TWI806430B

TWI806430B - Defect detection method and defect detection device

Info

Publication number: TWI806430B
Application number: TW111105521A
Authority: TW
Inventors: 彭文陽; 張日陽; 林正軒; 邱柏維; 張佑傑; 陳冠樺; 劉興雅
Original assignee: 財團法人工業技術研究院
Priority date: 2022-02-16
Filing date: 2022-02-16
Publication date: 2023-06-21
Also published as: TW202334640A

Abstract

A defect detection method includes the following steps: making a defect detection device distance from a tested object by a first distance, and executing long distance detection on the tested object by a camera of a detection device; obtaining at least one suspicious area on the tested object according to the result of the long distance detection; moving the defect detection device near the at least one suspicious area, and distancing from the at least one suspicious area of the tested object by a second distance, wherein the second distance is smaller the first distance, and executing close-up detection on the tested object by a camera of a detection device.

Description

瑕疵檢測方法與瑕疵檢測裝置 Defect detection method and defect detection device

本發明係關於一種檢測方法與檢測裝置，特別是一種瑕疵檢測方法與瑕疵檢測裝置。 The present invention relates to a detection method and a detection device, in particular to a defect detection method and a defect detection device.

一般來說，風機葉片中往往存在肉眼難以分辨的細小缺陷(如葉片表面的細小裂縫或葉片表面下的瑕疵)，而這些細小缺陷若無法被即時檢測，則可能由小缺陷劣化成大問題。如此一來，維修單位即需花費更龐大的費用與時間來修整風機葉片。然而，目前風機葉片的瑕疵檢測仍難以有效率地發現肉眼難以分辨的細小缺陷。因此，如何進一步提升風機葉片的瑕疵檢測精準度與效率，便成為設計上的一大課題。 Generally speaking, there are often small defects in fan blades that are difficult to distinguish with the naked eye (such as small cracks on the surface of the blade or flaws under the surface of the blade), and if these small defects cannot be detected immediately, they may deteriorate from small defects to big problems. As a result, the maintenance organization needs to spend more money and time to repair the fan blades. However, it is still difficult to efficiently find small defects that are difficult to distinguish with the naked eye in the defect detection of fan blades. Therefore, how to further improve the accuracy and efficiency of defect detection of fan blades has become a major design issue.

本發明在於提供一種瑕疵檢測方法與瑕疵檢測裝置，藉以提升風機葉片的瑕疵檢測精準度與效率。 The present invention provides a defect detection method and a defect detection device, so as to improve the accuracy and efficiency of defect detection of fan blades.

本發明之一實施例所揭露之瑕疵檢測方法包含下列步驟。令一瑕疵檢測裝置距一待測物品一第一距離，並透過瑕疵檢測裝置之一拍攝鏡組對待測物品進行一遠距檢測。依據遠距檢測結果獲得待測物品上的至少一可疑區域。令瑕疵檢測裝置移動至至少一可疑區域，並距待測物品之至少一可疑區域一第二距離，第二距離小於第一距離，並透過瑕疵檢測裝置之拍攝鏡組對待測物品進行一近拍檢測。 A defect detection method disclosed in an embodiment of the present invention includes the following steps. Make a defect detection device a first distance away from an item to be tested, and pass through the defect detection device One of the shooting lens groups performs a long-distance detection on the object to be tested. At least one suspicious region on the object to be tested is obtained according to the remote detection result. Make the defect detection device move to at least one suspicious area, and a second distance away from at least one suspicious area of the object to be tested, the second distance is smaller than the first distance, and take a close-up shot of the object to be tested through the camera lens group of the defect detection device detection.

本發明之另一實施例所揭露之瑕疵檢測裝置用以檢測一待測物品。瑕疵檢測裝置包含一飛行機體、一拍攝鏡組、一噴灑組件、一預警接收器及一處理器。拍攝鏡組裝設於飛行機體。噴灑組件包含一儲液容器、一噴頭及一流體驅動器。儲液容器裝設於飛行機體，並用以儲存一液體。噴頭連通於儲液容器。流體驅動器裝設於儲液容器並用以令儲液容器儲存的液體自噴頭噴出。預警接收器裝設於機體，並用以接收至少一風切預警訊號。處理器依據至少一風切預警訊號調整飛行機體的位置。 The defect detection device disclosed in another embodiment of the present invention is used for detecting an item to be tested. The defect detection device includes a flying body, a photographing mirror group, a spraying component, an early warning receiver and a processor. The shooting mirror assembly is arranged on the flight body. The spray assembly includes a liquid storage container, a spray head and a fluid driver. The liquid storage container is installed on the aircraft body and used for storing a liquid. The spray head is communicated with the liquid storage container. The fluid driver is installed in the liquid storage container and is used to make the liquid stored in the liquid storage container spray out from the spray head. The early warning receiver is installed on the body and used to receive at least one wind shear early warning signal. The processor adjusts the position of the flying body according to at least one wind shear warning signal.

