CN116429894A - Ultrasonic multi-wave-based full-focus imaging detection method and detection device - Google Patents

Ultrasonic multi-wave-based full-focus imaging detection method and detection device Download PDF

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CN116429894A
CN116429894A CN202210003984.3A CN202210003984A CN116429894A CN 116429894 A CN116429894 A CN 116429894A CN 202210003984 A CN202210003984 A CN 202210003984A CN 116429894 A CN116429894 A CN 116429894A
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张萍
阎守国
黄娟
张碧星
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Institute of Acoustics CAS
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Abstract

The invention belongs to the technical field of ultrasonic nondestructive detection, and particularly relates to a full-focus imaging detection method based on ultrasonic multi-wave, which comprises the following steps: placing an ultrasonic transducer array in a detection area on the surface of a solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array, and transmitting ultrasonic waves to a target defect; each array element in the transducer array receives echo signals reflected by the target defect, carries out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizes full focusing on the superimposed signals at the preset focal position to complete imaging detection of ultrasonic multi-wave full focusing.

Description

Ultrasonic multi-wave-based full-focus imaging detection method and detection device
Technical Field
The invention belongs to the technical field of ultrasonic nondestructive detection, and particularly relates to a full-focus imaging detection method and device based on ultrasonic multi-wave.
Background
The ultrasonic full focusing is an advanced imaging detection method, and can obtain better detection images compared with a phased array method. However, in the current ultrasonic full-focus imaging detection method, no method or technology related to full-focus imaging detection by directly utilizing ultrasonic multi-wave signals exists. The existing full focusing method and phased array transducer design only consider one wave type (such as longitudinal wave) and are not suitable for multi-wave situations where signals such as longitudinal wave and transverse wave exist at the same time, so that full focusing imaging is difficult to be carried out by directly utilizing ultrasonic multi-wave signals.
However, there are inevitably a plurality of modes such as longitudinal waves and transverse waves in a solid medium, each mode has different propagation characteristics, and the different modes tend to be aliased together and are difficult to separate. If different wave patterns can be focused on the same position at the same time, the signal to noise ratio of the detection signal can be greatly improved, and the imaging detection with a large deflection angle can be realized by one scanning. Therefore, the full-focus imaging detection based on ultrasonic multi-wave signals has very important significance and application value.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a full-focus imaging detection method based on ultrasonic multi-wave, which comprises the following steps:
placing an ultrasonic transducer array in a detection area on the surface of a solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array, and transmitting ultrasonic waves to a target defect;
each array element in the transducer array receives echo signals reflected by the target defect, carries out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizes full focusing on the superimposed signals at the preset focal position to complete imaging detection of ultrasonic multi-wave full focusing.
As one of the improvements of the above technical solution, each array element in the transducer array receives an echo signal reflected by the target defect, and according to a preset focal position, the echo signal is respectively delayed and overlapped according to longitudinal wave delay and transverse wave delay, and then the overlapped signal is fully focused at the preset focal position to complete imaging detection of ultrasonic multi-wave full focusing; the specific process is as follows:
assuming that the ultrasonic transducer array comprises N array elements, sequentially exciting from array element 1 to array element N to emit short pulses to the target defect, simultaneously receiving echo signals reflected from the target defect by the array elements 1 to N during each emission, finally obtaining N multiplied by N groups of echo data, and recording the echo signals received by the array element j during the excitation of the array element i as S ij (t)；
Dividing the imaging area into pixel points, wherein each pixel point is a virtual focus to be focused, and the virtual focus is a preset focus, specifically any pixel point in the imaging area;
if the position coordinate of the preset focus is P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P to the receiving array element j is recorded as the longitudinal wave delay
Figure BDA0003454741550000021
Is that
Figure BDA0003454741550000022
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting array element i to the preset focus P and then from the preset focus P back to the receiving array element j is recorded as the transverse wave delay
Figure BDA0003454741550000023
Is that
