Three-dimensional scanning device and three-dimensional scanning system

Abstract

This application provides a three-dimensional scanning device, comprising: a scanning component including a first projector and a second projector, the first projector emitting a first structured light having a first wavelength, and the second projector emitting a second structured light having a second wavelength, wherein the first wavelength is greater than the second wavelength; an illumination component for emitting illumination light; and a beam splitting sensing component including a first sensor and a second sensor, wherein the beam splitting sensing component is located on the optical path of the detection light reflected from the first structured light, the second structured light, and the illumination light by the target object and the marker point, and is used to separate the optical paths of the detection light with different wavelengths, such that the first sensor and the second sensor respectively generate image information based on the detection light of different wavelengths, the image information being used to obtain a three-dimensional image of the target object after three-dimensional reconstruction and / or for tracking the marker point. This application also provides a three-dimensional scanning system.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and in particular to a 3D scanning device and a 3D scanning system including the 3D scanning device. Background Technology

[0002] A scanner uses lasers to scan an object, thereby acquiring features of various points on the object. A tracker is used to track the features of marker points on the scanner. Based on the features acquired by the scanner and tracker, a three-dimensional image of the object can be generated.

[0003] Traditional 3D scanning devices are expensive, complex in design, and heavy. On the other hand, they have low resistance to ambient light interference, which is particularly disadvantageous for outdoor scanning scenarios. Summary of the Invention

[0004] The first aspect of this application provides a three-dimensional scanning device, comprising:

[0005] The scanning component includes a first projector and a second projector, the first projector being used to emit a first structured light having a first wavelength, and the second projector being used to emit a second structured light having a second wavelength, wherein the first wavelength is greater than the second wavelength.

[0006] Lighting components for emitting illumination light; and

[0007] The beam splitting sensing component includes a first sensor and a second sensor. The beam splitting sensing component is located on the optical path of the detection light reflected from the first structured light, the second structured light, and the illumination light of the target object and the marker point. It is used to separate the optical paths of the detection light with different wavelengths, so that the first sensor and the second sensor generate image information based on the detection light of different wavelengths respectively. The image information is used to obtain a three-dimensional image of the target object after three-dimensional reconstruction and / or to track the marker point.

[0008] A second aspect of this application provides a three-dimensional scanning system, comprising:

[0009] The aforementioned three-dimensional scanning device; and

[0010] A computing module, connected to the 3D scanning device, is used to receive the image information and perform 3D reconstruction based on the image information to generate a 3D image of the target object and / or track the marker points.

[0011] The aforementioned 3D scanning device and system include a scanning component, an illumination component, and a beam splitting sensing component. It can function as a tracker to track and identify markers on an external scanner at an optimal working distance, and as a handheld scanner to scan target objects at a terminal distance. The scanning component also includes a first projector and a second projector capable of emitting lasers of different wavelengths. When the 3D scanning device emits a first structured light with a longer wavelength, it can scan target objects over a large area; when it emits a second structured light with a shorter wavelength, it can scan target objects over a relatively smaller area. Furthermore, the beam splitting sensing component includes two sensors for separating different wavelengths of light. The optical paths of the first and second detection lights of different wavelengths generate image information based on the first and second detection lights of different wavelengths. This image information is used to obtain a three-dimensional image of the target object after three-dimensional reconstruction, or to track the marker points. Therefore, the three-dimensional scanning device of this application is beneficial for scanning and imaging target objects of different sizes, and is also beneficial for tracking marker points. On this basis, the optical path structure of the three-dimensional scanning device of this application is relatively simple, which helps to avoid increased cost and weight, and also helps to simplify design complexity. Furthermore, the three-dimensional scanning device of this application has improved anti-interference ability against ambient light, and is especially friendly to outdoor scanning and tracking scenarios. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the module structure of a three-dimensional scanning device according to an embodiment of this application.

[0013] Figure 2 for Figure 1 A three-dimensional structural diagram of the 3D scanning device.

[0014] Figure 3 for Figure 1 A schematic diagram of the optical path structure of a three-dimensional scanning device.

[0015] Figure 4 for Figure 1 A schematic diagram of the optical path of a 3D scanning device in tracking mode.

[0016] Figure 5 for Figure 1 A schematic diagram of the optical path of a 3D scanning device in one of the scanning modes.

[0017] Figure 6 for Figure 1 A schematic diagram of the optical path of the 3D scanning device in scanning mode two.

[0018] Figure 7 for Figure 1 A schematic diagram of the optical path of the three-dimensional scanning device during the first scanning period of scanning mode three.

[0019] Figure 8 for Figure 1 A schematic diagram of the optical path of the three-dimensional scanning device during the second scanning period in scanning mode three.

[0020] Figure 9 for Figure 1 A schematic diagram of the optical path of the three-dimensional scanning device in the first scanning period of scanning mode four.