根據上述實施例之瑕疵檢測方法與瑕疵檢測裝置，先對待測物品進行遠距檢測，再依據遠距檢測之篩選結果對可疑區域進行近拍檢測，可有效提升瑕疵檢測的效率與瑕疵檢測精準度。 According to the flaw detection method and flaw detection device of the above-mentioned embodiments, the object to be tested is firstly inspected remotely, and then close-up detection is performed on suspicious areas based on the screening results of the remote inspection, which can effectively improve the efficiency and accuracy of flaw detection .

此外，透過在瑕疵檢測裝置上設置噴灑組件，可在近拍檢測過程中對可疑區域噴灑揮發性液體，以提升瑕疵檢測精準度與檢測機率。 In addition, by installing a spraying component on the defect detection device, volatile liquid can be sprayed on suspicious areas during close-up detection to improve the accuracy and probability of defect detection.

以上關於本發明內容的說明及以下實施方式的說明係用以示範與解釋本發明的原理，並且提供本發明的專利申請範圍更進一步的解釋。 The above description of the content of the present invention and the following description of the implementation are used to demonstrate and explain the principle of the present invention, and provide further explanation of the patent application scope of the present invention.

10:瑕疵檢測裝置 10: Defect detection device

20:待測物品 20: Items to be tested

22:可疑區域 22: Suspicious area

30:另一架無人機 30: Another Drone

40:地面監測站 40: Ground Monitoring Station

100:飛行機體 100: flight body

110:機身 110: Fuselage

120:螺旋葉片 120: spiral blade

130:防護件 130: Protective parts

200:拍攝鏡組 200: Shooting lens group

210:可見光鏡頭 210:Visible light lens

220:熱影像鏡頭 220: thermal imaging lens

300:噴灑組件 300: spraying components

310:儲液容器 310: liquid storage container

320:流體驅動器 320: fluid drive

330:噴頭 330: Nozzle

340:擋片 340: block

400:預警接收器 400: early warning receiver

500:處理器 500: Processor

600:腳架 600: tripod

610:第一延伸部 610: first extension

620:第二延伸部 620: second extension

630:第三延伸部 630: The third extension

700:降落傘 700: parachute

S100~S330:步驟 S100~S330: steps

D1:第一距離 D1: first distance

D2:第二距離 D2: second distance

D3:距離 D3: Distance

圖1為根據本發明第一實施例所述之瑕疵檢測裝置的平面示意圖。 FIG. 1 is a schematic plan view of a defect detection device according to a first embodiment of the present invention.

圖2為圖1之瑕疵檢測裝置進行遠距檢測的平面示意圖。 FIG. 2 is a schematic plan view of the remote inspection performed by the defect inspection device in FIG. 1 .

圖3為圖1之瑕疵檢測裝置進行近拍檢測的平面示意圖。 FIG. 3 is a schematic plan view of the close-up detection performed by the defect detection device in FIG. 1 .

圖4與圖5為圖1之瑕疵檢測裝置執行瑕疵檢測方法的流程示意圖。 FIG. 4 and FIG. 5 are schematic flowcharts of the defect detection method executed by the defect detection device in FIG. 1 .

圖6至圖9為圖1之瑕疵檢測裝置進行第一可疑區域之近拍檢測的模擬影像示意圖。 6 to 9 are schematic diagrams of simulated images of the close-up detection of the first suspicious area performed by the defect detection device in FIG. 1 .

圖10至圖12為圖1之瑕疵檢測裝置進行第二可疑區域之近拍檢測的模擬影像示意圖。 10 to 12 are schematic diagrams of simulated images of the close-up detection of the second suspicious area performed by the defect detection device in FIG. 1 .

請參閱圖1至圖3。圖1為根據本發明第一實施例所述之瑕疵檢測裝置10的平面示意圖。圖2為圖1之瑕疵檢測裝置10進行遠距檢測的平面示意圖。圖3為圖1之瑕疵檢測裝置10進行近拍檢測的平面示意圖。 See Figures 1 through 3. FIG. 1 is a schematic plan view of a defect detection device 10 according to a first embodiment of the present invention. FIG. 2 is a schematic plan view of the remote detection performed by the defect detection device 10 in FIG. 1 . FIG. 3 is a schematic plan view of the close-up detection performed by the defect detection device 10 in FIG. 1 .

本實施例之瑕疵檢測裝置10用以檢測一待測物品22。待測物品22例如為風力發電機20的風機葉片。風機葉片受到環境的考驗可能會產生表面缺陷或表面下缺陷(隱傷)。瑕疵檢測裝置10例如可飛行至高空，並透過影像變化來檢查出風機葉片的表面缺陷或表面下缺陷(隱傷)。 The defect detection device 10 of this embodiment is used to detect an object 22 to be tested. The object to be tested 22 is, for example, a fan blade of a wind generator 20 . The wind turbine blades may have surface defects or subsurface defects (hidden damage) due to the test of the environment. For example, the flaw detection device 10 can fly to a high altitude, and detect surface flaws or subsurface flaws (hidden flaws) of the fan blade through image changes.

