JP2023166653A - Ultrasonic inspection device and method - Google Patents

Abstract

To provide an ultrasonic inspection device and method capable of enhancing inspection efficiency while avoiding inspection omission.SOLUTION: An ultrasonic inspection device comprises: an ultrasonic probe 10; a scanning device 11 which moves the ultrasonic probe 10 along a surface of piping 1; a transmission/reception control device 14 which controls transmission and reception of an ultrasonic wave by the ultrasonic probe 10; a calculation device 15 which computes, for each of positions of the ultrasonic probe 10, an ultrasonic wave propagation range of the piping 1 based upon the position and attitude of the ultrasonic probe 10 and shape data on the piping 1, determines whether there are any inspection omissions based upon whether a plurality of computed ultrasonic wave propagation ranges overlap with each other, and then acquires an effective range and an ineffective range of automatic scanning based upon a determination result thereof; and a display device 17 which displays the effective range of the automatic scanning and a range of manual scanning including the ineffective range of the automatic scanning.SELECTED DRAWING: Figure 1

Description

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

BACKGROUND ART Ultrasonic testing is used in flaw detection or thickness testing of test objects such as piping and containers in power generation plants. Ultrasonic testing includes manual scanning, in which an examiner moves an ultrasound probe along the surface of a subject, and automatic scanning, in which an ultrasound probe is moved along the surface of a subject using a scanning device. In particular, when the scanning range on the surface of the object is wide, it is preferable to employ automatic scanning from the viewpoint of inspection efficiency.

Patent Document 1 discloses a scanning device that moves an ultrasonic probe along the surface of piping. This scanning device includes a first guide rail that is attached to the pipe and extends in the circumferential direction of the pipe, and a first moving mechanism (specifically, a motor etc.) that moves the cart along the first guide rail. a second guide rail that is attached to a trolley and extends in the axial direction of the piping, and a second moving mechanism (in detail, a motor) that moves the probe support along the second guide rail. etc.).

The probe support has, for example, a gimbal mechanism that supports the ultrasonic probe so as to be tiltable in the axial direction and circumferential direction of the piping, and a spring that presses the ultrasonic probe against the surface of the piping. Thereby, the bottom surface of the ultrasonic probe (in other words, the contact surface with the piping) follows the surface of the piping.

Japanese Patent Application Publication No. 2015-132517

Although the surface of a pipe generally has a cylindrical shape, the shape changes significantly, for example, near a connecting portion where another pipe is connected. If automatic scanning is performed in the vicinity of a piping connection, the attitude of the ultrasonic probe may change significantly, leading to a possibility that an inspection may be missed. Therefore, it is conceivable to perform automatic scanning in the range away from the piping connection, and to perform manual scanning in the range near the piping connection.

The range of automatic scanning and the range of manual scanning are set using, for example, pipe shape data. In this case, in order to avoid the above-mentioned inspection omission, it is preferable to make the automatic scanning range smaller than the theoretical one. However, if the range of automatic scanning is made smaller, the range of manual scanning becomes correspondingly larger, which reduces inspection efficiency.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide an ultrasonic inspection apparatus and method that can improve inspection efficiency while avoiding inspection omissions.

In order to achieve the above object, the present invention includes an ultrasonic probe, a scanning device that moves the ultrasonic probe along the surface of a subject, and controls transmission and reception of ultrasonic waves by the ultrasonic probe. In the ultrasonic inspection apparatus including a transmission/reception control device, an ultrasonic propagation range of the object is calculated for each position of the ultrasonic probe based on the position and orientation of the ultrasonic probe and shape data of the object. a calculation device that determines whether an inspection has been omitted based on whether or not the plurality of calculated ultrasonic propagation ranges overlap each other, and obtains an effective range and an invalid range for automatic scanning based on the determination result; A display device is provided for displaying the effective range of the automatic scanning and the range of manual scanning including the invalid range of the automatic scanning.

