CN108931575A - A kind of the three-D ultrasonic nondestructive detection system and method for automatic positioning imaging - Google Patents
A kind of the three-D ultrasonic nondestructive detection system and method for automatic positioning imaging Download PDFInfo
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- CN108931575A CN108931575A CN201810572956.7A CN201810572956A CN108931575A CN 108931575 A CN108931575 A CN 108931575A CN 201810572956 A CN201810572956 A CN 201810572956A CN 108931575 A CN108931575 A CN 108931575A
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/041—Analysing solids on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0654—Imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
- G01N29/226—Handheld or portable devices
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/24—Probes
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- G—PHYSICS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
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Abstract
It is a kind of automatic positioning imaging three-D ultrasonic nondestructive detection system, including ultrasonic listening end, connect with ultrasonic listening end and drive ultrasonic listening end move robot arm device, data processing system and control system；Ultrasonic listening end includes that standard shaft, circular array shape are distributed in one group of ultrasonic probe of standard shaft periphery and one group of connector on standard shaft is arranged in circular array shape；Each ultrasonic probe passes through the telescopic device being independently arranged and is connected with corresponding connector；One group of connector includes one group of fixing piece and one group of sliding part, fixing piece is fixedly connected with standard shaft, sliding part is slidably connected with standard shaft, fixing piece and sliding part are spaced setting one by one, one group of ultrasonic probe successively and interval connect one by one with fixing piece and sliding part respectively；Wherein sliding part is connected with sliding driving device, and sliding driving device is connect with control system with telescopic device；The surface defect in different size ducts can be detected automatically.
Description
Technical field
The present invention relates to the technical field of three-D ultrasonic non-destructive testing, in particular to a kind of three-dimensional of automatic positioning imaging is super
Sound nondestructive detection system.
Background technique
Non-destructive testing is exactly not damage or do not influencing checked object service performance using characteristics such as sound, light, magnetic and electricity
Under the premise of, it detects and whether there is defect or inhomogeneities in checked object, provide size, position, property and the quantity of defect
Etc. information, and then determine checked object locating for state of the art (such as qualified or not, service life) all technological means it is total
Claim.
Wherein ultrasound examination is the common type in non-destructive testing, but currently, ultrasound examination has the disadvantage that：
Ultrasound detection is carried out to complex shape or irregular contour test specimen to have any problem.Currently, common supersonic detection method is
Manual movement planar moves ultrasound test head by mechanical equipment, carries out the ultrasound detection in simple flat surface region；
And for complex plane, especially duct, the three dimensional detection scheme that does not automate temporarily.
Summary of the invention
The purpose of invention：The present invention discloses a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging, for automatic
The surface defect in duct is detected, the size and shape at ultrasonic listening end can automatically adjust, and the adjustable extent of size is big, fit
Duct for different size and shape；Ultrasonic listening end shape suits duct, and once or one can be completed full model back and forth
The detection enclosed, detection efficiency are high.
Technical solution：In order to achieve the goal above, the invention discloses a kind of three-D ultrasonic of automatic positioning imaging is lossless
Detection system, ultrasonic listening end including adjustable dimension and shape connect with the ultrasonic listening end and drive described
Ultrasonic listening end mobile robot arm device, data processing system and control system；The ultrasonic listening end include standard shaft,
Circular array shape is distributed in one group of ultrasonic probe of standard shaft periphery and one group on standard shaft is arranged in circular array shape
Connector；Each ultrasonic probe passes through the telescopic device being independently arranged and is connected with corresponding connector；It is described
One group of connector includes that one group of fixing piece and one group of sliding part, the fixing piece are fixedly connected with standard shaft, the sliding part and base
Axis is slidably connected, and the fixing piece and sliding part are spaced setting one by one, one group of ultrasonic probe successively and what is be spaced divide
It is not connect one by one with fixing piece and sliding part；Wherein sliding part is connected with sliding driving device, the sliding driving device with stretch
Compression apparatus is connect with control system.
Further, a kind of three-D ultrasonic nondestructive detection system of above-mentioned automatic positioning imaging, each ultrasonic wave are visited
Head is connect with data processing system；Each ultrasonic probe respectively emits ultrasonic beam to the detection zone faced,
And the wave beam of feedback is received to form reception data；The data processing system is built for obtaining the reception data
Mould processing.
Further, the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, the data processing system
Including analog simulation processing unit and visualization processing unit, the visualization processing unit interacts company with user interface
It connects, the output of the user interface includes ultrasound data and visual image.