[0021] Figure 10 for Figure 1 A schematic diagram of the optical path of the three-dimensional scanning device during the second scanning period in scanning mode four.

[0022] Figure 11 This is a schematic diagram of the module structure of a three-dimensional scanning system according to an embodiment of this application.

[0023] Explanation of main component symbols

[0024] 3D scanning system: 100

[0025] 3D scanning device: 1

[0026] Casing: 10

[0027] Capacity: 11

[0028] Scan window: 12

[0029] Detection windows: 13, 14

[0030] Scanning components: 20

[0031] First projector: 21

[0032] Second projector: 22

[0033] Lighting components: 30, 40

[0034] First fill light: 31, 41

[0035] Second supplementary light: 32, 42

[0036] Spectrophotometer components: 50, 60

[0037] Spectrometers: 51, 61

[0038] First sensor: 52, 62

[0039] Second sensor: 53, 63

[0040] Lens: 54, 64

[0041] Filters: 55, 65

[0042] Computing devices: 2

[0043] Display devices: 3

[0044] First structured light: L11

[0045] Second structured light: L12

[0046] First illumination beam: L21

[0047] First illumination beam: L22

[0048] First detection light: L31

[0049] Second detection light: L32.

[0050] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0051] This application provides a three-dimensional scanning device, which includes an illumination component and a scanning component. It can be used as a tracker to track and identify marker points on an external scanner at an optimal working distance, and as a handheld scanner to scan target objects at medium and low distances, thus achieving multiple uses in one device.

[0052] Based on this, the three-dimensional scanning device of this application includes at least two projectors capable of emitting lasers of different wavelengths. When the three-dimensional scanning device emits a laser with a longer wavelength, it is used to scan target objects over a large area; when the three-dimensional scanning device emits a laser with a shorter wavelength, it is used to scan target objects over a smaller area. Therefore, it is possible for one device to accurately scan target objects in at least two different areas at at least two optimal focusing positions (the optimal focusing positions are different for lasers of different wavelengths).

[0053] Please see Figure 1 The three-dimensional scanning device 1 of this application includes a housing 10, a scanning component 20, two illumination components 30 and 40, and two spectral sensing components 50 and 60.

[0054] Scanning component 20 is used to emit a first structured light L11 and a second structured light L12. The first structured light L11 and the second structured light L12 have different wavelengths. Illumination component 30 is used to emit a first illumination light L21 and a second illumination light L22, and illumination component 40 is also used to emit the first illumination light L21 and the second illumination light L22. The first illumination light L21 and the second illumination light L22 have different wavelengths. The first structured light L11 and the first illumination light L21 have the same wavelength, and the second structured light L12 and the second illumination light L22 have the same wavelength. In this embodiment, the first wavelength is greater than the second wavelength. In this embodiment, the first structured light L11 and the second structured light L12 are lasers. In other embodiments of this application, the first structured light L11 and the second structured light L12 may also be structured light generated by speckle or grating modulation.

[0055] The first structured light L11 and the second structured light L12 are used to project a specific light spot pattern onto the target object. The first illumination light L21 and the second illumination light L22 are used to illuminate the marker point. When the target object receives the first structured light L11, it reflects the first structured light L11 as the first detection light L31. When the marker point is illuminated by the first illumination light L21, it reflects the first illumination light L21 as the first detection light L31. When the target object receives the second structured light L12, it reflects the second structured light L12 as the second detection light L32. When the marker point is illuminated by the second illumination light L22, it reflects the second illumination light L22 as the second detection light L32. That is, the first detection light L31 has a first wavelength, and the second detection light L32 has a second wavelength.

[0056] Spectrophotometers 50 and 60 have essentially the same function and structure. They are located on the optical paths of the first detection light L31 and the second detection light L32. Each spectrophotometer 50 / 60 includes two sensors. These components separate the optical paths of the first detection light L31 and the second detection light L32 based on their different wavelengths, allowing different wavelengths of detection light to be received by different sensors, generating image information including target object features and marker features. This image information is then used for subsequent 3D reconstruction to obtain a 3D image of the target object.

[0057] Please refer to the following: Figure 1 and Figure 2 In this embodiment, the housing 10 has an overall elongated shape. The main body of the housing 10 is opaque. An accommodating space 11 is formed inside the housing 10. The scanning component 20, the illumination components 30 and 40, and the spectrophotometer components 50 and 60 are located within the accommodating space 11. In other embodiments of this application, the scanning component 20 may also be fixedly or movably disposed on the surface of the housing 10.

