Detection module, detection device, digital detection system and detection method

Abstract

The invention relates to a detection module, a detection device, a digital detection system and a detection method. The detection module comprises a scanning unit, the scanning unit is arranged to perform three-dimensional scanning on a detected surface, the scanning unit comprises a laser projection device and a laser receiving device, the laser projection device comprises a laser source and an MEMS micro scanning mirror, and the laser receiving device is arranged to receive laser returned from the detected surface to obtain a laser image of the detected surface; and the processor is arranged to receive the laser image and process the laser image so as to detect defects on the detected surface. The scanning unit further comprises an RGB image sensor to acquire an RGB image of the measured surface, and the processor is further arranged to detect a defect on the measured surface from the acquired RGB image and based on the laser image and the RGB image. According to the invention, the detection precision of the detection module can be improved while the miniaturization of the detection module is realized.

Description

Technical Field

[0001] The present invention relates to the field of detection and measurement, and more specifically, to a detection module, a detection device, a digital detection system and a detection method. Background Art

[0002] The contents in this section merely provide background information related to the present invention and may not constitute prior art.

[0003] Three-dimensional scanning and digitization technology can realize the three-dimensional reconstruction of the object contour and has been widely used in the fields of industrial design, reverse engineering, detection and measurement. For example, in the maintenance and overhaul process of aircraft, the measurement technology based on three-dimensional scanning can be used for the contour detection, surface damage detection and measurement of aircraft. At present, among the measurement technologies based on three-dimensional scanning, there are mainly detection schemes based on structured light binocular vision, detection schemes based on VCSEL light source (vertical cavity surface reflection laser) and SPAD detector (single photon avalanche detector), and detection schemes based on MEMS (micro-electromechanical system). The detection scheme based on structured light binocular vision is usually large in size, bulky, limited in working distance, and not suitable for outdoor environments. The detection scheme based on VCSEL light source and SPAD detector is relatively light, but the detection scheme relies on dTOF (direct time of flight) technology, and its measurement accuracy can only reach about centimeter level. The scheme based on MEMS has the advantages of strong environmental adaptability, miniaturization, low cost, etc., and is widely used in three-dimensional scanning. However, in the existing MEMS-based detection scheme, its measurement accuracy needs to be further improved. Summary of the invention

[0004] An object of the present invention is to improve the detection accuracy while realizing the miniaturization of the three-dimensional detection device, so as to detect tiny defects or damages on the surface to be detected.

[0005] One aspect of the present invention is to provide a detection module. The detection module includes: a scanning unit, the scanning unit is configured to perform three-dimensional scanning on the surface to be measured, the scanning unit includes a laser projection device and a laser receiving device, the laser projection device includes a laser source and a MEMS micro-scanning mirror, the laser source is configured to emit laser light, the MEMS micro-scanning mirror is configured to reflect the laser light emitted by the laser source to the surface to be measured, and the laser receiving device is configured to receive the laser light returned from the surface to be measured to obtain a laser image of the surface to be measured; and a processor, the processor is configured to receive the laser image and process it to detect defects on the surface to be measured. The scanning unit also includes an RGB image sensor, the RGB image sensor is configured to obtain an RGB image of the surface to be measured, and the processor is also configured to obtain the RGB image, and detect defects on the surface to be measured based on the laser image and the RGB image.

[0006] The processor is also configured to: acquire point cloud data from the laser image; and detect defects on the measured surface based on the acquired point cloud data and the RGB image, and determine the three-dimensional coordinates of the defects.

[0007] The processor is further configured to determine the type and size of the defect based on the three-dimensional coordinates of the defect and generate a detection report.

[0008] In one embodiment, the laser projection device further comprises an optical element, which is disposed between the laser source and the MEMS micro-scanning mirror, and the laser emitted from the laser source is incident on the MEMS micro-scanning mirror via the optical element, wherein the optical element comprises a collimating mirror.

[0009] In one embodiment, the laser receiving device includes a first laser receiver and a second laser receiver.

[0010] The processor also includes an external interface, and the external interface is configured to connect the detection module to an external device. The external device includes at least one of the following devices: an instruction input device; a terminal operation device; and a display device.