According to the present invention, inspection efficiency can be increased while avoiding inspection omissions.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing the configuration of an ultrasonic testing apparatus according to a first embodiment of the present invention together with piping that is an object to be examined. FIG. 1 is a schematic diagram showing the configuration of a scanning device in a first embodiment of the present invention. It is a flowchart showing the processing content of the computing device in the first embodiment of the present invention. FIG. 3 is a diagram showing a specific example of the ultrasonic propagation range of piping calculated by the calculation device according to the first embodiment of the present invention. It is a figure showing the ultrasonic propagation range display screen of the display device in the 1st embodiment of the present invention. FIG. 3 is a diagram for explaining inspection omission determination by the computing device according to the first embodiment of the present invention, and shows a case where no inspection omission has occurred. FIG. 3 is a diagram for explaining the inspection omission determination of the computing device according to the first embodiment of the present invention, and shows a case where an inspection omission has occurred. FIG. 3 is a diagram showing a scanning range display screen of the display device according to the first embodiment of the present invention. FIG. 2 is a schematic diagram illustrating the configuration of an ultrasonic inspection apparatus according to a second embodiment of the present invention together with piping that is an object to be inspected. It is a schematic diagram showing a plurality of probes which constitute an ultrasonic probe in a 3rd embodiment of the present invention. FIG. 7 is a diagram showing waveform data of a plurality of ultrasound waves respectively received by a plurality of probes in a third embodiment of the present invention.

A first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram showing the configuration of an ultrasonic inspection apparatus according to this embodiment together with piping that is an object to be examined. FIG. 2 is a schematic diagram showing the configuration of the scanning device in this embodiment.

A pipe 1 that is the subject of this embodiment has a connecting portion 3 to which another pipe 2 is connected. Although the surface of the pipe 1 has a generally cylindrical shape, the shape changes near the connecting portion 3. The ultrasonic inspection apparatus of this embodiment performs flaw detection inspection on piping 1.

The ultrasonic inspection apparatus of this embodiment includes an ultrasonic probe 10, a scanning device 11 that moves the ultrasonic probe 10 along the surface (outer surface) of the piping 1, and a scanning control device 12 that controls the scanning device 11. It includes a detector 13 that detects the position and orientation of the ultrasound probe 10, and a transmission/reception control device 14 that controls transmission and reception of ultrasound by the ultrasound probe 10.

Further, the ultrasonic inspection apparatus of this embodiment includes a calculation device 15 connected to the scanning control device 12 and the transmission/reception control device 14 via wiring, a storage device 16 connected to the calculation device 15 via wiring, and It includes a display device 17 connected to the device 15 via a wire, and an input device (not shown) connected to the computing device 15 via a wire. The computing device 15 has a processor that executes processing according to a program, a memory that stores programs and data, and the like. The storage device 16 is composed of a hard disk or the like, and stores shape data of the piping 1 and the like. The display device 17 is composed of a display or the like. The input device includes a keyboard, a mouse, and the like.

The scanning device 11 includes a first guide rail 18 attached to the pipe 1 and extending in the circumferential direction of the pipe 1, and a first moving mechanism (in detail) that moves the cart 19 along the first guide rail 18. (composed of a motor, etc.), a second guide rail 20 that is attached to the trolley 19 and extends in the axial direction of the piping 1, and a probe support 21 is moved along the second guide rail 20. A second moving mechanism (specifically, a motor or the like) is provided.

The probe support 21 includes, for example, a gimbal mechanism that supports the ultrasound probe 10 so as to be tiltable in the axial direction and the circumferential direction of the pipe 1, and a spring that presses the ultrasound probe 10 against the surface of the pipe 1. Thereby, the bottom surface of the ultrasonic probe 10 (in other words, the contact surface with the piping 1) follows the surface of the piping 1.

The scan control device 12 has a control circuit that controls the first and second moving mechanisms according to commands from the calculation device 15, and controls the position of the ultrasound probe 10. As shown in FIG. 2, a specific example of the procedure for moving the ultrasonic probe 10 will be explained using the position on the surface of the piping 1 (circumferential coordinate X, axial coordinate Y) as the position of the ultrasonic probe 10. do.