在本實施例中，瑕疵檢測裝置10例如包含一飛行機體100、一拍攝鏡組200、一噴灑組件300、一預警接收器及一處理器500。飛行機體100例如為無人機，並包含一機身110、多個螺旋葉片120及二防護件130。些螺旋葉片120設置於機身110。螺旋葉片120轉動時可帶動機身110飛行。防護件130例如為網狀結構或擋板結構。二防護件130設置於機身110，並分別位於機身110前側之二螺旋葉片120之一側，以保護機身110前側之二螺旋葉片120免於受到碰撞。一般來說，由於螺旋葉片120較常會受到外側物品之撞擊，故防護件130通常會設置於螺旋葉片120之外側，以令防護件130能夠重點式地對螺旋葉片120進行保護。不過，防護件130的形式、形狀與位置並非用以限制本發明。在其他實施例中，防護件也可以呈環狀，並將螺旋葉片圍繞於內，以對螺旋葉片作更完整的保護。 In this embodiment, the defect detection device 10 includes, for example, an aircraft body 100 , a camera lens assembly 200 , a spraying assembly 300 , an early warning receiver, and a processor 500 . The flying body 100 is, for example, an unmanned aerial vehicle, and includes a fuselage 110 , a plurality of spiral blades 120 and two protective pieces 130 . Some helical blades 120 are disposed on the fuselage 110 . When the spiral blade 120 rotates, it can drive the fuselage 110 to fly. The protection member 130 is, for example, a mesh structure or a baffle structure. The two protective parts 130 are disposed on the fuselage 110 and respectively located on one side of the two helical blades 120 on the front side of the fuselage 110 to protect the two helical blades 120 on the front side of the fuselage 110 from collision. Generally speaking, since the helical blade 120 is often impacted by external objects, the protective member 130 is usually disposed on the outer side of the helical blade 120 so that the protective member 130 can protect the helical blade 120 in a focused manner. However, the form, shape and position of the guard 130 are not intended to limit the present invention. In other embodiments, the protective member may also be in the shape of a ring and surround the helical blade to provide more complete protection for the helical blade.

在本實施例中，防護件130的數量為二個，並分別位於機身110前側，以保護機身110前側之二螺旋葉片120免於受到碰撞，但並不以此為限。在其他實施例中，防護件的數量也可以改為單個，或是，防護件的數量也可以改為匹配於螺旋葉片的數量。即每一個螺旋葉片皆設有防護件，以令防護件來避免每一個螺旋葉片受到碰撞。 In this embodiment, there are two protective parts 130 , which are respectively located at the front side of the fuselage 110 to protect the two helical blades 120 at the front side of the fuselage 110 from collisions, but the invention is not limited thereto. In other embodiments, the number of guards can also be changed to a single one, or the number of guards can also be changed to match the number of helical blades. That is, each helical blade is provided with a protective piece, so that the protective piece can prevent each helical blade from being collided.

拍攝鏡組200例如透過三軸穩定雲台裝設於飛行機體100，並包含一可見光鏡頭210及一熱影像鏡頭220。可見光鏡頭210與熱影像鏡頭220例如用來拍攝待測物品22，以透過待測物品22的即時影像來判斷待測物品22的損壞狀況。舉例來說，若瑕疵檢測裝置10距離待測物品22較遠時，可透過高倍率的可見光鏡頭210對待測物品22進行一遠距檢測。反之，若瑕疵檢測裝置10距離待測物品22較近時，可透過熱影像鏡頭220對待測物品22進行一近拍檢測。遠距檢測與近拍檢測之細節請容後一併說明。 The shooting lens group 200 is installed on the flying body 100 through a three-axis stabilized gimbal, for example, and includes a visible light lens 210 and a thermal image lens 220 . The visible light lens 210 and the thermal image lens 220 are used, for example, to photograph the object under test 22 to judge the damage condition of the object under test 22 through the real-time image of the object under test 22 . For example, if the defect detection device 10 is far away from the object 22 to be tested, a long-distance detection can be performed on the object 22 to be tested through the high-magnification visible light lens 210 . Conversely, if the defect detection device 10 is closer to the object 22 to be tested, it can pass through the heat The image lens 220 performs a close-up detection on the object 22 to be tested. The details of long-distance detection and close-up detection will be explained later.

噴灑組件300包含一儲液容器310、一噴頭330及一流體驅動器320。儲液容器310裝設於飛行機體100，並用以儲存一液體(未繪示)。液體例如為揮發性液體。噴頭330連通於儲液容器310。流體驅動器320例如為泵浦，並裝設於儲液容器310。流體驅動器320作動時用以令儲液容器310儲存的液體自噴頭330噴出而例如將液體霧化並噴灑於待測物品22之表面。 The spray assembly 300 includes a liquid storage container 310 , a spray head 330 and a fluid driver 320 . The liquid storage container 310 is installed on the aircraft body 100 and used for storing a liquid (not shown). Liquids are, for example, volatile liquids. The spray head 330 communicates with the liquid storage container 310 . The fluid driver 320 is, for example, a pump, and is installed in the liquid storage container 310 . When the fluid driver 320 is activated, the liquid stored in the liquid storage container 310 is sprayed from the spray head 330 so as to atomize the liquid and spray it on the surface of the object 22 to be tested.

