CN118392991B - Image-based cylindrical object detection method - Google Patents

Abstract

The present invention relates to an image-based cylindrical object detection method. It includes: providing a cylindrical object placed on a detection station, and obtaining an object circular scanning detection image of the cylindrical object; performing effective area identification adapted to the cylindrical object on the object circular scanning detection image, so as to extract ultrasonic scanning information of the object effective area after identification, performing data correction on the ultrasonic scanning information of the object effective area, so as to obtain ultrasonic scanning correction information of the object effective area, and generating an object scanning ultrasonic image based on the ultrasonic scanning correction information of the object effective area, so as to determine the ultrasonic scanning detection status information of the cylindrical object based on the object scanning ultrasonic image. The present invention can improve the accuracy of scanning detection of cylindrical objects by performing effective area identification, data correction and other processing on the object circular scanning detection image.

Description

Image-based cylindrical object detection method

Technical Field

The invention relates to an ultrasonic detection method, in particular to an image-based cylindrical object detection method.

Background Art

At present, non-destructive testing of the inside of industrial devices can be achieved based on ultrasonic testing. Specifically, by analyzing ultrasonic transmission signals and ultrasonic reflection signals, it is possible to detect whether there are defects inside the industrial device, wherein the industrial device may be a battery. When the industrial device is a battery, the battery type is generally divided into rectangular batteries and cylindrical batteries.

For cylindrical batteries, when ultrasonic testing is used, the cylindrical batteries need to be scanned. The scanning methods for cylindrical batteries include:

1) A single-element probe unit consisting of two single-element probes is configured, wherein the two single-element probes are respectively placed on the front and rear sides of the cylindrical battery for transmitting and receiving ultrasonic signals. Ultrasonic scanning of the cylindrical battery can be achieved by driving the two single-element probes to move up and down and the cylindrical battery to rotate automatically.

2) Configure a multi-element probe, which includes several evenly distributed elements. The multi-element probe can be used to perform 360-degree scanning and imaging of cylindrical batteries. At this time, the scanning requirements can be met without rotating the cylindrical battery.

For the above-mentioned cylindrical battery detection scanning method, when two single-array element probes are used, since the ultrasonic wave needs to be incident vertically on the surface of the cylindrical battery, each single-array element probe needs to be manually aligned with the cylindrical battery before scanning. Otherwise, the ultrasonic scanning detection requirements of the cylindrical battery are not met. However, when the single-array element probe is manually aligned with the cylindrical battery, the naked eye observation is generally used, and the alignment accuracy is poor. In addition, a lot of time and effort are required to perform the alignment operation, resulting in low scanning detection efficiency.

In addition, when ultrasonic scanning is performed on cylindrical batteries, the cylindrical batteries need to be placed at the inspection station. However, when the cylindrical batteries are placed at the inspection station, it is inevitable that the cylindrical batteries will be tilted at the inspection station. When the cylindrical batteries are tilted at the inspection station, during ultrasonic scanning, there will be a time difference in the ultrasonic waves reaching the surface of the cylindrical batteries. Specifically, the ultrasonic waves close to the surface of the cylindrical batteries have already reached the surface of the cylindrical batteries and reflected, while the ultrasonic waves slightly farther from the surface of the cylindrical batteries have not yet been reflected.

Based on the above description, it can be known that when the cylindrical battery is tilted at the inspection station, part of the surface of the cylindrical battery will have strong reflection while part of it will have no reflection. At this time, when imaging based on the ultrasonic reflection signal, obvious partitioned ripple blocks will appear, which seriously affects the ultrasonic inspection effect of the cylindrical battery.

Summary of the invention

The purpose of the present invention is to overcome the shortcomings of the prior art and provide an image-based cylindrical object detection method, which can improve the accuracy of ultrasonic scanning detection of cylindrical objects and improve the efficiency of ultrasonic scanning of cylindrical objects by performing effective area recognition, data correction and other processing on the circular scanning detection image of the object.

According to the technical solution provided by the present invention, a cylindrical object detection method based on an image includes:

Providing a cylindrical object placed on a detection station, and acquiring an object circumferential scanning detection image of the cylindrical object;

The object circumferential scanning detection image is used to identify the effective area of the adapted cylindrical object, so as to extract the ultrasonic scanning information of the effective area of the object after identification, wherein the ultrasonic scanning information of the effective area of the object includes a plurality of ultrasonic reflection signals of the effective area of the object;

The ultrasonic scanning information of the effective area of the object is corrected to obtain the ultrasonic scanning correction information of the effective area of the object, wherein:

During data correction, the correction starting point of each ultrasonic reflection signal of the effective area of the object is found, and based on the correction starting point found and the preset signal interception length, the ultrasonic reflection interception signal of the effective area of the object is intercepted on each ultrasonic reflection signal of the effective area of the object;

Aligning the correction starting points of all the ultrasonic reflection interception signals of the effective area of the object, so that after the correction starting points are aligned, ultrasonic scanning correction information of the effective area of the object is formed based on all the ultrasonic reflection interception signals of the effective area of the object;

Based on the ultrasonic scanning correction information of the effective area of the object, an object scanning ultrasonic image is generated, so as to determine the ultrasonic scanning detection state information of the cylindrical object based on the object scanning ultrasonic image.

The object circular scanning detection image is generated based on the object ultrasonic circular scanning information;

When scanning the circumference of an object to detect the image and identifying the effective area for adapting to a cylindrical object, the following steps are included:

In the ultrasonic circular scanning information of the object, at least m columns of ultrasonic reflection information groups arranged in sequence are selected, wherein each ultrasonic reflection information group includes P pieces of ultrasonic reflection information of the object, m≤Q, Q is the total number of columns of the ultrasonic reflection information groups in the ultrasonic circular scanning information of the object, and P is the total number of rows of the ultrasonic reflection information groups in the ultrasonic circular scanning information of the object;

For the selected m columns of ultrasonic reflection information groups, the ultrasonic reflection PPV value of the ultrasonic reflection signal of the object in each column of ultrasonic reflection information group is calculated, and an ultrasonic reflection PPV array of size P×m is generated based on all ultrasonic reflection PPV values;

For m array sub-columns in the ultrasonic reflection PPV array, each array sub-column is divided into an upper half and a lower half, where:

For each upper half column, the adjacent ultrasonic reflection PPV values in the current upper half column are differentiated to obtain ultrasonic reflection PPV differential information of the upper half column, and the upper boundary base value of the current upper half column is determined based on the ultrasonic reflection PPV differential information of the upper half column;

Averaging the upper boundary base values of the m upper half columns to obtain an upper boundary average value, and determining the upper boundary position of the cylindrical object based on the upper boundary average value;

For each lower half column, the adjacent ultrasonic reflection PPV values in the lower half column are differentiated to obtain ultrasonic reflection PPV differential information of the lower half column, and the lower boundary base value of the current lower half column is determined based on the ultrasonic reflection PPV differential information of the lower half column;

Averaging the lower boundary base values of the m lower half columns to obtain a lower boundary average value, and determining the lower boundary position of the cylindrical object based on the lower boundary average value;

An area between an upper boundary position and a lower boundary position is identified as a valid area of the cylindrical object.

When the array sub-column is divided into an upper column portion and a lower column portion, the number of ultrasonic reflection PPV values contained in the upper column portion matches the number of ultrasonic reflection PPV values contained in the lower column portion;

For any upper column, determining the upper boundary base value of the current upper column includes:

Differentiate adjacent ultrasonic reflection PPV values in the current upper half to obtain a number of ultrasonic reflection PPV difference values;

The adjacent ultrasonic reflection PPV difference values are compared, and the position where the ultrasonic reflection PPV difference value changes the most is taken as the upper boundary base value of the current upper half column.

When performing data correction on ultrasonic scanning information of an effective area of an object, the data correction method includes:

For any object effective area ultrasonic reflection signal, extract the object effective area ultrasonic reflection signal to represent the strong reflection starting point formed by the cylindrical object;

Taking the strong reflection starting point as the base point, signal interception is performed on the ultrasonic reflection signal in the effective area of the object, so as to form an ultrasonic reflection signal segment of the object after the signal interception;

Extracting the maximum peak value of the ultrasonic reflection signal segment of the object, and generating a correction starting point representing the strong reflection formed by the surface of the cylindrical object based on the extracted maximum peak value;

Based on the calibration starting point and the preset signal interception length, the ultrasonic reflection signal segment of the object is intercepted to obtain the ultrasonic reflection interception signal of the effective area of the object.

When extracting the strong reflection starting point of the ultrasonic reflection signal in the effective area of the object, it includes:

Extract the peak value of the ultrasonic reflection signal in the effective area of the current object, and generate a peak envelope diagram based on the extracted peak value, wherein in the generated peak envelope diagram, the abscissa is the peak sequence position, and the ordinate is the peak value of the ultrasonic reflection signal in the effective area of the object;

In the wave crest envelope diagram, connect the first and last envelope points into a straight line to form an envelope reference straight line;

Calculate the distance between the wave crest envelope and the envelope reference straight line, and take the envelope point corresponding to the maximum distance as the starting point of strong reflection.

When generating the calibration starting point, include:

The maximum peak value extracted from the ultrasonic reflection signal segment of the object is multiplied by the correction threshold to obtain a correction reference value;

In the ultrasonic reflection signal segment of the object, the first peak value greater than the calibration reference value is taken as the calibration peak value;

A peak sampling position corresponding to the peak value of the correction wave is selected on the ultrasonic reflection signal segment of the object and used as the correction starting point.