First, the ultrasonic probe 10 repeatedly moves from the movement start position (X0, Y0) in the axial direction (positive direction of the X axis) by a pitch ΔY until it reaches the position (X0, Yn). Next, it moves in the circumferential direction (positive direction of the Y-axis) by a pitch ΔX and reaches the position (X0+ΔX, Yn). Thereafter, the movement is repeated by ΔY in the axial direction (negative direction of the X-axis), and the position (X0+ΔX, Y0) is reached. This is repeated until the movement end position (Xn, Yn) is reached. Note that the procedure for moving the ultrasound probe 10 is not limited to this specific example.

The detector 13 is separated from the ultrasound probe 10 and includes an image sensor and an image processor, for example. The image processing processor detects the position and orientation of the ultrasound probe 10 by processing the image of the ultrasound probe 10 captured by the image sensor.

The ultrasonic probe 10 has one probe 22 (see FIG. 4 described below). The probe 22 is, for example, an oblique probe (specifically, a probe that injects ultrasonic waves in an oblique direction with respect to the normal direction of the surface of the pipe 1), which includes a piezoelectric element 23 and a shoe 24. be.

Although not shown, the transmission/reception control device 14 includes a pulser and a receiver. The pulser applies a pulse signal to the piezoelectric element 23 in response to a command from the calculation device 15, and causes the piezoelectric element 23 to transmit an ultrasonic wave through the shoe 24. The piezoelectric element 23 receives ultrasonic waves reflected by the defect when a defect exists inside the pipe 1, converts it into a waveform signal, and outputs the waveform signal. The receiver performs conversion processing from an analog signal to a digital signal, etc. on the waveform signal input from the piezoelectric element 23 to obtain waveform data, and outputs the waveform data to the calculation device 15 .

The calculation device 15 has a range setting section 25, a recording control section 26, a position/orientation acquisition section 27, an ultrasonic propagation analysis section 28, a determination processing section 29, and a display control section 30 as functional components.

The range setting unit 25 of the calculation device 15 specifies the range on the image of the pipe displayed on the display device 17 in response to input from the input device, for example, to determine the range of automatic scanning on the surface of the pipe 1 and the range of the pipe. 1 is set and stored in the storage device 16. Further, for example, the range (initial value) of manual scanning on the surface of the pipe 1 is set by specifying the range on the image of the pipe displayed on the display device 17 in accordance with input from the input device, and the range (initial value) of manual scanning on the surface of the pipe 1 is set. to be memorized.

The recording control unit 26 of the calculation device 15 controls the scanning device 11 via the scan control device 12 based on the automatic scanning range stored in the storage device 16, and also controls the ultrasound probe 10 via the transmission/reception control device 14. do. The position and orientation acquisition unit 27 of the calculation device 15 acquires the position and orientation of the ultrasound probe 10 detected by the detector 13.

Next, the processing contents of the computing device 15 of this embodiment will be explained. FIG. 3 is a flowchart showing the processing content of the computing device 15 in this embodiment.

In step S1, the recording control unit 26 of the computing device 15 controls the scanning device 11 via the scanning control device 12 to move the ultrasound probe 10 by the pitch ΔY or ΔX. Thereafter, the process proceeds to step S2, where the recording control unit 26 controls the ultrasound probe 10 via the transmission/reception control device 14 to acquire waveform data.

Thereafter, the process proceeds to step S3, and the ultrasonic propagation analysis unit 28 of the calculation device 15 calculates the position and orientation of the ultrasound probe 10 acquired by the position and orientation acquisition unit 27, and the shape data of the piping 1 stored in the storage device 16. Based on this, the ultrasonic propagation range of the pipe 1 is calculated.