Further, the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, the visualization processing list
Member includes：Data operating units, for ultrasound data show, data intelligence screening or user's manual screening, data markers and
Underlying parameter input；Visualization mapping unit, for the analog simulation model of analog simulation processing unit to be carried out visualization exhibition
Show；Analog simulation model conversion is emulating image, is formed and show detected object by image-drawing unit after detecting
Whole 3-D image；The data operating units, visualization mapping unit, image-drawing unit interact company with user interface
It connects.
Further, the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, the standard shaft front end is set
There are the position for detecting detected object and the image detection device of shape, described image detection device and control system connect
It connects.
Further, the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, the robot arm device packet
The first telescopic arm connecting with standard shaft, and the second telescopic arm connecting with the first telescopic arm are included, apophysis and first stretch
It is connected by universal mechanical joint between arm, between the first telescopic arm and the second telescopic arm, the universal mechanical joint is equipped with
Steer-drive, first telescopic arm are equipped with the first flexible driving, and second telescopic arm is equipped with the second flexible driving, institute
Steer-drive, the first flexible driving and the second flexible driving is stated to connect with control system.
Further, the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, the sliding driving device
It is fixedly connected with standard shaft, the sliding driving device is hydraulic cylinder device；The sliding part is sticked between the fixing piece of two sides, and
It moves linearly under the fixing piece regulation of two sides；The telescopic device is feed screw apparatus, and is connected with servo motor.
Further, a kind of three-D ultrasonic nondestructive detection system of above-mentioned automatic positioning imaging, one group of ultrasonic wave are visited
There are two types of states for head：When the target size at ultrasonic listening end is greater than or equal to critical value, one group of ultrasonic probe is in single layer
Circular array column-shaped distribution；When the target size at ultrasonic listening end is less than critical value, one group of sliding part is with corresponding super
Sonic probe is mobile, interlocks with remaining ultrasonic probe, forms double-deck annular array.
Further, the detection method of the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, including with
Lower step：S1, robot arm device drive ultrasonic listening end to be moved to detection station；S2, ultrasonic listening end front end figure
As detection device operation, the position for being detected duct and shape are detected, and will test result and pass to control system；S3, control
System obtains the size shape regulation scheme at ultrasonic listening end and the operating scheme of robot arm device by operation；S4, control
System successively issues an instruction to the operation of control telescopic device and sliding driving device according to size shape regulation scheme, makes ultrasound
The size and shape of wave end of probe is adjusted to the size and shape for being suitable for being detected duct, i.e., the position of each ultrasonic probe is equal
Suitable for corresponding detection zone；S5, control system successively issue instruction control robot arm device movement according to operating scheme, mechanical
Arm assembly drives ultrasonic listening end to be aligned and is detected duct, and protrudes into detected duct；S6, ultrasonic listening end are along tested
Gaging hole road protrudes into, and the one of ultrasonic listening end group ultrasonic probe is run at this time, respectively super to the detection zone transmitting faced
Beam of sound, and the wave beam of feedback is received to form reception data；Analog simulation processing unit in S7, data processing system obtains
The reception data, and modeling processing is carried out, obtain analog simulation model；Visualization processing list in S8, data processing system
Ultrasound data, analog simulation model are showed user by user interface by member, and realize interaction；S9, detection terminate
Afterwards, analog simulation model conversion is emulating image by visualization processing unit, forms and show the three-dimensional of detected object entirety
Image.