For the preset signal interception length, we have:

L=(2*Δd*fs)/V,

Wherein, L is the preset signal interception length, Δd is the thickness of the cylindrical object, fs is the sampling frequency, and V is the speed of the ultrasonic wave in the cylindrical object.

An object scanning probe unit is configured to perform ultrasonic scanning on the cylindrical object, and the object scanning probe unit is configured to perform ultrasonic scanning on the cylindrical object along the length direction of the cylindrical object, wherein:

After each ultrasonic scan, at least ultrasonic reflection information of the object is obtained, and after the ultrasonic circumferential scanning of the cylindrical object is completed, ultrasonic circumferential scanning information of the object is generated based on all ultrasonic reflection information of the object;

Generate a circular scanning detection image of the object based on the ultrasonic circular scanning information of the object;

The object scanning probe unit includes a single-element probe unit or a circular array probe that can be placed on a cylindrical object, wherein:

The single-array probe unit includes a first single-array probe and a second single-array probe, and the first single-array probe and the second single-array probe are respectively located on two sides of the cylindrical object and correspond to each other;

The single-element probe unit can move along the length direction of the cylindrical object, and the cylindrical object can rotate on the detection station, so as to use the single-element probe unit to perform a circumferential scan on the cylindrical object, so as to generate ultrasonic circumferential scanning information of the object after the circumferential scanning;

A circular array probe comprises a plurality of evenly distributed probe array elements, wherein the probe array elements surround the cylindrical object;

The circular array probe is configured to move along the length direction of the cylindrical object, so as to perform a circular scan on the cylindrical object using the circular array probe, so as to generate ultrasonic circular scanning information of the object after the circular scanning.

When the object scanning probe unit adopts a single-element probe unit, the method further includes a probe alignment step, wherein the probe alignment step includes:

Using a single-element probe unit to perform a transverse scan on a cylindrical object to generate transverse scanning alignment ultrasonic wave reflection information after scanning, wherein the transverse scanning alignment ultrasonic wave reflection information includes a plurality of transverse scanning alignment ultrasonic wave reflection signals;

Calculate the PPV value of each transverse scanning alignment ultrasonic reflection signal, draw a transverse scanning PPV diagram based on all the calculated PPV values, and use the transverse scanning position of the transverse scanning PPV maximum value point on the drawn transverse scanning PPV diagram as the probe alignment position;

Probe motion trajectory lines based on the probe alignment position are arranged on both sides of the cylindrical object, and the direction of the probe motion trajectory line is parallel to the length direction of the cylindrical object;

The first single-array-element probe and the second single-array-element probe are respectively arranged on the probe motion trajectory, and the corresponding signal receiving and transmitting surfaces of the first single-array-element probe and the second single-array-element probe are aligned with the cylindrical object.

When the object scanning probe unit adopts a circular array probe, there are:

At each probe scanning position, the probe array elements in the circular array probe are sequentially configured to form a first preset probe array element unit, and the first preset probe array element unit transmits an ultrasonic signal to the surface of the cylindrical object based on the configuration.

After the first preset probe array element unit transmits an ultrasonic signal to the surface of the cylindrical object, the probe array element in the circular array probe is configured as a second preset probe array element unit, and the ultrasonic reflection signal is received based on the configured second preset probe array element unit, and the ultrasonic reflection information of the object is formed based on the received ultrasonic reflection signal;

After performing ultrasonic circular scanning on the cylindrical object based on the configured first preset probe array element unit and the second preset probe array element unit, ultrasonic reflection information of all objects at the current probe scanning position is obtained.

The advantages of the present invention are as follows: effective area recognition and data correction are performed on the ultrasonic circumferential scanning information of the object in sequence, so as to generate ultrasonic scanning correction information of the effective area of the object after the data correction. When an image is generated based on the ultrasonic scanning correction information of the effective area of the object, the ripples in the image can be effectively removed, thereby improving the accuracy of ultrasonic scanning detection of cylindrical objects using images;

For an object scanning probe unit using a single-element probe unit, a probe alignment step can be used to align the surface of a cylindrical object, thereby avoiding alignment problems in the prior art and improving the efficiency and reliability of ultrasonic scanning.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an embodiment of the present invention in which a cylindrical object is placed on a detection station.

FIG. 2 is a flow chart of an embodiment of ultrasonic testing according to the present invention.

FIG. 3 is a schematic diagram showing a principle of ultrasonic detection in the present invention.

FIG. 4 is a schematic diagram of an embodiment of the present invention in which a single-element probe unit is used to perform ultrasonic scanning on a cylindrical object.

FIG. 5 is a schematic diagram of an embodiment of the present invention showing lateral scanning when the probe is aligned.

FIG. 6 is a schematic diagram of an embodiment of a lateral scanning PPV diagram during lateral scanning according to the present invention.

FIG. 7 is a schematic diagram of an embodiment of the present invention in which a circular array probe is used to perform ultrasonic scanning on a cylindrical object, and the cylindrical object is in a tilted state.

FIG8 is a schematic diagram of an embodiment of the present invention in which a circular array probe is used to perform ultrasonic scanning on a cylindrical object, and the cylindrical object is in a vertical state.

FIG. 9 is a schematic diagram of an embodiment of the present invention for performing ultrasonic imaging on a cylindrical object at a detection station.

FIG. 10 is a schematic diagram of an embodiment of an ultrasonic reflection signal of the present invention.

FIG. 11 is a schematic diagram of an embodiment of generating a peak envelope diagram according to the present invention.

FIG. 12 is a schematic diagram of an embodiment of the present invention for extracting the maximum peak value in the ultrasonic reflection signal segment of an object and obtaining the correction starting point.

FIG. 13 is a schematic diagram of an embodiment of the present invention before alignment of ultrasonic reflection interception signals in the effective area of an object.

FIG. 14 is a schematic diagram of an embodiment of the present invention after alignment of ultrasonic reflection interception signals in the effective area of an object.

FIG. 15 is an embodiment of the present invention for obtaining transmission information when ultrasonically scanning a cylindrical object.

FIG. 16 is a schematic diagram of an embodiment of the present invention of performing wetting detection when the cylindrical object is a cylindrical battery.

FIG. 17 is a top view of the lateral scan in FIG. 5 .

Explanation of the reference numerals: 1-cylindrical object, 2-first single-element probe, 3-object scanning probe unit, 4-base, 5-upper clamping fixture, 6-circular array probe, 7-probe array element.

DETAILED DESCRIPTION

The present invention will be further described below in conjunction with specific drawings and embodiments.

In order to improve the efficiency of ultrasonic scanning of cylindrical objects 1 and the accuracy of ultrasonic scanning detection, an ultrasonic detection method suitable for cylindrical objects 1 is provided. In one embodiment of the present invention, the detection method for cylindrical objects includes:

Providing a cylindrical object 1 placed on a detection station, and acquiring an object circumferential scanning detection image of the cylindrical object 1;

The object circumferential scanning detection image is used to identify the effective area of the adapted cylindrical object 1, so as to extract the ultrasonic scanning information of the effective area of the object after identification, wherein the ultrasonic scanning information of the effective area of the object includes a plurality of ultrasonic reflection signals of the effective area of the object;

The ultrasonic scanning information of the effective area of the object is corrected to obtain the ultrasonic scanning correction information of the effective area of the object, wherein:

During data correction, the correction starting point of each ultrasonic reflection signal of the effective area of the object is found, and based on the correction starting point found and the preset signal interception length, the ultrasonic reflection interception signal of the effective area of the object is intercepted on each ultrasonic reflection signal of the effective area of the object;

Aligning the correction starting points of all the ultrasonic reflection interception signals of the effective area of the object, so that after the correction starting points are aligned, ultrasonic scanning correction information of the effective area of the object is formed based on all the ultrasonic reflection interception signals of the effective area of the object;

Based on the ultrasonic scanning correction information of the effective area of the object, an object scanning ultrasonic image is generated, so as to determine the ultrasonic scanning detection state information of the cylindrical object 1 based on the object scanning ultrasonic image.

Specifically, the cylindrical object 1 may be the cylindrical battery mentioned above or other cylindrical devices that can be detected by ultrasonic scanning. The type of the cylindrical object 1 may be selected as required, so as to satisfy the requirements for ultrasonic scanning of the cylindrical object 1. When detecting the cylindrical object 1, it is necessary to at least obtain a circular scanning detection image of the cylindrical object 1. In one embodiment of the present invention, when obtaining the circular scanning detection image of the object, it is necessary to at least perform an ultrasonic circular scanning on the cylindrical object 1. Therefore, it can be understood that the type of the circular scanning detection image of the object is an ultrasonic image. The image-based cylindrical object 1 detection method is to detect the cylindrical object 1 based on the circular scanning detection image of the object.

When inspecting a cylindrical object 1, it is necessary to provide an object circumferential scanning inspection image, and then, based on the object circumferential scanning inspection image, identify the effective area adapted to the cylindrical object 1. The object circumferential scanning inspection image is generated based on the object ultrasonic circumferential scanning information; in order to obtain the object ultrasonic circumferential scanning information, it is necessary to perform ultrasonic scanning on the cylindrical object 1. The following takes the example of performing ultrasonic scanning on a cylindrical object 1, generating the object ultrasonic circumferential scanning information, and generating the object circumferential scanning inspection image based on the object ultrasonic circumferential scanning information as an example to specifically describe the method for inspecting the cylindrical object 1.