[0011] In one embodiment, the detection module also includes at least one of the following devices: a pattern projection device, which is connected to the processor and is configured to project a predetermined laser pattern toward an area where defects are located based on defects on the measured surface detected by the processor; a fill light device, which is configured to selectively illuminate the measured surface; and a display unit, which is connected to the processor and is configured to display the detection results of the measured surface.

[0012] Another aspect of the present invention is to provide a detection device, which includes the detection module according to the present invention.

[0013] In one embodiment, the detection device further includes a shell, the shell includes a shell body, and the detection module is accommodated in the shell body.

[0014] In one embodiment, the housing further comprises a bracket portion extending from the housing body, the bracket portion being adapted to abut against the measured surface.

[0015] In one embodiment, the detection device is a handheld detection device. Alternatively, the detection device is a detection robot, and the detection module is clamped by a mechanical arm of the detection robot.

[0016] Another aspect of the present invention is to provide a digital detection system. The digital detection system includes a cloud platform and an application terminal. The digital detection system also includes a detection device according to the present invention, and the detection device communicates with the cloud platform and the application terminal.

[0017] In one embodiment, the digital inspection system automatically generates a maintenance report based on the inspection results of the inspection device and the digital model data of the inspected object on the cloud platform for use by the application terminal.

[0018] Another aspect of the present invention is to provide a detection method. The detection method includes: emitting laser light toward a surface to be detected, wherein the laser light is emitted from a laser source and reflected to the surface to be detected by a MEMS micro-scanning mirror; receiving the laser light reflected from the surface to be detected by a laser receiving device to obtain a laser image of the surface to be detected; and detecting defects on the surface to be detected. The detection method also includes obtaining an RGB image of the surface to be detected, and based on the laser image and the RGB image, detecting defects on the surface to be detected, and determining three-dimensional information of the defects.

[0019] In one embodiment, the detection method further includes: projecting a predetermined laser pattern toward the surface to be detected based on the three-dimensional information of the defect, so as to highlight the area where the defect is located.

[0020] The present invention provides an improved detection module, detection device, digital detection system and detection method. The present invention can improve the scanning accuracy of the detection module while realizing the miniaturization of the detection module by setting a MEMS-based scanning unit and setting both a laser receiver and an RGB image sensor, can detect tiny defects on the surface to be tested, and can improve the detection efficiency, which is conducive to improving the operability of standardized detection. In addition, the detection module, detection device, digital detection system and detection method according to the present invention can also project a predetermined laser pattern toward the surface to be tested based on the three-dimensional data of the detected defects, so as to facilitate the identification of the area where the defects on the surface to be tested are located on the display terminal. In addition, the detection device according to the present invention can communicate with a cloud platform and an application terminal, and can automatically generate a maintenance report in combination with the digital model (DMU) data of the object to be tested for use by the application terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Embodiments of the present invention will be described below by way of example only with reference to the accompanying drawings. In the accompanying drawings, the same features or components are indicated by the same reference numerals, and the drawings are not necessarily drawn to scale, and in the accompanying drawings:

[0022] Figure 1 shows a schematic structural block diagram of a detection module according to the present invention;

[0023] Figure 2 Shows Figure 1 A schematic diagram of the detection module performing detection shown in ;

[0024] Figure 3 A flow chart showing a detection method executed by a processor of a detection module;

[0025] Figure 4 Shows Figure 3 A flowchart of the defect measurement steps in the inspection method shown in ;

[0026] Figure 5 An example of a detection device according to the present invention is shown;

[0027] Figure 6 Another example of a detection device according to the present invention is shown;

[0028] Figure 7 Another example of the detection device according to the present invention is shown;

[0029] Figure 8 Another example of the detection device according to the present invention is shown; and

[0030] Fig. 9 A schematic block diagram of a digital detection system according to the present invention is shown. DETAILED DESCRIPTION

[0031] The following description is merely exemplary in nature and is not intended to limit the present invention and its application and use. It should be understood that in all of these drawings, similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present invention, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present invention. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present invention.

[0032] Figure 1 FIG. 1 shows a schematic block diagram of a detection module 1 according to an embodiment of the present invention. Figure 1 As shown, the detection module 1 includes a scanning unit 10 , a processor 20 , a fill light device 30 , a pattern projection device 40 and a display unit 50 .