Further, the detection method of the three-D ultrasonic nondestructive detection system of above-mentioned a kind of automatic positioning imaging, the step
The method for the size and shape for adjusting ultrasonic listening end in rapid S4 specifically includes following：S4a, it is greater than or equal to when target size
When critical value, sliding driving device is in contraction state, and one group of ultrasonic probe is distributed in the circular array column-shaped of single layer；Only pass through
The flexible adjusting to carry out size and shape of one group of telescopic device；S4b, when target size be less than critical value when, sliding driving
Device operation, one group of sliding part is ejected, and one group of sliding part is mobile with corresponding ultrasonic probe, is visited with remaining ultrasonic wave
Head interlocks, and forms double-deck annular array；Pass through the flexible adjusting to carry out size and shape of one group of telescopic device again；It is described
The operation method at ultrasonic listening end specifically includes following in step 6：S6a, when one group of ultrasonic probe be single layer circular array
When column, there are detection gaps between ultrasonic probe, when detected duct is protruded at ultrasonic listening end, carry out scanning inspection for the first time
It surveys, ultrasonic listening end rotates set angle after reaching detection terminal, and indexable later group ultrasonic probe is made to fill up original inspection
Gap is surveyed, then in backhaul, one group of ultrasonic probe carries out second of Scanning Detction；S6b, when one group of ultrasonic probe is double
When the annular array of layer, without detection gap between staggered ultrasonic probe, when detected duct is protruded at ultrasonic listening end into
Detection task can be completed in row first time Scanning Detction；Wherein, when ultrasonic listening end is moved in detected duct, image inspection
It surveys in front of device real-time monitoring and is detected the shape in duct, direction change is determined by control system, and issue instructions to mechanical arm
Device adjusts advance route in real time.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
(1) the three-D ultrasonic nondestructive detection system of a kind of automatic positioning imaging of the present invention, is used for automatic detection hole
The size and shape of the surface defect in road, ultrasonic listening end can automatically adjust, and the adjustable extent of size is big, be suitable for not
With the duct of size and shape；Ultrasonic listening end shape suits duct, a primary or inspection that can be completed gamut back and forth
It surveys, detection efficiency is high.
(2) a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging of the present invention, analog simulation processing are single
Member can will test result and carry out simulation modeling, and visualization processing unit by data and can be imitated by the interaction with user interface
True mode shows user and receives the instruction of user, and intelligence degree is high.
(3) a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging of the present invention, image detection device are real
When detection detected object position and shape, and pass to control system, ultrasonic listening end size determined by control system
Size and shape feature, and the mobile scheme at ultrasonic listening end is formulated in real time, and controls robot arm device operation, it realizes certainly
Dynamic, intelligence detection, is applicable to complicated hole road shape.
(4) a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging of the present invention, robot arm device are set
The movement of various routes can be achieved in meter, can cope with various hole road shapes, be particularly suitable for the detection of bend.
(5) the three-D ultrasonic nondestructive detection system of a kind of automatic positioning imaging of the present invention, copes with larger size
When duct, one group of ultrasonic probe is distributed in the circular array column-shaped of single layer, by flexible adjustment detecting size and shape, is coped with small
When size duct, the part in one group of ultrasonic probe is translated, and is staggered and is become double-deck probe, substantially reduces in this way
Size.
(6) the three-D ultrasonic lossless detection method of a kind of automatic positioning imaging of the present invention, is performed fully automatic detection,
And detection efficiency is high, man-machine interaction is good, including data are shown, simulation model real-time exhibition and whole emulating image are shown, inspection
Auto-changing detecting size and path when survey, intelligence degree are high.
Detailed description of the invention
Fig. 1 is structural schematic diagram when ultrasonic listening end of the present invention is in small size state；
Fig. 2 is schematic top plan view when ultrasonic listening end of the present invention is in small size state；
Fig. 3 is structural schematic diagram when ultrasonic listening end of the present invention is in large scale state；
Fig. 4 is schematic top plan view when ultrasonic listening end of the present invention is in large scale state；
Fig. 5 is a kind of operation schematic diagram of the three-D ultrasonic nondestructive detection system of automatic positioning imaging of the present invention；
In figure：1- standard shaft, 2- ultrasonic probe, 3- connector, 301- fixing piece, 302- sliding part, 4- telescopic device, 5-
Image detection device, the first telescopic arm of 6-, the second telescopic arm of 7-, the universal mechanical joint of 8-, 9- sliding driving device.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the invention is described in detail.
Embodiment
A kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging of the invention, as shown in Figures 1 to 5, including can
Sized and shape ultrasonic listening end connect with the ultrasonic listening end and drives the ultrasonic listening end mobile
Robot arm device, data processing system and control system；The ultrasonic listening end includes standard shaft 1, circular array shape point
One group of connector 3 on standard shaft 1 is arranged in one group of ultrasonic probe 2 and circular array shape of the cloth in 1 periphery of standard shaft；Institute
Each ultrasonic probe 2 is stated to be connected by the telescopic device 4 being independently arranged with corresponding connector 3；One group of company
Fitting 3 includes one group of fixing piece 301 and one group of sliding part 302, and the fixing piece 301 is fixedly connected with standard shaft 1, the sliding part
302 are slidably connected with standard shaft 1, and the fixing piece 301 and sliding part 302 are spaced setting one by one, one group of ultrasonic probe 2 according to
It is secondary and interval to be connect one by one with fixing piece 301 and sliding part 302 respectively；Wherein sliding part 302 is connected with sliding driving dress
9 are set, the sliding driving device 9 is connect with control system with telescopic device 4.
