WO2025093046A1 - Ultrasonic inspection method and system - Google Patents

Abstract

An ultrasonic inspection method and system, which relate to the technical field of ultrasonic inspection. The ultrasonic inspection method comprises: marking a first area on a part entity, wherein the first area is an area which cannot be inspected by means of an automatic scanning device or an area that needs to be scanned in a second scanning mode, and the area that needs to be scanned in the second scanning mode covers the area which cannot be inspected by means of the automatic scanning device; and performing automatic scanning on an area of the part entity that can be inspected by means of automatic scanning, and scanning the first area in the second scanning mode, thereby completing the scanning inspection for the whole part entity. Therefore, when an existing automatic scanning area is limited, ultrasonic automatic inspection for an oversized part can be realized, it is not necessary to manually inspect the whole part, and it is also not necessary to customize a larger automatic scanning device, thereby reducing the costs and achieving high efficiency.

Description

Ultrasonic detection method and system Cross-references

This application claims priority to Chinese application No. 2023114598575, filed on November 3, 2023. The contents of the above application are incorporated herein by reference.

Technical Field

The present application relates to the field of ultrasonic detection technology, and in particular to an ultrasonic detection method and system.

Background Art

In order to detect quality problems such as delamination, debonding, inclusions and porosity inside the parts, the parts need to be scanned and inspected.

As shown in Figures 1 and 2, Figure 2 is the main view of Figure 1. The height of the 8m-level hyperbolic wall panel produced by the applicant is about 4m. The maximum detection range of the existing detection equipment in the Z direction is 3.6m. Since the upper and lower edges of the parts are both hyperbolic structures, in order to ensure that the nozzles on both sides are perpendicular to the surface of the parts, the equipment requires a certain amount of turning head space (the turning head is shown in the comparison of Figures ₃ and 4. The moving range of the shaded part in the figure is _z0 . Due to the different surface curvatures of different parts and the different turning angles of different parts, the detectable space z1 in Figure 3 is larger than the detectable space _z2 in Figure 4). For the hyperbolic wall panel in Figure 1, the actual detectable space is only about 3.2m (ZA is the upper limit of the effective detection space of the equipment, and ZB is the lower limit of the effective detection space of the equipment), which further illustrates the limitations of the existing detection equipment.

Due to project requirements, the part needs to be ultrasonically inspected to check for internal defects and provide guidance for process development. If outsourced testing is done, the cost is high, and there is currently no suitable supplier in the market that can perform this test. If new equipment is customized, the cost is too high and the cycle is too long.

If a portable ultrasonic flaw detector is used to manually inspect the entire part, the efficiency is too low and the reliability is poor. Therefore, how to realize the ultrasonic automatic penetration C-scan inspection of super-large hyperbolic wall panels under the existing conditions and how to use automated scanning equipment to perform ultrasonic inspection on oversized parts have become technical problems that must be solved.

Summary of the invention

The purpose of the present application is to provide an ultrasonic testing method and system to solve the technical problem of how to use automated scanning equipment to perform ultrasonic testing on oversized parts.

To achieve the above objectives, the embodiments of the present application adopt the following technical solutions.

In a first aspect, an embodiment of the present application provides an ultrasonic detection method for a situation where a part entity to be scanned cannot be completely placed in an area detectable by automated scanning, the ultrasonic detection method comprising:

Marking a first area on the part entity; the first area is an area that cannot be detected by the automated scanning device or an area that needs to be scanned by the second scanning method; the area that needs to be scanned by the second scanning method covers the area that cannot be detected by the automated scanning device;

Automatically scan the area that can be detected by automatic scanning of the part entity;

The first area is scanned in a second scanning manner.

Optionally, the step of marking the first area on the part entity includes:

Fixing the relative positions of the part digital model and the tooling digital model in the scanning detection software; the part digital model is the digital model of the part entity, and the tooling digital model is the digital model of the tooling entity;

Establishing an initial scanning digital model based on the part digital model and the initial estimated detectable space;

Performing path simulation planning for automated scanning based on the initial scan digital model;

According to the path simulation planning of the automated scanning, determining whether the initial scanning digital model needs to be adjusted;

If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model;

According to the final scanned digital model, the first area is marked on the part entity.

