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

Abstract

The present disclosure relates to a detection module, a detection device, a digital detection system, and a detection method. The detection module includes: a scanning unit and a processor. The scanning unit is configured to perform three-dimensional scanning on a detected surface, and includes a laser projecting device and a laser receiving device. The laser projecting device includes a laser source and a MEMS micro scanning mirror. The laser receiving device is configured to receive the laser radiation returning from the detected surface to obtain a laser image of the detected surface. The processor is configured to receive and process the laser image to detect a defect on the detected surface. The scanning unit further includes an RGB image sensor configured to obtain an RGB image of the detected surface. The processor is further configured to obtain the RGB image and detect a defect on the detected surface based on the laser image and the RGB image. The present disclosure can achieve the miniaturization of the detection module and improve the detection accuracy of the detection module.

Description

DETECTION MODULE, DETECTION DEVICE, DIGITAL DETECTION SYSTEM,AND DETECTION METHOD

[0001] This application claims the benefit of priority to the following Chinese patent application: Chinese patent application No. 202310893041.7, titled "DETECTION MODULE, DETECTION DEVICE, DIGITAL DETECTION SYSTEM, AND DETECTION METHOD", filed with the China National Intellectual Property Administration on July 19, 2023. Above Chinese patent application is incorporated herein by reference in their entirety.FIELD

[0002] The present disclosure 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

[0003] The contents of this section only provide background information related to the present disclosure, which may not constitute the prior art.

[0004] Three-dimensional (3D) scanning and digitization technology can achieve three- dimensional reconstruction of object contour, and has been widely used in fields such as industrial design, reverse engineering, and detection and measurement. For example, in the process of maintenance and inspection of an aircraft, measurement technology based on 3D scanning can be used for contour detection, surface damage detection and measurement of aircraft. At present, in the measurement technology based on 3D scanning, there are mainly thedetection scheme based on structured light binocular vision, the detection scheme based on VCSEL light source (vertical cavity surface emitting laser) and SPAD detector (single photon avalanche detector), and the detection scheme based on MEMS (micro-electromechanical system). The detection scheme based on structured light binocular vision is usually large, bulky, limited in working distance, and not suitable for outdoor environment. The detection scheme based on VCSEL light source and SPAD detector is relatively lightweight, but this detection scheme relies on dTOF (direct time of flight) technology, and its measurement accuracy can only reach up to about centimeter level. The detection scheme based on MEMS has the advantages of strong environmental adaptability, miniaturization, and low cost, and is widely used in 3D scanning. However, the measurement accuracy of the detection scheme based on MEMS still needs to be further improved.SUMMARY

[0005] It is an objective of the present disclosure to improve detection accuracy while achieving miniaturization of the 3D detection device, thereby enabling the 3D detection device to detect micro defects or damages on the detected surface.

[0006] According to an aspect of the present disclosure, a detection module is provided. The detection module comprises a scanning unit and a processor. The scanning unit is configured to perform 3D scanning on a detected surface and comprises a laser projecting device and a laser receiving device. The laser projecting device comprises a laser source and a MEMS micro scanning mirror. The laser source is configured to emit laser radiation, and the MEMS micro scanning mirror is configured to reflect the laser radiation emitted by the laser source onto the detected surface. The laser receiving device is configured to receive the laser radiation returningfrom the detected surface to obtain a laser image of the detected surface. The processor is configured to receive and process the laser image to detect a defect on the detected surface. The scanning unit comprises an RGB image sensor configured to obtain an RGB image of the detected surface. The processor is further configured to obtain the RGB image and detect a defect on the detected surface based on the laser image and the RGB image.

[0007] The processor is optionally configured to: obtain point cloud data from the laser image; and, detect the defect on the detected surface and determine 3D coordinates of the defect, based on the obtained point cloud data and the RGB image.

[0008] The processor is optionally configured to: determine a type and size of the defect based on the 3D coordinates thereof, and generate a detection report.

[0009] The laser projecting device optionally comprises an optical element arranged between the laser source and the MEMS micro scanning mirror. The laser radiation emitted from the laser source is optionally incident onto the MEMS micro scanning mirror via the optical element, wherein the optical element includes a collimating lens.