To explain in detail, the ultrasonic propagation analysis unit 28 first calculates the ultrasonic propagation path 31 of the pipe 1 (see FIG. 4) based on the position and orientation of the ultrasonic probe 10 and the shape data of the pipe 1. In addition, in this embodiment, the ultrasonic propagation path 31 of the piping 1 is taken as an example where the ultrasonic wave propagates only the path until the ultrasonic wave reaches the inner surface of the piping 1, but the present invention is not limited to this. It may also include a path after being reflected on the inner surface of.

The ultrasonic propagation analysis unit 28 uses a preset ultrasonic beam model to determine the ultrasonic propagation range 32' from the ultrasonic propagation path 31 of the piping 1 (in other words, the ultrasonic propagation path has an effective beam width). ). Note that in this embodiment, an example is taken in which an ultrasonic beam model in which the effective beam width is constant is used, but the present invention is not limited to this, and an ultrasonic beam model in which the effective beam width changes may be used. Furthermore, in this embodiment, since the inspection range 33 (see FIG. 4) inside the piping 1 is set by the range setting unit 25, the ultrasonic propagation analysis unit 28 , an ultrasonic propagation range 32 (see FIG. 4) that overlaps with the inspection range 33 is extracted and stored in the storage device 16 in step S6, which will be described later.

After step S3, the process proceeds to step S4, where the display control unit 30 of the calculation device 15 displays the shape data of the pipe 1 stored in the storage device 16, the inspection range 33, and the current ultrasonic wave calculated by the ultrasonic propagation analysis unit 28. Based on the ultrasound propagation range 32 and the past ultrasound propagation range 32 stored in the storage device 16, an ultrasound propagation range display screen 34 is displayed on the display device 17.

For example, as shown in FIG. 5, the ultrasonic propagation range display screen 34 displays an ultrasonic probe marker 35, an inspection range marker 36, a current ultrasonic propagation range marker 37, and past ultrasound A marker 38 of the sound wave propagation range is identifiably displayed. The ultrasonic propagation range display screen 34 can be displayed from any viewpoint or enlarged or reduced to any size in accordance with input from an input device. The display color and transparency of the markers 35 to 38 can be changed in accordance with input from an input device.

After step S4, the process proceeds to step S5, where the determination processing unit 29 of the calculation device 15 selects the current ultrasonic propagation range 32A acquired by the ultrasonic propagation analysis unit 28 and the previous ultrasonic wave stored in the storage device 16. It is determined whether or not an inspection has been omitted, depending on whether or not the propagation ranges 32B overlap with each other. Taking as an example the case where the ultrasonic probe 10 moves in the axial direction of the pipe 1 (positive direction of the Y axis), FIGS. 6(a), 6(b), 7(a), and 7(b) are shown. This will be explained in detail using

The determination processing unit 29 of the calculation device 15 calculates the Y coordinates of the four vertices A1, A2, A3, and A4 in the front of the ultrasound propagation range 32A this time (in other words, after the ultrasound probe 10 has moved by the pitch ΔY). , and the Y coordinates of four vertices B1, B2, B3, and B4 on the rear surface of the ultrasound propagation range 32B last time (in other words, before the ultrasound probe 10 moves by the pitch ΔY). Then, a first determination as to whether the Y coordinate of vertex A1 is smaller than the Y coordinate of vertex B1, a second determination as to whether the Y coordinate of vertex A2 is smaller than the Y coordinate of vertex B1, and a second determination as to whether the Y coordinate of vertex A2 is smaller than the Y coordinate of vertex B1; A third determination is made as to whether the Y coordinate of the vertex A4 is smaller than the Y coordinate of the vertex B3, and a fourth determination is made as to whether the Y coordinate of the vertex A4 is smaller than the Y coordinate of the vertex B4.

If all of the first to fourth determinations described above are positive, the determination processing unit 29 of the calculation device 15 determines that no inspection omission has occurred. For example, as shown in FIGS. 6(a) and 6(b), the Y coordinate of vertex A1 is smaller than the Y coordinate of vertex B1, the Y coordinate of vertex A2 is smaller than the Y coordinate of vertex B1, and If the Y coordinate of A3 is smaller than the Y coordinate of vertex B3 and the Y coordinate of vertex A4 is smaller than the Y coordinate of vertex B4, it is determined that no inspection has been omitted. In this case, the process moves to step S6.

