KR102678461B1 - Traveling apparatus for phased array ultrasonic testing which is capable of detecting curved surfaces - Google Patents

Abstract

A traveling device for ultrasonic inspection includes a probe unit including a traveling body provided to travel on the surface of an inspection object, one or more transducers that irradiate ultrasonic waves and receive reflected waves, and a probe unit installed on the traveling body so that the probe contacts the surface of the inspection object. A probe support unit that supports the probe unit as much as possible and operates to adjust the height of the probe unit with respect to the surface of the inspection object, a support drive unit that provides driving force for the operation of the probe support unit, and a sensor that detects the surface elevation of the inspection object. The driving body is controlled to perform a preliminary run along the flaw detection area of the inspection object, and information on the surface elevation of the flaw detection area is obtained through the sensor unit, and the driving body is controlled to perform a main run along the flaw detection area. It includes a control unit that controls the probe unit to irradiate ultrasonic waves to the area, and controls the support unit so that the probe contacts the flaw detection area by adjusting the height of the probe unit based on the obtained information about the surface height of the flaw detection area.

Description

Traveling device for phased array ultrasonic inspection capable of detecting curved surfaces {TRAVELING APPARATUS FOR PHASED ARRAY ULTRASONIC TESTING WHICH IS CAPABLE OF DETECTING CURVED SURFACES}

The present invention relates to a traveling device for ultrasonic inspection that runs autonomously and detects the location of defects in an inspection object. More specifically, it relates to a traveling device for ultrasonic inspection that can obtain high-accuracy inspection results regardless of the shape and location of the inspection object. It's about devices.

The ultrasonic inspection method is a type of non-destructive testing, and detects defects inside the inspection object by transmitting ultrasonic waves to the inspection object and analyzing the ultrasonic signal reflected from the defect existing inside the object. For this purpose, the ultrasonic flaw detection device has a probe unit including one or more probes that transmit ultrasonic waves and receive reflected waves. When the probe unit has a plurality of probes, a more precise phased array ultrasonic flaw detection method can be used.

An ultrasonic inspection device capable of autonomous navigation performs inspection by moving along the surface of the inspection object, and in some cases, it can detect various types of inspection objects using a separate jig or rail. However, the surface of the inspection object is not always flat and may have curved or bent parts. Even in the case of such uneven surfaces, the ultrasonic inspection device must ensure that the probe unit is in good contact with the surface of the inspection object in order to obtain highly accurate inspection results. In preparation for this case, a separate jig can be installed to support the ultrasonic inspection device so that the probe unit contacts the surface of the inspection object. However, this causes inconvenience in inspection, and installation of the jig may be difficult depending on the inspection object. . Furthermore, even if the probe unit is adjusted to make contact with the surface condition of the inspection object, a more effective adjustment method suitable for performing precise inspection while traveling is required.

The present invention was created in consideration of the above-mentioned problems, and even in a flaw detection environment where there are restrictions on the surface contact of the probe unit with the inspection object, it maintains stable surface contact of the probe unit without a separate auxiliary jig, and enables precise flaw detection while driving. The purpose is to provide a traveling device for ultrasonic flaw detection that performs effective probe adjustment.

In order to achieve the above object, a traveling device for ultrasonic flaw detection according to an embodiment of the present invention includes a probe unit including a traveling body provided to travel on the surface of an object to be inspected, and one or more probes that irradiate ultrasonic waves and receive reflected waves; A probe support part installed on the traveling body to support the probe unit so that the probe contacts the surface of the object to be tested and operated to adjust the height of the probe unit with respect to the surface of the object to be tested, and the probe support part A support drive unit that provides driving force for operation, a sensor unit that detects the surface elevation of the inspection object, and a control unit that controls the driving body to perform a preliminary run along the inspection area of the inspection object to detect the inspection area through the sensor unit. Obtain information about the surface height of the test area, control the traveling body to perform main driving along the test area, control the probe unit to irradiate ultrasonic waves to the test area, and control the probe unit to irradiate ultrasonic waves to the test area. and a control unit that controls the support drive unit to adjust the height of the probe unit based on information about the probe unit so that the probe contacts the flaw detection area.