[0010] The laser receiving device optionally comprises a first laser receiver and a second laser receiver.

[0011] The processor optionally comprises an external interface configured to connect the detection module to an external device. The external device optionally comprises at least one of the following devices: an instruction input device; a terminal operating device; and a display device.

[0012] The detection module optionally comprises at least one of the following devices: a pattern projecting device, a light filling device, and a display unit. The pattern projecting device is optionally connected to the processor and configured to project a predetermined laser patterntowards the area where the defect is located based on the defect detected by the processor on the detected surface. The light filling device is optionally configured to selectively illuminate the detected surface. The display unit is optionally connected to the processor and configured to display a detection result of the detected surface.

[0013] According to another aspect of the present disclosure, a detection device comprises the detection module according to the present disclosure.

[0014] The detection device optionally comprises a housing. The housing optionally comprises a housing body, and the detection module is optionally accommodated in the housing body.

[0015] The housing further optionally comprises a bracket portion extending from the housing body and adapted to abut against the detected surface.

[0016] The detection device is optionally a hand-hold detection device. Alternatively, the detection device is optionally a detection robot, and the detection module is optionally clamped by a mechanical arm of the detection robot.

[0017] According to yet another aspect of the present disclosure, a digital detection system is provided. The digital detection system includes a cloud platform and an application terminal. The digital detection system comprises the detection device according to the present disclosure, wherein the detection device communicates with the cloud platform and the application terminal.

[0018] The digital detection system optionally automatically generates a maintenance report based on the detection result of the detection device and in conjunction with digital mock-up (DMU) data of the detected object on the cloud platform, for use by the application terminal.

[0019] According to yet another aspect of the present disclosure, a detection method is provided. The detection method includes: emitting laser radiation towards a detected surface, wherein the laser radiation is emitted from the laser source and reflected onto the detected surface via a MEMS micro scanning mirror; receiving, by a laser receiving device, the laser radiation reflected back from the detected surface to obtain a laser image of the detected surface; and detecting a defect on the detected surface. This detection method comprises obtaining an RGB image of the detected surface, detecting a defect on the detected surface based on the laser image and the RGB image, and determining 3D information of the defect.

[0020] The detection method optionally comprises: projecting a predetermined laser pattern towards the detected surface based on the 3D information of the defect, to highlight the area where the defect is located. Optionally, the detection method of the present invention may comprise one or more features of the detection module, detection device and / or digital detection system of the present invention. The detection method of the present invention may comprise use of one or more of the detection module, detection device and / or digital detection system of the present invention. Conversely, the detection module, detection device and / or digital detection system of the present invention may comprise one or more of the features of the detection method of the present invention.

[0021] The present disclosure provides an improved detection module, detection device, digital detection system, and detection method. According to the present disclosure, the miniaturization of the detection module is achieved and the scanning accuracy of the detection module is improved by providing the scanning unit based on MEMS with both the laser receiver and the RGB image sensor. The detection module herein can detect micro defects on the detected surface and improve the detection efficiency, which is conducive to improving theoperability of standardized detection. Moreover, according to the detection module, the detection device, the digital detection system, and the detection method of the present disclosure, a predetermined laser pattern can be projected towards the detected surface based on the 3D data of the detected defect, facilitating the identification of the area where the defect is located on the detected surface at the display terminal. In addition, the detection device according to the present disclosure can communicate with the cloud platform and the application terminal, and can automatically generates a maintenance report in conjunction with the DMU data of the detected object, for use by the application terminal.BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Embodiments of the present disclosure will be described below in an exemplary manner with reference to the accompanying drawings. In the accompanying drawings, the same features or components are represented by the same reference numerals. The accompanying drawings may not necessarily be drawn to scale, and in the accompanying drawings:

[0023] FIG. 1 shows a schematic block diagram of the structure of a detection module according to the present disclosure;

[0024] FIG. 2 shows a schematic diagram of the detection module shown in FIG. 1 performing the detection;

[0025] FIG. 3 shows a flowchart of a detection method executed by a processor of the detection module;

[0026] FIG. 4 shows a flowchart of the step of measuring the defect in the detection method shown in FIG. 3;

[0027] FIG. 5 shows an embodiment of a detection device according to the present disclosure;