In step S6, the determination processing unit 29 of the calculation device 15 stores the current ultrasound propagation range 32A in the storage device 16. Further, the recording control unit 26 of the calculation device 15 causes the storage device 16 to store the waveform data acquired by the transmission/reception control device 14 in association with the position of the ultrasound probe 10 acquired by the position and orientation acquisition unit 27.

Thereafter, the process proceeds to step S7, and the determination processing unit 29 of the calculation device 15 updates the effective range of automatic scanning to include the position of the ultrasound probe 10 acquired by the position and orientation acquisition unit 27, and stores it in the storage device 16. Make me remember.

In step S4, the determination processing unit 29 of the calculation device 15 determines that an inspection omission has occurred if at least one of the first to fourth determinations described above is negative. For example, as shown in FIGS. 7(a) and 7(b), the Y coordinate of vertex A1 is larger than the Y coordinate of vertex B1, and the Y coordinate of vertex A2 is larger than the Y coordinate of vertex B1, and If the Y coordinate of A3 is larger than the Y coordinate of vertex B3 and the Y coordinate of vertex A4 is larger than the Y coordinate of vertex B4, it is determined that an inspection omission has occurred. In this case, the process moves to step S8 without executing step S6.

That is, the determination processing unit 29 of the calculation device 15 does not store the current ultrasonic propagation range 32A in the storage device 16. Furthermore, the recording control unit 26 of the calculation device 15 does not cause the storage device 16 to store the waveform data acquired by the transmission/reception control device 14 .

In step S8, the determination processing unit 29 of the calculation device 15 updates the automatic scanning invalid range to include the position of the ultrasound probe 10 acquired by the position and orientation acquisition unit 27, and stores it in the storage device 16. . The manual scanning range is also updated to include the automatic scanning invalid range and stored in the storage device 16.

After step S7 or S8, the process proceeds to step S9, where the recording control unit 26 of the computing device 15 completes automatic scanning of the ultrasound probe 10 based on the position of the ultrasound probe 10 acquired by the position and orientation acquisition unit 27, for example. Determine whether or not. If the automatic scanning of the ultrasound probe 10 is not completed, the process returns to step S1 described above and the process described above is repeated.

On the other hand, when the automatic scanning of the ultrasound probe 10 is completed, the process moves to step S10. In step S10, the display control unit 30 of the calculation device 15 causes the display device 17 to display the scan range display screen 39 based on the effective range of the scan range and the manual scan range stored in the storage device 16.

For example, as shown in FIG. 8, the scanning range display screen 39 displays a marker 40 of the effective range of automatic scanning and a marker 41 of the range of manual scanning in a distinguishable manner on the image of the piping.

As described above, in this embodiment, it is determined whether the inspection of the piping 1 has not been omitted by automatic scanning in which the scanning device 11 moves the ultrasonic probe 10 along the surface of the piping 1. Therefore, inspection omissions can be avoided. In addition, based on the determination result of whether or not there is any omission in the inspection of piping 1, the effective range and invalid range of automatic scanning are acquired, and the effective range of automatic scanning and the range of manual scanning including the invalid range of automatic scanning are determined. It is displayed on the display device 17. This makes it possible to optimize the range of manual scanning and improve inspection efficiency.

Note that in the first embodiment, the ultrasonic inspection apparatus has been described using an example in which the ultrasonic inspection apparatus includes the detector 13 that detects the position and orientation of the ultrasonic probe 10, but the present invention is not limited to this. The ultrasonic inspection apparatus may include a position detector that detects the position of the ultrasonic probe 10 and a posture detector that detects the attitude of the ultrasonic probe 10. The position detector may be configured with an encoder that detects the rotation speed of the motor of the scanning device 11, for example. The attitude detector may be configured with a gyro sensor integrated with the ultrasonic probe 10, for example.