In order to obtain ultrasonic circular scanning information of the object, in one embodiment of the present invention, an object scanning probe unit 3 is configured to perform ultrasonic scanning on the cylindrical object 1; thereafter, the object scanning probe unit 3 is configured to perform ultrasonic scanning on the cylindrical object 1 along the length direction of the cylindrical object 1, wherein after each ultrasonic scan, at least the object ultrasonic reflection information is obtained, and after the ultrasonic circular scanning of the cylindrical object 1 is completed, the object ultrasonic circular scanning information is generated based on all the object ultrasonic reflection information, and thereafter, the technical means commonly used in this technical field can be used to generate an object circular scanning detection image based on the object ultrasonic circular scanning information.

FIG2 shows an embodiment of ultrasonic scanning detection of a cylindrical object 1. As can be seen from the figure, it is necessary to first obtain the cylindrical object data. When ultrasonic scanning detection is performed on the cylindrical object 1, the cylindrical object data is the ultrasonic circular scanning information of the object.

In order to obtain ultrasonic circular scanning information of the object, it is generally necessary to place the cylindrical object 1 on the detection station. Figure 1 shows an embodiment in which the cylindrical object 1 is placed on the detection station. During the specific implementation, in order to facilitate the propagation of ultrasound, it is necessary to place the cylindrical object 1 in an ultrasonic propagation medium, which can be water or silicone oil. Of course, the object scanning probe unit 3 must also be located in the ultrasonic propagation medium.

In order to ensure the reliability of the cylindrical object 1 at the detection station, the detection station includes a base 4 for supporting the cylindrical object 1 and an upper clamping fixture 5 for pressing the cylindrical object 1 on the base 4. The base 4 and the upper clamping fixture 5 can adopt existing commonly used forms to meet the detection of the cylindrical object 1 at the detection station. FIG1 also shows an embodiment of ultrasonic scanning of the cylindrical object 1 using the object scanning probe unit 3. When detecting the cylindrical object 1, at least the object scanning probe unit 3 needs to be configured to perform ultrasonic scanning on the cylindrical object 1 along the length direction of the cylindrical object 1. In FIG1, along the length direction of the cylindrical object 1, that is, along the direction from the upper clamping fixture 5 to the base 4, or the direction from the base 4 to the upper clamping fixture 5.

In specific implementation, according to the length of the cylindrical object 1, it is necessary to perform multiple ultrasonic scans on the cylindrical object 1. Generally, after each ultrasonic scan, at least object ultrasonic reflection information can be obtained, wherein the object ultrasonic reflection information generally includes an object ultrasonic reflection signal; after completing the ultrasonic circumferential scanning of the cylindrical object 1, object ultrasonic circumferential scanning information can be generated based on all the object ultrasonic reflection information. The process of performing multiple ultrasonic scans on the cylindrical object 1 and generating object ultrasonic circumferential scanning information will be described in detail below.

For the cylindrical object 1 placed at the inspection station as mentioned above, when the cylindrical object 1 is ultrasonically scanned using the object scanning probe unit 3, the upper clamping fixture 5 and the base 4 are generally also ultrasonically scanned at the same time, that is, the corresponding ultrasonic reflection information of the upper clamping fixture 5 and the base 4 is included in the ultrasonic circumferential scanning information of the object. It can be seen from the following description that the cylindrical object 1 is tilted at the detection station. It can be understood that when the cylindrical object 1 is analyzed based on the circular scanning detection image of the object, the ultrasonic reflection information data of the area where the upper clamping fixture 5 and the base 4 are located will not affect the imaging analysis of the cylindrical object 1, but will affect the calculation amount of data correction and the data correction efficiency. Therefore, in order to reduce the calculation amount of data correction and improve the efficiency of data correction, in an embodiment of the present invention, it is necessary to identify the effective area adapted to the cylindrical object 1, wherein the effective area identification adapted to the cylindrical object 1 specifically refers to the ultrasonic reflection information identification of the area where the cylindrical object 1 is located in the ultrasonic circular scanning information of the object. After the effective area identification, the identified effective area needs to be extracted to obtain the ultrasonic scanning information of the effective area of the object. At this time, the ultrasonic scanning information of the effective area of the object can be regarded as including only the ultrasonic reflection information of the cylindrical object 1. The extracted ultrasonic scanning information of the effective area of the object may include a number of ultrasonic reflection signals of the effective area of the object. Therefore, the effective area identification of the adapted cylindrical object 1 is performed, which is the effective area identification of the object in FIG. 2 .

As can be seen from the above description, the cylindrical object 1 may be tilted at the detection station. In order to avoid the influence of the tilt of the cylindrical object 1 on the ultrasonic imaging, it is necessary to perform data correction on the ultrasonic scanning information of the effective area of the object to obtain the ultrasonic scanning correction information of the effective area of the object. The data correction is the tilt correction in Figure 2. After obtaining the ultrasonic scanning correction information of the effective area of the object, the ultrasonic scanning image of the object can be generated by the technical means commonly used in the technical field of this field. The generated ultrasonic scanning image of the object can be a slice image and/or a three-dimensional reconstructed image, as shown in Figure 2. The specific method and process of generating the ultrasonic scanning image of the object can be selected according to actual needs, so as to meet the detection of the cylindrical object 1 after ultrasonic scanning. Therefore, the ultrasonic scanning detection state information of the cylindrical object 1 can be determined by the technical means commonly used in the technical field of this field. The specific situation of the ultrasonic scanning detection state information is related to the demand for ultrasonic scanning detection of the cylindrical object 1, so as to meet the ultrasonic scanning detection of the cylindrical object 1. It will not be repeated here.

In one embodiment of the present invention, the object scanning probe unit 3 includes a single-element probe unit or a circular array probe 6 that can be placed around the cylindrical object 1, wherein:

The single-array probe unit includes a first single-array probe 2 and a second single-array probe. The first single-array probe 2 and the second single-array probe are respectively located on two sides of the cylindrical object 1 and correspond to each other.

The single-element probe unit can move along the length direction of the cylindrical object 1, and the cylindrical object 1 can rotate on the detection station, so as to use the single-element probe unit to perform a circumferential scan on the cylindrical object 1, so as to generate ultrasonic circumferential scanning information of the object after the circumferential scanning;

The circular array probe 6 comprises a plurality of evenly distributed probe array elements 7, wherein the probe array elements 7 surround the cylindrical object 1;

The circular array probe 6 is configured to move along the length direction of the cylindrical object 1 so as to perform a circumferential scan on the cylindrical object 1 using the circular array probe 6 to generate ultrasonic circumferential scanning information of the object after the circumferential scanning.

It can be seen from the above description that when ultrasonically scanning a cylindrical object 1, a single-element probe unit or a circular array probe 6 can be used. Therefore, the object scanning probe unit 3 can be a single-element probe unit or a circular array probe 6. Figures 4 and 5 show an embodiment in which the object scanning probe unit 3 uses a single-element probe unit for ultrasonic scanning, and Figures 7 and 8 show an embodiment in which the object scanning probe unit 3 uses a circular array probe 6.

When the object scanning probe unit 3 adopts a single-element probe unit, the single-element probe unit generally includes a first single-element probe 2 and a second single-element probe. The first single-element probe 2 and the second single-element probe can adopt existing commonly used probes to meet the transmission and reception of ultrasonic signals. Generally, the first single-element probe 2 and the second single-element probe need to be respectively arranged on both sides of the cylindrical object 1, and the first single-element probe 2 and the second single-element probe need to correspond to each other. During ultrasonic scanning, one of the first single-element probe 2 or the second single-element probe can be selected as an ultrasonic transmitting probe, and the other can receive the ultrasonic transmission signal through the cylindrical object 1, as shown in FIG. 4. Of course, after transmitting the ultrasonic wave, the ultrasonic transmitting probe also needs to receive the ultrasonic reflection signal through the cylindrical object 1.

When the single-element probe unit moves along the length direction of the cylindrical object 1, the first single-element probe 2 and the second single-element probe need to move synchronously; at the same time, in order to meet the circumferential scanning of the cylindrical object 1, it is also necessary to configure the cylindrical object 1 to rotate at the detection station. It can be seen that based on the rotation of the cylindrical object 1 and the movement of the single-element probe along the length direction of the cylindrical object 1, the ultrasonic circumferential scanning of the cylindrical object 1 can be realized. Of course, when the cylindrical object 1 rotates at the detection station, the clamping state of the upper clamping fixture 5 needs to be configured, such as making the upper clamping fixture 5 and the base 4 rotate synchronously with the cylindrical object 1. The way to adjust the clamping state of the upper clamping fixture 5 can be selected according to needs, so as not to affect the ultrasonic scanning of the cylindrical object 1.

FIG3 shows the situation where ultrasonic signals at different angles are incident on the surface of the cylindrical object 1. It can be seen from FIG3 and the above description that when a single-element probe unit is used, it is necessary to ensure that the ultrasonic wave emitted by the ultrasonic transmitting probe is vertically incident on the surface of the cylindrical object 1. At this time, the reliability of ultrasonic scanning detection of the cylindrical object 1 can be improved. In addition, in the prior art, when the single-element probe unit is aligned with the cylindrical object 1, the naked eye observation method is mostly used, resulting in low efficiency of ultrasonic scanning of the cylindrical object 1 and low reliability of alignment.