[0058] A light-transmitting scanning window 12 is formed on the housing 10, and a scanning component 20 is located at the scanning window 12. The scanning component 20 emits laser light outward through the scanning window 12. Two light-transmitting detection windows 13 and 14 are also formed on the housing 10. An illumination component 30 and a beam splitting sensing component 50 are located at the detection window 13. The illumination component 30 emits illumination light (first illumination light L21 and / or second illumination light L22) outward through the detection window 13, and the beam splitting sensing component 50 collects external detection light (first detection light L31 and / or second detection light L32) through the detection window 13. An illumination component 40 and a beam splitting sensing component 60 are located at the detection window 14. The illumination component 40 emits illumination light outward through the detection window 14, and the beam splitting sensing component 60 collects external detection light through the detection window 14.

[0059] Scanning windows 12, detection windows 13, and 14 are spaced apart from each other, with detection windows 13 and 14 symmetrically distributed on both sides of scanning window 12. Correspondingly, two illumination components 30 and 40 are located on both sides of scanning component 20. In other embodiments of this application, detection windows 13 and 14 may also be asymmetrically distributed on both sides of scanning window 12. In this embodiment, scanning windows 12, detection windows 13, and 14 face the same direction to scan target objects in the same space and receive the first detection light L31 and / or the second detection light L32 reflected by the target object.

[0060] Please see Figure 3 In this embodiment, the scanning component 20 includes a first projector 21 and a second projector 22. The first projector 21 is used to emit a first structured light L11, and the second projector 22 is used to emit a second structured light L12. In this embodiment, the first projector 21 and the second projector 22 may be a digital light processing (DLP) projector or a laser.

[0061] In this embodiment, the lighting assembly 30 includes multiple first supplementary lights 31 and multiple second supplementary lights 32. Each first supplementary light 31 emits a first illumination light L21, and each second supplementary light 32 emits a second illumination light L22. The first illumination light L21 and the second illumination light L22 are used to illuminate the marker point. In this embodiment, each first supplementary light 31 and each second supplementary light 32 is a light-emitting diode (LED).

[0062] When the first structured light L11 scans the surface of the target object, it is reflected by the target object as the first detection light L31. When the second structured light L12 scans the surface of the target object, it is reflected by the target object as the second detection light L32. When the first illumination light L21 illuminates the marker point, it is reflected by the marker point as the first detection light L31. When the second illumination light L22 illuminates the marker point, it is reflected by the marker point as the second detection light L32.

[0063] In this embodiment, the beam-splitting sensing component 50 includes a beam splitter 51, a first sensor 52, a second sensor 53, and a lens 54. The lens 54 is used to collect the first detection light L31 and the second detection light L32, and to focus the first detection light L31 and the second detection light L32 onto the beam splitter 51.

[0064] In this embodiment, the optical axis of the lens 54 is perpendicular to the detection window 13. Multiple first fill lights 31 are arranged at intervals around the circumference of the lens 54 (i.e., around the optical axis of the lens 54), and multiple second fill lights 32 are also arranged at intervals around the circumference of the lens 54 (i.e., around the optical axis of the lens 54), with the multiple second fill lights 32 surrounding the multiple first fill lights 31. In other embodiments of this application, the multiple first fill lights 31 and multiple second fill lights 32 are arranged at intervals in the circumferential direction (i.e., around the optical axis of the lens 54) to collectively surround the lens 54. The multiple first fill lights 31 and multiple second fill lights 32 can be arranged alternately in the circumferential direction, or the multiple first fill lights 31 can be arranged continuously for half a circumference, while the multiple second fill lights 32 can be arranged continuously for the other half circumference.

[0065] In this embodiment, the spectral sensing component 50 also includes a filter 55 located in front of the lens 54, that is, the filter 55 is located between the lens 54 and the detection window 13 (see Figure 2 Between ), filter 55 is a dual-pass filter used to allow light with wavelengths in the first and second bands to pass through, while blocking light of other wavelengths from entering lens 54. The first and second bands do not overlap. The first wavelength is located in the first band, and the second wavelength is located in the second band.

[0066] Beam splitter 51 is located on the optical axis of lens 54, and on the side of lens 54 away from filter 55. Beam splitter 51 is located in the optical path of the first detection light L31 and the second detection light L32, and is used to selectively guide the portion of the detection light with a first wavelength to the first sensor 52 and the portion with a second wavelength to the second sensor 53, based on the wavelength of the detection light. In this embodiment, beam splitter 51 is used to reflect the first detection light L31 with the first wavelength to the first sensor 52 and to transmit the second detection light L32 with the second wavelength to the second sensor 53. Therefore, the first sensor 52 and the second sensor 53 are used to generate image information based on the first detection light L31 and the second detection light L32 with different wavelengths, respectively. The image information includes target object features and marker features. In this embodiment, beam splitter 51 is a beam splitter, and the first sensor 51 and the second sensor 52 are charge-coupled device (CCD) cameras.