Figure BDA0003454741550000024
Wherein c s Is transverse wave velocity;
will each beEcho signals received by array elements are respectively according to the above
Figure BDA0003454741550000025
And->
Figure BDA0003454741550000026
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing to obtain superposition processed signals, and then adopting a multi-wave full-focusing imaging method to realize full focusing of the superposition processed signals at a preset focus position according to the preset focus position;
Figure BDA0003454741550000027
wherein I is m (x, z) is a multi-wave fully focused detection image.
As one of the improvements of the above technical scheme, the array element width of each array element in the ultrasonic transducer array is 0.5-1 transversal wave wavelength; the center-to-center spacing of adjacent array elements is 1.2-1.5 transverse wave wavelengths.
The invention also provides a full-focus imaging detection device based on ultrasonic multi-wave, which comprises:
the signal transmitting module is used for placing an ultrasonic transducer array in a detection area on the surface of the solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array and transmitting ultrasonic waves to the target defect; and
and the focusing imaging module is used for receiving echo signals reflected by the target defect by each array element in the transducer array, respectively carrying out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizing full focusing on the superposed signals at the preset focal position to finish imaging detection of ultrasonic multi-wave full focusing.
As one of the improvements of the above technical scheme, the array element width of each array element in the ultrasonic transducer array is 0.5-1 transversal wave wavelength; the center-to-center spacing of adjacent array elements is 1.2-1.5 transverse wave wavelengths.
As one of the improvements of the above technical solutions, the specific implementation process of the focusing imaging module includes:
assuming that the ultrasonic transducer array comprises N array elements, sequentially exciting from array element 1 to array element N to emit short pulses to the target defect, simultaneously receiving echo signals reflected from the target defect by the array elements 1 to N during each emission, finally obtaining N multiplied by N groups of echo data, and recording the echo signals received by the array element j during the excitation of the array element i as S ij (t)；
Dividing the imaging area into pixel points, wherein each pixel point is a virtual focus to be focused, and the virtual focus is a preset focus, specifically any pixel point in the imaging area;
if the position coordinate of the preset focus is P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P to the receiving array element j is recorded as the longitudinal wave delay
Figure BDA0003454741550000031
Is that
Figure BDA0003454741550000032
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting array element i to the preset focus P and then from the preset focus P back to the receiving array element j is recorded as the transverse wave delay
Figure BDA0003454741550000033
Is that
Figure BDA0003454741550000034
Wherein c s Is transverse wave velocity;
dividing echo signals received by each array elementAccording to the above
Figure BDA0003454741550000041
And->
Figure BDA0003454741550000042
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing to obtain superposition processed signals, and then adopting a multi-wave full-focusing imaging method to realize full focusing of the superposition processed signals at a preset focus position according to the preset focus position;
Figure BDA0003454741550000043
wherein I is m (x, z) is a multi-wave fully focused detection image.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, full-focusing imaging is carried out by utilizing multiple waves according to relevant technical parameters of an ultrasonic transducer array, so that longitudinal waves and transverse waves with different propagation characteristics are focused at a preset focus, the focusing imaging characteristics of the longitudinal waves and the transverse waves are fully combined, and defect detection under a large deflection angle can be realized by one-time scanning; in addition, the method for performing full-focus imaging by utilizing ultrasonic multi-waves simultaneously is very beneficial to improving the imaging range and the signal-to-noise ratio of defect detection, and has very important significance and application value.
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Fig. 1 is a schematic diagram of a multi-wave full focus imaging principle of an implementation of a full focus imaging detection method based on ultrasonic multi-wave.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and examples.
The invention provides a full-focusing imaging detection method based on ultrasonic multi-wave, which utilizes ultrasonic multi-wave signals to carry out full-focusing imaging according to relevant technical parameters of an ultrasonic transducer array, so that longitudinal waves and transverse waves with different propagation characteristics are focused at a preset focus, the focusing imaging characteristics of the longitudinal waves and the transverse waves are fully combined, and defect detection under a large deflection angle can be realized by one-time scanning; in addition, the ultrasonic multi-wave full-focusing imaging method is very beneficial to improving the imaging range and the signal to noise ratio of defect detection, and has very important significance and application value.