In order to improve the efficiency and reliability of ultrasonic scanning, in one embodiment of the present invention, when the object scanning probe unit 3 adopts a single-element probe unit, a probe alignment step is also included, wherein the probe alignment step includes:

Performing a transverse scan on the cylindrical object 1 by using a single-element probe unit to generate transverse scanning alignment ultrasonic wave reflection information after scanning, wherein the transverse scanning alignment ultrasonic wave reflection information includes a plurality of transverse scanning alignment ultrasonic wave reflection signals;

Calculate the PPV value of each transverse scanning alignment ultrasonic reflection signal, draw a transverse scanning PPV diagram based on all the calculated PPV values, and use the transverse scanning position of the transverse scanning PPV maximum value point on the drawn transverse scanning PPV diagram as the probe alignment position;

Probe motion trajectory lines based on the probe alignment position are arranged on both sides of the cylindrical object 1, and the direction of the probe motion trajectory line is parallel to the length direction of the cylindrical object 1;

The first single-array-element probe 2 and the second single-array-element probe are respectively arranged on the probe motion trajectory lines, and the corresponding signal transceiver surfaces of the first single-array-element probe 2 and the second single-array-element probe are aligned with the cylindrical object 1 .

As can be seen from the above description, before using the single-element probe unit to perform ultrasonic scanning on the cylindrical object 1, a probe alignment step needs to be performed first, so that during ultrasonic scanning, the ultrasonic wave emitted by the single-element probe unit can be aligned with the cylindrical object 1, that is, the emitted ultrasonic wave can be perpendicular to the surface of the cylindrical object 1. When aligning the probe, the cylindrical object 1 can be placed on the inspection station and kept, at this time, the single-element probe unit is configured to perform a transverse scan on the cylindrical object 1, wherein, before the transverse scan, the first single-element probe 2 and the second single-element probe are located on both sides of the cylindrical object 1 and on the outside of the cylindrical object 1; of course, the first single-element probe 2 can also be configured only on one side of the cylindrical object 1, as shown in FIG. 5 and FIG. 17.

During transverse scanning, one of the first single-array probe 2 and the second single-array probe is configured to perform transverse scanning. Optionally, an ultrasonic transmitting probe is configured to perform transverse scanning. As shown in Figures 5 and 17, only the first single-array probe 2 is configured to perform transverse movement. At this time, the first single-array probe 2 serves as an ultrasonic transmitting probe, and the direction of transverse movement is perpendicular to the length direction of the cylindrical object 1. During the transverse movement, an ultrasonic signal is emitted, and an ultrasonic reflection signal reflected by the cylindrical object 1 is received. At this time, the ultrasonic reflection signal received is the transverse scanning ultrasonic reflection signal. Figures 5 and 17 show an embodiment of transverse scanning. In the figure, the first single-array probe 2 is configured to perform transverse movement close to the surface direction of the cylindrical object 1 and perform ultrasonic scanning. At this time, the first single-array probe 2 is used to emit ultrasonic waves to the surface of the cylindrical object 1 during the transverse movement, and receive the ultrasonic reflection signal reflected by the cylindrical object 1.

As can be seen from the above description, after transverse scanning, multiple transverse scanning ultrasonic reflection signals can be obtained, and the corresponding PPV value is calculated for each transverse scanning ultrasonic reflection signal, wherein the PPV value is the difference between the maximum amplitude and the corresponding minimum amplitude in each transverse scanning ultrasonic reflection signal. The following PPV value calculation methods are the same, and the description here can be referred to. After calculating the PPV values of all transverse scanning ultrasonic reflection signals, a transverse scanning PPV diagram can be drawn. FIG6 shows an embodiment of the drawn transverse scanning PPV diagram, in which the horizontal axis is the number of points moved by the first single-element probe 2 during transverse scanning, and the vertical axis is the amplitude of the PPV value. Specifically, the number of moving points is the number of points moved by the first single-element probe 2 from the initial position during transverse scanning. Generally, during the transverse scanning process of the first single-element probe 2, the distance between any two moving points is equal (that is, the transverse movement is equally spaced). Therefore, according to the number of moving points of the transverse movement of the first single-element probe 2, the distance moved by the first single-element probe 2 can be determined.

In FIG6 , the horizontal axis is 15, which corresponds to the maximum PPV point of the lateral scan. Since the PPV value of the lateral scan PPV diagram corresponds one to one to the number of moving points of the first single-array probe 2, the number of moving points corresponding to the first single-array probe 2 can be determined based on the maximum PPV point of the lateral scan, and the lateral scanning position of the corresponding first single-array probe 2 can be determined based on the number of moving points, and used as the probe alignment position. Thereafter, probe motion trajectory lines based on the probe alignment position are arranged on both sides of the cylindrical object 1, and the direction of the probe motion trajectory lines is parallel to the length direction of the cylindrical object 1; the dotted line in FIG5 is the probe motion trajectory line. The probe motion trajectory lines of the first single-array probe 2 and the second single-array probe are respectively arranged on both sides of the cylindrical object 1, and the corresponding signal receiving and transmitting surfaces of the first single-array probe 2 and the second single-array probe are aligned with the cylindrical object 1. At this time, when the first single-array probe 2 and the second single-array probe are used to ultrasonically scan the cylindrical object 1, the ultrasonic waves emitted by the first single-array probe 2 and the second single-array probe can be vertically incident on the surface of the cylindrical object 1. The situation of vertical incidence on the surface of the cylindrical object 1 can be shown in Figure 3.

The above shows an embodiment of probe alignment for a single-element probe unit. After the probe is aligned, ultrasonic circular scanning of a cylindrical object 1 can be achieved. Specifically, when the single-element probe unit moves along the length direction of the cylindrical object 1, it moves along the direction of the probe motion trajectory. Since the cylindrical object 1 has a corresponding length, during specific implementation, the step length of the single-element probe moving along the cylindrical object 1 can be configured according to the type of the cylindrical object 1 and the detection requirements. The step length of the movement is the distance that the single-element probe rises or falls along the probe motion trajectory each time. Here, the above can be the direction from the base 4 to the upper clamping fixture 5, and the descent can be the direction from the upper clamping fixture 5 to the base 4.

After configuring the motion step, the scanning position of the single-element probe on the cylindrical object 1 on the probe motion trajectory can be determined. The determined scanning position is the probe scanning position. At the probe scanning position, the single-element probe will stop to perform ultrasonic scanning on the cylindrical object 1, and after the ultrasonic scanning, enter the probe scanning position of the next target until a trajectory motion ultrasonic scan is performed on the cylindrical object 1 along the probe motion trajectory. Generally, when performing a trajectory motion ultrasonic scan, the cylindrical object 1 remains stationary. After completing a trajectory motion ultrasonic scan, the cylindrical object 1 rotates, and then another trajectory motion ultrasonic scan is performed. By repeating the trajectory motion ultrasonic scan and the rotation of the cylindrical object 1, an ultrasonic circular scan of the cylindrical object 1 can be achieved. In specific implementation, it is generally necessary to pre-configure the rotation angle step of the cylindrical object 1, and then the rotation of the cylindrical object 1 is controlled according to the preset rotation angle step.

Therefore, it can be seen from the above description that when performing a trajectory motion ultrasonic scan, there will be multiple probe scanning positions. At each probe scanning position, an ultrasonic scan can be performed using a single array element probe, and after an ultrasonic scan, the object ultrasonic reflection information can be obtained, wherein during an ultrasonic scan, the object ultrasonic reflection information includes an object ultrasonic reflection signal. After completing the ultrasonic circular scan, the object ultrasonic circular scanning information can be obtained based on all the object ultrasonic reflection information.

Of course, when performing ultrasonic circular scanning on the cylindrical object 1, the cylindrical object 1 can also be configured to rotate in a circle at each probe scanning position, that is, a circular scanning is performed on the cylindrical object 1 at each probe scanning position. At this time, the cylindrical object 1 can be scanned in a circle by performing a trajectory motion ultrasonic scanning. Specifically, the cylindrical object 1 can still be rotated according to the above pre-configured rotation angle step. Different from the above ultrasonic circular scanning on the cylindrical object 1, at each probe scanning position, the cylindrical object 1 is first configured to rotate in a circle, and then the probe scanning position of the next target is entered until a trajectory motion ultrasonic scanning is performed.

In specific implementation, the circular scanning method can be selected according to needs, based on whether it can perform ultrasonic circular scanning on the cylindrical object 1, that is, based on whether it can obtain the required ultrasonic circular scanning information of the object.

When any of the above-mentioned circular scanning methods is used, multiple ultrasonic scans are performed on the cylindrical object 1 at each probe scanning position, and an ultrasonic reflection signal can be obtained during each ultrasonic scan. For the same probe scanning position, multiple ultrasonic reflection signals can be obtained after multiple ultrasonic scans, that is, at each probe scanning position, the corresponding object ultrasonic reflection information can be obtained; based on the object ultrasonic reflection information at all probe scanning positions, the object ultrasonic circular scanning information can be generated. Furthermore, it can be seen from the above description that for the ultrasonic reflection information of the object at each probe scanning position, the number of ultrasonic reflection signals contained can be selected according to needs, and can be determined according to the rotation angle step of the cylindrical object 1. For example, if the rotation angle step of the cylindrical object 1 is 10°, then after the cylindrical object 1 rotates one circle, 36 pieces of object ultrasonic reflection information can be obtained at each probe scanning position. When the rotation angle step of the cylindrical object 1 is other angles, the number of object ultrasonic reflection information at each probe scanning position can be determined according to the circular motion. Thus, the number of ultrasonic reflection signals in the object ultrasonic circular scanning information can be selected according to actual needs, so as to meet the actual ultrasonic circular scanning of the cylindrical object 1.

In a specific implementation, the ultrasonic circular scanning information of the object can be represented by a matrix, wherein the size of the ultrasonic circular scanning information of the object is P×Q, wherein each row is all the ultrasonic reflection information of the object obtained at the same probe scanning position, and adjacent rows are the ultrasonic reflection information of the object corresponding to adjacent scanning positions. The values of P and Q are determined by the length and circumference of the cylindrical object 1, the above-mentioned motion step and the angular step of the rotation of the cylindrical object 1, that is, it is related to the method of ultrasonic circular scanning of the cylindrical object 1. For example, the size of P can be determined according to the motion step and the length of the cylindrical object 1; the size of Q can be determined according to the circumference of the cylindrical object 1 and the angular step of the rotation of the cylindrical object 1.

