividing the path length by the equal step length to obtain the number of equal step length points on each path, sequentially dividing each path according to the steps, uniformly distributing all the obtained equal step length points on a bow-shaped scanning track, circularly arranging data on coordinate points according to the number of the coordinate points on each path after the equal step length division is completed, and determining a gray value according to an amplitude value to complete imaging.
The further improvement is that: the ultrasonic sampling platform is a phased array ultrasonic detection system, the mechanical arm is a six-degree-of-freedom mechanical arm, and the ultrasonic probe is a water immersion focusing probe.
The invention has the beneficial effects that: according to the invention, a six-degree-of-freedom mechanical arm is used as a motion executing mechanism, curved surface characteristics are reversely solved by combining ultrasonic ranging and an amplitude maximum principle, the angle relation between point positions is analyzed, the point cloud posture is adjusted based on a segmented cubic Hermite function, the motion path planning is carried out on the mechanical arm by using point cloud data, and C-scan imaging is carried out on the basis of sampling time, so that the posture adjustment is simple, and the system complexity is low.
Furthermore, the point cloud data of the detection points are acquired in a surface-line-point mode, and then a reverse process of point-point line-point cloud can better represent curved surface characteristics to plan the scanning path.
Furthermore, data are acquired in a time coding mode, the imaging coordinate system is subjected to equal-step segmentation reconstruction by utilizing the relation between time and speed, the sampling data and the equal-step coordinate points are imaged in a one-to-one correspondence mode, and the dependency of an imaging system on the position information of the encoder is reduced.
Drawings
FIG. 1 is a schematic diagram of detection point selection according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a point location pose adjustment algorithm in an embodiment of the present invention.
FIG. 3 is a diagram illustrating equal-step segmentation according to an embodiment of the present invention.
FIG. 4 is a schematic view of a bearing bottom bore in an embodiment of the invention.
Fig. 5 is a graph showing the scanning result at a in fig. 4.
Fig. 6 is a schematic view of the bottom hole size in fig. 5.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention discloses an ultrasonic self-adaptive detection method for a curved surface member, which comprises the following steps of carrying out ultrasonic detection on a curved surface workpiece by using a six-degree-of-freedom mechanical arm to clamp an Olympus10MHz water immersion type focusing probe:
s1, decomposing a curved surface into a plurality of curves capable of representing the characteristics of the curved surface, dividing each curve into a plurality of detection points, manually selecting part of the detection points to perform attitude adjustment, enabling the selected part of the detection points to meet detection requirements, and finally performing interpolation fitting on the detection points subjected to the attitude adjustment to realize a surface-line-point combination, fitting the curve by points, and fitting the curve to the inverse process of the curved surface, thereby better representing the characteristics of the curved surface and planning a scanning path;
s2, importing the adjusted point cloud data into a controller of the mechanical arm to complete the planning of a motion path of the mechanical arm, and ensuring that the direction of an ultrasonic sound beam is consistent with the normal vector direction of a detection point in the scanning process, namely the direction of a probe is consistent with the normal vector direction of the detection point;
and S3, ultrasonic C-scanning, wherein the ultrasonic C-scanning adopts a time coding mode to acquire data, an imaging coordinate system is subjected to equal-step segmentation reconstruction by utilizing the relation between time and speed, the sampling data and equal-step coordinate points are imaged in a one-to-one correspondence mode, and imaging is obtained on a phased array ultrasonic detection system Multi 2000.
The method for manually picking the detection points is, as shown in figure 1,
Figure 292994DEST_PATH_IMAGE018
for manually obtained detection points, the acoustic distance isd(ii) a The attitude of a detection point is adjusted by utilizing an ultrasonic ranging principle and an amplitude maximum principle, and when the underwater acoustic distance and the amplitude of the acoustic wave are not changed or fluctuate in a small range, the normal incidence of an acoustic beam at the point can be considered; point location characteristics are observed during interpolation, data have boundaries and a fitted curve is required to be smooth and conductive, and a segmented cubic Hermite interpolation function is selected after interpolation efficiency and effect are comprehensively considered; on the same point-taking curve, the point location y value is unchanged, the z value changes along with the change of the x value, the point location x and z values are substituted into an interpolation function to obtain a curve expression, a reasonable x value is selected according to scanning precision and substituted into the curve expression to complete curve interpolation, and curve point cloud data can be obtained by sequentially completing the interpolation of the point-taking curves.