[0028] FIG. 6 shows another embodiment of the detection device according to the present disclosure;

[0029] FIG. 7 shows yet another embodiment of the detection device according to the present disclosure;

[0030] FIG. 8 shows yet another embodiment of the detection device according to the present disclosure; and

[0031] FIG. 9 shows a schematic block diagram of a digital detection system according to the present disclosure.DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following description is essentially illustrative, rather than intended to limit the present disclosure and the application or usage thereof. It should be appreciated that, throughout all these accompanying drawings, similar reference numerals indicate the same or similar parts or features. Each drawing only illustratively shows the concept and principle of the embodiments of the present disclosure, and does not necessarily show the specific dimensions and scales of various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate related details or structures of various embodiments of the present disclosure.

[0033] FIG. 1 shows a schematic block diagram of a detection module 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the detection module 1 includes a scanning unit 10, a processor 20, a light filling device 30, a pattern projecting device 40, and adisplay unit 50.

[0034] The scanning unit 10 is configured to perform 3D scanning on a detected surface of a detected object (such as the outer surface of the fuselage of an aircraft, and the cargo door of an aircraft). The scanning unit 10 includes a laser projecting device 11, a laser receiving device 12, and an RGB image sensor 13. The laser projecting device 11 is configured to project laser radiation towards the detected surface of the detected object. The laser projecting device 11 includes a laser source 111, an optical element 112, and a MEMS micro scanning mirror 113. The laser source 111 is configured to emit laser radiation, for example, infrared laser radiation with a wavelength ranging from 0.7pm to 1mm. In an embodiment, the laser source 111 is embodied as a laser diode. The laser radiation emitted from the laser source 111 is reflected onto the detected surface of the detected object via a reflective mirror surface of the MEMS micro scanning mirror 113.

[0035] The optical element 112 is arranged between the laser source 111 and the MEMS micro scanning mirror 113. The laser radiation emitted from the laser source 111 is incident onto the reflective mirror surface of the MEMS micro scanning mirror 113 through the optical element 112. The optical element 112 is configured to perform optical processing such as collimation and amplification on the laser radiation emitted from the laser source 111, so that the laser radiation emitted from the laser source 111 becomes a line beam. The optical element 112 includes a collimating lens 1121 and a cylindrical lens 1122. The laser radiation emitted from the laser source 111 is collimated by the collimating lens 1121, and amplified and expanded by the cylindrical lens 1122 into a line beam with a specific divergence angle.

[0036] The MEMS micro scanning mirror 113 is arranged adjacent to the optical element 112, so that the laser radiation exiting from the optical element 112 is completely within a reflectionrange of the reflective mirror of the MEMS micro scanning mirror 113. As such, the laser radiation processed by the optical element 112 is reflected onto the detected surface, forming a long strip beam. During the scanning process, the reflective mirror 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 beam exiting from the optical element 112. As the MEMS micro scanning mirror 113 rotates, the long strip beam reflected by the MEMS micro scanning mirror 113 are arranged in a direction perpendicular to the rotation axis of the MEMS micro scanning mirror 113, so as to achieve laser scanning of the detected surface. The MEMS micro scanning mirror 113 may be a single-axis micro scanning mirror or a dual-axis micro scanning mirror. Compared with a conventional mechanical rotary laser scanning device, the provision of the MEMS micro scanning mirrors 113 in the laser projecting device 11 makes the size of the laser projecting device 11 smaller, which is conducive to miniaturization of the detection module.

[0037] The laser receiver 12 is configured to receive the laser radiation reflected back from the detected surface and obtain a laser image of the detected surface. The laser receiver 12 includes a first laser receiver 121 and a second laser receiver 122. The first laser receiver 121 and the second laser receiver 122 are symmetrically arranged relative to the laser projecting device 11 to receive the laser radiation returning from the detected surface respectively on two sides of the laser projecting device 11 and obtain laser images of the detected surface. The first laser receiver 121 and the second laser receiver 122 may be CMOS image sensors.

[0038] The RGB image sensor 13 is configured to obtain an RGB image of the detected surface.