A second embodiment of the present invention will be described with reference to the drawings. In addition, in this embodiment, parts equivalent to those in the first embodiment are given the same reference numerals, and description thereof will be omitted as appropriate.

FIG. 11 is a schematic diagram showing the configuration of the ultrasonic testing apparatus according to this embodiment together with piping that is the object to be examined.

The ultrasonic inspection apparatus of this embodiment does not include the detector 13 described above. The calculation device 15 includes a position and orientation calculation unit 42 instead of the position and orientation acquisition unit 27 described above.

The position and orientation calculation unit 42 of the calculation device 15 calculates the position of the ultrasound probe 10 based on the control information of the scan control device 12. The position and orientation calculation unit 42 calculates the orientation of the ultrasound probe 10 based on the calculated position of the ultrasound probe 10 and the shape data of the piping 1 stored in the storage device 16. Specifically, the normal vector to the surface of the piping 1 at the position of the ultrasound probe 10 is calculated as the normal vector to the bottom surface of the ultrasound probe 10, and the attitude of the ultrasound probe 10 is calculated based on this.

Also in this embodiment configured as described above, as in the first embodiment, inspection efficiency can be increased while avoiding inspection omissions.

In the first and second embodiments, the probe 22 constituting the ultrasonic probe 10 is an oblique probe composed of a piezoelectric element 23 and a shoe 24. Not exclusively. The probe may be a vertical probe consisting of one piezoelectric element, or an array type probe in which a plurality of piezoelectric elements are arranged.

A third embodiment of the present invention will be described with reference to the drawings. In this embodiment, parts equivalent to those in the first and second embodiments are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

FIG. 12 is a schematic diagram showing a plurality of probes that constitute the ultrasound probe in this embodiment. FIG. 13 is a diagram showing waveform data of a plurality of ultrasound waves respectively received by a plurality of probes in this embodiment.

The ultrasonic inspection apparatus of this embodiment does not include the detector 13 described above, similarly to the second embodiment. The calculation device 15 includes a position/orientation calculation unit 42 as in the second embodiment. The position and orientation calculation unit 42 calculates the position of the ultrasound probe 10 based on the control information of the scan control device 12, as in the second embodiment.

The ultrasonic probe 10 includes a plurality of probes 22A, 22B, and 22C whose ultrasonic waves propagate in different directions. The probe 22A is, for example, an oblique probe consisting of a piezoelectric element 23A and a shoe 24A. The probe 22B is, for example, an oblique probe consisting of a piezoelectric element 23B and a shoe 24B. The probe 22C is, for example, a vertical probe. The transmission/reception control device 14 sequentially controls transmission and reception of ultrasonic waves by the plurality of probes 22A, 22B, and 22C, and transmits waveform data of the plurality of ultrasonic waves received by the plurality of probes 22A, 22B, and 22C, respectively. get.

The position and orientation calculation unit 42 of the calculation device 15 acquires the propagation time ta of the ultrasound reflected on the inner surface of the pipe 1 based on the waveform data of the ultrasound received by the probe 22A, and based on this, the The distance between the probe 22A and the inner surface of the pipe 1 in the propagation direction of the ultrasonic wave of the probe 22A is calculated. Furthermore, the propagation time tb of the ultrasonic wave reflected on the inner surface of the pipe 1 is obtained from the waveform data of the ultrasonic wave received by the probe 22B, and based on this, The distance between the probe 22B and the inner surface of the pipe 1 is calculated. Furthermore, the propagation time tc of the ultrasonic wave reflected on the inner surface of the pipe 1 is obtained from the waveform data of the ultrasonic wave received by the probe 22C, and based on this, The distance between the probe 22C and the inner surface of the pipe 1 is calculated. Then, the distance between the probe 22A and the inner surface of the pipe 1, the distance between the probe 22B and the inner surface of the pipe 1, and the distance between the probe 22C and the inner surface of the pipe 1, and the storage device The attitude of the ultrasonic probe 10 is calculated based on the shape data of the piping 1 stored in step 16.