在本實施例中，噴灑組件300例如還可以包含二擋片，二擋片分別遮擋於噴頭330之左右兩側，以避免飛行機體100飛行時的側向氣流影響噴頭330的噴灑區域的精準度。如此一來，即可透過擋片遮擋噴頭330出液處的左右兩側來提升噴頭330的噴灑精準度。 In this embodiment, the spraying assembly 300 may also include two baffles, for example, which respectively cover the left and right sides of the spray head 330, so as to prevent the lateral airflow of the aircraft body 100 from affecting the accuracy of the spraying area of the spray head 330. . In this way, the spraying accuracy of the spray head 330 can be improved by blocking the left and right sides of the liquid outlet of the spray head 330 through the baffle.

在本實施例中，擋片的數量為二個，但並不以此為限。在其他實施中，擋片的數量也可以改為單個，並將噴頭圍繞於內，或是擋片的數量也可以改為四個，並分別位於噴頭的上下左右四側，以避免飛行機體飛行時的縱向氣流與側向氣流影響噴頭的噴灑區域的精準度。 In this embodiment, the number of blocking pieces is two, but it is not limited thereto. In other implementations, the number of baffles can also be changed to one, and the nozzle can be surrounded inside, or the number of baffles can also be changed to four, and they are respectively located on the top, bottom, left, and right sides of the nozzle, so as to prevent the flying body from flying The vertical airflow and lateral airflow at the time affect the accuracy of the spraying area of the nozzle.

預警接收器裝設於機體，並用以接收至少一風切預警訊號。風切預警訊號例如為風速資訊、風向資訊或風切到達時間資訊，並例如由另一無人機提供或是地面站之光達裝置提供。 The early warning receiver is installed on the body and used to receive at least one wind shear early warning signal. The wind shear warning signal is, for example, wind speed information, wind direction information, or wind shear arrival time information, and is provided, for example, by another drone or a LiDAR device on a ground station.

處理器500依據至少一風切預警訊號調整飛行機體100的位置。舉例來說，若收到的風切預警訊號為風力突然變強，且會將瑕疵檢測裝置10吹向待測物品22，則處理器500可讓瑕疵檢測裝置10與待測物品22的距離增加，以避免瑕疵檢測裝置10非預期地撞上待測物品22而導致瑕疵檢測裝置10損壞。 The processor 500 adjusts the position of the flying body 100 according to at least one wind shear warning signal. For example, if the received wind shear warning signal is that the wind suddenly becomes stronger and will blow the defect detection device 10 to the object 22 to be tested, the processor 500 can make the defect detection device 10 and the object to be tested The distance of the object 22 is increased to prevent the defect detection device 10 from accidentally colliding with the object 22 to be tested and causing damage to the defect detection device 10 .

在本實施例中，瑕疵檢測裝置10還可以包含一腳架600。腳架600例如包含一第一延伸部610、一第二延伸部620及一第三延伸部630。第一延伸部610與第二延伸部620分別連接於第三延伸部630之相對兩側，並共同構成一三角結構。第一延伸部610與第二延伸部620組裝於飛行機體100。藉由第三延伸部630銜接第一延伸部610與第二延伸部620之設計，可增強腳架600的結構強度。如此一來，若飛行機體100非預期重摔到地面，則可避免因第一延伸部610與第二延伸部620被破壞而讓鏡頭撞擊到地面。 In this embodiment, the defect detection device 10 may further include a tripod 600 . The stand 600 includes, for example, a first extension part 610 , a second extension part 620 and a third extension part 630 . The first extension portion 610 and the second extension portion 620 are connected to opposite sides of the third extension portion 630 respectively, and jointly form a triangular structure. The first extension part 610 and the second extension part 620 are assembled on the flying body 100 . The structural strength of the stand 600 can be enhanced by the design of the third extension portion 630 connecting the first extension portion 610 and the second extension portion 620 . In this way, if the flying body 100 falls to the ground unexpectedly, the lens can be prevented from hitting the ground due to the damage of the first extension part 610 and the second extension part 620 .

在本實施例中，瑕疵檢測裝置10還可以包含一降落傘700，降落傘700裝設於飛行機體100，以防止飛行機體100發生事故，能夠透過降落傘700安全降落。舉例來說，瑕疵檢測裝置10可加裝速度感測器，並透過速度感測器之速度資訊來判斷瑕疵檢測裝置10是否處於失速狀態。若瑕疵檢測裝置10處於失速狀態，則打開降落傘700，以防止飛行機體100發生事故。 In this embodiment, the defect detection device 10 may further include a parachute 700 , and the parachute 700 is installed on the flying body 100 to prevent accidents of the flying body 100 and allow the flying body 100 to land safely through the parachute 700 . For example, the defect detection device 10 can be equipped with a speed sensor, and judge whether the defect detection device 10 is in a stalled state through the speed information of the speed sensor. If the defect detection device 10 is in a stall state, the parachute 700 is opened to prevent accidents of the flying body 100 .

請參閱圖2至圖5。圖4與圖5為圖1之瑕疵檢測裝置10執行瑕疵檢測方法的流程示意圖。 See Figures 2 through 5. 4 and 5 are schematic flow charts of the defect detection method executed by the defect detection device 10 in FIG. 1 .