The control unit controls the traveling body to move at a first speed during the preliminary running, determines a precision inspection area within the inspection area by irradiating ultrasonic waves to the inspection area, and determines a precision inspection area within the inspection area during the main driving. The traveling body can be controlled to perform flaw detection while moving at a second speed that is slower than the first speed. Since the precision inspection area is first determined in the preliminary run and then a more precise inspection is performed on the precision inspection area, highly reliable inspection results can be obtained within a limited time.

The probe support unit includes a support link at one end of which the probe unit is supported, and a link rotation part to which the other end of the support link is connected so that the support link can rotate, and the drive unit changes the rotation angle of the support link. You can adjust the height of the probe unit. Accordingly, the height of the probe unit can be effectively adjusted with a simple configuration. In addition, it is possible to adjust the height of the probe unit by applying various structures.

The probe support unit includes an angle adjusting unit that supports the probe unit so that the angle of the probe unit with respect to the surface of the inspection object can be adjusted, and the control unit adjusts the angle of the probe unit so that the probe detects the flaw. The probe support can be controlled to contact the surface of the object. Since the probe unit rotates with respect to the probe support, it is possible to more precisely adjust the angle of the probe unit.

The control unit may determine the location of the defective area within the inspection object based on the adjusted angle of the probe unit. Since the incident angle of ultrasonic waves varies depending on the adjusted angle of the probe unit, the exact location of the defective area can be determined by calculating the incident angle of ultrasonic waves corresponding to the adjusted angle of the probe unit.

According to the present invention, even in a testing environment where there are restrictions on the surface contact of the probe unit with the inspection target, such as when the surface of the inspection target is not flat and is curved, the ultrasonic inspection travel device obtains highly accurate inspection results without a separate auxiliary jig. can do.

Figure 1 is a perspective view of a traveling device for frequency flaw detection according to an embodiment of the present invention.
Figure 2 is an exemplary diagram of the principle of selecting one of the free mode and the driving mode by the traveling device for frequency flaw detection according to an embodiment of the present invention.
Figure 3 is a flow chart showing a control method of a traveling device for frequency flaw detection according to an embodiment of the present invention.
Figure 4 is a flow chart showing a control method of a traveling device for frequency flaw detection according to another embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a perspective view of a traveling device for frequency flaw detection according to an embodiment of the present invention.

As shown in FIG. 1, the traveling device 1 for frequency inspection according to this embodiment irradiates ultrasonic waves to the surface of the inspection object while autonomously traveling on the surface of the inspection object, and transmits ultrasonic waves reflected from defects in the inspection object. Acquire flaw detection data by receiving reflected waves. The frequency inspection traveling device (1) transmits the acquired inspection data to the remotely placed management device (2). Depending on the design method, the frequency flaw detection traveling device 1 may analyze the flaw detection data on its own without transmitting it to the management device 2. The management device 2 includes a computer main body with a display. The management device 2 analyzes flaw detection data received from the frequency flaw detection traveling device 1, determines the presence or absence of a defective part in the flaw detection object, the location and size of the defective part, etc., and outputs the judgment result on a screen, etc.

The traveling device for frequency flaw detection (1) includes a traveling body 100, a probe unit 200, a probe support part 300, a traveling driving part 410, a supporting driving part 420, and a gravity sensor part 510. It includes a communication unit 610 and a control unit 620. Depending on the design method, the traveling device 1 for frequency flaw detection may have additional components, which will be described later.

The traveling body 100 is provided to travel on the surface of the inspection object. The traveling body 100 has a housing made of various materials such as metal or plastic, and accommodates various components of the traveling device 1 for frequency flaw detection, including the control unit 620, therein. A probe support portion 300 is supported in front of the traveling body 100 along the traveling direction, and a plurality of traveling wheels 110 are rotatably supported along the transverse direction of the traveling direction so as to travel on the surface of the inspection object. The plurality of running wheels 110 include permanent magnets or electromagnets, so that they can travel while attached to the surface of the inspection object when the inspection object is made of steel. Alternatively, depending on the design method, a rail is extended along the surface of the inspection object, and the traveling wheel 110 moves along the rail, or the traveling body 100 is provided to move while supported on the rail. possible. Accordingly, the traveling body 100 does not fall off from the flaw detection object even when it is turned over, for example.