[0033] The scanning unit 10 is configured to perform a three-dimensional scan on a measured surface of the measured object (for example, the outer surface of the fuselage of an aircraft, the cargo door of an aircraft). The scanning unit 10 includes a laser projection device 11, a laser receiving device 12, and an RGB image sensor 13. The laser projection device 11 is configured to project a laser onto the measured surface of the measured object. The laser projection device 11 includes a laser source 111, an optical element 112, and a MEMS micro-scanning mirror 113. The laser source 111 is used to emit a laser, for example, an infrared laser with a wavelength range of 0.7 μm to 1 mm. In one embodiment, the laser source 111 uses a laser diode. The laser emitted from the laser source 111 is reflected by the reflective mirror surface of the MEMS micro-scanning mirror 113 to the measured surface of the measured object.

[0034] The optical element 112 is disposed between the laser source 111 and the MEMS micro-scanning mirror 113, and the laser light emitted from the laser source 111 is incident on the reflective mirror surface of the MEMS micro-scanning mirror 112 through the optical element 112. The light source element 112 is configured to perform optical processing such as collimation and amplification on the laser light emitted from the laser source 111, so that the laser light emitted from the laser source 111 becomes a line light spot. The optical element 112 includes a collimator 1121 and a cylindrical mirror 1122. The laser light emitted from the laser source 111 is collimated by the collimator 1121, amplified by the cylindrical mirror 1122, and expanded into a line light spot with a specific divergence angle.

[0035] The MEMS micro-scanning mirror 113 is arranged close to the optical element 112 so that the laser emitted from the optical element 112 is completely within the reflection range of the reflector of the MEMS micro-scanning mirror 113, so as to reflect the laser processed by the optical element 112 to the surface to be measured, forming a long strip of light spot. During the scanning process, the reflection surface of the MEMS micro-scanning mirror 113 rotates around its rotation axis, and the rotation axis of the MEMS micro-scanning mirror 113 is consistent with the extension direction of the line light spot of the laser emitted from the optical element 112. As the MEMS micro-scanning mirror 113 rotates, the long strip of light spot reflected by the MEMS micro-scanning mirror 113 is arranged in a direction perpendicular to the rotation axis of the MEMS micro-scanning mirror 113 to realize laser scanning of the surface to be measured. The MEMS micro-scanning mirror 113 can be a single-axis micro-scanning mirror or a dual-axis micro-scanning mirror. Compared with the traditional mechanical rotary laser scanning device, by setting the MEMS micro-scanning mirror 113 in the laser projection device 11, the size of the laser projection device 11 is smaller, which is conducive to the miniaturization of the detection module.

[0036] The laser receiver 12 is configured to receive the laser reflected from the measured surface and obtain a laser image of the measured surface. The laser receiver 12 includes a first laser receiver 121 and a second laser receiver 122, which are symmetrically arranged relative to the laser projection device 11 to receive the laser reflected from the measured surface on both sides of the laser projection device 11 and obtain a laser image of the measured surface. The first laser receiver 121 and the second laser receiver 122 may use CMOS image sensors.

[0037] The RGB image sensor 13 is configured to acquire an RGB image of the measured surface.

[0038] The processor 20 includes a memory 21, a measurement and analysis unit 22, a control unit 23, and an external interface 24. The processor 20 can be implemented as an ARM embedded platform. The memory 21 can store data (e.g., laser image data, RGB image data, scanning angle data of the MEMS micro-scanning mirror, etc.) acquired from the scanning unit 10 during the scanning detection process and the detection results. The measurement and analysis unit 22 is configured to process the laser image of the measured surface acquired by the laser receiver 12 and the RGB image of the measured surface acquired by the RGB image sensor 13 to determine whether there are defects (e.g., dents, scratches or other wear, etc.) on the measured surface, and determine the three-dimensional information of the detected defects.

[0039] The control unit 23 is configured to communicate with the scanning unit 10, the fill light device 30, the pattern projection device 40 and the display unit 50 and perform corresponding control. For example, the control unit 23 can control the laser emission of the laser source 111, the rotation of the MEMS micro-scanning mirror 113, control the start and stop of the fill light device 30 and the pattern projection device 40, control the display content of the display unit 50, etc.

[0040] The external interface 24 can be connected to an external device to achieve communication between the detection module 1 and the external device. For example, the external device may include a command input device (eg, a keyboard or a switch), a terminal operation device (eg, a console of a detection center), a display device, etc.

