在超声检测自动探伤过程中，探头可能和工件发生碰撞干涉。根据曲面工件和圆柱形探头碰撞干涉的特点，给出了一种分级碰撞干涉检测方法。首先利用包围盒算法和几何求交算法剔除大量被检对象分离的情况,然后将可能干涉的3维对象正投影到2维平面中，空间碰撞问题就转化为平面碰撞问题，只需计算投影图是否有重叠就可精确判断是否干涉。工程应用表明，该方法能满足超声检测机器人碰撞干涉检测的高效性和精确性要求，该方法也适用于装配和数控加工中复杂曲面和圆柱体之间的碰撞干涉快速检查。

Transducer and curved component may interfere during automatic ultrasonic inspection.Using the characteristics of collision interference between cylindrical transducers and curved components, a hierarchy method of collision interference detection was proposed. Firstly, algorithms of bounding box and geometric intersection were used to remove most cases where components were separated. Then triaxial components which may collide were projected onto diaxial plane. Finally, collision interferes were accurately identified according to orthographic projections overlap or not. The engineer application results showed that the method can meet the efficiency and accuracy requirements of the ultrasonic inspection. It can also be applied to the cases of assembly and NC machining, where needs rapid collision detection between cylinder and complex curved components.