[0067] In this embodiment, the lighting component 40 has essentially the same structure and function as the lighting component 30, including multiple first supplementary lights 41 and multiple second supplementary lights 42. The spectral sensing component 60 has essentially the same structure and function as the spectral sensing component 50, including a beam splitter 61, a first sensor 62, a second sensor 63, a lens 64, and a filter 65. The optical axis of the lens 64 is perpendicular to the detection window 14. The multiple first supplementary lights 41 are arranged around the circumference of the lens 64, and the multiple second supplementary lights 42 are also arranged around the circumference of the lens 64 and located outside the multiple first supplementary lights 41. The function of the spectral sensing component 60 will not be described further.

[0068] The number of projectors in the scanning component 20 is the same as the number of different types of fill lights in each lighting component (30 / 40). Different projectors emit light of different wavelengths, and different types of fill lights emit light of different wavelengths. In this embodiment, the scanning component 20 includes two projectors (21 / 22), and each lighting component (30 / 40) includes two types of fill lights (31 / 32, or 41 / 42). The corresponding projectors and fill lights emit light of the same wavelength (the first projector 21 emits light of the same wavelength as the first fill light 31 and the first fill light 41, and the second projector 22 has the same number as the second fill light 32 and the second fill light 42 and emits light of the same wavelength).

[0069] In at least one modified embodiment of this application, the scanning component 20 may include a greater number of projectors, and each lighting component (30 / 40) may include a greater variety of fill lights, with corresponding projectors and fill lights emitting light of the same wavelength, each projector emitting light of a different wavelength, and various fill lights emitting light of different wavelengths.

[0070] The number of illumination components and spectral sensing components are the same and correspond one-to-one. In this embodiment, the three-dimensional scanning device 1 includes two illumination components (30 / 40) and two spectral sensing components (50 / 60). In at least one modified embodiment of this application, the three-dimensional scanning device 1 may include more or fewer illumination components and spectral sensing components, while maintaining the same number of illumination components and spectral sensing components.

[0071] In at least one modified embodiment of this application, the beam splitter 51 may also be other optical elements capable of separating beams of different wavelengths. Furthermore, in at least one modified embodiment of this application, the beam-splitting sensing assembly 50 may include a greater number of optical elements working together to achieve beam splitting. In this embodiment, the beam splitter 51 is a beam splitter mirror, which is advantageous for saving cost and space.

[0072] The following describes the working process of the three-dimensional scanning device 1, taking the scanning component 20 as including two projectors (21 / 22), each illumination component (30 / 40) including two types of supplementary lights (31 / 32), the three-dimensional scanning device 1 including two illumination components (30 / 40) and two beam-splitting sensing components (50 / 60), and the beam splitter 51 as a beam splitter.

[0073] In this embodiment, the three-dimensional scanning device 1 can operate in tracking mode and scanning mode.

[0074] When the 3D scanning device 1 is working in tracking mode, it is used as a tracker and requires an external scanner to obtain a 3D image of the target object.

[0075] Multiple marker points are fixedly set on the external scanner. The user can handhold the external scanner to scan the target object. During the scanning of the target object by the external scanner, the three-dimensional scanning device 1 of this embodiment is fixedly set (e.g., fixedly set on a tripod), and the detection windows 13 and 14 (see Figure 2 Oriented towards the external scanner and the location of the target object.

[0076] Please see Figure 4 During the scanning of the target object by the external scanner: the first supplementary light 31 and the first supplementary light 41 in the 3D scanning device 1 flash at a preset frequency, that is, emit a first illumination light L21 with a first wavelength at a preset frequency; the first illumination light L21 illuminates multiple markers on the external scanner, and the multiple markers reflect it as a first detection light L31, which has the same wavelength (first wavelength) as the first illumination light L21; the filter 55 allows the first detection light L31 with the first wavelength to pass through, the lens 54 receives the first detection light L31 from the filter 55 and focuses it onto the beam splitter 51; the beam splitter 51 reflects the first detection light L31 to the first sensor 53; the first sensor 53 generates marker features based on the first detection light L31.

[0077] An external scanner emits a laser line towards the target object to scan it. During the scan, the target object reflects the laser line. The wavelength of the laser line reflected by the target object is within a first wavelength band. A filter 55 allows the laser line to pass through. A lens 54 receives the laser line from the filter 55 and focuses it onto a beam splitter 51. The beam splitter 51 reflects the laser line to a first sensor 53. The first sensor 53 generates image information based on the laser line. The image information is used to reconstruct a three-dimensional image of the target object.

[0078] The 3D scanning device 1 integrates tracking and scanning functions. Multiple marker points are attached to the surface of the target object. The user holds the 3D scanning device 1 and moves it around, scanning the target object and obtaining a 3D image of it without the need for a separate scanner. When operating in scanning mode, the 3D scanning device 1 can employ at least the following operating methods.

[0079] Method 1: Single-range scanning, with two sensors acquiring image information separately.

[0080] Please see Figure 5 The first supplementary light 31 / 41 and the second supplementary light 32 / 42 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit a first illumination light L21 with a first wavelength and a second illumination light L22 with a second wavelength at a preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously. At this time, the second projector 22 emits a second structured light L12 with a second wavelength.