Describing a point location in a mechanical arm coordinate system, wherein six parameters are needed, namely X, Y and Z position quantities and U, V and W posture quantities, and when a mechanical arm clamps a probe for ultrasonic detection, the incident posture of an acoustic beam is determined by the value of the posture quantities; for a detection point on the same point-taking curve, the U and W parameters on an X-Z plane are kept unchanged, and the vertical posture fixation can be completed by adjusting the V value during the posture adjustment, so that the U value fixation can be performed by the same method in the other curvature change direction; the invention regards all interpolation points on a point-taking curve as a whole, and provides a posture adjustment algorithm capable of rapidly determining the incident angle of a probe, as shown in fig. 2, for a point-taking curve S located on an X-Z plane, the point y value is unchanged, the Z value changes along with the X value, each curvature change point on the S has a circle center C corresponding to the point, curvature points P (X, Z) are respectively connected with the curvature circle center C and a coordinate origin O, two right triangles are obtained, gamma is an unknown posture V value, theta is an arctangent value of the ratio of the ordinate and the abscissa of the curvature points, theta and gamma change along with the change of the curve S, a synchronous corresponding relation is presented between the two, the idea of interpolation fitting is introduced into the posture adjustment algorithm, and the corresponding relation between the two is fitted by utilizing a piecewise cubic Hermite interpolation function, wherein the formula is as follows:
Figure 205762DEST_PATH_IMAGE001
Figure 516789DEST_PATH_IMAGE002
=0,1,2,3……
in the formula
Figure 350753DEST_PATH_IMAGE003
、
Figure 878555DEST_PATH_IMAGE004
Is that
Figure 88956DEST_PATH_IMAGE005
、
Figure 520069DEST_PATH_IMAGE006
The function value corresponding to the position is processed,
Figure 259355DEST_PATH_IMAGE007
、
Figure 277383DEST_PATH_IMAGE008
is that
Figure 776628DEST_PATH_IMAGE005
、
Figure 311515DEST_PATH_IMAGE006
At the value of the corresponding first derivative,
Figure 736549DEST_PATH_IMAGE009
、
Figure 989676DEST_PATH_IMAGE010
、
Figure 27033DEST_PATH_IMAGE011
、
Figure 416426DEST_PATH_IMAGE012
for the expression of multiple power terms in the function, the calculation formula is as follows:
Figure 280870DEST_PATH_IMAGE013
Figure 506446DEST_PATH_IMAGE014
Figure 862341DEST_PATH_IMAGE015
Figure 621087DEST_PATH_IMAGE016
；
when time data is used for imaging, the coordinate point distance is calculated through time and scanning speed, and in order to avoid the situation that scanning distance in unit time is inconsistent with the coordinate point distance and blank and data accumulation alternately occur in an imaging result stepping part, the method provided by the invention carries out equal-step segmentation reconstruction on an imaging coordinate system; as shown in fig. 3, the method for performing the equal-step segmented reconstruction on the imaging coordinate system is,step direction step length
Figure 138656DEST_PATH_IMAGE017
The method comprises the steps of setting equal step length for imaging, obtaining path length through scanning time and scanning speed of a single path, dividing the path length by the equal step length to obtain the number of equal step length points on each path, sequentially dividing each path according to the steps, uniformly distributing all the obtained equal step length points on a bow-shaped scanning track, circularly arranging data on coordinate points according to the number of the coordinate points on each path after the equal step length division is completed, and determining a gray value according to an amplitude value to complete imaging.
The detection method provided in the previous embodiment was subjected to quantitative defect testing, with the following procedures and results:
in all experiments, the ultrasonic sampling platform is Multi2000, the probe adopts an Olympus10MHz water immersion type focusing probe, the actual center frequency is 9.76MHz, the bandwidth is 69.08 percent, and the diameter of a wafer is 12.7mm.
An aviation curved surface bearing test block is selected to carry out a defect quantitative experiment, the outer diameter of the bearing is 45.244mm, the inner diameter is 30mm, the height is 28mm, the scanning area is shown in figure 4, the bearing is preset with flat bottom hole defects, the diameter of the flat bottom hole is 0.7mm, the hole depth is 6.5mm, and the hole bottom surface is parallel to the detection surface. And setting the focusing depth to be 3mm and the water depth to be 39.244mm, and scanning along the outer curved surface. The imaging setting is equal to the step size of 0.257mm, the sampling interval is 0.1s, and the mechanical arm movement speed is 2.57mm/s.
The scanning result at a in fig. 4 is shown in fig. 5 (the horizontal and vertical coordinates in fig. 5 represent the number of sampling points, and the numerical value at the right side of the picture represents the amplitude), and the flat-bottom hole defect is imaged clearly and has no missing detection. And quantitatively analyzing the size of the defect, wherein the scanning path is an arc line with the radius of 61.866mm and the central angle of 38 degrees, and the actual corresponding bearing path is an arc line with the radius of 22.622mm and the central angle of 38 degrees, so that the scanning result has a magnification factor relation with the actual defect, the magnification factor is the ratio of the scanning radius, and the calculated magnification factor is about 2.73 times. Observing the imaging result, considering the reasons of defect edge scattering and the like, the defect size is the region with the maximum image center amplitude, as shown in fig. 6 (the horizontal and vertical coordinates in fig. 6 represent the number of sampling points, and the numerical value on the right side of the image represents the amplitude), the holeDiameter of 7%
Figure 851529DEST_PATH_IMAGE017
(two sets of coordinates in FIG. 6 correspond to the location of a small black dot in the flat-bottom hole defect, the coordinates of the small black dot located at the top in FIG. 6 are (74, 6), and the coordinates of the small black dot located at the bottom are (74, 13), so the aforementioned 7X
Figure 745535DEST_PATH_IMAGE017
And 7 is the difference between the hole diameters at the two small black spots, i.e. 13-6), i.e. 1.799mm, and reducing the actual defect size by magnification yields a flat-bottom hole diameter of 0.659mm with a size error rate of about 5.86%.