[0041] The fill light device 30 is connected to the processor 20 and is configured to selectively illuminate the measured surface to make the image of the measured surface clear, which is beneficial to improve the processing accuracy of the processor 20, thereby improving the detection accuracy of the detection module 1. The fill light device 30 can be implemented as a separate device, or can also be combined with the laser receiver 12.

[0042] The pattern projection device 40 is connected to the processor 20 and is configured to project a predetermined laser pattern toward the area where the detected defect is located according to the three-dimensional information of the defect on the measured surface determined by the processor 20, so as to highlight the area where the defect is located, thereby facilitating the inspection personnel to identify the defect on the display unit 50 or an external display device. For example, the pattern projection device 40 can project a corresponding laser pattern to the location of the defect according to the type of the detected defect, so as to highlight the area where the detected defect is located. In one example, when the defect existing on the measured surface is detected as a depression, the pattern projection device 40 projects a circular laser pattern onto the measured surface, circles the detected depression, and highlights the area where the defect is located; when the defect on the measured surface is detected as a scratch, the pattern projection device 40 projects a triangular laser pattern onto the measured surface, circles the detected depression, and highlights the area where the defect is located. The laser pattern projected by the pattern projection device 40 is not limited to a circle or a triangle, but can be set to other suitable patterns as needed, such as a star, a rectangle, etc.

[0043] The display unit 50 is configured to display the detection information (e.g., detection results) of the detection module 1. Preferably, the display unit 50 can be configured as a display unit with an interactive function, so that the working parameters of the detection module 1 can be set by operating the display unit 50, for example, the exposure time of the laser receiver 12 and / or the RGB image sensor 13, the zoom of the view displayed by the display unit 50, etc.

[0044] Figure 2 FIG. 1 shows a schematic diagram of the detection module 1 performing detection. Figure 2 In FIG. 1 , the travel of light is schematically shown by a dashed line with an arrow.

[0045] like Figure 2As shown, when the detection module 1 is used to detect the surface of the object M to be detected (for example, the fuselage or cargo door of an aircraft), the laser source 111 of the scanning unit 10 emits an infrared laser. The infrared laser emitted by the laser source 111 is incident on the optical element 112, collimated by the collimator 1121, and magnified by the cylindrical mirror 1122 into a line light spot with a specific divergence angle extending along the X-axis direction. Correspondingly, the rotation axis of the MEMS micro-scanning mirror 113 is also arranged along the X-axis direction. The line light spot emitted from the optical element 112 is reflected by the MEMS micro-scanning mirror 113 onto the surface of the object M to be detected, forming a long strip light spot. During the scanning process, as the MEMS micro-scanning mirror 113 rotates, the long strip light spot reflected by the MEMS micro-scanning mirror 113 onto the surface of the object M to be detected is arranged along the Y-axis direction, and is reflected from the surface to be detected to the first laser receiver 121 and the second laser receiver 122, respectively, thereby realizing laser scanning of the surface of the object M to be detected. Here, the surface of the measured surface of the measured object M is generally defined by the X-axis and the Y-axis, the X-axis direction and the Y-axis direction are respectively the two-dimensional directions of the measured surface of the measured object M, and the direction perpendicular to the measured surface of the measured object M is the Z-axis direction. During the detection process, the scanning unit 10 sends scanning parameters to the processor 20 in real time, such as the pulse emission time of the laser source 111, the scanning angle of the MEMS micro-scanning mirror 113, the exposure time of the first laser receiver 121 and the second laser receiver 122, the exposure time of the RGB image sensor 13, etc., so as to facilitate phase solution and coordinate calibration when processing the acquired laser image and RGB image.

[0046] The first laser receiver 121 and the second laser receiver 122 respectively receive the laser reflected from the measured surface of the measured object M to obtain the laser pattern of the measured surface of the measured object M. In addition, the RGB image sensor 13 obtains the RGB image of the measured surface of the measured object M. Preferably, a filter can be provided in front of the RGB image sensor 13 to filter out the laser reflected from the measured surface of the measured object, so as to avoid the interference of the laser on the RGB image obtained by the RGB image sensor 13. During the scanning process, the fill light device 30 selectively illuminates the measured surface of the measured object M to improve the quality of the laser image obtained by the first laser receiver 121 and the second laser receiver 122, and improve the quality of the RGB image obtained by the RGB image sensor 13, which is conducive to improving the measurement accuracy.