Considering the situation that only longitudinal waves and transverse waves exist at a preset focus, an ultrasonic transducer array is adopted to transmit and receive sound waves on the surface of a solid medium, each array element of the transducer is excited once in sequence, longitudinal waves and transverse waves can be generated in the solid medium, and echo signals received by each array element of the transducer contain longitudinal wave and transverse wave information.
The method comprises the following steps:
placing an ultrasonic transducer array in a detection area on the surface of a solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array, and transmitting ultrasonic waves to a target defect;
each array element in the transducer array receives echo signals reflected by the target defect, carries out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizes full focusing on the superimposed signals at the preset focal position to complete imaging detection of ultrasonic multi-wave full focusing.
Specifically, assuming that the ultrasonic transducer array comprises N array elements, sequentially exciting from array element 1 to array element N to emit short pulses to the target defect, during each emission, simultaneously receiving echo signals reflected from the target defect by the array elements 1 to N, finally obtaining N multiplied by N groups of echo data, and recording the echo signals received by the array element j during the excitation of the array element i as S ij (t)；
The imaging area is divided into pixels, each pixel is a virtual focus (fig. 1) which needs focusing, and the virtual focus is a preset focus, specifically any pixel in the imaging area.
If the position coordinate of the preset focus is P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P to the receiving array element j is recorded as the longitudinal wave delay
Figure BDA0003454741550000051
Is that
Figure BDA0003454741550000052
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting array element i to the preset focus P and then from the preset focus to the receiving array element j is recorded as the transverse wave delay
Figure BDA0003454741550000053
Is that
Figure BDA0003454741550000054
Wherein c s Is transverse wave velocity;
echo signals received by each array element are respectively processed according to the above steps
Figure BDA0003454741550000055
And->
Figure BDA0003454741550000056
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing to obtain superposition processed signals, then adopting a multi-wave full-focusing imaging method according to a preset focus position to realize full focusing of the superposition processed signals at the preset focus position, namely, simultaneously realizing focusing of longitudinal waves and transverse waves in the defect echo signals at the preset focus position, namely performing multi-wave full-focusing processing as follows to finish imaging detection of ultrasonic multi-wave full focusing;
Figure BDA0003454741550000061
wherein I is m (x, z) is a multi-wave fully focused detection image; this is the amplitude of the multi-wave full focus at the preset focus P, we will I m (x, z) as a detection image of multi-wave full focus, thereby realizing multi-wave imaging detection for the entire detection area.
The invention also provides a full-focus imaging detection device based on ultrasonic multi-wave, which comprises:
the signal transmitting module is used for placing an ultrasonic transducer array in a detection area on the surface of the solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array and transmitting ultrasonic waves to the target defect; and
and the focusing imaging module is used for receiving echo signals reflected by the target defect by each array element in the transducer array, respectively carrying out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizing full focusing on the superposed signals at the preset focal position to finish imaging detection of ultrasonic multi-wave full focusing.
Specifically, the specific implementation process of the focusing imaging module comprises the following steps:
assuming that the ultrasonic transducer array comprises N array elements, sequentially exciting from array element 1 to array element N to emit short pulses to the target defect, simultaneously receiving echo signals reflected from the target defect by the array elements 1 to N during each emission, finally obtaining N multiplied by N groups of echo data, and recording the echo signals received by the array element j during the excitation of the array element i as S ij (t)；
Dividing the imaging area into pixel points, wherein each pixel point is a virtual focus to be focused, and the virtual focus is a preset focus, specifically any pixel point in the imaging area;
if the position coordinate of the preset focus is P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P to the receiving array element j is recorded as the longitudinal wave delay
Figure BDA0003454741550000062
Is that
Figure BDA0003454741550000063