Each ultrasonic probe 2 described in the present embodiment is connect with data processing system；Each ultrasonic probe 2
Respectively emit ultrasonic beam to the detection zone faced, and receives the wave beam of feedback to form reception data；At the data
Reason system carries out modeling processing for obtaining the reception data.The data processing system includes that analog simulation processing is single
Member and visualization processing unit, the visualization processing unit and user interface interconnect, the user interface
Output include ultrasound data and visual image.The visualization processing unit includes：Data operating units, for ultrasound
Wave number is inputted according to displaying, data intelligence screening or user's manual screening, data markers and underlying parameter；Visualization mapping unit,
For the analog simulation model of analog simulation processing unit to be visualized；Image-drawing unit will after detecting
Analog simulation model conversion is emulating image, forms and show the 3-D image of detected object entirety；The data manipulation list
Member, visualization mapping unit, image-drawing unit are interconnected with user interface.
The front end of standard shaft 1 described in the present embodiment is equipped with for detecting the position of detected object and the image detection of shape
Device 5, described image detection device 5 are connect with control system.The robot arm device includes that first connect with standard shaft 1 stretches
Arm 6, and the second telescopic arm 7 being connect with the first telescopic arm 6, between apophysis 1 and the first telescopic arm 6, the first telescopic arm 6
It is connect by universal mechanical joint 8 between the second telescopic arm 7, the universal mechanical joint 8 is equipped with steer-drive, institute
The first telescopic arm 6 is stated equipped with the first flexible driving, second telescopic arm 7 is equipped with the second flexible driving, the steering driving dress
It sets, the first flexible driving and the second flexible driving are connect with control system.
Sliding driving device 9 described in the present embodiment is fixedly connected with standard shaft 1, and the sliding driving device 9 is hydraulic cylinder
Device；The sliding part 302 is sticked between two sides fixing piece 301, and is moved linearly under 301 regulation of two sides fixing piece；Institute
Stating telescopic device 4 is feed screw apparatus, and is connected with servo motor.
There are two types of states for one group of ultrasonic probe 2 described in the present embodiment：When the target size at ultrasonic listening end is greater than
Or when being equal to critical value, one group of ultrasonic probe 2 is distributed in the circular array column-shaped of single layer；When the target size at ultrasonic listening end
When less than critical value, one group of sliding part 302 is mobile with corresponding ultrasonic probe 2, interlocks with remaining ultrasonic probe 2,
Form double-deck annular array.
In the present embodiment, the detection method of the three-D ultrasonic nondestructive detection system of the automatic positioning imaging, including it is following
Step：
S1, robot arm device drive ultrasonic listening end to be moved to detection station；
The operation of image detection device 5 of S2, ultrasonic listening end front end, detect the position for being detected duct and shape,
And it will test result and pass to control system；
S3, control system obtain the size shape regulation scheme at ultrasonic listening end and the fortune of robot arm device by operation
Row scheme；
S4, control system successively issue an instruction to control telescopic device 4 according to size shape regulation scheme and sliding drives
Each the operation of device 9 makes the size and shape at ultrasonic listening end be adjusted to the size and shape for being suitable for being detected duct, i.e.,
The position of ultrasonic probe 2 is adapted to corresponding detection zone；
S5, control system successively issue instruction control robot arm device movement according to operating scheme, and robot arm device drives
Ultrasonic listening end, which is aligned, is detected duct, and protrudes into detected duct；
S6, ultrasonic listening end are protruded into along detected duct, and the one of ultrasonic listening end group ultrasonic probe 2 is transported at this time
Row respectively emits ultrasonic beam to the detection zone faced, and receives the wave beam of feedback to form reception data；
Analog simulation processing unit in S7, data processing system obtains the reception data, and carries out modeling processing, obtains
To analog simulation model；It is described modeling processing method be：It passes sequentially through physical modeling, mathematical modeling, simulation modeling and obtains mould
Quasi- simulation model；
Visualization processing unit in S8, data processing system grasps ultrasound data, analog simulation model by user
Make showing interface to user, and realizes interaction；
After S9, detection, analog simulation model conversion is emulating image by visualization processing unit, is formed and is shown quilt
The 3-D image of test object entirety.