[0047] The laser images obtained by the first laser receiver 121 and the second laser receiver 122 and the RGB images obtained by the RGB image sensor 13 are sent to the processor 20. The measurement and analysis unit 22 of the processor 20 processes the obtained laser images and RGB images to determine whether there are defects on the measured surface, the type of defects, and the three-dimensional coordinates of the defects. According to the processing results of the processor 20, the control unit 23 of the processor 20 controls the display unit 50 to display the detection results on the display unit 50. In addition, according to the determined defect type, the control unit 23 of the processor 20 controls the pattern projection device 40 to project the corresponding laser pattern onto the measured surface, surround the detected defects, and highlight the area where the defects are located, so as to distinguish the detected defects on the display unit 50 or the terminal operating device connected to the detection module 1.

[0048] Figure 3 The flowchart of the detection method executed by the measurement and analysis unit 22 of the processor 20 is schematically shown. Figure 3 As shown, in step S1, the measurement and analysis unit 22 receives the laser image of the measured surface from the first laser receiver 121 and the second laser receiver 122, and obtains laser point cloud data. At the same time, the laser images obtained by the first laser receiver 121 and the second laser receiver 122 have the same Y coordinate. In step S2, the measurement and analysis unit 22 obtains the RGB image of the measured surface of the measured object M from the RGB image sensor 13. The RGB image has high resolution and can be used to enhance the accuracy of the X coordinate and Y coordinate of the detected measured surface, thereby improving the accuracy of the Z coordinate of the detected measured surface.

[0049] Next, in step S3, the acquired laser point cloud data and RGB image are registered to obtain a point cloud model of the measured surface. In step S4, point cloud clustering is performed to extract and classify features in the point cloud data. In step S5, surface fitting is performed based on the point cloud clustering to fit the surface model of the point cloud data. Based on the fitting results, defect measurement is performed in step S6.

[0050] Figure 4 Schematically shows Figure 3 The defect measurement steps are shown in the flowchart. Figure 4As shown, in step S61, based on the above processing of the laser images acquired by the first laser receiver 121 and the second laser receiver 122 and the RGB image acquired by the RGB image sensor 13, the measurement and analysis unit 22 of the processor 20 performs 3D reconstruction of the measured surface. Then, in step S62, the type of the detected defect is analyzed, the 3D information of the defect is identified, and the size of the defect is determined. According to the type of the identified defect, in step S63, the control unit 23 of the processor 20 controls the pattern projection device 40 to project a laser pattern to the location of the defect to highlight the identified defect area. In step S64, the measurement and analysis unit 22 stores the 3D information of the identified defect and the image with the laser pattern in the memory 21. In step S65, the measurement and analysis unit 22 generates a detection report of this scanning detection according to the above processing results, including the type of the detected defect, the three-dimensional coordinates of the location of the defect, and the size of the defect.

[0051] The above shows the structure of the detection module 1 according to the present invention and the flowchart of the detection method performed. In the detection module 1 according to the present invention, in addition to setting the first laser receiver 121 and the second laser receiver 122 to obtain the laser image of the measured surface, an RGB image sensor 13 is also set to obtain the RGB image of the measured surface. The obtained RGB image can be used to enhance the accuracy of the X coordinate and Y coordinate of the measured surface detected during the scanning detection process, improve the accuracy of the Z coordinate of the measured surface, and improve the accuracy of the positioning and reconstruction of the defects, thereby improving the detection accuracy of the detection module 1. As a result, the detection module 1 can identify tiny defects on the measured surface of the measured object M and can accurately measure the defects. The detection module 1 can detect defects as small as 50 microns.

[0052] In the structure of the detection module 1 shown above, the detection module 1 includes a pattern projection device 40 to project a laser pattern to the defect location. However, the present invention is not limited to this. In other examples according to the present invention, the detection module may not be provided with a pattern projection device, and the above-mentioned beneficial effect of improving the detection accuracy of the detection module can still be achieved. In other examples according to the present invention, the detection module 1 may not be provided with a fill light device 30 and / or a display unit 50.