The probe unit 200 is supported at a distance from the traveling body 100 and obtains flaw detection data by scanning ultrasonic waves on the surface of the flaw detection object and receiving reflected waves reflected from the inside of the flaw detection object. The probe unit 200 has a circular or polygonal plate shape, and the bottom of the plate contacts the inspection object. One or more transducers 210 are provided on the bottom of the probe unit 200, and when the traveling device 1 for frequency flaw detection adopts the phased array ultrasonic method, a plurality of transducers 210 are provided. Each probe 210 converts electrical energy into ultrasonic waves and includes a piezoelectric element that converts ultrasonic waves into electrical energy, so that the generated ultrasonic waves can be applied to the inspection object and also convert the reflected wave received from the inspection object into electrical energy. can do. The ultrasonic inspection method can determine defects in an inspection object based on the time between the application of ultrasonic waves and the reception of reflected waves, and the angle of incidence of ultrasonic waves. In the case of the phased array ultrasonic inspection method, more precise inspection is possible by varying the incident angle and amplitude of the ultrasonic waves of each probe 210.

The probe unit 200 has a shape suitable for movement while the bottom of the probe unit 200 is in contact with the surface of the inspection object. For example, the edge of the probe unit 200 is rounded, and in particular, the front side along the traveling direction of the probe unit 200 is rounded, so that even if there is a certain degree of curvature on the surface, the probe unit 200 is not curved. It is provided so that it can be easily moved along.

The probe support unit 300 supports the probe unit 200 on the traveling body 100 and adjusts the height of the probe unit 200 with respect to the surface of the inspection object. The probe support unit 300 includes a support link 310 extending along the travel direction so that one end is supported by the traveling body 100 and the other end is supported by the probe unit 200. The support link 310 of this embodiment is provided as a single member bent at the center, but depending on the design method, it may extend in a straight line, or a plurality of members may be connected to each other.

The probe support unit 300 is provided on the traveling body 100 and includes a link rotation unit 320 to which an end of the support link 310 is connected so that the support link 310 can rotate. The link rotation unit 320 is horizontal to the surface of the exploration object and can rotate the support link 310 about the axis transverse to the traveling direction. In this case, the height of the probe unit 200 is adjusted. Additionally, the link rotation unit 320 can rotate the support link 310 about the traveling direction. In this case, the direction of the bottom of the probe unit 200 facing the surface of the inspection object is adjusted, and in this example, the left or right side of the bottom of the probe unit 200 based on the traveling direction is the inspection object (3). ) is close to or away from the surface.

In this embodiment, the structure in which the height of the probe unit 200 is adjusted by the link rotation part 320 has been described, but the structure of the probe support part 300 is not limited to this example. For example, the probe support unit 300 may have a structure in which a standing guide is installed on the traveling body 100, and the height of the probe unit 200 is adjusted by moving the support link 310 up and down along the guide.

Additionally, an angle adjustment unit 330 that rotatably supports the probe unit 200 may be provided at an end of the support link 310 along the traveling direction. The angle adjustment unit 330 adjusts the angle of the probe unit 200 with respect to the surface of the inspection object. For example, the angle adjustment unit 330 may rotate the probe unit 200 about the normal direction (i.e., vertical direction) of the surface of the exploration object. In this case, the orientation of the probe unit 200 is adjusted. Additionally, the angle adjusting unit 330 can rotate the support link 310 about the traveling direction. In this case, the direction in which the bottom of the probe unit 200 facing the surface of the inspection object faces is adjusted, and in this example, the front and back of the bottom of the probe unit 200 based on the traveling direction are aligned with the inspection object 3. It is close to or away from the surface of.

The traveling drive unit 410 includes a motor and provides driving force to the traveling wheels 110 under the control of the control unit 620, thereby causing the traveling body 100 to travel. To drive the traveling drive unit 410, a battery may be built into the traveling body 100. The traveling drive unit 410 can adjust the rotational speed of the traveling wheel 110, that is, the traveling speed of the traveling main body 100.

The support drive unit 420 includes a motor and provides driving force for the operation of the probe support unit 300 under the control of the control unit 620. For example, the support drive unit 420 rotates the link rotation unit 320 to adjust the height of the probe unit 200. The support drive unit 420 adjusts the angle of the probe unit 200 by rotating the link rotation unit 320 or the angle adjustment unit 330.