Optionally, the step of establishing an initial scanning digital model according to the part digital model and the initial estimated detectable space includes:

The part digital model is divided by the boundary of the initial estimated detectable space, and the initial scanning digital model is established according to the portion of the part digital model within the initial estimated detectable space.

Optionally:

(1) Before the step of marking the first area on the part entity according to the final scanned digital model, the ultrasonic testing method further includes:

Marking a physical reference point on the part entity;

Marking a digital model reference point on the digital model of the part;

The position of the entity reference point on the part entity is consistent with the position of the digital model reference point on the part digital model;

(2) According to the final scanned digital model, the step of marking the first area on the part entity comprises:

The part entity is clamped and fixed by a tooling entity so that the difference between the coordinate of the entity reference point relative to the tooling entity coordinate system and the coordinate of the digital model reference point relative to the tooling digital model coordinate system is less than a preset threshold; the tooling entity coordinate system corresponds to the tooling digital model coordinate system;

After the part entity is clamped and fixed by a tooling entity, the first area is marked on the part entity according to the final scanned digital model.

Optionally, the step of clamping and fixing the part entity with a tooling entity includes:

Initially clamping the part entity with a tooling entity to obtain the initial coordinates of the entity reference point in the initial clamping state relative to the tooling entity coordinate system;

According to the difference between the initial coordinates and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system, the clamping of the tooling entity on the part entity is adjusted so that the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system is less than a preset threshold.

Optionally, the number of the physical reference points is 3, and the number of the digital-analog reference points is 3.

Optionally, according to the path simulation planning of the automated scanning, the step of determining whether the initial scanning digital model needs to be adjusted includes:

Step A. If the area that can be scanned by the path simulation of the automated scanning is smaller than the initial scanning digital model, the boundary of the initial scanning digital model is reduced inward, and a reduced initial scanning digital model is obtained according to the new boundary;

The step A is executed repeatedly until the area that can be scanned by the path simulation of the automated scanning can contain the initial scanning digital model, and the initial scanning digital model at this time is used as the final scanning digital model.

Optionally, according to the path simulation planning of the automated scanning, the step of determining whether the initial scanning digital model needs to be adjusted includes:

Step B. If the area that can be scanned by the path simulation of the automated scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is expanded outward, and the increased initial scanning digital model is obtained according to the new boundary;

The step B is executed in a loop until the area that can be scanned by the path simulation of the automated scanning cannot contain the initial scanning digital model, and the initial scanning digital model in the last cycle of step B is used as the final scanning digital model.

Optionally, after marking the first area on the part entity according to the final scanned digital model and before automatically scanning the area detectable by the automated scanning of the part entity, the ultrasonic detection method further comprises:

Perform a dry run scan to verify that the nozzle spacing is correct during the scan.

In a second aspect, an embodiment of the present application provides an ultrasonic detection system for implementing the ultrasonic detection method of the first aspect, the ultrasonic detection system comprising:

A marking tool, used to mark the first area on the part entity; the first area is an area that cannot be detected by an automated scanning device or an area that needs to be scanned by a second scanning method;

Automated scanning equipment, used for automatically scanning the area detectable by automated scanning of the part entity;

The second scanning mode scanning device is used to scan the first area in the second scanning mode.

Compared with the prior art, this application has the following beneficial effects:

The ultrasonic detection method and device provided in the embodiment of the present application divides the part entity into two areas. One area is the area that can be scanned by the original automatic scanning, and the remaining area is completed by a method other than automatic scanning, so that the scanning and detection of the entire part entity can be completed. It is possible to realize ultrasonic automatic detection of oversized parts under the condition of limited existing automatic scanning area, without manually detecting the entire part, and without ordering larger automatic scanning equipment, which is cost-saving and efficient.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram showing that existing scanning equipment cannot scan the entire part;

Fig. 2 is a front view of Fig. 1;

Figures 3 and 4 are comparisons of the detectable areas of different parts;

FIG5 is a schematic diagram of an automated scanning of undetectable area boundaries and a second scanning method for scanning supplementary detection area boundaries provided in an embodiment of the present application.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described in the drawings here can be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

In the description of this application, it should be noted that relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium.