[0053] In the example shown in the figure, the laser projection device 11 includes an optical element 112. However, the present invention is not limited thereto. In other examples according to the present invention, the laser projection device 11 may not be provided with the optical element 112. In the example shown in the figure, the optical element 112 includes a collimator lens 1121 and a cylindrical lens 1122. However, the present invention is not limited thereto. In other examples according to the present invention, the optical element 112 may be provided with only the collimator lens 1121, or the optical element 112 may also be provided with other optical devices.

[0054] The detection device according to the present invention may include the detection module 1 described above.

[0055] Figure 5 An example of a detection device according to the present invention is shown. Figure 5 The detection device 100A shown in the figure includes the aforementioned detection module 1. In addition, the detection device 100A also includes a housing 60. The detection device 100A is implemented as a handheld detection device. The housing 60 includes a housing body 61 and a handheld portion 62. The main housing 61 is used to accommodate the scanning unit, the fill light device, the pattern projection device and the display unit of the detection module 1 of the handheld detection device 100A. Figure 5 In the figure, only the laser projection device 11, the first laser receiver 121, the second laser receiver 122, the RGB image sensor 13, the processor 20, the fill light device 30, and the display unit 50 of the scanning unit 10 are schematically shown. The handheld portion 62 is for the user to grasp, and the battery of the detection module 1 can be accommodated therein. In addition, a switch 63 is provided on the housing 60, and the switch 63 can be connected to the control unit 23 of the processor 20. The detection of the detection module 1 can be started or stopped by operating the switch 63.

[0056] Figure 6 Another example of a detection device according to the present invention is shown. Figure 6 The detection device 100B shown in FIG. 1 includes the detection module 1 described above. In addition, the detection device 100B also includes a housing 80. Figure 6 As shown in FIG. 1 , the housing 80 includes a housing body 81, a handheld portion 82, a display screen 83, and a bracket portion 84. The detection module 1 of the detection device 100B is accommodated in the housing body 81 and Figure 6It is not visible in the figure, the light outlet of the laser projection device 11 and the incident ends of the first laser receiver 121, the second laser receiver 122 and the RGB image sensor 13 are all facing the bracket portion 84. The display screen 83 is connected to the external interface 24 of the detection module 1. The detection device 100B forms a handheld detection device. During the detection, the user can grasp the handheld portion 82 and make the bracket portion 84 face the object M to be measured. During the measurement process, the bracket portion 84 can be against the measured surface of the object M to be measured so as to stably maintain the detection module 1 for detection, so as to avoid affecting the detection result due to the shaking when the user holds the detection device 100B.

[0057] Figure 7 Another example of a detection device according to the present invention is shown. Figure 7 The detection device 100C shown in FIG. 1 includes the aforementioned detection module 1. Moreover, on this basis, the detection device 100C further includes a housing body 70, which is configured to compactly accommodate the detection module 1 in the housing body 70. Figure 7 In the figure, only the laser projection device 11, the first laser receiver 121, the second laser receiver 122 and the RGB image sensor 13 of the detection device 100C are shown. The external interface 24 of the processor 20 of the detection module 1 of the detection device 100C can be connected to an external device via a connection line L.

[0058] The detection device 100C can be implemented as a handheld detection device. The detection personnel can hold the shell body 70 of the detection device 100C and align it with the surface to be detected for detection.

[0059] In addition, the detection device 100C can also be combined with a detection robot. Figure 8 The inspection robot 200 is shown in combination with the inspection device 100C. The inspection device 100C can be clamped by the mechanical arm 210 of the inspection robot 100 to inspect the object to be inspected. Advantageously, the inspection robot 200 in combination with the inspection device 100C can be implemented as an automatic inspection robot, which is conducive to further improving the inspection efficiency.

[0060] Fig. 9A digital detection system 300 is shown, which has a detection device according to the present invention (for example, detection devices 100A, 100B, 100C), a cloud platform P related to the object to be detected, and an application terminal E. The detection device communicates with the cloud platform P and the application terminal E. For example, the detection device can be connected to the cloud platform P by wire or wirelessly, and the digital detection system 300 can automatically generate a maintenance plan for the object to be detected based on the detection result of the detection module 1 and the digital model (DMU) data of the object to be detected, so as to be used by the application terminal E. As a result, the digital detection system 300 can integrate the digital design, three-dimensional detection and intelligent maintenance plan of the object to be detected, which is conducive to improving the operability of standardized measurement.