When the object scanning probe unit 3 adopts a circular array probe 6, the circular array probe 6 can be encircled on the cylindrical object 1. The circular array probe 6 is encircled on the cylindrical object 1, which specifically means that the circular array probe 6 surrounds the cylindrical object 1, the cylindrical object 1 is located inside the circular array probe 6, and the cylindrical object 1 does not contact the circular array probe 6. At this time, when the circular array probe 6 moves along the length direction of the cylindrical object 1, the cylindrical object 1 is located inside the circular array probe 6, as shown in Figures 7 and 8. The circular array probe 6 can adopt the existing commonly used form. Generally, a plurality of probe array elements 7 can be arranged in the circular array probe 6, and the probe array elements 7 can be evenly distributed in the circular array probe 6. When the circular array probe 6 is encircled on the cylindrical object 1, the probe array elements 7 are evenly distributed in the outer circle of the cylindrical object 1. The number of probe array elements 7 can be selected according to needs.

Unlike the use of a single-element probe unit, when a circular array probe 6 is used, the above-mentioned probe alignment step is not required. At the same time, there is no need to configure the cylindrical object 1 to rotate on the detection station. That is, the circular array probe 6 is directly looped around the cylindrical object 1, and the circular array probe 6 is configured to scan along the length direction of the cylindrical object 1. That is, the circular array probe 6 can perform only one trajectory line motion ultrasonic scanning to achieve ultrasonic circular scanning of the cylindrical object 1.

In one embodiment of the present invention, when the object scanning probe unit 3 adopts a circular array probe 6, there are:

At each probe scanning position, the probe array elements 7 in the circular array probe 6 are sequentially configured to form a first preset probe array element unit, and based on the configuration, the first preset probe array element unit transmits an ultrasonic signal to the surface of the cylindrical object 1.

After the first preset probe array element unit transmits an ultrasonic signal to the surface of the cylindrical object 1, the probe array element 7 in the circular array probe 6 is configured as a second preset probe array element unit, and the ultrasonic reflection signal is received based on the configured second preset probe array element unit, and the ultrasonic reflection information of the object is formed based on the received ultrasonic reflection signal;

After performing ultrasonic circular scanning on the cylindrical object 1 based on the configured first preset probe array element unit and the second preset probe array element unit, ultrasonic reflection information of all objects at the current probe scanning position is obtained.

It should be noted that when the object scanning probe unit 3 adopts a circular array probe 6, although it is different from the object scanning probe unit 3 adopting a single array element probe unit, both need to configure the ultrasonic scanning step length, that is, the step length of the circular array probe 6 moving along the length direction of the cylindrical object 1 during ultrasonic scanning. The movement step length of the circular array probe 6 can be the same as the movement step length of the single array element probe unit, of course, it can also be different, and the specific selection can be made according to needs. It can be seen that when the circular array probe 6 is used to perform ultrasonic circumferential scanning on the cylindrical object 1, there will also be multiple probe scanning positions, and the probe scanning positions can be set in the same way as the above-mentioned single array element probe unit.

In specific implementation, after the circular array probe 6 moves to each probe scanning position, the same form of ultrasonic scanning is performed. For example, the first preset probe array element unit can be configured to transmit ultrasonic signals to the surface of the cylindrical object 1. The first preset probe array element unit includes at least one probe array element 7. Of course, the first preset probe array element unit can also include a plurality of continuously arranged probe array elements 7. The number of probe array elements 7 in the first preset probe array element unit can be selected as needed. Optionally, the first preset probe array element unit is one probe array element 7. At this time, the second preset probe array element unit is also one probe array element 7. At this time, the probe array element 7 of the first preset probe array element unit and the probe array element 7 in the second preset probe array element unit are the same probe array element 7. Optionally, the probe array element 7 in the first preset probe array element unit and the probe array element 7 in the second preset probe array element unit are the same probe array element 7.

The following describes a method of performing a probe scanning position ultrasonic circular scanning on the cylindrical object 1 at each probe scanning position.

In one embodiment of the present invention, when an ultrasonic circular scan is performed using a circular array probe 6, a preset number of probe array elements 7 in the circular array probe 6 are sequentially used as an interval scanning external probe matrix, and the interval scanning external probe matrix is used to perform an external probe interval scan on the cylindrical object 1 until the circular array probe 6 is used to perform an ultrasonic circular scan of the probe scanning position of the cylindrical object 1.

Specifically, when the circular array probe 6 is used to perform ultrasonic circumferential detection of the cylindrical object 1 at the probe scanning position, the circumference of an ultrasonic scan can be divided into a plurality of intervals, that is, a circular scanning detection form of the probe scanning position is formed by integrating a plurality of intervals. Therefore, during ultrasonic circumferential detection, the corresponding probe array element 7 can be selected to perform interval scanning on the cylindrical object 1 until an ultrasonic circular scan is formed on the cylindrical object 1 using the circular array probe 6. The specific interval scanning angle can be selected as required to meet the requirements of ultrasonic detection of the cylindrical object 1. Ultrasonic circular scanning is to perform a 360° ultrasonic scan of the cylindrical object 1 at the probe scanning position.

In specific implementation, the number of probe array elements 7 in the interval scanning external probe matrix can be selected as needed. At this time, the interval scanning external probe matrix is the first preset probe array element unit mentioned above; wherein, if the circular array probe 6 includes 128 probe array elements 7 uniformly distributed in a circle, four, eight, sixteen or other number of probe array elements 7 can be selected each time as the interval scanning external probe matrix, and the specific number of probe array elements 7 in the interval scanning external probe matrix can be selected as needed. Generally, when there are multiple probe array elements 7 in the interval scanning external probe matrix, the multiple probe array elements 7 are adjacent to each other in the same area and are arranged in sequence. During interval scanning, each external probe interval is scanned, and the number of probe array elements 7 in the interval scanning external probe matrix remains consistent.

When the external probe is performing interval scanning, all the probe array elements 7 in the interval scanning external probe matrix are configured to simultaneously transmit ultrasonic signals. For example, when the interval scanning external probe matrix includes eight probe array elements 7 as mentioned above, the eight probe array elements 7 all transmit ultrasonic signals simultaneously. Thereafter, all the probe array elements 7 in the interval scanning external probe matrix are used to simultaneously receive ultrasonic reflection signals, and an ultrasonic external probe interval scanning reflection signal is formed based on the received ultrasonic reflection signals. Specifically, multiple probe array elements 7 are used to receive reflection signals, that is, there will be multiple ultrasonic reflection signals. During specific implementation, for multiple ultrasonic reflection signals, an ultrasonic external probe interval scanning reflection signal can be generated based on the beam synthesis method commonly used in the technical field. The method and process for beam synthesis of multiple ultrasonic reflection signals can be consistent with the existing ones, and specifically, the ultrasonic external probe interval scanning reflection signal can be formed. Here, an ultrasonic external probe interval scanning reflection signal is a material ultrasonic reflection signal.

Furthermore, when each external probe interval is scanned, an ultrasonic external probe interval scanning reflection signal will be obtained, and when the ultrasonic circular scan of the probe scanning position is completed, multiple ultrasonic external probe interval scanning reflection signals can be obtained. Generally, the ultrasonic external probe interval scanning reflection signal is consistent with the number of probe array elements 7 in the circular array probe 6. For example, when there are 128 probe array elements 7 in the circular array probe 6, after performing the ultrasonic circular scan of the probe scanning position, 128 ultrasonic external probe interval scanning reflection signals can be obtained.

For two adjacent interval scans, when the interval scans are performed twice, there is a difference of one probe array element 7 between the probe matrix outside the interval scans. For example, when the interval scans are performed clockwise, there is only one difference between the probe array elements 7 inside the probe matrix outside the two interval scans, that is, the probe array element 7 at the inner and outer edges of the probe matrix outside the previous interval scan will not participate in the next interval scan. Of course, the probe array element 7 between the probe matrix outside the interval scans during the two interval scans can also be selected as needed, so as to satisfy the requirements of ultrasonic circumferential scanning of the cylindrical object 1 and the accuracy of ultrasonic scanning detection.

In addition, when the circular array probe 6 is used, the size of the object ultrasonic reflection information formed can be consistent with that when a single array element probe unit is used, that is, the size of the object ultrasonic circular scanning information formed in the two cases is consistent, that is, both can be P×Q, which can be specifically selected and determined according to the step length of the ultrasonic scanning and the number of probe array elements 7 in the circular array probe 6. The specific method for determining the size of the object ultrasonic circular scanning information can refer to the above description. The following is a specific description taking the case where the object ultrasonic reflection information is all P×Q as an example.