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting array element i to the preset focus P and then from the preset focus P back to the receiving array element j is recorded as the transverse wave delay
Figure BDA0003454741550000071
Is that
Figure BDA0003454741550000072
Wherein c s Is transverse wave velocity;
echo signals received by each array element are respectively processed according to the above steps
Figure BDA0003454741550000073
And->
Figure BDA0003454741550000074
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing to obtain superposition processed signals, then adopting a multi-wave full-focusing imaging method according to a preset focus position to realize full focusing of the superposition processed signals at the preset focus position, namely, simultaneously realizing focusing of longitudinal waves and transverse waves in the defect echo signals at the preset focus position, namely performing multi-wave full-focusing processing as follows to finish imaging detection of ultrasonic multi-wave full focusing;
Figure BDA0003454741550000075
wherein I is m (x, z) is a multi-wave fully focused detection image.
Example 1.
In this embodiment, considering the situation that only longitudinal waves and transverse waves exist at the preset focal point P, an ultrasonic transducer array is placed on the detection area on the surface of the solid medium to emit ultrasonic waves and receive ultrasonic waves, each array element in the ultrasonic transducer array is excited once in sequence to emit signals to the target defect in the solid medium, longitudinal waves and transverse waves can be generated in the solid medium, and echo signals reflected after encountering the target defect are received by each array element of the transducer array, wherein the signals comprise longitudinal wave information and transverse wave information.
(1) Transducer parameter design
In solid media, both longitudinal and transverse waves can be excited, but the amplitudes of the two are different in different directions, so that the related technical parameters of each array element need to be controlled: the first technical parameter is the array element width of the transducer array and the second is the array element center-to-center spacing of the transducer array. When the two technical parameters are controlled, the transducer array can balance the amplitude of the longitudinal wave and the transverse wave of excitation (or reception), and can obtain ideal multi-wave focusing performance. After comprehensive consideration, the width of the array element should be 0.5-1 transverse wave wavelength, and the center-to-center distance between adjacent array elements should be 1.2-1.5 transverse wave wavelength.
(2) Implementation of multi-wave full focus imaging
In the defect detection process, each array element in the transducer array is excited in sequence, and all array elements receive reflected echo signals simultaneously when excited each time; and according to the preset focus position, carrying out delay superposition processing on echo signals according to longitudinal wave delay and transverse wave delay, and then realizing full focusing on the preset focus position by the two delay superposition processing signals. The specific principle and method are as follows:
(a) Full matrix data acquisition
As shown in fig. 1, an ultrasonic transducer array with N array elements is assumed, and a certain detection area on the surface of a solid medium excites and receives ultrasonic waves, and point P is the position of a preset focus. The array elements in the transducer array sequentially transmit a short pulse from 1 to N, and during each transmission, the array elements in the transducer array simultaneously receive the reflected defect echo signals from 1 to N, and finallyObtaining N multiplied by N groups of echo data, and marking the echo signals received by the array element j when the array element i is excited as S ij (t)；
(b) Echo signal processing
The imaging area is divided into pixels, each pixel is a virtual focus (fig. 1) which needs focusing, and the virtual focus is a preset focus and can be any pixel. If the coordinates of the preset focus are P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P back to the receiving array element j
Figure BDA0003454741550000081
Is that
Figure BDA0003454741550000082
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting element i to the preset focus P and then from the preset focus to the receiving element j
Figure BDA0003454741550000083
Is that
Figure BDA0003454741550000084
Wherein c s Is transverse wave velocity;
the echo signals received by each array element are respectively processed according to the above steps
Figure BDA0003454741550000085
And->
Figure BDA0003454741550000086
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing, and then returning the defect by adopting a multi-wave full-focusing imaging method according to the preset focus positionThe longitudinal wave and the transverse wave in the wave signal are focused at the preset focus position at the same time, namely the following multi-wave full focusing processing is carried out;
Figure BDA0003454741550000091
this is the amplitude of the multi-wave full focus at the preset focus P, we will I m (x, z) as a detection image of multi-wave full focus, thereby realizing multi-wave imaging detection for the entire detection area.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.