[0081] The first illumination light L21 and the second illumination light L22 illuminate multiple marker points on the target object. These marker points reflect the target object as the first detection light L31 and the second detection light L32, respectively. The first detection light L31 has the same wavelength as the first illumination light L21 (first wavelength), and the second detection light L32 has the same wavelength as the second illumination light L22 (second wavelength). The second structured light L12 is projected onto the surface of the target object to form a scanning spot, which is reflected by the target object as the second detection light L32.

[0082] Filters 55 / 65 allow a first detection light L31 having a first wavelength and a second detection light L32 having a second wavelength to pass through. Lens 54 receives the first detection light L31 and the second detection light L32 from filter 55 and focuses them onto beam splitter 51; beam splitter 51 reflects the first detection light L31 to first sensor 52 and transmits the second detection light L32 to second sensor 53. Lens 64 receives the first detection light L31 and the second detection light L32 from filter 65 and focuses them onto beam splitter 61; beam splitter 61 reflects the first detection light L31 to first sensor 62 and transmits the second detection light L32 to second sensor 63.

[0083] The first sensor 52 / 62 generates image information of the marker points based on the first detection light L31, including the marker point features. The second sensor 53 / 63 generates image information of the target object based on the second detection light L32, including the target object features. The marker point features are used to stitch together and reconstruct the target object features, thereby obtaining a three-dimensional image of the target object.

[0084] Method 2: Single-range scanning, with a single sensor acquiring image information.

[0085] The first supplementary light 31 / 41 or the second supplementary light 32 / 42 in the 3D scanning device 1 flashes at a preset frequency, that is, it emits a first illumination light L21 with a first wavelength or a second illumination light L22 with a second wavelength at a preset frequency. At this time, a corresponding projector is synchronously controlled to emit a laser. For example, if the first supplementary light 31 / 41 emits the first illumination light L21, the first projector 21 is synchronously controlled to emit the first structured light L11; if the second supplementary light 32 / 42 emits the second illumination light L22, the second projector 22 is synchronously controlled to emit the second structured light L12. The following example illustrates the situation with the first supplementary light 31 / 41 emitting the first illumination light L21 and the first projector 21 emitting the first structured light L11.

[0086] Please see Figure 6 The first illumination light L21 illuminates multiple marker points on the target object, and these marker points reflect the light as the first detection light L31, which has the same wavelength (first wavelength) as the first illumination light L21. The first structured light L11 is projected onto the surface of the target object to form a scanning spot, which is reflected by the target object as the first detection light L31, which also has the same wavelength as the first structured light L11.

[0087] Filters 55 / 65 allow a first detection light L31 with a first wavelength to pass through. Lens 54 receives the first detection light L31 from filter 55 and focuses it onto beam splitter 51, which reflects the first detection light L31 to first sensor 52. Lens 64 receives the first detection light L31 from filter 65 and focuses it onto beam splitter 61, which reflects the first detection light L31 to first sensor 62. Second sensors 53 and 63 do not receive detection light.

[0088] The first sensor 52 / 62 generates image information of marker points (including marker point features) and image information of the target object (including target object features) based on the first detection light L31. The marker point features are used to stitch together and reconstruct the target object features, thereby obtaining a three-dimensional image of the target object.

[0089] In this embodiment, the first wavelength is greater than the second wavelength. Therefore, the focusing positions of the first illumination light L21 with the first wavelength and the second illumination light L22 with the second wavelength are different, and the focusing positions of the first structured light L11 with the first wavelength and the second structured light L12 with the second wavelength are also different. The first illumination light L21 and the first structured light L11 with the larger wavelength are suitable for tracking and scanning over a wider range, while the second illumination light L22 and the second structured light L12 with the smaller wavelength are suitable for tracking and scanning over a relatively smaller range. Therefore, the three-dimensional scanning device 1 can select to emit illumination light and laser light of corresponding wavelengths according to the distance and size of the target object to be tracked and scanned, realizing dual-range (multi-range in other embodiments) scanning, and achieving high scanning accuracy in each different range.

[0090] Method 3: Dual-range scanning, where two sensors acquire image information separately.

[0091] In scanning mode three, the three-dimensional scanning device 1 can alternate between the first scanning period and the second scanning period while scanning a target object.

[0092] Please refer to the following: Figure 7 During the first scanning period, the three-dimensional scanning device 1 performs a large-area scan: the first supplementary light 31 / 41 and the second supplementary light 32 / 42 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit a first illumination light L21 with a first wavelength and a second illumination light L22 with a second wavelength at a preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously. At this time, the first projector 21 emits a first structured light L11 with a first wavelength.