In one embodiment of the present invention, when scanning the circumference of the object to detect the image and identifying the effective area adapted to the cylindrical object 1, the method includes:

In the ultrasonic circular scanning information of the object, at least m columns of ultrasonic reflection information groups arranged in sequence are selected, wherein each ultrasonic reflection information group includes P pieces of ultrasonic reflection information of the object, m≤Q, Q is the total number of columns of the ultrasonic reflection information groups in the ultrasonic circular scanning information of the object, and P is the total number of rows of the ultrasonic reflection information groups in the ultrasonic circular scanning information of the object;

For the selected m columns of ultrasonic reflection information groups, the ultrasonic reflection PPV value of the ultrasonic reflection signal of the object in each column of ultrasonic reflection information group is calculated, and an ultrasonic reflection PPV array of size P×m is generated based on all ultrasonic reflection PPV values;

For m array sub-columns in the ultrasonic reflection PPV array, each array sub-column is divided into an upper half and a lower half, where:

For each upper half column, the adjacent ultrasonic reflection PPV values in the upper half column are differentiated to obtain ultrasonic reflection PPV differential information of the upper half column, and the upper boundary base value of the current upper half column is determined based on the ultrasonic reflection PPV differential information of the upper half column;

Averaging the upper boundary base values of the m upper half columns to obtain an upper boundary average value, and determining the upper boundary position of the cylindrical object based on the upper boundary average value;

For each lower half column, the adjacent ultrasonic reflection PPV values in the lower half column are differentiated to obtain ultrasonic reflection PPV differential information of the lower half column, and the lower boundary base value of the current lower half column is determined based on the ultrasonic reflection PPV differential information of the lower half column;

Averaging the lower boundary base values of the m lower half columns to obtain a lower boundary average value, and determining the lower boundary position of the cylindrical object based on the lower boundary average value;

The area between the upper boundary position and the lower boundary position is identified as the effective area of the cylindrical object 1 .

FIG9 shows an embodiment of the circumferential scanning detection image of a cylindrical object 1, in which ① is the area where the upper clamping fixture 5 is located, ② is the effective area of the cylindrical object 1, and ③ is the area where the base 4 is located. When identifying and extracting the effective area adapted to the cylindrical object 1, the upper boundary value and the lower boundary value of ② are identified as much as possible, and the effective area of the cylindrical object 1 is extracted according to the identified upper boundary value and lower boundary value, so that the ultrasonic reflection data containing the cylindrical object 1 can be identified. It can be seen that when identifying the effective area adapted to the cylindrical object 1, the upper boundary position of the cylindrical object 1 and the lower boundary position of the cylindrical object 1 are mainly identified. It can be seen from the above description that by identifying the effective area of the cylindrical object 1, the calculation amount of data correction can be reduced and the efficiency of data correction can be improved, that is, the corresponding positions of the identified upper boundary value and lower boundary value can be selected according to actual needs.

Since the circular scanning detection image of the object is generated based on the ultrasonic circular scanning information of the object, the effective area recognition based on the circular scanning detection image of the object is to recognize the effective area of the ultrasonic circular scanning information of the object. The following takes the effective area recognition of the ultrasonic circular scanning information of the object as an example to illustrate the specific effective area recognition method and process.

As can be seen from the above description, the size of the object ultrasonic circular scanning information is P×Q. When performing effective area recognition, m columns of ultrasonic reflection information groups arranged in sequence can be selected, wherein one column of ultrasonic reflection information groups is one column of data of the object ultrasonic circular scanning information. The selected m columns can be data from the first column to the mth column, m≤Q, Q is the total number of columns of the ultrasonic reflection information group in the object ultrasonic circular scanning information, and in specific implementation, m can be selected as Q/2. Of course, m can also take other values, which can be selected according to needs. In addition, each ultrasonic reflection information group includes P object ultrasonic reflection signals, and P is the total number of rows of the ultrasonic reflection information group in the object ultrasonic circular scanning information.

Since each column of ultrasonic reflection information group includes ultrasonic reflection signals of P objects, the PPV value of the ultrasonic reflection signal of each object can be calculated. The calculated PPV value is the ultrasonic reflection PPV value. After calculating the ultrasonic reflection PPV values of the ultrasonic reflection signals of all objects, an ultrasonic reflection PPV array of size P×m can be formed; for the ultrasonic reflection PPV array, each element in the array is the ultrasonic reflection PPV value.

In one embodiment of the present invention, for m array sub-columns in an ultrasonic reflection PPV array, each array sub-column is divided into an upper half column and a lower half column, and then the ultrasonic reflection PPV values in the upper half column and the lower half column are calculated, wherein the same calculation method can be used for the upper half column and the lower half column to facilitate the determination of the upper boundary position and the lower boundary position. The following is a specific description taking the calculation processing of the upper half column and the determination of the upper boundary position as an example.

In one embodiment of the present invention, when the array sub-column is divided into an upper column portion and a lower column portion, the number of ultrasonic reflection PPV values contained in the upper column portion matches the number of ultrasonic reflection PPV values contained in the lower column portion;

For any upper column, determining the upper boundary base value of the current upper column includes:

Differentiate adjacent ultrasonic reflection PPV values in the current upper half to obtain a number of ultrasonic reflection PPV difference values;

The adjacent ultrasonic reflection PPV difference values are compared, and the position where the ultrasonic reflection PPV difference value changes the most is taken as the upper boundary base value of the current upper half column.

Specifically, the number of ultrasonic reflection PPV values contained in the upper half matches the number of ultrasonic reflection PPV values contained in the lower half, wherein the quantity matching specifically means that the number of ultrasonic reflection PPV values of the two is equal, or the difference in the number of ultrasonic reflection PPV values of the two is within an allowable numerical range. The allowable numerical range is based on not affecting the identification of the upper boundary position and the lower boundary position. It is preferred to configure the number of ultrasonic reflection PPV values of the two to be equal.

From the above description, it can be seen that the elements in the ultrasonic reflection PPV array are ultrasonic reflection PPV values. Therefore, the adjacent ultrasonic reflection PPV values in the current upper half can be differentiated. For example, the second ultrasonic reflection PPV value in the current upper half can be differentiated from the first ultrasonic reflection PPV value, and the third ultrasonic reflection PPV value can be differentiated from the second ultrasonic reflection PPV value, and so on. Multiple ultrasonic reflection PPV differential values can be obtained.

After obtaining multiple ultrasonic reflection PPV differential values, the adjacent ultrasonic reflection PPV differential values are compared, such as comparing the first ultrasonic reflection PPV differential value with the second ultrasonic reflection PPV differential value, comparing the third ultrasonic reflection PPV differential value with the second ultrasonic reflection PPV differential value, and so on. By comparing the adjacent ultrasonic reflection PPV differential values, the position where the ultrasonic reflection PPV differential value changes the most can be determined. When determining the position with the greatest change, it can be determined by calculating the change rate of the ultrasonic reflection PPV differential value. The method for calculating the change rate can be selected according to needs.

From the above description, it can be known that after determining the position where the ultrasonic reflection PPV differential value has the largest change, the corresponding array element can be searched in the ultrasonic reflection PPV array, and then the corresponding object ultrasonic reflection signal can be determined, so that the upper boundary base value of the current upper half column can be generated. For the selected m columns of ultrasonic reflection information groups arranged in sequence, all upper half columns can use the same method to generate the corresponding upper boundary base value.

In a specific implementation, the upper boundary base values of the m upper half columns are averaged to obtain the upper boundary average value, and the upper boundary position of the cylindrical object 1 is determined based on the upper boundary average value. In addition, the lower boundary average value can be obtained in the same manner for the m lower half columns, and then the lower boundary value of the cylindrical object 1 can be determined. Thereafter, the area between the upper boundary position and the lower boundary position is identified as the effective area of the cylindrical object 1, and then the effective area can be extracted using the commonly used technical means in the technical field, and the ultrasonic scanning information of the effective area of the object is obtained, wherein the ultrasonic scanning information of the effective area of the object includes a number of ultrasonic reflection signals of the effective area of the object.

In one embodiment of the present invention, when performing data correction on ultrasonic scanning information of an effective area of an object, the data correction method includes:

For any object effective area ultrasonic reflection signal, extract the object effective area ultrasonic reflection signal to represent the strong reflection starting point formed by the cylindrical object 1;

Taking the strong reflection starting point as the base point, signal interception is performed on the ultrasonic reflection signal in the effective area of the object, so as to form an ultrasonic reflection signal segment of the object after the signal interception;

Extracting the maximum peak value of the ultrasonic reflection signal segment of the object, and generating a correction starting point representing a strong reflection formed on the surface of the cylindrical object 1 based on the extracted maximum peak value;

Based on the calibration starting point and the preset signal interception length, the ultrasonic reflection signal segment of the object is intercepted to obtain the ultrasonic reflection interception signal of the effective area of the object.

Generally, when receiving an ultrasonic reflection signal formed by reflection from a cylindrical object 1, it is necessary to sample the ultrasonic reflection signal. FIG10 shows an embodiment of an ultrasonic reflection signal of an object. In the figure, the horizontal axis is the sequence number of sampling points. For example, 600 in FIG10 is a sampling point with a sequence number of 600, i.e., the 600th sampling point, and the vertical axis is the amplitude of the ultrasonic reflection signal of the object. In addition, for an ultrasonic reflection signal of an object formed by sampling any ultrasonic reflection signal, the total sequence number K in the sampling point sequence of the ultrasonic reflection signal can be 10,000. Of course, the number of sampling points K can also be set to other values.

It can be seen from the above description that, since the cylindrical object 1 is tilted during ultrasonic scanning, it is necessary to perform data correction on the ultrasonic scanning information of the effective area of the object. When performing data correction, the same data correction method is performed on all the ultrasonic reflection signals of the effective area of the object. When correcting the data, it is necessary to first extract the starting point of the strong reflection. In one embodiment of the present invention, when extracting the starting point of the strong reflection of the ultrasonic reflection signal of the effective area of the object, it includes:

Extract the peak value of the ultrasonic reflection signal in the effective area of the current object, and generate a peak envelope diagram based on the extracted peak value, wherein in the generated peak envelope diagram, the abscissa is the peak sequence position, and the ordinate is the peak value of the ultrasonic reflection signal in the effective area of the object;

In the wave crest envelope diagram, connect the first and last envelope points into a straight line to form an envelope reference straight line;

Calculate the distance between the wave crest envelope and the envelope reference straight line, and take the envelope point corresponding to the maximum distance as the starting point of strong reflection.