Claims (6)

1. A method for full focus imaging detection based on ultrasound multi-wave, the method comprising:
placing an ultrasonic transducer array in a detection area on the surface of a solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array, and transmitting ultrasonic waves to a target defect;
each array element in the transducer array receives echo signals reflected by the target defect, carries out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizes full focusing on the superimposed signals at the preset focal position to complete imaging detection of ultrasonic multi-wave full focusing.
2. The ultrasonic multi-wave-based full-focus imaging detection method according to claim 1, wherein each array element in the transducer array receives echo signals reflected by the target defect, carries out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizes full focus on the superimposed signals at the preset focal position to complete ultrasonic multi-wave full-focus imaging detection; the specific process is as follows:
assuming that the ultrasonic transducer array comprises N array elements, sequentially exciting from array element 1 to array element N to emit short pulses to the target defect, simultaneously receiving echo signals reflected from the target defect by the array elements 1 to N during each emission, finally obtaining N multiplied by N groups of echo data, and recording the echo signals received by the array element j during the excitation of the array element i as S ij (t)；
Dividing the imaging area into pixel points, wherein each pixel point is a virtual focus to be focused, and the virtual focus is a preset focus, specifically any pixel point in the imaging area;
if the position coordinate of the preset focus is P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P to the receiving array element j is recorded as the longitudinal wave delay
Figure FDA0003454741540000011
Is that
Figure FDA0003454741540000012
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting array element i to the preset focus P and then from the preset focus P back to the receiving array element j is recorded as the transverse wave delay
Figure FDA0003454741540000013
Is that
Figure FDA0003454741540000014
Wherein c s Is transverse wave velocity;
echo signals received by each array element are respectively processed according to the above steps
Figure FDA0003454741540000021
And->
Figure FDA0003454741540000022
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing to obtain superposition processed signals, and then adopting a multi-wave full-focusing imaging method to realize full focusing of the superposition processed signals at a preset focus position according to the preset focus position;
Figure FDA0003454741540000023
wherein I is m (x, z) is a multi-wave fully focused detection image.
3. The ultrasonic multi-wave-based full-focus imaging detection method according to claim 1, wherein the array element width of each array element in the ultrasonic transducer array is 0.5-1 transverse wave wavelength; the center-to-center spacing of adjacent array elements is 1.2-1.5 transverse wave wavelengths.
4. A full focus imaging detection apparatus based on ultrasound multi-wave, the apparatus comprising:
the signal transmitting module is used for placing an ultrasonic transducer array in a detection area on the surface of the solid medium to be detected, sequentially exciting each array element in the ultrasonic transducer array and transmitting ultrasonic waves to the target defect; and
and the focusing imaging module is used for receiving echo signals reflected by the target defect by each array element in the transducer array, respectively carrying out delay superposition processing on the echo signals according to longitudinal wave delay and transverse wave delay according to a preset focal position, and then realizing full focusing on the superposed signals at the preset focal position to finish imaging detection of ultrasonic multi-wave full focusing.
5. The ultrasonic multi-wave based full focus imaging detection apparatus according to claim 4, wherein the array element width of each array element in the ultrasonic transducer array is 0.5 to 1 transversal wave wavelength; the center-to-center spacing of adjacent array elements is 1.2-1.5 transverse wave wavelengths.
6. The ultrasonic multi-wave based full focus imaging detection apparatus as defined in claim 4, wherein the specific implementation process of the focus imaging module comprises:
assuming that the ultrasonic transducer array comprises N array elements, sequentially exciting from array element 1 to array element N to emit short pulses to the target defect, simultaneously receiving echo signals reflected from the target defect by the array elements 1 to N during each emission, finally obtaining N multiplied by N groups of echo data, and recording the echo signals received by the array element j during the excitation of the array element i as S ij (t)；
Dividing the imaging area into pixel points, wherein each pixel point is a virtual focus to be focused, and the virtual focus is a preset focus, specifically any pixel point in the imaging area;
if the position coordinate of the preset focus is P (x, z), the propagation time of the longitudinal wave from the transmitting array element i to the preset focus P and then from the preset focus P to the receiving array element j is recorded as the longitudinal wave delay
Figure FDA0003454741540000031
Is that
Figure FDA0003454741540000032
Wherein x is i Is the abscissa of the transmitting array element i; x is x j Is the abscissa of the receiving element j; c P Is the longitudinal wave velocity;
likewise, the propagation time of the transverse wave from the transmitting array element i to the preset focus P and then from the preset focus P back to the receiving array element j is recorded as the transverse wave delay
Figure FDA0003454741540000033
Is that
Figure FDA0003454741540000034
Wherein c s Is transverse wave velocity;
echo signals received by each array element are respectively processed according to the above steps
Figure FDA0003454741540000035
And->
Figure FDA0003454741540000036
Performing delay superposition processing to realize longitudinal wave focusing and transverse wave focusing to obtain superposition processed signals, and then adopting a multi-wave full-focusing imaging method to realize full focusing of the superposition processed signals at a preset focus position according to the preset focus position;
Figure FDA0003454741540000037
wherein I is m (x, z) is a multi-wave fully focused detection image.
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Publication number Priority date Publication date Assignee Title
CN117389038A (en) * 2023-12-11 2024-01-12 深圳市永泰光电有限公司 Automatic focusing method based on optical processing
CN117554493A (en) * 2024-01-11 2024-02-13 中国特种设备检测研究院 Method, equipment and medium for detecting near-surface defects of metal material

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117389038A (en) * 2023-12-11 2024-01-12 深圳市永泰光电有限公司 Automatic focusing method based on optical processing
CN117554493A (en) * 2024-01-11 2024-02-13 中国特种设备检测研究院 Method, equipment and medium for detecting near-surface defects of metal material
CN117554493B (en) * 2024-01-11 2024-04-02 中国特种设备检测研究院 Method, equipment and medium for detecting near-surface defects of metal material

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