首先，如圖2與圖4之步驟S100所示，令一瑕疵檢測裝置10的拍攝鏡組200距一待測物品22一第一距離D1，並透過瑕疵檢測裝置10之一拍攝鏡組200對待測物品進行一遠距檢測。詳細來說，第一距離 D1例如介於50至150公尺，並例如透過拍攝鏡組200之可見光鏡頭210來拍攝待測物品22。 First, as shown in FIG. 2 and step S100 of FIG. 4 , the photographing mirror group 200 of a defect detection device 10 is separated from an object 22 to be tested by a first distance D1, and treated through the photographing mirror group 200 of the defect detection device 10 The test item is subjected to a remote test. In detail, the first distance D1 is, for example, in the range of 50 to 150 meters, and photographs the object 22 to be tested, for example, through the visible light lens 210 of the photographing mirror assembly 200 .

接著，如圖4之步驟S200所示，處理器500依據遠距檢測結果獲得待測物品22上的至少一可疑區域24。 Next, as shown in step S200 of FIG. 4 , the processor 500 obtains at least one suspicious region 24 on the object under test 22 according to the remote detection result.

接著，如圖3與圖4之步驟S300所示，令瑕疵檢測裝置10移動至至少一可疑區域24，且瑕疵檢測裝置10的拍攝鏡組200距待測物品22之至少一可疑區域24一第二距離D2。第二距離D2小於第一距離D1，並透過瑕疵檢測裝置10之拍攝鏡組200對待測物品進行一近拍檢測。詳細來說，第二距離D2例如介於2.5至5公尺，並例如透過拍攝鏡組200之熱影像鏡頭220來拍攝待測物品22之可疑區域24。此外，瑕疵檢測裝置10之拍攝鏡組200對待測物品進行近拍檢測時，噴頭330與可疑區域24的距離D3例如介於0.5至1.5公尺，以提升噴頭330之噴灑區域的精準度。 Next, as shown in step S300 of FIG. 3 and FIG. 4 , the defect detection device 10 is moved to at least one suspicious area 24 , and the photographing lens group 200 of the defect detection device 10 is a distance from at least one suspicious area 24 of the object 22 to be tested. Two distance D2. The second distance D2 is smaller than the first distance D1, and a close-up detection is performed on the object to be tested through the camera lens group 200 of the defect detection device 10 . Specifically, the second distance D2 is, for example, between 2.5 and 5 meters, and the suspicious area 24 of the object under test 22 is photographed, for example, through the thermal imaging lens 220 of the photographing mirror assembly 200 . In addition, when the camera lens group 200 of the defect detection device 10 conducts close-up detection of the object to be tested, the distance D3 between the nozzle 330 and the suspicious area 24 is, for example, 0.5 to 1.5 meters to improve the accuracy of the spraying area of the nozzle 330 .

詳細近拍檢測步驟請參閱圖3與圖5，如步驟S310所示，在待測物品22表面噴灑液體前，先拍攝待測物品22，以獲得至少一第一熱顯像畫面。接著，如步驟S320所示，透過噴頭330對待測物品22噴灑一液體，並於噴灑液體後拍攝待測物品22，以獲得至少一第二熱顯像畫面。接著，如步驟S330所示，依據至少一第一熱顯像畫面與至少一第二熱顯像畫面之比較結果作為瑕疵檢測的依據。 Please refer to FIG. 3 and FIG. 5 for detailed close-up detection steps. As shown in step S310 , before spraying liquid on the surface of the object 22 to be tested, the object 22 to be tested is first photographed to obtain at least one first thermal imaging image. Next, as shown in step S320 , a liquid is sprayed on the object 22 to be tested through the spray head 330 , and the object 22 to be tested is photographed after spraying the liquid, so as to obtain at least one second thermal imaging image. Next, as shown in step S330 , the defect detection is based on the comparison result of at least one first thermal imaging frame and at least one second thermal imaging frame.