The gravity sensor unit 510 detects the inclination of the ultrasonic flaw detection traveling device 1 with respect to the direction of gravity. The gravity sensor unit 510 includes an acceleration sensor, a gyro sensor, etc. For example, when the gravity sensor unit 510 is built into the traveling body 100, the gravity sensor unit 510 is set at an angle between the direction of the bottom of the traveling body 100 facing the surface of the inspection object and the direction of gravity. Measure. According to the measured angle, it is possible to determine what state the traveling body 100 is currently in (for example, whether it is turned upside down or not), which will be described later.

The communication unit 610 includes a wireless communication chip that communicates wirelessly with the management device 2. Various types of standards, such as Wi-Fi Direct, ZigBee, and Bluetooth, may be applied to the wireless communication standards of the communication unit 610. The communication unit 610 transmits flaw detection data acquired by the probe unit 200 to the management device 2 under the control of the control unit 620.

The control unit 620 includes hardware circuits such as a CPU, a processor, and a microcontroller to control the operation of various components of the traveling device 1 for frequency flaw detection. For example, the control unit 620 controls the travel drive unit 410 to adjust whether the travel body 100 is traveling and the travel speed. The control unit 620 controls the support drive unit 420 to adjust the height or angle of the probe unit 200. The control unit 620 controls the probe unit 200 to apply ultrasonic waves from the probe 210, and transmits flaw detection data obtained from the probe unit 200 to the management device 2 through the communication unit 610.

Meanwhile, depending on the design method, the traveling device 1 for frequency detection may further include surface elevation sensor units 520 and 530. The surface height sensor units 520 and 530 detect the surface height of the surface of the object to be inspected (the difference in surface height related to the flatness and unevenness of the surface). The surface elevation sensor units 520 and 530 in this embodiment include a pair of sensors symmetrically disposed on the left and right sides of the bottom surface of the probe unit 200 with respect to the traveling direction. Each of the pair of sensors can measure a minute separation distance from the surface of the inspection object, and the state of surface elevation can be determined based on the degree of the measured separation distance and the difference between the two separation distances. For example, if the difference between the two separation distances is the same, it indicates that the surface for the probe unit 200 to apply ultrasonic waves is flat, and if the difference between the two separation distances is large, the surface for the probe unit 200 to apply ultrasonic waves is flat. It indicates that there is a height difference within. However, the type or method of the surface height sensor units 520 and 530 is not limited to this embodiment. For example, the surface height sensor units 520 and 530 may determine the surface height by recognizing the three-dimensional structure of the surface of the inspection object in front of the traveling body 100.

In the traveling device 1 for frequency flaw detection as described above, the control unit 620 controls the support drive unit 420 when the travel body 100 is traveling to operate the probe support unit 300 in two modes: free mode and drive mode. Selectively control in one of the modes. The free mode is a mode designed to allow free movement of the probe unit 200 in the height direction (that is, perpendicular to the traveling direction and normal to the surface of the inspection object) according to the surface elevation of the inspection object. In the free mode, control of the probe support 300 is not performed, and the probe unit 200 contacts the surface of the inspection object only with the self-weight of the probe support 300 or the probe unit 200. In this case, even if the surface is slightly curved, the height and angle can be naturally adjusted by the weight of the probe support 300 or the probe unit 200. Meanwhile, in the drive mode, the support drive unit 420 and the angle adjustment unit 330 are controlled by the control unit 620 to maintain the probe unit 200 at a specific height and angle. In other words, the difference between the free mode and the driving mode is whether free movement of the probe support unit 300 is allowed without control by the control unit 620, or whether free movement of the probe support unit 300 is excluded and intentional movement by the control unit 620 is allowed. It depends on whether the control is applied.

The traveling device for frequency flaw detection (1) does not use only the drive mode, but uses the free mode if possible, but the reason for using the drive mode in cases where it is difficult to use the free mode is as follows. The frequency detection driving device (1) receives power from a built-in battery rather than an external power source for autonomous driving. Since the frequency inspection traveling device 1 must detect a large number of inspection objects rather than just one inspection object in the inspection process, it is important to reduce battery power consumption. The traveling device for frequency inspection (1) uses the free mode to save power for controlling the height and angle of the probe unit 200, thereby reducing battery power consumption and increasing the operation time of the traveling device for frequency inspection (1). You can.

Hereinafter, a method for the control unit 620 to select one of the free mode and the driving mode will be described.