Specifically, for the ultrasonic reflection signal of the effective area of any object, the peak value of the ultrasonic reflection signal of the effective area of the object is extracted, and a peak envelope diagram is generated based on the extracted peak value. FIG11 shows an embodiment of the generated peak envelope diagram, wherein, when generating the peak envelope diagram shown in FIG11, the peak value of the ultrasonic reflection signal of the effective area of the object is extracted, and the first peak value and the maximum peak value are determined based on the sampling order, and the peak envelope diagram of FIG11 is generated based on all the peak values between the first peak value and the maximum peak value. Specifically, when generating the peak envelope diagram of FIG11, a method of sequentially accumulating peak values can be adopted, such as the first envelope point is the first peak value, the second envelope point is the accumulation of the first peak value and the second peak value, the third envelope point is the accumulation of the first peak value, the second peak value and the third peak value, and so on. Other situations are similar and will not be illustrated one by one here.

After generating the peak envelope line diagram, connect the first envelope line point of the peak envelope line diagram with the envelope line point at the tail to obtain the envelope reference straight line. The straight line in Figure 11 is the envelope reference straight line. Specifically, the first envelope line point is the envelope line point corresponding to the first peak value; the envelope line point at the tail is the envelope line point corresponding to the maximum peak value.

The curve below the envelope reference straight line in Figure 11 is the peak envelope line. When extracting the peak value, the sequence of the peak values is generally counted, and the sequence is the sorting position of the peaks. The sequence position is between the first peak value and the maximum peak value. The sorting position of any peak, as shown in the horizontal axis of Figure 11, shows 150 peaks, that is, there are no more than 150 peaks between the first peak value and the maximum peak value. At this time, the distance between the peak envelope line and the envelope reference straight line can be calculated by the technical means commonly used in the field of this technology, so as to determine the envelope point of the maximum distance based on the calculated distance. Point a in Figure 11 is the envelope point corresponding to the maximum distance. According to the peak sequence position corresponding to the envelope point a of the maximum distance, the starting point of the strong reflection of the ultrasonic reflection signal in the effective area of the object can be determined. In FIG11 , the horizontal coordinate corresponding to the envelope point a is close to 150. Assuming it is 146, the envelope point a is the 146th wave peak. Therefore, the sampling sequence value corresponding to the 146th wave peak can be searched and determined in the ultrasonic reflection signal in the effective area of the object, thereby determining the sequence value of the sampling point corresponding to the envelope point a.

After determining the strong reflection starting point, the signal is intercepted on the ultrasonic reflection signal in the effective area of the object to form the object ultrasonic reflection signal segment after the signal is intercepted. In specific implementation, when the signal is intercepted, the signal after the strong reflection starting point is intercepted. At the same time, the length of the intercepted signal after the strong reflection starting point generally needs to be greater than the preset signal interception length. The length of the intercepted signal can be selected as needed. After the signal is intercepted to generate the object ultrasonic reflection signal segment, the correction starting point needs to be extracted.

In one embodiment of the present invention, when generating the correction starting point, it includes:

The maximum peak value extracted from the ultrasonic reflection signal segment of the object is multiplied by the correction threshold to obtain a correction reference value;

In the ultrasonic reflection signal segment of the object, the first peak value greater than the calibration reference value is taken as the calibration peak value;

A peak sampling position corresponding to the peak value of the correction wave is selected on the ultrasonic reflection signal segment of the object and used as the correction starting point.

First, extract the maximum peak value of the ultrasonic reflection signal segment of the object. FIG12 shows an embodiment of extracting the maximum peak value, and point b in the figure is the location of the maximum peak value. Multiply the maximum peak value by the correction threshold value, and the value range of the correction threshold value is 0~1. After multiplying the maximum peak value by the correction threshold value, the correction reference value can be obtained; specifically, the correction threshold value can be 0.25; the correction threshold value can also be selected according to the type of cylindrical object 1, etc., so as to select the correction peak value determined as point c in FIG12. Thereafter, on the ultrasonic reflection signal segment of the object, a signal search is performed in front of the maximum peak value, and the first peak value greater than the correction reference value is used as the correction peak value. The front is the signal segment between the first sampling point and the sampling point corresponding to the maximum peak value. In the present invention, when searching, the front and back directions are generally determined by the number of sampling points. For other situations, please refer to the description here.

For the correction wave peak value and the wave peak sampling position corresponding to the correction wave peak value, the wave peak sampling position is the position of the sampling point of the correction wave peak value, that is, the sequence position of the sampling point mentioned above. In FIG12, point c is the correction wave peak value, that is, according to the determined correction wave peak value, the wave peak sampling position of the correction wave peak value can be determined. For the ultrasonic reflection signal segment of the object shown in FIG12, the horizontal axis is the sampling point, and the vertical axis is the amplitude of the reflection signal. It can be seen from the above description that the ultrasonic reflection signal segment of the object in FIG12 is generated by signal interception, but for the convenience of representation, the sampling points of the horizontal axis in FIG12 still start from 0, that is, FIG12 only shows a situation for the convenience of representation.

After the correction starting point is extracted, the ultrasonic reflection signal segment of the object is intercepted based on the preset signal interception length behind the correction starting point to intercept the ultrasonic reflection interception signal of the effective area of the object, wherein the sampling point behind the correction starting point is the sampling point located after the correction starting point. In one embodiment of the present invention, the preset signal interception length is:

L=(2*Δd*fs)/V,

Wherein, L is a preset signal interception length, Δd is the thickness of the cylindrical object 1 , fs is the sampling frequency, and V is the speed of the ultrasonic wave in the cylindrical object 1 .

In specific implementation, the preset signal interception length can be determined according to the thickness of the cylindrical object 1 and the material type of the cylindrical object 1. The sampling frequency fs specifically refers to the frequency of sampling the ultrasonic reflection signal to form the object ultrasonic reflection signal.

It can be seen from the above description that for all ultrasonic reflection signals of the effective area of the object, the correction starting point and the ultrasonic reflection interception signal of the effective area of the object can be extracted in the same way, and then the correction starting points of all ultrasonic reflection interception signals of the effective area of the object are aligned, so that after the correction starting points are aligned, ultrasonic scanning correction information of the effective area of the object is formed based on all ultrasonic reflection interception signals of the effective area of the object. FIG13 shows an embodiment before the ultrasonic reflection interception signal of the effective area of the object is not aligned, and FIG14 shows an embodiment after the ultrasonic reflection interception signal of the effective area of the object is aligned. It can be understood that when the slice image and/or three-dimensional reconstruction figure of the cylindrical object 1 is generated using the ultrasonic scanning correction information of the effective area of the object, the ripples in the image can be reduced, and the accuracy and reliability of detection and analysis using the image can be improved.

When the cylindrical object 1 is a cylindrical battery, the wetting state of the cylindrical battery can also be detected. Different from the above, when the wetting state of the cylindrical battery is detected, it is necessary to be based on the ultrasonic transmission signal, such as the above-mentioned single-element probe unit, the first single-element probe 2 can be used to transmit the ultrasonic signal, and the second single-element probe can be used to receive the ultrasonic transmission signal through the cylindrical battery.

In specific implementation, when the cylindrical object 1 is a cylindrical battery, considering the cavity at the center of the cylindrical battery, the ultrasonic wave cannot be received by the back through the cavity position, and the positions of the first single-element probe 2 and the second single-element probe can be adjusted, specifically to effectively meet the emission of ultrasonic signals and the reception of ultrasonic transmission signals. That is, when there is a cavity in the cylindrical object 1, it is necessary to adjust the state of the first single-element probe 2 emitting ultrasonic signals and the state of the second single-element probe receiving transmission signals to meet the emission of ultrasonic signals and the reception of ultrasonic transmission signals, as shown in Figure 15. It can be understood that when the cylindrical object 1 is other objects without cavities, it is not necessary to adjust the transmission signal reception state of the first single-element probe 2 and the second single-element probe.

It should be noted that when receiving the transmission signal, the above-mentioned probe alignment step can be performed for the first single-element probe 2 and the second single-element probe. The specific process of the probe alignment step can refer to the above description. After the probe alignment step, an offset distance is set according to the cavity state of the cylindrical battery to synchronously offset the first single-element probe 2 and the second single-element probe, as shown in FIG. 15, so as to ensure normal reception of the ultrasonic transmission signal after the offset.

When analyzing the wetting state based on the received transmission signal, a feasible way is to calculate the PPV value of the ultrasonic transmission signal and compare the amplitude of the PPV value. Generally, the place with a larger PPV amplitude represents that the sound wave can penetrate the battery better, that is, the infiltration is good. Conversely, the place with poor infiltration corresponds to a smaller PPV sound wave signal amplitude. In addition, imaging can be performed based on the ultrasonic transmission signal of the cylindrical battery, and the battery infiltration condition can be viewed based on the imaged image, wherein the battery infiltration condition can be viewed, including the infiltration condition during the battery charging and discharging process. For example, according to the transmission diagram, it can be checked whether the charging and discharging changes the battery infiltration state, as shown in Figure 16. Specifically, the amplitude of the PPV value and the method and process of judging the infiltration condition by ultrasonic transmission signal imaging can be consistent with the existing ones, which are specifically well known to those in the field of this technology and will not be repeated here.

