针对交流电磁场检测（ACFM）技术在机器人自动化检测过程中对时空同步的需求，围绕工业机器人与ACFM协同检测方法展开系统研究，解决机器人与ACFM协同检测过程中位置与磁场信号同步提取方法、三维磁场特征信号成像、缺陷量化与定位方法等关键问题。搭建完整的一套机器人与ACFM协同检测试验系统并对系统进行测试。结果表明，时空同步协同检测系统能够实现试件表面缺陷检测成像显示和精准定位与量化，位置同步精度为0.5 mm，可提升ACFM自动化检测过程中的效率和精度。

Aiming at the requirements of space-time synchronization in the process of robot automatic detection based on ACFM technology, the collaborative detection method of industrial robot and ACFM was systematically studied. The key problems such as synchronous acquisition method of position and magnetic field signal, three-dimensional magnetic field characteristic signal imaging, defect quantification and location method in the process of cooperative detection of robot and ACFM were solved consequently. A complete set of robot and ACFM collaborative detection experimental system was developed and systematically tested. The results show that the experimental system of space-time synchronization can realize surface defect detection and imaging, precise positioning and quantification of surface defect in specimens. The location synchronization accuracy is 0.5 mm, which will promote the efficiency and accuracy of ACFM detection automation.