[0093] A first illumination light L21 and a second illumination light L22 illuminate multiple marker points on the target object. These marker points reflect the target object as a first detection light L31 and a second detection light L32. The first detection light L31 has the same wavelength as the first illumination light L21 (first wavelength), and the second detection light L32 has the same wavelength as the second illumination light L22 (second wavelength). A first structured light L11 is projected onto the surface of the target object to form a scanning spot, which the target object reflects as a first detection light L31.

[0094] Filters 55 / 65 allow a first detection light L31 having a first wavelength and a second detection light L32 having a second wavelength to pass through. Lenses 54 / 41 receive the first detection light L31 and the second detection light L32 from filters 55 / 65 and focus them onto beam splitters 51 / 61. Beam splitters 51 / 61 reflect the first detection light L31 to a first sensor 52 / 62 and transmit the second detection light L32 to a second sensor 53 / 63.

[0095] The first sensor 52 / 62 generates marker features based on the first detection light L31, and the second sensor 53 / 63 generates image information of the markers (including marker features) and image information of the target object (including target object features) based on the second detection light L32. The marker features are used to stitch together and reconstruct the target object features.

[0096] Please refer to the following: Figure 8 During the second scanning period, the first supplementary light 31 and the second supplementary light 32 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit a first illumination light L21 with a first wavelength and a second illumination light L22 with a second wavelength at a preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously. At this time, the second projector 22 emits a second structured light L12 with a second wavelength.

[0097] The first illumination light L21 and the second illumination light L22 illuminate multiple marker points on the target object. These marker points reflect the target object as the first detection light L31 and the second detection light L32. The first detection light L31 has the same wavelength as the first illumination light L21 (first wavelength), and the second detection light L32 has the same wavelength as the second illumination light L22 (second wavelength). The second structured light L12 is projected onto the surface of the target object to form a scanning spot, which is reflected by the target object as the second detection light L32.

[0098] Filters 55 / 65 allow a first detection light L31 having a first wavelength and a second detection light L32 having a second wavelength to pass through. Lenses 54 / 41 receive the first detection light L31 and the second detection light L32 from filters 55 / 44 and focus them onto beam splitters 51 / 61. Beam splitters 51 / 61 reflect the first detection light L31 to a first sensor 52 / 62 and transmit the second detection light L32 to a second sensor 53 / 63.

[0099] The first sensor 52 / 62 generates marker features based on the first detection light L31, and the second sensor 53 / 63 generates image information of the markers (including marker features) and image information of the target object (including target object features) based on the second detection light L32. The marker features are used to stitch together and reconstruct the target object features.

[0100] By stitching and reconstructing the data generated in the first and second scanning periods, a 3D image of the target object can be obtained. In Method 3, large-scale data acquisition is performed on surfaces of the target object that do not require high detail, while small-scale data acquisition is performed on surfaces that require high detail. Alternating between the first and second scanning periods yields a multi-resolution data model.

[0101] Method 4: Dual-range scanning, with a single sensor acquiring image information.

[0102] In scanning mode four, the three-dimensional scanning device 1 can also alternate between the first scanning period and the second scanning period while scanning a target object.

[0103] Please see Figure 9 During the first scanning period, the three-dimensional scanning device 1 performs a large-scale scan: the first supplementary light 31 / 41 in the three-dimensional scanning device 1 flashes at a preset frequency, that is, it emits a first illumination light L21 with a first wavelength at a preset frequency. At this time, the first projector 21 emits a first structured light L11 with a first wavelength.

[0104] The first illumination light L21 illuminates multiple marker points on the target object, and these marker points use it as the first detection light L31. The first detection light L31 has the same wavelength (first wavelength) as the first illumination light L21. The first structured light L12 is projected onto the surface of the target object to form a scanning spot, which the target object reflects as the first detection light L31.

[0105] Filters 55 / 65 allow a first detection light L31 with a first wavelength to pass through. Lenses 54 / 64 receive the first detection light L31 from filters 55 / 65 and focus it onto beam splitters 51 / 61. Beam splitters 51 / 61 reflect the first detection light L31 to a first sensor 52 / 62.

[0106] The first sensor 52 / 62 generates image information of marker points (including marker point features) and image information of the target object (including target object features) based on the first detection light L31. The marker point features are used to stitch together and reconstruct the target object features.

[0107] Please see Figure 10 During the second scanning period, the second supplementary light 32 / 43 in the three-dimensional scanning device 1 flashes at a preset frequency, that is, emits a second illumination light L22 with a second wavelength at a preset frequency. At this time, the second projector 22 emits a second structured light L12 with a second wavelength.

[0108] The second illumination light L22 illuminates multiple marker points on the target object, and these marker points reflect the light as a second detection light L32, which has the same wavelength (second wavelength) as the second illumination light L22. The second structured light L12 is projected onto the surface of the target object to form a scanning spot, which the target object reflects as a second detection light L32.

