Autonomous probe alignment technology of robot-assisted ultrasonic surface inspection
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摘要: 对曲面工件进行超声检测时，为了获得较好的回波信号，要求声束入射方向与曲面工件外表面法线方向一致。现有的方法通常是预先知道曲面的CAD模型，再对轮廓已知的曲面进行检测，这使得系统的灵活性和适用性变差。针对上述问题，提出了一种基于激光检测的探头对正算法，原理为：激光检测系统对待测曲面工件上检测点的位置和姿态信息进行识别，后将所获取到的检测点信息数据发送给机械手的控制系统，机器手控制系统在获取检测点信息后，根据对正控制策略将探头位姿调整信息发送给相应的机械臂控制器，实现对检测点的探头对正。通过探究不同入射角度与回波信号时域特征值间关系，反求出实际的对正角度偏差，验证了该方法的有效性。Abstract: In order to obtain a better echo signal for ultrasonic testing of curved workpieces, the incident direction of the sound beam is required to be consistent with the normal direction of the outer surface of the curved workpiece. The existing method usually knows the surface CAD model in advance, and detects the surface with known contour, which makes the system's flexibility and applicability poor. Aiming at the above problems, a probe alignment algorithm based on laser measurement is proposed.The principle of the method is:the laser measurement system recognizes the position and posture information of the measurement point on the surface to be measured, and then sends the acquired measurement point information to the controller of the manipulator. After the robot control system obtains the measurement point information, it sends the probe pose adjustment information to the corresponding robot arm controller according to the alignment control strategy to realize the probe alignment of the measurement point. By exploring the relationship between different incident angles and the time-domain eigenvalues of the echo signal, the effectiveness of the method is verified.
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Keywords:
- robot-assisted /
- curved workpiece /
- ultrasonic testing /
- laser measurement /
- probe alignment
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