請參閱圖6至圖9，圖6至圖9為圖1之瑕疵檢測裝置10進行第一可疑區域24之近拍檢測的模擬影像示意圖。實際上，當瑕疵檢測裝置10進行近拍檢測時，熱影像鏡頭220會對待測物品22之可疑區域24 連續拍攝。連續拍攝期間之初期，噴頭330未對待測物品22噴灑液體，以令熱影像鏡頭220取得未噴灑液體之第一熱顯像畫面(如圖6所示)。連續拍攝期間之中、後期，噴頭330例如每隔一預設時間噴灑液體於待測物品22之可疑區域24，以令熱影像鏡頭220取得有噴灑液體之第二熱顯像畫面(如圖7至圖9所示)。預設時間例如為5秒，即每5秒噴頭330會在可疑區域24上噴一次。噴頭330初次噴灑液體至末次噴灑液體的總時間例如為30~50秒。噴頭330每一次的噴灑出液體的時間例如為0.5~2秒。從圖6至圖9中可知，若待測物品22之可疑區域24有損傷，則在液體影響之下第二熱顯像畫面中有狀況的域區會越來越明顯(如細線框選處)。圖6至圖9之影像所表示之狀況例如為待測物品22之內部泡棉破損。 Please refer to FIG. 6 to FIG. 9 . FIG. 6 to FIG. 9 are schematic diagrams of simulated images of the close-up detection of the first suspicious area 24 performed by the defect detection device 10 in FIG. 1 . In fact, when the defect detection device 10 performs close-up detection, the thermal imaging lens 220 will look at the suspicious area 24 of the object under test 22 Continuous shooting. In the initial stage of the continuous shooting period, the nozzle 330 does not spray liquid on the object 22 to be tested, so that the thermal imaging lens 220 can obtain a first thermal image image without spraying liquid (as shown in FIG. 6 ). In the middle and later stages of the continuous shooting period, the spray head 330 sprays the liquid on the suspicious area 24 of the object under test 22, for example, every preset time, so that the thermal imaging lens 220 can obtain the second thermal imaging image with the sprayed liquid (as shown in FIG. 7 to Figure 9). The preset time is, for example, 5 seconds, that is, the spray head 330 sprays on the suspicious area 24 every 5 seconds. The total time from the first spraying of the liquid to the last spraying of the liquid by the spray head 330 is, for example, 30-50 seconds. The spraying time of the spray head 330 each time is, for example, 0.5-2 seconds. As can be seen from Fig. 6 to Fig. 9, if the suspicious area 24 of the object to be tested 22 has damage, then under the influence of the liquid, the area with the condition in the second thermal imaging picture will become more and more obvious (such as the thin line frame selection) ). The situation shown in the images of FIGS. 6 to 9 is, for example, that the internal foam of the object under test 22 is damaged.

請參閱圖10至圖12，圖10至圖12為圖1之瑕疵檢測裝置10進行第二可疑區域24之近拍檢測的模擬影像示意圖。實際上，當瑕疵檢測裝置10進行近拍檢測時，熱影像鏡頭220會對待測物品22之可疑區域24連續拍攝。連續拍攝期間之初期，噴頭330未對待測物品22噴灑液體，以令熱影像鏡頭220取得未噴灑液體之第一熱顯像畫面(如圖10所示)。連續拍攝期間之中、後期，噴頭330例如每隔一預設時間噴灑液體於待測物品22之可疑區域24，以令熱影像鏡頭220取得有噴灑液體之第二熱顯像畫面(如圖11、圖12所示)。預設時間例如為5秒，即每5秒噴頭330會在可疑區域24上噴一次。噴頭330初次噴灑液體至末次噴灑液體的總時間例如為30~50秒。噴頭330每一次的噴灑出液體的時間例如為0.5~2秒。從圖10至圖12中可知，若待測物品22之可疑區域24有損傷，則在液體影響之下第二熱顯像畫面中有狀況的域區會越來越明顯(如細線框選處)。圖10至圖12之影像所表示之狀況例如為待測物品22之表面產生細小裂縫。 Please refer to FIG. 10 to FIG. 12 . FIG. 10 to FIG. 12 are schematic diagrams of simulated images of the close-up detection of the second suspicious area 24 performed by the defect detection device 10 in FIG. 1 . In fact, when the defect detection device 10 performs close-up detection, the thermal imaging lens 220 will continuously take pictures of the suspicious area 24 of the object 22 to be tested. In the initial stage of the continuous shooting period, the nozzle 330 does not spray liquid on the object 22 to be tested, so that the thermal imaging lens 220 obtains a first thermal image image without spraying liquid (as shown in FIG. 10 ). In the middle and late stages of the continuous shooting period, the spray head 330 sprays liquid on the suspicious area 24 of the object under test 22 at intervals of a preset time, so that the thermal imaging lens 220 can obtain a second thermal imaging image with sprayed liquid (as shown in FIG. 11 , shown in Figure 12). The preset time is, for example, 5 seconds, that is, the spray head 330 sprays on the suspicious area 24 every 5 seconds. The total time from the first spraying of the liquid to the last spraying of the liquid by the spray head 330 is, for example, 30-50 seconds. The spraying time of the spray head 330 each time is, for example, 0.5-2 seconds. It can be seen from Fig. 10 to Fig. 12 that if the suspicious area 24 of the object to be tested 22 is damaged, the area with the condition in the second thermal imaging picture under the influence of the liquid will become more and more obvious (such as the thin line frame selection) ). The situation shown in the images of FIGS. 10 to 12 is, for example, the occurrence of fine cracks on the surface of the object 22 to be tested.

請再參閱圖3，瑕疵檢測裝置10之拍攝鏡組200對待測物品進行近拍檢測之過程中，令瑕疵檢測裝置10例如接收來自另一架無人機30或地面監測站40的至少一風切預警訊號，以讓處理器500依據風切預警訊號調整瑕疵檢測裝置10的位置。舉例來說，假設無人機至待測物品22的距離D3例如為300公尺，且風速為每秒30公尺，則可傳送風切衝擊倒數10秒之風切預警訊號給瑕疵檢測裝置10，並讓操作瑕疵檢測裝置10得以提前反應。 Please refer to FIG. 3 again. During the close-up inspection of the object to be inspected by the camera lens group 200 of the defect detection device 10, the defect detection device 10 receives at least one wind shear from another drone 30 or a ground monitoring station 40, for example. The early warning signal allows the processor 500 to adjust the position of the defect detection device 10 according to the wind shear early warning signal. For example, assuming that the distance D3 between the UAV and the object 22 to be tested is 300 meters, and the wind speed is 30 meters per second, a wind shear warning signal of 10 seconds countdown to the wind shear impact can be sent to the defect detection device 10, And allow the operation defect detection device 10 to react in advance.