Figure 2 is an exemplary diagram of the principle of selecting one of the free mode and the driving mode by the traveling device for frequency flaw detection according to an embodiment of the present invention.

As shown in FIGS. 1 and 2 , for example, the inspection object 3 may have a cylindrical shape such as a pipe. In this case, the traveling body 100 of the traveling device 1 for frequency flaw detection moves on the surface of the inspection object 3, and the inclination of the traveling body 100 with respect to the direction of gravity is determined by the position of the traveling body 100. So it varies. As an example of determining this inclination, the direction in which the bottom of the traveling body 100 facing the surface of the inspection object 3 faces, that is, the normal direction of the bottom of the traveling body 100 can be considered. The angle between this normal direction and the gravity direction varies within the range from 0 degrees to 180 degrees. When the traveling body 100 is completely hanging upside down on the inspection object 3, the angle between the normal direction and the direction of gravity is 180 degrees.

The control unit 620 determines that the above-described inclination is a reference angle at which the bottom surface of the probe unit 200, specifically, the transducer 210, can be stably contacted with the surface of the inspection object 3 by the self-weight of the probe support unit 300. If within the range, the probe support unit 300 is controlled to operate in free mode. On the other hand, the control unit 620 controls the probe support unit 300 to operate in a driving mode when the inclination is outside the reference angle range. Hereinafter, an example of one method of determining whether the slope is within the reference angle range will be described.

When the included angle is less than a predetermined critical angle, the transducer 210 may contact the surface of the inspection object 3 due to the self-weight of the probe support 300. On the other hand, when the included angle is greater than the above-described critical angle, the probe support 300 ) Due to the influence of the change in the size of gravity on The probe unit 200 is brought into contact with the surface of the inspection object 3. The above-mentioned critical angle may be determined as a various value among angles exceeding 0 degrees and less than 180 degrees. In the case of the first example shown in FIG. 2, the angle A between the direction of gravity and the normal direction of the traveling body 100 is less than the critical angle. In this case, the control unit 620 selects free mode. On the other hand, in the case of the second example shown in FIG. 2, the angle B between the direction of gravity and the normal direction of the traveling body 100 represents a critical angle or more. In this case, the control unit 620 selects the driving mode.

In the free mode, the control unit 620 allows the support link 310 to freely rotate around the link rotation unit 320 without driving the support drive unit 420, and the probe unit 200 controls the angle adjustment unit ( 330) is allowed to rotate freely around the axis. In the driving mode, the control unit 620 controls the support drive unit 420 to rotate the support link 310 so that the probe unit 200 is set at a specified height (i.e., the transducer 210 radiates ultrasonic waves to the surface of the object to be inspected). The height of the probe unit 200 at which the traveling body 100 can travel is maintained while making contact as much as possible, and the angle of the probe unit 200 is adjusted by controlling the angle adjusting unit 330.

Meanwhile, even if the above-mentioned inclination is within the reference angle range, if the inspection object has a level difference, it may be difficult for the probe unit 200 to overcome the above-mentioned level difference in the free mode. If the control unit 620 determines that it is difficult to drive the traveling body 100 in the free mode (for example, even though the traveling driving unit 410 is driving, the traveling wheel 110 spins and the traveling body 100 moves) (if it is determined not to do so), the operation mode is switched to the driving mode and the height of the probe unit 200 is adjusted so that the probe unit 200 can overcome the step. When the probe unit 200 crosses the step and the traveling body 100 is determined to be able to travel again, the control unit 620 returns to the free mode.

Meanwhile, the control unit 620 irradiates ultrasonic waves by the transducer 210 to the drive mode travel section in which the inspection object 3 is operated in the drive mode among the entire travel section of the flaw inspection object 3, prior to the main drive to obtain flaw detection data. A preliminary run can be performed to obtain information about the surface elevation of the object 3. In the free mode driving section in which the probe unit 200 operates in a free mode among the entire traveling sections of the inspection object 3, the height and angle of the probe unit 200 can be freely adjusted according to the surface elevation of the inspection object 3. However, in the driving mode driving section, control by the control unit 620 is required to adjust the height and angle of the probe unit 200, so the control unit 620 operates the probe unit in response to the curvature of the surface of the inspection object 3. In order to determine the height and angle of (200) in detail, a preliminary run is conducted first. The control unit 620 does not irradiate ultrasonic waves from the transducer 210 during the preliminary run, but acquires information about the surface height of the inspection object 3 using the surface height sensor units 520 and 530, and responds to the obtained information. Based on this, the support unit 420 and the angle adjustment unit 330 are controlled during main driving. Meanwhile, the method of using information about the surface elevation of the inspection object 3 through preliminary running can be applied to various cases other than this embodiment. For example, when the inspection object has a complex shape including steps, it may be necessary to operate in a drive mode regardless of the inclination of the traveling body 100 with respect to the direction of gravity. Even in this case, the control unit 620 can obtain information about the surface elevation of the inspection object 3 in the preliminary run prior to the main run.