[0061] Here, the exemplary embodiments of the detection module, detection device, digital detection system and detection method of the present invention have been described in detail in conjunction with the accompanying drawings, but it should be understood that the present invention is not limited to the specific embodiments described and shown in detail above. Without departing from the spirit and scope of the present invention, those skilled in the art can make various modifications and variations to the present invention. All these modifications and variations fall within the scope of the present invention. Moreover, all the components described herein can be replaced by other technically equivalent components.

Claims

1. A detection module, comprising: a scanning unit, wherein the scanning unit is configured to perform three-dimensional scanning on the measured surface, the scanning unit comprises a laser projection device and a laser receiving device, the laser projection device comprises a laser source and a MEMS micro-scanning mirror, the laser source is configured to emit laser light, the MEMS micro-scanning mirror is configured to reflect the laser light emitted by the laser source to the measured surface, and the laser receiving device is configured to receive the laser light returned from the measured surface to obtain a laser image of the measured surface; and a processor configured to receive the laser image and process it to detect defects on the measured surface, It is characterized in that the scanning unit also includes an RGB image sensor, which is configured to obtain an RGB image of the measured surface, and the processor is also configured to obtain the RGB image and detect defects on the measured surface based on the laser image and the RGB image.

2. The detection module according to claim 1, wherein: The processor is further configured to: Acquire point cloud data from the laser image; and Based on the acquired point cloud data and the RGB image, defects on the measured surface are detected, and the three-dimensional coordinates of the defects are determined.

3. The detection module according to claim 2, wherein: The processor is further configured to determine the type and size of the defect based on the three-dimensional coordinates of the defect and generate a detection report.

4. The detection module according to claim 1, wherein: The laser projection device further comprises an optical element, wherein the optical element is arranged between the laser source and the MEMS micro-scanning mirror, and the laser emitted from the laser source is incident on the MEMS micro-scanning mirror via the optical element, wherein the optical element comprises a collimating mirror.

5. The detection module according to claim 1, wherein: The laser receiving device includes a first laser receiver and a second laser receiver.

6. The detection module according to claim 1, wherein: The processor further includes an external interface configured to connect the detection module to an external device, wherein the external device includes at least one of the following devices: command input device; Terminal operating equipment; and Display devices.

7. The detection module according to any one of claims 1 to 6, further comprising at least one of the following devices: a pattern projection device connected to the processor and configured to project a predetermined laser pattern toward an area where the defect is located according to the defect on the measured surface detected by the processor; A fill light device, the fill light device is configured to selectively illuminate the measured surface; as well as A display unit is connected to the processor and configured to display a detection result of the detected surface.

8. A detection device, characterized in that: The detection device comprises a detection module according to any one of claims 1-7. 9 . The detection device according to claim 8 , further comprising a housing, wherein the housing comprises a housing body, and the detection module is accommodated in the housing body.

10. The detection device according to claim 9, wherein: The housing further comprises a bracket portion extending from the housing body, wherein the bracket portion is adapted to abut against the measured surface.

11. The detection device according to any one of claims 8 to 10, wherein: The detection device is a handheld detection device, or The detection device is a detection robot, and the detection module is clamped by a mechanical arm of the detection robot.

12. A digital detection system comprising: Cloud platform; as well as Application terminal, It is characterized in that the digital detection system also includes a detection device according to any one of claims 8-11, and the detection device communicates with the cloud platform and the application terminal.

13. The digital detection system according to claim 12, wherein: The digital detection system automatically generates a maintenance report based on the detection result of the detection device and the digital model data of the detected object on the cloud platform for use by the application terminal.

14. A detection method comprising: Emittering laser light toward the surface to be measured, wherein the laser light is emitted from a laser source and reflected by a MEMS micro-scanning mirror to the surface to be measured; receiving the laser reflected from the measured surface via a laser receiving device to obtain a laser image of the measured surface; and detecting defects on the surface to be tested, It is characterized in that the detection method also includes acquiring an RGB image of the measured surface, and based on the laser image and the RGB image, detecting defects on the measured surface and determining three-dimensional information of the defects.

15. The detection method according to claim 14, further comprising: According to the three-dimensional information of the defect, a predetermined laser pattern is projected toward the measured surface to highlight the area where the defect is located.

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