[0039] The processor 20 includes a memory 21, a measurement and analysis unit 22, a controlunit 23, and an external interface 24. The processor 20 may be implemented as an ARM embedded platform. The memory 21 can store data (such as laser image data, RGB image data, and scanning angle data of the MEMS micro scanning mirror) obtained from the scanning unit 10 during the scanning detection process, and detection results. The measurement and analysis unit 22 is configured to process the laser image of the detected surface obtained by the laser receiver 12 and the RGB image of the detected surface obtained by the RGB image sensor 13 to determine whether there are defects (such as dents, scratches, or other wear) on the detected surface, and to determine the 3D information of the detected defects.

[0040] The control unit 23 is configured to communicate with the scanning unit 10, the light filling device 30, the pattern projecting device 40, and the display unit 50, and to 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, the start and stop of the light filling device 30 and the pattern projecting device 40, and the display content of the display unit 50.

[0041] 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 an instruction input device (such as a keyboard or a switching device), a terminal operation device (such as a control console in detection center), a display device, and so on.

[0042] The light filling device 30 is connected to the processor 20 and is configured to selectively illuminate the detected surface to ensure clear imaging of the detected surface, which is beneficial for improving the processing accuracy of the processor 20 and thus improving the detection accuracy of the detection module 1. The light filling device 30 may be implementedas a separate device or be integrated with the laser receiver 12.

[0043] The pattern projecting device 40 is connected to the processor 20 and is configured to project a predetermined laser pattern towards the area where the detected defect is located based on the 3D information of the defect determined by the processor 20 on the detected surface to highlight the area where the defect is located, making it easier for an inspector to identify the defect on the display unit 50 or an external display device. For example, the pattern projecting device 40 can project a corresponding laser pattern to the location of the defect based on the type of the detected defect, to highlight the area where the detected defect is located. In one example, when the detected defect on the detected surface is a dent, the pattern projecting device 40 projects a circular laser pattern onto the detected surface, circling the detected dent and highlighting the area where the defect is located; and when the detected defect on the detected surface is a scratch, the pattern projecting device 40 projects a triangular laser pattern onto the detected surface, circling the detected scratch and highlighting the area where the defect is located. The laser pattern projected by the pattern projecting device 40 is not limited to circle or triangle, but can be set to other suitable patterns, such as star and rectangle, as needed.

[0044] The display unit 50 is configured to display detection information (such as detection results) of the detection module 1. Preferably, the display unit 50 can be configured as a display unit with interactive functions, such that the working parameters of the detection module 1, such as the exposure time of the laser receiver 12 and / or the RGB image sensor 13, and the zoom of the view displayed by the display unit 50, can be set by operating the display unit 50.

[0045] FIG. 2 shows a schematic diagram of the detection module 1 performing the detection. In FIG. 2, dashed lines with arrows schematically illustrate routes of the light.

[0046] As shown in FIG. 2, when using the detection module 1 to detect the detected surfaceof an object M (such as the fuselage or cargo door of an aircraft), the laser source 111 of the scanning unit 10 emits infrared laser radiation. The infrared laser radiation emitted by the laser source 111 is incident onto the optical element 112, collimated by the collimating lens 1121, and amplified by the cylindrical lens 1122 to form a line beam extending along the X-axis direction with a specific divergence angle. Correspondingly, the rotation axis of the MEMS micro scanning mirror 113 is also set along the X-axis direction. The line beam exiting from the optical element 112 is reflected onto the surface of the detected object M via the MEMS micro scanning mirror 113, forming a long strip beam. During the scanning process, as the MEMS micro scanning mirror 113 rotates, the long strip beam reflected by the MEMS micro scanning mirror 113 on the detected surface of the detected object M are arranged along the Y- axis direction, and are reflected from the detected surface respectively to the first laser receiver 121 and the second laser receiver 122, thereby achieving laser scanning of the detected surface of the detected object M. In this embodiment, the plane on which the detected surface of the detected object M is located is substantially defined by the X and Y axes. The X-axis direction and Y-axis direction are two-dimensional directions of the detected surface of the detected object M, and the direction perpendicular to the detected surface of the detected object M is the Z-axis direction. During the detection process, the scanning unit 10 sends scanning parameters in real-time to the processor 20, 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 and second laser receivers 121 and 122, and the exposure time of the RGB image sensor 13, to facilitate phase calculation and coordinate determination when processing the obtained laser and RGB images.