Hereinafter, the process of ultrasonic flaw detection by the traveling device 1 for frequency flaw detection will be described.

Figure 3 is a flow chart showing a control method of a traveling device for frequency flaw detection according to an embodiment of the present invention.

As shown in FIGS. 1 and 3, the following operations are performed by the control unit 620 of the traveling device 1 for frequency flaw detection.

In step 710, the frequency inspection traveling device 1 starts preliminary running along the inspection area from the start point to the end point of the inspection area of the inspection object. The starting point and ending point can be designated by the user, or the control unit 620 can automatically determine them in the designated flaw detection area.

In step 720, the frequency flaw detection traveling device 1 acquires information about the surface elevation of the flaw detection area during preliminary running. This information is obtained as a result of detection by the surface elevation sensor units 520 and 530. Alternatively, a sensor for detecting the angle of the probe unit 200 is installed in the angle adjusting unit 330, and the probe support unit 300 is in a free mode based on the angle of the probe unit 200 that changes during preliminary running. Information regarding surface elevation may also be obtained.

In step 730, the traveling device 1 for frequency flaw detection determines whether it is located at the start point of the flaw detection area. If it is determined that it is located at the starting point of the inspection area, the traveling device 1 for frequency inspection proceeds to step 750.

If it is determined that it is not located at the starting point of the flaw detection area, the traveling device 1 for frequency flaw detection moves to the start point of the flaw detection area in step 740.

In step 750, the traveling device for frequency flaw detection (1) starts main driving along the flaw detection area.

In step 760, the frequency flaw detection traveling device 1 adjusts the height and angle of the probe unit based on information about the surface elevation of the flaw detection area during main driving and acquires flaw detection data. Inspection data is obtained by irradiating ultrasonic waves from the transducer 210 and receiving reflected waves by the transducer 210. Information on the surface elevation of the inspection area divides the entire driving section of the inspection area into a plurality of divided sections and includes a height value or profile indicating the elevation of the surface for each divided section (for example, the flatness of the surface elevation) Based on 0, which is the height value representing the surface, if the height is higher than this, a positive value is displayed, if the height is lower than this, a negative value is displayed, etc.). In addition, the above information may include a height value indicating the elevation of each surface by dividing the left and right sides of the probe unit 200 along the traveling direction (for example, the height value of the left side in one divided section and The height value on the right side may be different)

In step 770, the frequency detection traveling device 1 transmits the acquired flaw detection data to the management device 2. Accordingly, the management device 2 can determine the location of the defect within the flaw detection area based on the flaw detection data.

In the above embodiment, ultrasonic waves are not irradiated by the probe 210 in the preliminary run, but inspection data is obtained by irradiating ultrasonic waves by the probe 210 in the main run. The traveling device for frequency flaw detection (1) travels the entire driving section of the flaw detection area equally in the preliminary run and main run. However, depending on the design method, it is also possible to irradiate ultrasonic waves using the transducer 210 during the preliminary run and main run. In this manner, inspection is performed on a precise inspection area corresponding to a portion of the inspection area in the main run.

Figure 4 is a flow chart showing a control method of a traveling device for frequency flaw detection according to another embodiment of the present invention.

As shown in FIGS. 1 and 4, the following operations are performed by the control unit 620 of the traveling device 1 for frequency flaw detection. This embodiment may be performed in combination with the previous embodiment of FIG. 3, or may be performed independently.

In step 810, the frequency inspection traveling device 1 starts preliminary running at a first speed along the inspection area of the inspection object.

In step 820, the frequency flaw detection traveling device 1 obtains preliminary flaw detection data by irradiating ultrasonic waves to the flaw detection area during preliminary running.