雖然本發明以前述之諸項實施例揭露如上，然其並非用以限定本發明，任何熟習相像技藝者，在不脫離本發明之精神和範圍內，當可作些許之更動與潤飾，因此本發明之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。 Although the present invention is disclosed above with the foregoing embodiments, it is not intended to limit the present invention. Any person familiar with similar skills may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, this The scope of patent protection for inventions shall be defined in the scope of patent application attached to this specification.

S100~S300:步驟 S100~S300: Steps

Claims

一種瑕疵檢測方法，包含：令一瑕疵檢測裝置距一待測物品一第一距離，並透過該瑕疵檢測裝置之一拍攝鏡組對該待測物品進行一遠距檢測；依據該遠距檢測結果獲得該待測物品上的至少一可疑區域；令該瑕疵檢測裝置移動至該至少一可疑區域，並距該待測物品之該至少一可疑區域一第二距離，該第二距離小於該第一距離；以及透過該瑕疵檢測裝置之該拍攝鏡組對該待測物品進行一近拍檢測，包含：拍攝該待測物品，以獲得至少一第一熱顯像畫面；對該待測物品噴灑一液體，並於噴灑該液體後拍攝該待測物品，以獲得至少一第二熱顯像畫面；以及依據該至少一第一熱顯像畫面與該至少一第二熱顯像畫面之比較結果作為瑕疵檢測的依據。 A defect detection method, comprising: placing a defect detection device at a first distance from an object to be tested, and performing a remote detection on the object to be tested through a camera lens group of the defect detection device; according to the remote detection result Obtain at least one suspicious area on the item to be tested; move the defect detection device to the at least one suspicious area, and a second distance from the at least one suspicious area of the item to be tested, the second distance is smaller than the first distance; and performing a close-up inspection on the object under test through the shooting lens group of the defect detection device, including: photographing the object under test to obtain at least one first thermal imaging image; spraying a liquid, and after spraying the liquid, photograph the object to be tested to obtain at least one second thermal image; and based on the comparison result of the at least one first thermal image and the at least one second thermal image as Basis for defect detection.

如請求項1所述之瑕疵檢測方法，其中透過該瑕疵檢測裝置之該拍攝鏡組對該待測物品進行該近拍檢測之過程中，令該瑕疵檢測裝置接收至少一風切預警訊號，以依據該至少一風切預警訊號調整該瑕疵檢測裝置的位置。 The defect detection method as described in claim 1, wherein the defect detection device receives at least one wind shear early warning signal during the close-up detection of the object to be tested through the camera lens group of the defect detection device, so as to The position of the defect detection device is adjusted according to the at least one wind shear warning signal.

如請求項1所述之瑕疵檢測方法，其中該瑕疵檢測裝置進行該近拍檢測時，該瑕疵檢測裝置之一噴頭與該待測物品的距離介於0.5~1.5公尺。 The defect detection method as described in Claim 1, wherein when the defect detection device performs the close-up detection, the distance between a nozzle of the defect detection device and the object to be tested is between 0.5 and 1.5 meters.

如請求項1所述之瑕疵檢測方法，其中該瑕疵檢測裝置進行該近拍檢測時，該瑕疵檢測裝置之該拍攝鏡組與該待測物品的距離介於2.5~5公尺。 The defect detection method as described in claim 1, wherein when the defect detection device performs the close-up detection, the distance between the camera lens group of the defect detection device and the object to be tested is 2.5 to 5 meters.

如請求項1所述之瑕疵檢測方法，其中該瑕疵檢測裝置之一噴頭每隔一預設時間噴灑液體於該待測物品，該預設時間為5秒。 The defect detection method as described in claim 1, wherein one of the nozzles of the defect detection device sprays the liquid on the object under test every preset time, and the preset time is 5 seconds.

如請求項1所述之瑕疵檢測方法，其中該瑕疵檢測裝置之一噴頭初次噴灑液體至末次噴灑液體的總時間為30~50秒。 The defect detection method according to claim 1, wherein the total time from the first spraying of liquid to the last spraying of liquid by one of the nozzles of the defect detection device is 30 to 50 seconds.

如請求項1所述之瑕疵檢測方法，其中該瑕疵檢測裝置之一噴頭每一次噴灑出液體的時間為0.5~2秒。 The defect detection method as described in Claim 1, wherein the time for each spraying of the liquid by one of the nozzles of the defect detection device is 0.5 to 2 seconds.