[0047] The first laser receiver 121 and the second laser receiver 122 respectively receive the laser radiation reflected back from the detected surface of the detected object M, and obtain thelaser image of the detected surface of the detected object M. In addition, the RGB image sensor 13 obtains the RGB image of the detected surface of the detected object M. Preferably, an optical filter may arranged in front of the RGB image sensor 13 to filter off the laser radiation reflected from the detected surface of the detected object, thereby avoiding interference of the laser radiation on the RGB image obtained by the RGB image sensor 13. During the scanning process, the light filling device 30 selectively illuminates the detected surface of the detected object M to improve the quality of the laser images obtained by the first laser receiver 121 and the second laser receiver 122, as well as the quality of the RGB image obtained by the RGB image sensor 13, thereby facilitating the improvement of measurement accuracy.

[0048] The laser images obtained by the first laser receiver 121 and the second laser receiver 122, and the RGB image obtained by the RGB image sensor 13 are all 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 existence of defects on the detected surface, and types and 3D coordinates of the defects. According to the processing result of the processor 20, the control unit 23 of the processor 20 controls the display unit 50 to display the detection result on the display unit 50. In addition, based on the determined type of defect, the control unit 23 of the processor 20 controls the pattern projecting device 40 to project a corresponding laser pattern onto the detected surface, circling the detected defect and highlighting the area where the defect is located. As such, the detected defect can be identified on the display unit 50 or the terminal operating device connected to the detection module 1.

[0049] FIG. 3 schematically shows a flowchart of a detection method executed by the measurement and analysis unit 22 of the processor 20. As shown in FIG. 3, in step SI, the measurement and analysis unit 22 receives laser images of the detected surface from the firstlaser receiver 121 and the second laser receiver 122, and obtains laser point cloud data. The laser images obtained at the same time 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 detected surface of the detected object M from the RGB image sensor 13. RGB image has high resolution and can be used to enhance the accuracy of the detected X and Y coordinates of the detected surface, thereby improving the accuracy of the detected Z coordinate of the detected surface.

[0050] Next, in step S3, the obtained laser point cloud data and RGB image are registered to obtain a point cloud model of the detected surface. In step S4, point cloud clustering is performed to extract characteristics from the point cloud data and classify the point cloud data. In step S5, surface fitting is performed based on the point cloud clustering to fit a curved surface model for the point cloud data. Based on the fitting result, defect measurement is performed in step S6.

[0051] FIG. 4 schematically shows a flowchart of the step of measuring the defect shown in FIG. 3. As shown in FIG. 4, in step S61, based on the above processing on the laser images obtained by the first laser receiver 121 and the second laser receiver 122 and the RGB image obtained by the RGB image sensor 13, the measurement and analysis unit 22 of the processor 20 performs 3D reconstruction of the detected surface. Then, in step S62, a type of the detected defect is analyzed, and 3D information of the defect is identified, thereby determining the size of the defect. According to the type of the identified defect, in step S63, the control unit 23 of the processor 20 controls the pattern projecting device 40 to project a laser pattern towards 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 laserpattern in the memory 21. In step S65, the measurement and analysis unit 22 generates a detection report of the scanning detection based on the above processing results, the detection report including the type of the detected defect, the 3D coordinates of the location of the defect, and the dimensions of the defect.

[0052] The above shows the configuration of the detection module 1 according to the present disclosure and the flowchart of the executed detection method. In the detection module 1 according to the present disclosure, in addition to the first laser receiver 121 and the second laser receiver 122 provided to obtain the laser images of the detected surface, the RGB image sensor 13 is further provided to obtain the RGB image of the detected surface which can be used to enhance the accuracy of the detected X and Y coordinates of the detected surface during the scanning detection process, improve the accuracy of the detected Z coordinate of the detected surface, and improve the accuracy of localization and reconstruction of the defect. As such, the detection accuracy of the detection module 1 can be improved. As a result, the detection module 1 can identify micro defects on the detected surface of the detected object M and accurately measure the defects. The detection module 1 can detect defects as small as 50 microns.