[0109] Filters 55 / 65 allow a second detection light L32 with a second wavelength to pass through. Lens 54 receives the second detection light L32 from filter 55 and focuses it onto beam splitters 51 / 61. Beam splitters 51 / 61 transmit the second detection light L32 to the second sensor 53 / 63.

[0110] The second sensor 53 / 63 generates image information of marker points (including marker point features) and image information of the target object (including target object features) based on the second detection light L32. The marker point features are used to stitch together and reconstruct the target object features.

[0111] By stitching and reconstructing the data generated in the first and second scanning periods, a 3D image of the target object can be obtained. In Method 4, large-scale data acquisition is performed on surfaces of the target object that do not require high detail, while small-scale data acquisition and replacement are performed on surfaces that require high detail, resulting in a multi-resolution data model.

[0112] Furthermore, the scanning method in Method 4 separates the detection light corresponding to the target object features and the marker point features, which helps to avoid interference between the detection light corresponding to the target object features and the marker point features. Although Method 3 does not separate the detection light corresponding to the target object features and the marker point features, it helps to reduce the difference in depth of field and can also achieve high scanning accuracy in specific application scenarios.

[0113] Please see Figure 11 This application also provides a three-dimensional scanning system 100, including any of the three-dimensional scanning devices 1, computing devices 2, and display devices 3 as described above. The computing device 2 is connected to the first sensor 52 / 62 and the second sensor 53 / 63 in the three-dimensional scanning device 1, and the display device 3 is connected to the computing device 2. The three-dimensional scanning device 1, computing device 2, and display device 3 can be connected via wired or wireless means. In this application embodiment, the computing device 2 can be a chip, chipset, or smart terminal. The display device 3 can be a display or smart terminal.

[0114] The computing device 2 is used to receive image information (including marker point features and target object features) generated by the first sensor 52 / 62 and the second sensor 53 / 63, perform three-dimensional reconstruction calculation based on the target object features to generate point cloud three-dimensional data, and perform three-dimensional reconstruction based on the marker point features to obtain marker point three-dimensional data. That is, the target three-dimensional data includes point cloud three-dimensional data and marker point three-dimensional data.

[0115] In this embodiment, the 3D scanning device 1 includes two illumination components (30, 40), and the computing device 2 performs 3D reconstruction calculations based on the binocular matching principle to determine the 3D data corresponding to the target object and the marker points. This 3D data includes the 3D coordinates and number of laser points formed by the laser beams of the first structured light L11 / second structured light L12 on the target object, as well as the 3D coordinates and number of marker points. The 3D coordinates of the multiple laser points and the 3D coordinates of the marker points are in the same coordinate system.

[0116] The computing device 2 is also used to receive multiple frames of target 3D data, stitch and fuse them together, and render the incremental data in each frame of target 3D data to generate a 3D model of the target object, which is then displayed through the display device 3. In this embodiment, the computing device 2 includes a graphics processing unit (GPU) to perform 3D reconstruction calculations on the data to determine the target 3D data.

[0117] The three-dimensional scanning device 1 of this application includes a scanning component 20, an illumination component 30 / 40, and a beam splitting sensing component 50 / 60. It can function as a tracker to track and identify marker points on an external scanner at an optimal working distance, and as a handheld scanner to scan target objects at a terminal distance. The scanning component 20 also includes a first projector 21 and a second projector 22 that can emit lasers of different wavelengths. When the three-dimensional scanning device 1 emits a first structured light L11 with a longer wavelength, it can scan target objects over a large area; when it emits a second structured light L12 with a shorter wavelength, it can scan target objects over a relatively small area. Furthermore, the beam splitting sensing components 50 and 60 each include two sensors for separating the optical paths of the first detection light L31 and the second detection light L32 with different wavelengths. Image information is generated based on the first and second detection lights of different wavelengths, and this image information is used to obtain a three-dimensional image of the target object after three-dimensional reconstruction, or for tracking the marker points. Therefore, the three-dimensional scanning device 1 of this application is advantageous for scanning and imaging target objects of different sizes and for tracking marker points.

[0118] Based on this, the optical path structure of the 3D scanning device 1 of this application is relatively simple, which helps to avoid increased cost and weight, and also simplifies the design complexity. Furthermore, the 3D scanning device 1 of this application uses infrared light and blue light as the first structured light and the second structured light, respectively, and can also select to emit the first structured light or the second structured light according to different situations, which improves the anti-interference capability of the 3D scanning device 1 against ambient light, and is especially friendly to outdoor scanning and tracking scenarios.

[0119] Those skilled in the art should recognize that the above embodiments are only used to illustrate this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application shall fall within the scope of protection claimed in this application.