In step 830, the frequency inspection traveling device 1 determines the precise inspection area within the inspection area based on the acquired preliminary inspection data. The precision inspection area can be determined by the frequency inspection traveling device (1) through its own analysis, or the preliminary inspection data can be transmitted to the management device (2) for the management device (2) to determine.

In step 840, the frequency flaw detection traveling device 1 starts main driving along the precision flaw detection area at a second speed that is slower than the first speed.

In step 850, the frequency flaw detection traveling device 1 obtains flaw detection data by irradiating ultrasonic waves to the precision flaw detection area during main driving. Since flaw detection is performed while driving at a relatively slow speed, more precise flaw detection is performed.

In step 860, the frequency detection traveling device 1 transmits flaw detection data to the management device 2.

This method can be useful when it is desired to inspect multiple inspection objects with the same standard within a limited time. The traveling device for frequency inspection (1) performs precision inspection by determining the precision inspection area among the inspection areas, not the entire inspection area, so inspection can be performed in a faster time than performing precision inspection on the entire inspection area. there is.

The embodiments described above with reference to each drawing are not mutually exclusive unless otherwise specified, and a plurality of embodiments may be selectively combined and implemented within one device. A combination of these plural embodiments may be arbitrarily selected and applied by a person skilled in the art of the present invention when implementing the spirit of the present invention.

1: Frequency detection traveling device
2: Management device
100: Driving body
200: Probe unit
210: probe
300: Probe support
310: support link
320: Link rotation unit
330: Angle adjustment unit
410: Travel driving unit
420: Jijigu eastern part
510: Gravity sensor unit
520,530: Surface height sensor unit
610: Department of Communications
620: Control unit

Claims (5)

In the traveling device for ultrasonic flaw detection,
A traveling body provided to travel along a predetermined traveling direction along a traveling path provided in the inspection area on the surface of the inspection object,
A probe unit disposed at a predetermined distance from the traveling body in front of the traveling body along the traveling direction and including one or more transducers that irradiate ultrasonic waves and receive reflected waves;
A probe support unit installed on the traveling body to support the probe unit so that the probe contacts the surface of the inspection object, and operable to adjust the relative height of the probe unit with respect to the traveling body;
A support drive unit that provides driving force for operation of the probe support unit,
A sensor unit that detects the surface elevation of the inspection object,
Controlling the traveling body to perform a preliminary run along the traveling path of the inspection area of the inspection object to obtain information about the surface height of the inspection area through the sensor unit,
Controlling the traveling body to perform main driving along the traveling path of the flaw detection area and controlling the probe unit to irradiate ultrasonic waves to the flaw detection area, based on the obtained information about the surface height of the flaw detection area It includes a control unit that controls the support drive unit to adjust the height of the probe unit so that the probe contacts the inspection area,
The probe support unit includes a support link extending from the traveling body along the traveling direction, and rotatably supporting the probe unit at an end of the support link so that the angle of the probe unit with respect to the surface of the inspection object can be adjusted. and further includes an angle adjustment unit having an angle detection sensor that detects the angle, and operates to adjust the relative height of the probe unit by moving the support link,
The control unit, while not irradiating ultrasonic waves from the probe, obtains information about the surface height of the inspection area including the angle of the probe unit with respect to the surface of the inspection object through the angle detection sensor, and A traveling device for ultrasonic flaw detection wherein the support drive unit is controlled so that the probe contacts the flaw detection area by adjusting the angle of the probe unit with respect to the surface of the object, and the sensor unit is provided on the probe unit. According to paragraph 1,
The control unit,
During the preliminary run, the driving body is controlled to move at a first speed, an ultrasonic wave is irradiated to the flaw detection area to determine a precision flaw detection area within the flaw detection area, and during the main drive, the driving body is moved at a speed higher than the first speed along the precision flaw detection area. A traveling device for ultrasonic flaw detection that controls the traveling body to move at a slow second speed and perform flaw detection. According to paragraph 1,
The probe support part,
The support link includes a link rotation part to which the other end of the support link is connected so that the support link can rotate,
The support drive unit is a traveling device for ultrasonic flaw detection in which the height of the probe unit is adjusted by changing the rotation angle of the support link. delete According to paragraph 1,
The control unit is a traveling device for ultrasonic flaw detection that determines the position of a defective area in the flaw detection object based on the adjusted angle of the probe unit.

Images