Under the condition of limited existing automated scanning area, it is impossible to realize ultrasonic automatic penetration C-scan inspection of oversized parts.

In order to overcome the above problems, an embodiment of the present application provides an ultrasonic detection method for the case where the part entity to be scanned cannot be completely placed in the area detectable by the automated scanning. The ultrasonic detection method includes the following steps (the present application does not limit the order of the steps, and any arrangement of the steps that conforms to the logical implementation is acceptable):

Mark the first area on the part entity (the first area can be an area that cannot be detected by the automated scanning device, or an area that needs to be scanned by the second scanning method; the area that needs to be scanned by the second scanning method covers the area that cannot be detected by the automated scanning device, and can be a larger area to ensure that the entire part entity is scanned; the second scanning method is a method independent of the automated scanning method to overcome the deficiency that the automated scanning device cannot scan the entire part);

Automatically scan the area detectable by automatic scanning of the part entity through automatic scanning equipment;

The first area is scanned using a second scanning method.

The first area and the area detectable by automated scanning are added together to cover the entire part entity, and the scanning and detection of the entire part entity can be completed. Automated scanning equipment can use automated detection/scanning such as penetration method, pulse reflection method or phased array technology. When analyzing the detection data, it can be displayed in C-scan mode, or it can be displayed in A-scan at a certain point, or a certain section can be selected and displayed in B-scan. The second scanning method can be one of the methods of manual A-scan, manual C-scan or manual phased array detection. Manual detection can be completed by technicians, robots or other automated equipment.

In one embodiment, this solution can realize ultrasonic automatic penetration C-scan inspection of oversized parts under the condition of limited existing automated scanning area. There is no need to manually inspect the entire part, nor to customize larger automated scanning equipment, which is cost-saving and efficient, which is the beneficial effect of this application.

For the step of "marking the first area on the part entity", the first area can be found by using the scanning detection software. You can refer to Figures 1 to 4. The curved surface represents the part entity to be scanned. In addition to the part, the part composed of blocks in the figure represents the tooling entity of the scanning equipment. In the scanning detection software, establish the part digital model and tooling digital model corresponding to the shape and size (digital model refers to the digital three-dimensional model in the software, which can be a point cloud form), and then implement it as follows:

Fix the relative position of the part digital model and the tooling digital model in the scanning and testing software (the part digital model is the digital model of the part entity, and the tooling digital model is the digital model of the tooling entity);

According to the part digital model and the initial estimated detectable space, an initial scanning digital model is established (for example, the part digital model is divided by the boundary of the initial estimated detectable space, just like framing a part of the part digital model, and the part of the part digital model within the initial estimated detectable space is used as the initial scanning digital model);

According to the initial scan digital model, the path simulation planning of the automated scan is carried out;

According to the path simulation planning of the automated scanning, determine whether the initial scan model needs to be adjusted (because the initial estimated detectable space may be inaccurate, resulting in some parts of the initial scan model not being scanned, so a smaller range is needed to frame the part model as the final scan model);

If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model;

Therefore, according to the final scanned digital model in the scanning and detection software, the first area can be marked on the part entity.

The following points should be noted in the step of "fixing the relative position of the part model and the tooling model in the scanning and inspection software":

(1) Relative to the position of the tooling digital model, there is an initial estimated detectable space. The "initial estimated detectable space" can be a predefined space, such as the 3200mm high space between planes ZA and ZB in Figure 1, but it is not a real detectable space; the real detectable space can be larger or smaller than the "initial estimated detectable space". That is, the predefined space can be (a) significantly larger than the real detectable space, or (b) significantly smaller than the real detectable space. The simplest way is to directly use the maximum detectable space (i.e., z ₀ in Figure 3) as the "initial estimated detectable space".