Also in this embodiment configured as described above, inspection efficiency can be increased while avoiding inspection omissions, similarly to the first and second embodiments.

In addition, in the third embodiment, the plurality of probes constituting the ultrasound probe 10 are described as two oblique probes and one vertical probe, but the present invention is not limited to this. do not have. The total number of probes may be two, or four or more. Also, the plurality of probes may not include a vertical probe.

Further, in the first to third embodiments, the calculation device 15 sets the inspection range 33 inside the piping 1, and extracts the ultrasonic propagation range 32 that overlaps the inspection range 33 from the ultrasonic propagation range 32'. Although the explanation has been given using an example of a case in which That is, the calculation device 15 does not need to set the inspection range 33 inside the pipe 1. The calculation device 15 stores the ultrasonic propagation range 32' in the storage device 16. Then, based on whether the current ultrasound propagation range 32' and the previous ultrasound propagation range 32' stored in the storage device 16 overlap with each other, it is determined whether or not an inspection has been omitted. In such a case as well, the same effects as above can be obtained.

In addition, although the case where the test object is the piping 1 which has the connection part 3 was demonstrated above as an example, it cannot be overemphasized that it is not limited to this.

1 Piping 10 Ultrasonic probe 11 Scanning device 13 Detector 14 Transmission/reception control device 15 Computing device 17 Display device 22, 22A, 22B, 22C Probe

Claims (5)

an ultrasonic probe,
a scanning device that moves the ultrasound probe along the surface of the subject;
An ultrasonic inspection apparatus comprising a transmission/reception control device that controls transmission and reception of ultrasonic waves by the ultrasonic probe,
The ultrasound propagation range of the object is calculated for each position of the ultrasound probe based on the position and orientation of the ultrasound probe and the shape data of the object, and the calculated ultrasound propagation ranges are mutually different from each other. A calculation device that determines whether or not there is any inspection omission based on whether or not there is overlap, and obtains an effective range and an invalid range for automatic scanning based on the determination result;
An ultrasonic inspection apparatus comprising: a display device that displays an effective range of automatic scanning and a range of manual scanning that includes an invalid range of automatic scanning. The ultrasonic testing device according to claim 1,
comprising a detector that detects the position and orientation of the ultrasound probe,
The ultrasonic inspection apparatus is characterized in that the calculation device calculates an ultrasonic propagation range of the subject based on the position and orientation of the ultrasonic probe detected by the detector. The ultrasonic testing device according to claim 1,
The computing device includes:
calculating the position of the ultrasound probe based on control information of the scanning device;
calculating a posture of the ultrasound probe based on the calculated position of the ultrasound probe and shape data of the object;
An ultrasonic inspection apparatus characterized in that an ultrasonic propagation range of the subject is calculated based on the calculated position of the ultrasonic probe and the calculated attitude of the ultrasonic wave. The ultrasonic testing device according to claim 1,
The ultrasonic probe has a plurality of probes in which ultrasonic waves propagate in different directions,
The computing device includes:
calculating the position of the ultrasound probe based on control information of the scanning device;
calculating a posture of the ultrasound probe based on waveform data of a plurality of ultrasound waves respectively received by the plurality of probes and shape data of the object;
An ultrasonic inspection apparatus characterized in that an ultrasonic propagation range of the subject is calculated based on the calculated position of the ultrasonic probe and the calculated attitude of the ultrasonic wave. In an ultrasonic inspection method in which an ultrasonic probe is moved along the surface of a subject using a scanning device,
A calculation device calculates the ultrasound propagation range of the object based on the position and orientation of the ultrasound probe and the shape data of the object for each position of the ultrasound probe, and calculates a plurality of calculated ultrasound waves. Determine whether there is any inspection omission based on whether the propagation ranges overlap with each other, and obtain the effective range and invalid range of automatic scanning based on the determination result,
An ultrasonic inspection method characterized in that the effective range of the automatic scanning and the range of manual scanning including the invalid range of the automatic scanning are displayed on a display device.

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