Claims (9)

1. A cylindrical object detection method based on an image, characterized in that the cylindrical object detection method comprises: Providing a cylindrical object placed on a detection station, and acquiring an object circumferential scanning detection image of the cylindrical object; The object circumferential scanning detection image is used to identify the effective area of the adapted cylindrical object, so as to extract the ultrasonic scanning information of the effective area of the object after identification, wherein the ultrasonic scanning information of the effective area of the object includes a plurality of ultrasonic reflection signals of the effective area of the object; The ultrasonic scanning information of the effective area of the object is corrected to obtain the ultrasonic scanning correction information of the effective area of the object, wherein: During data correction, the correction starting point of each ultrasonic reflection signal of the effective area of the object is found, and based on the correction starting point found and the preset signal interception length, the ultrasonic reflection interception signal of the effective area of the object is intercepted on each ultrasonic reflection signal of the effective area of the object; Aligning the correction starting points of all the ultrasonic reflection interception signals of the effective area of the object, so that after the correction starting points are aligned, ultrasonic scanning correction information of the effective area of the object is formed based on all the ultrasonic reflection interception signals of the effective area of the object; Generate an object scanning ultrasonic image based on the object effective area ultrasonic scanning correction information, so as to determine the ultrasonic scanning detection state information of the cylindrical object based on the object scanning ultrasonic image; When performing data correction on ultrasonic scanning information of an effective area of an object, the data correction method includes: For any object effective area ultrasonic reflection signal, extract the object effective area ultrasonic reflection signal to represent the strong reflection starting point formed by the cylindrical object; Taking the strong reflection starting point as the base point, signal interception is performed on the ultrasonic reflection signal in the effective area of the object, so as to form an ultrasonic reflection signal segment of the object after the signal interception; Extracting the maximum peak value of the ultrasonic reflection signal segment of the object, and generating a correction starting point representing the strong reflection formed by the surface of the cylindrical object based on the extracted maximum peak value; Based on the calibration starting point and the preset signal interception length, the ultrasonic reflection signal segment of the object is intercepted to obtain the ultrasonic reflection interception signal of the effective area of the object. 2. The method for detecting cylindrical objects based on images according to claim 1, wherein: the object circumferential scanning detection image is generated based on the object ultrasonic circumferential scanning information; When scanning the circumference of an object to detect the image and identifying the effective area for adapting to a cylindrical object, the following steps are included: In the ultrasonic circular scanning information of the object, at least m columns of ultrasonic reflection information groups arranged in sequence are selected, wherein each ultrasonic reflection information group includes P pieces of ultrasonic reflection information of the object, m≤Q, Q is the total number of columns of the ultrasonic reflection information groups in the ultrasonic circular scanning information of the object, and P is the total number of rows of the ultrasonic reflection information groups in the ultrasonic circular scanning information of the object; For the selected m columns of ultrasonic reflection information groups, the ultrasonic reflection PPV value of the ultrasonic reflection signal of the object in each column of ultrasonic reflection information group is calculated, and an ultrasonic reflection PPV array of size P×m is generated based on all ultrasonic reflection PPV values; For m array sub-columns in the ultrasonic reflection PPV array, each array sub-column is divided into an upper half and a lower half, where: For each upper half column, the adjacent ultrasonic reflection PPV values in the current upper half column are differentiated to obtain ultrasonic reflection PPV differential information of the upper half column, and the upper boundary base value of the current upper half column is determined based on the ultrasonic reflection PPV differential information of the upper half column; Averaging the upper boundary base values of the m upper half columns to obtain an upper boundary average value, and determining the upper boundary position of the cylindrical object based on the upper boundary average value; For each lower half column, the adjacent ultrasonic reflection PPV values in the lower half column are differentiated to obtain ultrasonic reflection PPV differential information of the lower half column, and the lower boundary base value of the current lower half column is determined based on the ultrasonic reflection PPV differential information of the lower half column; Averaging the lower boundary base values of the m lower half columns to obtain a lower boundary average value, and determining the lower boundary position of the cylindrical object based on the lower boundary average value; An area between an upper boundary position and a lower boundary position is identified as a valid area of the cylindrical object. 3. The method for detecting cylindrical objects based on an image according to claim 2, wherein when the array sub-column is divided into an upper column portion and a lower column portion, the number of ultrasonic reflection PPV values contained in the upper column portion matches the number of ultrasonic reflection PPV values contained in the lower column portion; For any upper column, determining the upper boundary base value of the current upper column includes: Differentiate adjacent ultrasonic reflection PPV values in the current upper half to obtain a number of ultrasonic reflection PPV difference values; The adjacent ultrasonic reflection PPV difference values are compared, and the position where the ultrasonic reflection PPV difference value changes the most is taken as the upper boundary base value of the current upper half column. 4. The method for detecting cylindrical objects based on images according to claim 1, wherein the step of extracting the strong reflection starting point of the ultrasonic reflection signal in the effective area of the object comprises: Extract the peak value of the ultrasonic reflection signal in the effective area of the current object, and generate a peak envelope diagram based on the extracted peak value, wherein in the generated peak envelope diagram, the abscissa is the peak sequence position, and the ordinate is the peak value of the ultrasonic reflection signal in the effective area of the object; In the wave crest envelope diagram, connect the first and last envelope points into a straight line to form an envelope reference straight line; Calculate the distance between the wave crest envelope and the envelope reference straight line, and take the envelope point corresponding to the maximum distance as the starting point of strong reflection. 5. The method for detecting cylindrical objects based on images according to claim 1, wherein when generating the correction starting point, it comprises: The maximum peak value extracted from the ultrasonic reflection signal segment of the object is multiplied by the correction threshold to obtain a correction reference value; In the ultrasonic reflection signal segment of the object, the first peak value greater than the calibration reference value is taken as the calibration peak value; A peak sampling position corresponding to the peak value of the correction wave is selected on the ultrasonic reflection signal segment of the object and used as the correction starting point. 6. The method for detecting cylindrical objects based on images according to claim 1, wherein for a preset signal interception length, there are: L=(2*Δd*fs)/V, Wherein, L is the preset signal interception length, Δd is the thickness of the cylindrical object, fs is the sampling frequency, and V is the speed of the ultrasonic wave in the cylindrical object. 7. The method for detecting cylindrical objects based on an image according to any one of claims 2 to 6, characterized in that an object scanning probe unit is configured to perform ultrasonic scanning on the cylindrical object, and the object scanning probe unit is configured to perform ultrasonic scanning on the cylindrical object along the length direction of the cylindrical object, wherein: After each ultrasonic scan, at least ultrasonic reflection information of the object is obtained, and after the ultrasonic circumferential scanning of the cylindrical object is completed, ultrasonic circumferential scanning information of the object is generated based on all ultrasonic reflection information of the object; Generate a circular scanning detection image of the object based on the ultrasonic circular scanning information of the object; The object scanning probe unit includes a single-element probe unit or a circular array probe that can be placed on a cylindrical object, wherein: The single-array probe unit includes a first single-array probe and a second single-array probe, and the first single-array probe and the second single-array probe are respectively located on two sides of the cylindrical object and correspond to each other; The single-element probe unit can move along the length direction of the cylindrical object, and the cylindrical object can rotate on the detection station, so as to use the single-element probe unit to perform a circumferential scan on the cylindrical object, so as to generate ultrasonic circumferential scanning information of the object after the circumferential scanning; A circular array probe comprises a plurality of evenly distributed probe array elements, wherein the probe array elements surround the cylindrical object; The circular array probe is configured to move along the length direction of the cylindrical object, so as to perform a circular scan on the cylindrical object using the circular array probe, so as to generate ultrasonic circular scanning information of the object after the circular scanning. 8. The method for detecting cylindrical objects based on images according to claim 7, characterized in that when the object scanning probe unit adopts a single-element probe unit, it also includes a probe alignment step, wherein the probe alignment step includes: Using a single-element probe unit to perform a transverse scan on a cylindrical object to generate transverse scanning alignment ultrasonic wave reflection information after scanning, wherein the transverse scanning alignment ultrasonic wave reflection information includes a plurality of transverse scanning alignment ultrasonic wave reflection signals; Calculate the PPV value of each transverse scanning alignment ultrasonic reflection signal, draw a transverse scanning PPV diagram based on all the calculated PPV values, and use the transverse scanning position of the transverse scanning PPV maximum value point on the drawn transverse scanning PPV diagram as the probe alignment position; Probe motion trajectory lines based on the probe alignment position are arranged on both sides of the cylindrical object, and the direction of the probe motion trajectory line is parallel to the length direction of the cylindrical object; The first single-array-element probe and the second single-array-element probe are respectively arranged on the probe motion trajectory, and the corresponding signal receiving and transmitting surfaces of the first single-array-element probe and the second single-array-element probe are aligned with the cylindrical object. 9. The method for detecting cylindrical objects based on images according to claim 7, wherein when the object scanning probe unit adopts a circular array probe, there are: At each probe scanning position, the probe array elements in the circular array probe are sequentially configured to form a first preset probe array element unit, and the first preset probe array element unit transmits an ultrasonic signal to the surface of the cylindrical object based on the configuration. After the first preset probe array element unit transmits an ultrasonic signal to the surface of the cylindrical object, the probe array element in the circular array probe is configured as a second preset probe array element unit, and the ultrasonic reflection signal is received based on the configured second preset probe array element unit, and the ultrasonic reflection information of the object is formed based on the received ultrasonic reflection signal; After performing ultrasonic circular scanning on the cylindrical object based on the configured first preset probe array element unit and the second preset probe array element unit, ultrasonic reflection information of all objects at the current probe scanning position is obtained.