(2) Place as much of the part model as possible into the "initial estimated detectable space" so that as many parts as possible can be scanned automatically in the future. However, it is not necessary to take the most ideal position. "As much as possible" is the preferred method. For example, in the most ideal case, 90% of the part can be placed into the initial estimated detectable space. In actual implementation, 80% is sufficient, but if only 50% is placed, it is not favorable.

Corresponding to the above two implementation modes (a) and (b), there are also two steps of "determining whether it is necessary to adjust the initial scanning digital model according to the path simulation planning of the automated scanning":

(a) Step A. If the area that can be scanned by the path simulation of the automated scan is smaller than the initial scan digital model, the boundary of the initial scan digital model is reduced inward, and the reduced initial scan digital model is obtained according to the new boundary;

Step A is executed repeatedly until the area that can be scanned by the path simulation of the automated scan can contain the initial scan digital model, and the initial scan digital model at this time is used as the final scan digital model.

(b) Step B. If the area that can be scanned by the path simulation of the automated scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is expanded outward, and the increased initial scanning digital model is obtained according to the new boundary;

Step B is executed repeatedly until the area that can be scanned by the path simulation of the automated scan cannot contain the initial scan digital model, and the initial scan digital model in the last cycle of step B is used as the final scan digital model.

After obtaining the final scanned digital model, it is determined that this part of the part can be scanned and inspected, and the boundary can be annotated on the part entity. The annotated boundary can be the same boundary corresponding to the boundary of the final scanned digital model, or it can be slightly larger than the boundary of the final scanned digital model, so as to ensure that the second scanning method can cover the area that cannot be scanned automatically.

In order to ensure that the "relative position relationship between the part entity and the tooling entity" is consistent with the "relative position relationship between the part digital model and the tooling digital model", the reference point can be marked on the part and the coordinates of the reference point relative to the tooling coordinate system can be determined as follows:

Mark the entity reference point on the part entity, and mark the digital model reference point on the part digital model. The position of the entity reference point on the part entity is consistent with the position of the digital model reference point on the part digital model. The number of reference points can be selected as 3, and 3 reference points can accurately locate a part with a complex surface.

When the tooling entity is used to clamp and fix the part entity, the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital model reference point relative to the tooling digital model coordinate system is less than a preset threshold (for example, 5mm); the tooling entity coordinate system corresponds to the tooling digital model coordinate system; after the tooling entity is used to clamp and fix the part entity, the first area is marked on the part entity according to the final scanned digital model.

The use of tooling to clamp and fix the part entity is not necessarily completed in one clamping. It may be an initial clamping first, then adjusting the position, and finally clamping and fixing. The process can be as follows:

Use the tooling entity to initially clamp the part entity, and obtain the initial coordinates of the entity reference point in the initial clamping state relative to the tooling entity coordinate system;

According to the difference between the initial coordinates and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system, the clamping of the tooling entity to the part entity is adjusted so that the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system is less than a preset threshold.

After clamping is completed, in order to ensure accurate positioning, you can first perform a dry run scan to confirm that the nozzle spacing is normal during the scanning process. After confirming that the nozzle spacing is normal during the scanning process, perform automated scanning.

Based on the above optional implementation methods, a complete optional process is as follows:

Fix the relative positions of the part digital model and the tooling digital model in the scanning and testing software, and put as much of the part digital model as possible into the "initial estimated detectable space";

The part digital model is divided by the boundary of the initial estimated detectable space, and the initial scanning digital model is established according to the part of the part digital model within the initial estimated detectable space;