Wherein, the method that the size and shape at ultrasonic listening end is adjusted in the step S4 specifically includes following：
S4a, when target size be greater than or equal to critical value when, sliding driving device 9 is in contraction state, one group of ultrasonic wave
Probe 2 is distributed in the circular array column-shaped of single layer；Only pass through the flexible adjusting to carry out size and shape of one group of telescopic device 4；
S4b, when target size be less than critical value when, sliding driving device 9 run, one group of sliding part 302 is ejected, one group
Sliding part 302 is mobile with corresponding ultrasonic probe 2, interlocks with remaining ultrasonic probe 2, forms double-deck circular array
Column；Pass through the flexible adjusting to carry out size and shape of one group of telescopic device 4 again；
The operation method at ultrasonic listening end specifically includes following in the step 6：
S6a, when one group of ultrasonic probe 2 is the annular array of single layer, there are detection gap between ultrasonic probe 2,
When detected duct is protruded at ultrasonic listening end, first time Scanning Detction is carried out, ultrasonic listening end is revolved after reaching detection terminal
Turn set angle, indexable later group ultrasonic probe 2 is made to fill up original detection gap, then in backhaul, one group of ultrasonic wave
Probe 2 carries out second of Scanning Detction；
S6b, when one group of ultrasonic probe 2 is double-deck annular array, it is empty without detection between staggered ultrasonic probe 2
Gap, first time Scanning Detction is carried out when detected duct is protruded at ultrasonic listening end can be completed Detection task；
Wherein, it when ultrasonic listening end is moved in detected duct, is detected in front of 5 real-time monitoring of image detection device
The shape in duct determines direction change by control system, and issues instructions to robot arm device and adjust advance route in real time.
The above is only a preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as guarantor of the invention
Protect range.
Claims (10)
1. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging, it is characterised in that：Including adjustable dimension and shape
Ultrasonic listening end, connect with the ultrasonic listening end and drive the ultrasonic listening end mobile robot arm device,
Data processing system and control system；
The ultrasonic listening end includes that standard shaft (1), circular array shape are distributed in one group of ultrasonic probe of standard shaft (1) periphery
(2) and one group of connector (3) on standard shaft (1) is arranged in circular array shape；Each ultrasonic probe (2) passes through
The telescopic device (4) being independently arranged is connected with corresponding connector (3)；
One group of connector (3) includes one group of fixing piece (301) and one group of sliding part (302), the fixing piece (301) and base
Axis (1) is fixedly connected, and the sliding part (302) is slidably connected with standard shaft (1), the fixing piece (301) and sliding part (302) one
One interval setting, one group of ultrasonic probe (2) successively and be spaced respectively with fixing piece (301) and sliding part (302)
It connects one by one；Wherein sliding part (302) is connected with sliding driving device (9), the sliding driving device (9) and telescopic device
(4) it is connect with control system.
2. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 1, it is characterised in that：Institute
Each ultrasonic probe (2) is stated to connect with data processing system；Each ultrasonic probe (2) is respectively to the inspection faced
Field emission ultrasonic beam is surveyed, and receives the wave beam of feedback to form reception data；The data processing system is for obtaining institute
Reception data are stated, and carry out modeling processing.
3. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 2, it is characterised in that：Institute
Stating data processing system includes analog simulation processing unit and visualization processing unit, and the visualization processing unit and user grasp
Make interface alternation connection, the output of the user interface includes ultrasound data and visual image.
4. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 3, it is characterised in that：Institute
Stating visualization processing unit includes：
Data operating units are shown for ultrasound data, data intelligence is screened or user's manual screening, data markers and basis
Parameter input；
Visualization mapping unit, for visualizing the analog simulation model of analog simulation processing unit；
Analog simulation model conversion is emulating image, is formed and show detected object by image-drawing unit after detecting
Whole 3-D image；
The data operating units, visualization mapping unit, image-drawing unit are interconnected with user interface.
5. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 1, it is characterised in that：Institute
Standard shaft (1) front end is stated to be equipped with for detecting the position of detected object and the image detection device (5) of shape, described image inspection
Device (5) are surveyed to connect with control system.
6. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 1, it is characterised in that：Institute
Stating robot arm device includes the first telescopic arm (6) connecting with standard shaft (1), and second connect with the first telescopic arm (6) stretches
Contracting arm (7) passes through between apophysis (1) and the first telescopic arm (6), between the first telescopic arm (6) and the second telescopic arm (7)
Universal mechanical joint (8) connection, the universal mechanical joint (8) are equipped with steer-drive, and first telescopic arm (6) is equipped with
First flexible driving, second telescopic arm (7) are equipped with the second flexible driving, the steer-drive, the first flexible driving
And second flexible driving connect with control system.
7. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 1, it is characterised in that：Institute
It states sliding driving device (9) to be fixedly connected with standard shaft (1), the sliding driving device (9) is hydraulic cylinder device；The sliding part
(302) it is sticked between two sides fixing piece (301), and moves linearly under two sides fixing piece (301) regulation；The telescopic device
(4) it is feed screw apparatus, and is connected with servo motor.
8. a kind of three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 1, it is characterised in that：Institute
Stating one group of ultrasonic probe (2), there are two types of states：When the target size at ultrasonic listening end is greater than or equal to critical value, one group
Ultrasonic probe (2) is distributed in the circular array column-shaped of single layer；When the target size at ultrasonic listening end is less than critical value, one group
Sliding part (302) is mobile with corresponding ultrasonic probe (2), staggeredly with remaining ultrasonic probe (2), forms double-deck ring
Shape array.
9. a kind of detection method of the three-D ultrasonic nondestructive detection system of automatic positioning imaging described in -8 according to claim 1,
It is characterized in that：Include the following steps：
S1, robot arm device drive ultrasonic listening end to be moved to detection station；
Image detection device (5) operation of S2, ultrasonic listening end front end, detect the position for being detected duct and shape, and
It will test result and pass to control system；
S3, control system obtain the operation side of the size shape regulation scheme and robot arm device at ultrasonic listening end by operation
Case；
S4, control system successively issue an instruction to control telescopic device (4) and sliding driving dress according to size shape regulation scheme
Each the operation for setting (9) makes the size and shape at ultrasonic listening end be adjusted to the size and shape for being suitable for being detected duct, i.e.,
The position of ultrasonic probe (2) is adapted to corresponding detection zone；
S5, control system successively issue instruction control robot arm device movement according to operating scheme, and robot arm device drives ultrasound
Wave end of probe, which is aligned, is detected duct, and protrudes into detected duct；
S6, ultrasonic listening end are protruded into along detected duct, and the one of ultrasonic listening end group ultrasonic probe (2) is transported at this time
Row respectively emits ultrasonic beam to the detection zone faced, and receives the wave beam of feedback to form reception data；
Analog simulation processing unit in S7, data processing system obtains the reception data, and carries out modeling processing, obtains mould
Quasi- simulation model；
Ultrasound data, analog simulation model are passed through user's operation circle by the visualization processing unit in S8, data processing system
Face shows user, and realizes interaction；
After S9, detection, analog simulation model conversion is emulating image by visualization processing unit, is formed and is shown detected
The 3-D image of object entirety.
10. a kind of detection method of the three-D ultrasonic nondestructive detection system of automatic positioning imaging according to claim 9,
It is characterized in that：The method that the size and shape at ultrasonic listening end is adjusted in the step S4 specifically includes following：
S4a, when target size is greater than or equal to critical value, sliding driving device (9) be in contraction state, one group of ultrasonic wave spy
Head (2) is distributed in the circular array column-shaped of single layer；Only pass through the flexible tune to carry out size and shape of one group of telescopic device (4)
Section；
S4b, when target size is less than critical value, sliding driving device (9) operation ejects one group of sliding part (302), one group
Sliding part (302) is mobile with corresponding ultrasonic probe (2), staggeredly with remaining ultrasonic probe (2), forms double-deck ring
Shape array；Pass through the flexible adjusting to carry out size and shape of one group of telescopic device (4) again；
The operation method at ultrasonic listening end specifically includes following in the step 6：
S6a, when one group of ultrasonic probe (2) is the annular array of single layer, there are detection gap between ultrasonic probe (2),
When detected duct is protruded at ultrasonic listening end, first time Scanning Detction is carried out, ultrasonic listening end is revolved after reaching detection terminal
Turn set angle, indexable later group ultrasonic probe (2) is made to fill up original detection gap, then in backhaul, one group of ultrasound
Wave probe (2) carries out second of Scanning Detction；
S6b, when one group of ultrasonic probe (2) is double-deck annular array, it is empty without detection between staggered ultrasonic probe (2)
Gap, first time Scanning Detction is carried out when detected duct is protruded at ultrasonic listening end can be completed Detection task；
Wherein, when ultrasonic listening end is moved in detected duct, gaging hole is detected in front of image detection device (5) real-time monitoring
The shape in road determines direction change by control system, and issues instructions to robot arm device and adjust advance route in real time.
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