如請求項1所述之瑕疵檢測方法，其中該拍攝鏡組包含一可見光鏡頭及一熱影像鏡頭，該瑕疵檢測裝置進行該遠距檢測時，透過該可見光鏡頭對該待測物品進行檢測，該瑕疵檢測裝置進行該近拍檢測時，透過該熱影像鏡頭對該待測物品進行檢測。 The defect detection method as described in claim 1, wherein the photographing lens group includes a visible light lens and a thermal image lens, and when the defect detection device performs the remote detection, the object to be tested is detected through the visible light lens, the When the defect detection device performs the close-up detection, it detects the object to be tested through the thermal image lens.

如請求項1所述之瑕疵檢測方法，其中該瑕疵檢測裝置進行該遠距檢測時，該瑕疵檢測裝置之該拍攝鏡組與該待測物品的距離介於50~150公尺。 The defect detection method as described in Claim 1, wherein when the defect detection device performs the remote detection, the distance between the imaging lens group of the defect detection device and the object to be tested is between 50 and 150 meters.

如請求項1所述之瑕疵檢測方法，其中該液體為揮發性液體。 The defect detection method according to claim 1, wherein the liquid is a volatile liquid.

一種瑕疵檢測裝置，用以檢測一待測物品，該瑕疵檢測裝置包含：一飛行機體；一拍攝鏡組，裝設於該飛行機體；一噴灑組件，包含：一儲液容器，裝設於該飛行機體，並用以儲存一液體；一噴頭，連通於該儲液容器；以及一流體驅動器，裝設於該儲液容器並用以令該儲液容器儲存的該液體自該噴頭噴出；一預警接收器，裝設於該機體，並用以接收至少一風切預警訊號；以及一處理器，依據該至少一風切預警訊號調整該飛行機體的位置；其中，該拍攝鏡組用以拍攝該待測物品，並獲得至少一第一熱顯像畫面，該噴頭用以對該待測物品噴灑一液體，並於噴灑該液體後拍攝該待測物品，以獲得至少一第二熱顯像畫面，該處理器用以依據該至少一第一熱顯像畫面與該至少一第二熱顯像畫面之比較結果作為瑕疵檢測的依據。 A defect detection device is used to detect an item to be tested, and the defect detection device includes: a flight body; a photographing lens group installed on the flight body; a spraying component, including: a liquid storage container installed on the an aircraft body for storing a liquid; a spray head connected to the liquid storage container; and a fluid driver installed in the liquid storage container and used to make the liquid stored in the liquid storage container spray out from the spray head; An early warning receiver is installed on the body and is used to receive at least one wind shear warning signal; and a processor adjusts the position of the flying body according to the at least one wind shear early warning signal; The object to be tested, and obtain at least one first thermal imaging image, the spray head is used to spray a liquid on the object to be tested, and photograph the object to be tested after spraying the liquid, so as to obtain at least one second thermal imaging image A frame, the processor is used to use the comparison result of the at least one first thermal imaging frame and the at least one second thermal imaging frame as a basis for defect detection.

如請求項11所述之瑕疵檢測裝置，其中該噴灑組件更包含至少一擋片，該至少一擋片遮擋於該噴頭之一側。 The defect detection device as claimed in claim 11, wherein the sprinkler assembly further includes at least one shutter, and the at least one shutter is shielded from one side of the spray head.

如請求項11所述之瑕疵檢測裝置，更包含一腳架，該腳架包含一第一延伸部、一第二延伸部及一第三延伸部，該第一延伸部與該第二延伸部分別連接於該第三延伸部之相對兩側，並共同構成一三角結構，該第一延伸部與該第二延伸部組裝於該飛行機體。 The defect detection device as described in claim 11 further includes a stand, the stand includes a first extension part, a second extension part and a third extension part, the first extension part and the second extension part They are respectively connected to opposite sides of the third extension part and form a triangular structure together. The first extension part and the second extension part are assembled on the aircraft body.

如請求項11所述之瑕疵檢測裝置，其中該飛行機體包含一機身、多個螺旋葉片及至少一防護件，該些螺旋葉片設置於該機身，該至少一防護件設置於該機身，並防護於其中一該螺旋葉片之一側。 The defect detection device according to claim 11, wherein the aircraft body includes a fuselage, a plurality of spiral blades and at least one guard, the spiral blades are arranged on the fuselage, and the at least one guard is arranged on the fuselage , and protected on one side of one of the helical blades.

如請求項11所述之瑕疵檢測裝置，更包含一降落傘，該降落傘裝設於該飛行機體。 The defect detection device according to claim 11 further includes a parachute installed on the flying body.

如請求項11所述之瑕疵檢測裝置，其中該拍攝鏡組包含一可見光鏡頭及一熱影像鏡頭，該瑕疵檢測裝置進行一遠距檢測時，透過該可見光鏡頭對該待測物品進行檢測，該瑕疵檢測裝置進行一近拍檢測時，透過該熱影像鏡頭對該待測物品進行檢測。 The defect detection device as described in claim 11, wherein the camera lens group includes a visible light lens and a thermal image lens, and when the defect detection device performs a remote detection, through the visible The optical lens detects the object to be tested, and when the defect detection device performs a close-up detection, it detects the object to be tested through the thermal image lens.