Mark the physical reference point on the part entity within the estimated detectable space, and take the digital model reference point on the part digital model within the estimated detectable space. The physical reference point and the digital model reference point are one-to-one corresponding reference points, and the digital model reference point is also located within the range of the initial scan digital model (the size of this part is too large. If the corner point at the edge is selected as the digital model reference point, the equipment cannot move the probe to the physical reference point position of the corresponding part entity for coordinate acquisition. Therefore, the digital model reference point needs to be selected and set in the position within the space that the equipment probe can reach in order to achieve part positioning and detection; on the other hand, 3 points with as large a distance as possible can be taken as reference points, so that the actual position of the part can be represented to the greatest extent; for example, the starting point, end point, and vertex can be selected as the three reference points in the following way: select a point with a smaller X-axis value and a lower Z-axis value as the starting point, select a point with a larger X-axis value and a lower Z-axis value as the end point, and select a point with an X-axis value between the starting point and the end point and a higher Z-axis value as the vertex);

According to the initial scan digital model, the path simulation planning of the automated scan is carried out;

According to the path simulation planning of the automated scanning, determine whether the initial scanning digital model needs to be adjusted;

If yes, the initial scan digital model is adjusted to obtain the final scan digital model; if no, the initial scan digital model is used as the final scan digital model;

Before clamping the part entity, mark the first area on the part entity according to the boundary of the final scanned digital model;

Clamp the parts physically, that is, fix the parts, then collect and locate the coordinates of the physical reference points through the point probe, and adjust the posture of the parts appropriately according to the deviation between the physical reference points and the digital model reference points;

After confirming that the deviation between the physical reference point and the digital model reference point is acceptable, perform dry run scanning with a larger nozzle distance from the physical surface of the part and a larger step to confirm that the distance between the nozzle and the physical surface of the part is acceptable during the scanning process and that no collision occurs.

Set the inspection parameters, including scanning speed, water spray flow rate, set distance and stepping distance from the part solid surface with a normal nozzle, and then complete the automated scanning according to the inspection parameters;

For the parts outside the detectable area of the automated scan, follow the marked position and expand at least 50mm to perform manual pulse reflection method A-scan detection, and finally achieve 100% detection of the part, as shown in Figure 5. The single arrow indicates the boundary of the area that cannot be detected by the automated scan, and the double arrow mark indicates the boundary of the A-scan supplementary detection area.

Based on the above embodiment, the embodiment of the present application further provides an ultrasonic detection system for implementing the above ultrasonic detection method. The ultrasonic detection system includes:

A marking tool is used to mark a first area on the part entity; the first area is an area that cannot be detected by automated scanning equipment or an area that needs to be scanned by a second scanning method; the marking tool can be a ruler or a marker, with a ruler used for measurement and a marker used for manual marking; or a dedicated device such as a laser projection device can be used to project the contour line and mark the part surface according to the projection line.

Automated scanning equipment, used for automatically scanning the area detectable by automated scanning of the part entity;

The second scanning mode scanning device is used to scan the first area in the second scanning mode.

In general, this application proposes an ultrasonic detection method and system. Under equipment constraints, the application of the embodiments of this application can realize ultrasonic automated penetration C-scan detection of most areas of 8m-level large-size hyperbolic wall panel parts, saving the company's outsourcing detection and equipment modification/purchase costs, improving detection efficiency, and ensuring detection quality.

The above-described device and system embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. A person skilled in the art may understand and implement the present embodiment without creative effort.

The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (10)