Claims

1. A three-dimensional scanning apparatus, characterized by, include: The scanning component includes a first projector and a second projector, the first projector being used to emit a first structured light having a first wavelength, and the second projector being used to emit a second structured light having a second wavelength, wherein the first wavelength is greater than the second wavelength. The lighting assembly includes a first fill light and a second fill light, wherein the first fill light is used to emit a first illumination light having a first wavelength, and the second fill light is used to emit a second illumination light having a second wavelength. as well as The beam splitting sensing component includes a first sensor, a second sensor, and a beam splitter. The beam splitting sensing component is located on the optical path of the detection light reflected by the target object and the marker point according to the first structured light, the second structured light, the first illumination light, and the second illumination light. The beam splitter is used to guide the detection light with the first wavelength to the first sensor and to guide the detection light with the second wavelength to the second sensor, so that the first sensor and the second sensor generate image information based on detection light of different wavelengths respectively. The three-dimensional scanning device operates in a time-division multiplexing mode, which includes scanning mode and tracking mode. In the scanning mode, the image information is used to obtain a three-dimensional image of the target object after three-dimensional reconstruction. In the tracking mode, the scanning component does not emit light, and the image information is used to track and identify marker points on an external scanner; In the aforementioned scanning mode, the three-dimensional scanning device can operate in mode three: The three-dimensional scanning device operates alternately during the first scanning period and the second scanning period; During the first scanning period, the illumination component emits the first illumination light and the second illumination light, the first projector emits the first structured light, the first sensor receives the first detection light reflected back according to the first illumination light and the first structured light, and the second sensor receives the second detection light reflected back according to the second illumination light. During the second scanning period, the illumination component emits the first illumination light and the second illumination light, the second projector emits the second structured light, the first sensor receives the first detection light reflected back according to the first illumination light, and the second sensor receives the second detection light reflected back according to the second illumination light and the second structured light.

2. The three-dimensional scanning device of claim 1, wherein, The lighting assembly includes a plurality of first supplementary lights and a plurality of second supplementary lights, and the spectral sensing assembly further includes a lens; The plurality of first fill lights and the plurality of second fill lights respectively surround the lens, with the plurality of second fill lights located around the plurality of first fill lights; or the plurality of first fill lights and the plurality of second fill lights are arranged at intervals in the circumferential direction to jointly surround the lens.

3. The three-dimensional scanning device of claim 2, wherein, The spectral sensing component also includes a filter disposed in front of the lens, the filter being used to allow detection light with wavelengths in the first band and the second band to pass through; The first wavelength is located in the first band, and the second wavelength is located in the second band, and the first band and the second band do not overlap.

4. The three-dimensional scanning device of claim 1, wherein, When the three-dimensional scanning device is operating in tracking mode, the illumination component emits the first illumination light and / or the second illumination light, and the first sensor and / or the second sensor receives the first detection light and / or the second detection light reflected back according to the first illumination light and / or the second illumination light.

5. The three-dimensional scanning device of claim 4, wherein, When the three-dimensional scanning device is operating in scanning mode, it can also operate in mode one: the illumination component emits the first illumination light and the second illumination light, the second projector emits the second structured light, the first sensor receives the first detection light reflected back according to the first illumination light, and the second sensor receives the second detection light reflected back according to the second illumination light and the second structured light.

6. The three-dimensional scanning device of claim 4, wherein, When the three-dimensional scanning device is working in scanning mode, it can also work in mode two: the illumination component emits the first illumination light, the first projector emits the first structured light, and the first sensor receives the first detection light reflected back according to the first illumination light and the first structured light. or When the three-dimensional scanning device is operating in scanning mode, the illumination component emits the second illumination light, the second projector emits the second structured light, and the second sensor receives the second detection light reflected back based on the second illumination light and the second structured light.

7. The three-dimensional scanning device of claim 4, wherein, When the three-dimensional scanning device is operating in scanning mode, it can also operate in mode four: It alternates between the first scan period and the second scan period; During the first scanning period, the illumination component emits the first illumination light, the first projector emits the first structured light, and the first sensor receives the first detection light reflected back based on the first illumination light and the first structured light. During the second scanning period, the illumination component emits the second illumination light, the second projector emits the second structured light, and the second sensor receives the second detection light reflected back based on the second illumination light and the second structured light.

8. The three-dimensional scanning apparatus of any one of claims 1-7, wherein, The three-dimensional scanning device includes two lighting components, which are located on both sides of the scanning component.

9. The three-dimensional scanning apparatus of any one of claims 1-7, wherein, The three-dimensional scanning device also includes a housing, the lighting component and the spectral sensing component are located inside the housing, and the scanning component is located inside the housing or fixed to the housing.

10. The three-dimensional scanning apparatus of any one of claims 1-7, wherein, The first structured light is infrared light, and the second structured light is blue light.

11. A three-dimensional scanning system, characterized in that, include: The three-dimensional scanning apparatus as described in any one of claims 1-10; as well as A computing module, connected to the 3D scanning device, is used to receive the image information and perform 3D reconstruction based on the image information to generate a 3D image of the target object and / or track the marker points.

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