The above description is only an embodiment utilizing the technical content of the present disclosure, and any modification and variation made by those skilled in the art can be covered by the claims of the present disclosure, and not limited to the embodiments disclosed.

Claims (5)

1. The ultrasonic self-adaptive detection method for the curved surface component comprises the following steps of clamping an ultrasonic probe by using a mechanical arm to carry out ultrasonic detection on a curved surface workpiece, and is characterized in that: the method comprises the following steps:
s1, acquiring point cloud data of a curved surface workpiece, adjusting the attitude of the point cloud, and planning a scanning path of the point cloud;
s2, importing the adjusted point cloud data into a controller of the mechanical arm to complete the planning of the motion path of the mechanical arm, and ensuring that the direction of the ultrasonic sound beam is consistent with the normal vector direction of the detection point in the scanning process;
s3, ultrasonic C-scan imaging;
the flow for acquiring the point cloud data of the curved surface workpiece in the step S1 is as follows:
firstly, decomposing a curved surface into a plurality of curves capable of representing the characteristics of the curved surface;
secondly, dividing each curve into a plurality of detection points;
thirdly, manually selecting part of detection points to perform attitude adjustment, so that the selected part of detection points meet the detection requirements;
fourthly, performing interpolation fitting on the detection points after the posture adjustment;
the interpolation fitting method in the fourth step is that for a point-taking curve S located on an X-Z plane, a point location y value is unchanged, a Z value changes with an X value, each curvature change point on S has a circle center C corresponding to the circle center C, a curvature point P (X, Z) is respectively connected with the curvature circle center C and a coordinate origin O to obtain two right triangles, γ is an unknown attitude V value, θ is an arctangent value of a ratio of a longitudinal coordinate and a horizontal coordinate of the curvature point, both θ and γ change with the change of the curve S, and a synchronous corresponding relationship is presented between the two, the idea of interpolation fitting is introduced into an attitude adjustment algorithm, and a piecewise cubic Hermite interpolation function is used to fit the corresponding relationship between the two, and the formula is as follows:
Figure 402687DEST_PATH_IMAGE001
Figure 278370DEST_PATH_IMAGE002
=0,1,2,3……
in the formula
Figure 949523DEST_PATH_IMAGE003
、
Figure 703109DEST_PATH_IMAGE004
Is that
Figure 776107DEST_PATH_IMAGE005
、
Figure 822692DEST_PATH_IMAGE006
The function value corresponding to the position is processed,
Figure 495987DEST_PATH_IMAGE007
、
Figure 269908DEST_PATH_IMAGE008
is that
Figure 213725DEST_PATH_IMAGE005
、
Figure 414899DEST_PATH_IMAGE006
At the value of the corresponding first derivative,
Figure 324560DEST_PATH_IMAGE009
、
Figure 902172DEST_PATH_IMAGE010
、
Figure 966074DEST_PATH_IMAGE011
、
Figure 587417DEST_PATH_IMAGE012
for the expression of multiple power terms in the function, the calculation formula is as follows:
Figure 986037DEST_PATH_IMAGE013
Figure 118072DEST_PATH_IMAGE014
Figure 20169DEST_PATH_IMAGE015
Figure 80922DEST_PATH_IMAGE016
。
2. the ultrasonic adaptive detection method for the curved surface member according to claim 1, characterized in that: and the gesture adjustment method for manually selecting the detection point in the third step flow is to adjust the gesture of the detection point by utilizing an ultrasonic distance measurement principle and an amplitude maximum principle, and when the acoustic wave underwater acoustic distance and the amplitude are not changed or fluctuate within a small range, the normal incidence of the acoustic beam at the point can be considered.
3. The curved surface member ultrasonic adaptive detection method according to claim 1, characterized in that: and in the step S3, the ultrasonic C-scan adopts a time coding mode to acquire data, an imaging coordinate system is subjected to equal-step segmentation and reconstruction by utilizing the relation between time and speed, and the sampled data and equal-step coordinate points are imaged in a one-to-one correspondence manner.
4. The ultrasonic adaptive detection method for the curved surface member according to claim 3, characterized in that: the method for performing equal-step segmentation reconstruction on the imaging coordinate system comprises the following step of dividing the step in the stepping direction
Figure 451992DEST_PATH_IMAGE017
The method comprises the steps of setting equal step length for imaging, obtaining path length through scanning time and scanning speed of a single path, dividing the path length by the equal step length to obtain the number of equal step length points on each path, sequentially dividing each path according to the steps, uniformly distributing all the obtained equal step length points on a bow-shaped scanning track, circularly arranging data on coordinate points according to the number of the coordinate points on each path after the equal step length division is completed, and determining a gray value according to an amplitude value to complete imaging.
5. The curved surface member ultrasonic adaptive detection method according to any one of the preceding claims, characterized in that: the ultrasonic sampling platform is a phased array ultrasonic detection system, the mechanical arm is a six-degree-of-freedom mechanical arm, and the ultrasonic probe is a water immersion focusing probe.
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