[0053] In the configuration of the detection module 1 shown above, the detection module 1 includes the pattern projecting device 40 to project a laser pattern towards the location of the defect. However, the present disclosure is not limited to thereto. In other examples according to the present disclosure, the detection module can still achieve the above beneficial effect of improving the detection accuracy of the detection module without providing a pattern projecting device. In other examples according to the present disclosure, the detection module 1 may be devoid of the light filling device 30 and / or the display unit 50.

[0054] In the examples shown in the figures, the laser projecting device 11 includes the optical element 112. However, the present disclosure is not limited thereto. In other examples according to the present disclosure, the laser projecting device 11 may be devoid of the optical element 112. In the examples shown in the figures, the optical element 112 includes the collimating lens 1121 and the cylindrical lens 1122. However, the present disclosure is not limited thereto. In other examples according to the present disclosure, the optical element 112 may be provided with only the collimating lens 1121, or the optical element 112 may be provided with other optical devices.

[0055] The detection device according to the present disclosure may include the detection module 1 described above.

[0056] FIG. 5 shows an embodiment of the detection device according to the present disclosure. The detection device 100A shown in FIG. 5 includes the detection module 1 described above. Moreover, the detection device 100A further includes a housing 60. The detection device lOOAis implemented as a hand-hold detection device. The housing 60 includes a housing body 61 and a handle 62. The housing body 61 is configured to accommodate the scanning unit, light filling device, pattern projecting device and display unit of the detection module 1 of the hand-hold detection device 100 A. FIG. 5 only schematically shows the laser projecting device 11, the first laser receiver 121, the second laser receiver 122, the RGB image sensor 13, the processor 20, the light filling device 30, and the display unit 50 of the scanning unit 10. The handle 62 is for a user to grasp, and its interior can accommodate a battery of the detection module 1. In addition, the housing 60 is provided with a switch 63 which 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.

[0057] FIG. 6 shows another embodiment of the detection device according to the present disclosure. The detection device 100B shown in FIG. 6 includes the detection module 1 described above. Moreover, the detection device 100B further includes a housing 80. As shown in FIG. 6, the housing 80 includes a housing body 81, a handle 82, a display screen 83, and a bracket portion 84. The detection module 1 of the detection device 100B is housed within the housing body 81 and is invisible in FIG. 6. The output port of the laser projecting device 11, and the incident ends of the first laser receiver 121, the second laser receiver 122 and the RGB image sensor 13, all face toward the bracket portion 84. The display screen 83 is connected to the external interface 24 of the detection module 1. The detection device 100B is implemented as a hand-hold detection device. During detection, the user can grasp the handle 82 and make the bracket portion 84 face toward the detected object M. During the measurement process, the bracket portion 84 can abut against the detected surface of the detected object M, in order to stably hold the detection module 1 for detection and avoid affecting the detection results due to shaking of the hand when the user holds the detection device 100B.

[0058] FIG. 7 shows another embodiment of the detection device according to the present disclosure. The detection device 100C shown in FIG. 7 includes the detection module 1 described above. Moreover, on this basis, the detection device 100C further includes a housing body 70 which is configured to compactly accommodate the detection module 1 therein. FIG. 7 only shows the laser projecting device 11, first laser receiver 121, second laser receiver 122 and RGB image sensor 13 of the detection device 100C. 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.

[0059] The detection device 100C may be implemented as a hand-hold detection device. Aninspector can hold the housing body 70 of the detection device 100C with hand and align it with the detected surface for detection.

[0060] In addition, the detection device 100C can also be combined with a detection robot. FIG. 8 shows a detection robot 200 combined with the detection device 100C. The detection device 100C can be clamped by a mechanical arm 210 of the detection robot 100 to detect the object to be detected. Advantageously, the detection robot 200 combined with the detection device 100C can be implemented as an automatic detection robot, which is conducive to further improving the detection efficiency.