An ultrasonic detection method, characterized in that it is used in the case where the part entity to be scanned cannot be completely placed in the area detectable by automated scanning, and the ultrasonic detection method comprises: Marking a first area on the part entity; the first area is an area that cannot be detected by the automated scanning device or an area that needs to be scanned by the second scanning method; the area that needs to be scanned by the second scanning method covers the area that cannot be detected by the automated scanning device; Automatically scan the area that can be detected by automatic scanning of the part entity; The first area is scanned in a second scanning manner. The scanning detection method according to claim 1, characterized in that the step of marking the first area on the part entity comprises: Fixing the relative positions of the part digital model and the tooling digital model in the scanning detection software; the part digital model is the digital model of the part entity, and the tooling digital model is the digital model of the tooling entity; Establishing an initial scanning digital model based on the part digital model and the initial estimated detectable space; Performing path simulation planning for automated scanning based on the initial scan digital model; According to the path simulation planning of the automated scanning, determining whether the initial scanning digital model needs to be adjusted; If yes, the initial scan digital model is adjusted to obtain the final scan digital model ; if no, the initial scan digital model is used as the final scan digital model; According to the final scanned digital model, the first area is marked on the part entity. The ultrasonic detection method according to claim 2, characterized in that the step of establishing an initial scanning digital model according to the part digital model and the initial estimated detectable space comprises: The part digital model is divided by the boundary of the initial estimated detectable space, and the initial scanning digital model is established according to the portion of the part digital model within the initial estimated detectable space. The ultrasonic detection method according to claim 2, characterized in that: Before the step of marking the first area on the part entity according to the final scanned digital model, the ultrasonic testing method further includes: Marking a physical reference point on the part entity; Marking a digital model reference point on the digital model of the part; The position of the entity reference point on the part entity is consistent with the position of the digital model reference point on the part digital model; According to the final scanned digital model, the step of marking the first area on the part entity includes: The part entity is clamped and fixed by a tooling entity so that the difference between the coordinate of the entity reference point relative to the tooling entity coordinate system and the coordinate of the digital model reference point relative to the tooling digital model coordinate system is less than a preset threshold; the tooling entity coordinate system corresponds to the tooling digital model coordinate system; After the part entity is clamped and fixed by a tooling entity, the first area is marked on the part entity according to the final scanned digital model. The ultrasonic testing method according to claim 4, characterized in that the step of clamping and fixing the part entity with a tooling entity comprises: Initially clamping the part entity with a tooling entity to obtain the initial coordinates of the entity reference point in the initial clamping state relative to the tooling entity coordinate system; According to the difference between the initial coordinates and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system, the clamping of the tooling entity on the part entity is adjusted so that the difference between the coordinates of the entity reference point relative to the tooling entity coordinate system and the coordinates of the digital-analog reference point relative to the tooling digital-analog coordinate system is less than a preset threshold. The ultrasonic detection method according to claim 4 is characterized in that the number of the physical reference points is 3 and the number of the digital-analog reference points is 3. The ultrasonic detection method according to claim 2, characterized in that the step of judging whether the initial scanning digital model needs to be adjusted according to the path simulation planning of the automated scanning comprises: Step A. If the area that can be scanned by the path simulation of the automated scanning is smaller than the initial scanning digital model, the boundary of the initial scanning digital model is reduced inward, and a reduced initial scanning digital model is obtained according to the new boundary; The step A is executed repeatedly until the area that can be scanned by the path simulation of the automated scanning can contain the initial scanning digital model, and the initial scanning digital model at this time is used as the final scanning digital model. The ultrasonic detection method according to claim 2, characterized in that the step of judging whether the initial scanning digital model needs to be adjusted according to the path simulation planning of the automated scanning comprises: Step B. If the area that can be scanned by the path simulation of the automated scanning is larger than the initial scanning digital model, the boundary of the initial scanning digital model is expanded outward, and the increased initial scanning digital model is obtained according to the new boundary; The step B is executed in a loop until the area that can be scanned by the path simulation of the automated scanning cannot contain the initial scanning digital model, and the initial scanning digital model in the last cycle of step B is used as the final scanning digital model. The ultrasonic detection method according to claim 2, characterized in that, after marking the first area on the part entity according to the final scan digital model and before automatically scanning the area detectable by the automated scanning of the part entity, the ultrasonic detection method further comprises: Perform a dry run scan to ensure that the nozzle is at the correct distance from the solid surface of the part during the scan. An ultrasonic detection system, characterized in that it is used to implement the ultrasonic detection method according to any one of claims 1 to 9, and the ultrasonic detection system comprises: A marking tool, used to mark the first area on the part entity; the first area is an area that cannot be detected by an automated scanning device or an area that needs to be scanned by a second scanning method; Automated scanning equipment, used for automatically scanning the area detectable by automated scanning of the part entity; The second scanning mode scanning device is used to scan the first area in the second scanning mode.