[0061] FIG. 9 shows a digital detection system 300 which includes the detection device according to the present disclosure (such as the detection devices 100A, 100B, 100C), a cloud platform P related to the detected object, and an application terminal E. The detection device, the cloud platform P and the application terminal E communicate with one another. For example, the detection device can be wiredly or wirelessly connected to the cloud platform P, and the digital detection system 300 can automatically generate a maintenance scheme for the detected object based on the detection results of the detection module 1 and in conjunction with the DMU data of the detected object, for use by the application terminal E. Therefore, the digital detection system 300 can integrate the digital design, 3D detection, and intelligent maintenance schemes of the detected object, which is conducive to improving the operability of standardized measurement.

[0062] The exemplary embodiments of the detection module, detection device and digital detection system of the present disclosure have been described in detail in conjunction with the accompanying drawings, but it should be understood that the present disclosure is not limited to the specific embodiments described and shown in detail above. Without departing from thespirit and scope of the present disclosure, those skilled in the art can make various modifications and variations to the present disclosure. All these variations and modifications fall within the scope of the present disclosure. Moreover, all the members described herein can be replaced by other technically equivalent members.

Claims

CLAIMS1. A detection module, comprising: a scanning unit configured to perform 3D scanning on a detected surface and comprising a laser projecting device and a laser receiving device, wherein the laser projecting device comprises a laser source and a MEMS micro scanning mirror, the laser source is configured to emit laser radiation, and the MEMS micro scanning mirror is configured to reflect the laser radiation emitted by the laser source onto the detected surface, and wherein the laser receiving device is configured to receive the laser radiation returning from the detected surface to obtain a laser image of the detected surface; and a processor configured to receive and process the laser image to detect a defect on the detected surface, characterized in that the scanning unit comprises an RGB image sensor configured to obtain an RGB image of the detected surface, and the processor is configured to obtain the RGB image and detect the defect on the detected surface based on the laser image and the RGB image.

2. The detection module according to claim 1, wherein the processor is configured to: obtain point cloud data from the laser image; and detect the defect on the detected surface and determine three-dimensional coordinates of the defect, based on the obtained point cloud data and the RGB image.

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

4. The detection module according to any preceding claim, wherein the laser projecting device further comprises an optical element arranged between the laser source and the MEMS micro scanning mirror, wherein the laser radiation emitted from the laser source is incident onto the MEMS micro scanning mirror via the optical element, wherein the optical element comprises a collimating lens.

5. The detection module according to any preceding claim, wherein the laser receiving device comprises a first laser receiver and a second laser receiver.

6. The detection module according to any preceding claim, wherein the processor comprises an external interface configured to connect the detection module to an external device, and the external device comprises at least one of the following devices: an instruction input device; a terminal operating device; and a display device.

7. The detection module according to any of claims 1 to 6, wherein the detection module comprises at least one of the following devices:a pattern projecting device connected to the processor and configured to project a predetermined laser pattern towards an area where the defect is located based on the defect detected by the processor on the detected surface; a light filling device configured to selectively illuminate the detected surface; and a display unit connected to the processor and configured to display a detection result of the detected surface.

8. A detection device comprising a detection module according to any of claims 1 to 7.

9. The detection device according to claim 8, 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 comprises a bracket portion extending from the housing body and adapted to abut against the detected surface.

11. The detection device according to any of claims 8 to 10, wherein the detection device is a hand-hold 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:a cloud platform; an application terminal; and characterized in that the digital detection system further comprises the detection device according to any of claims 8 to 11, wherein the detection device is configured to communicate with the cloud platform and the application terminal.

13. The digital detection system according to claim 12, wherein the digital detection system is configured to automatically generate a maintenance report based on the detection result of the detection device and in conjunction with digital mock-up data of a detected object on the cloud platform, for use by the application terminal.

14. A detection method, comprising: emitting laser radiation towards a detected surface, wherein the laser radiation is emitted from a laser source and reflected onto the detected surface via a MEMS micro scanning mirror; receiving, by a laser receiving device, the laser radiation reflected back from the detected surface to obtain a laser image of the detected surface; and detecting a defect on the detected surface, characterized in that the detection method comprises obtaining an RGB image of the detected surface, detecting a defect on the detected surface based on the laser image and the RGB image, and determining three-dimensional information of the defect.

15. The detection method according to claim 14, comprising: projecting a predetermined laser pattern towards the detected surface based on the three-dimensional information of the defect, to highlight an area where the defect is located.

Images