Point projector and high-fidelity three-dimensional scanning device and method

Abstract

The invention discloses a plumbing device, a high-fidelity three-dimensional scanning device and a high-fidelity three-dimensional scanning method. The projector is mounted in the high-fidelity three-dimensional scanning device and is used for projecting feature mark points; according to the method, three-dimensional scanning is carried out through the high-fidelity three-dimensional scanning device. The plumbing device comprises a light source, a focusing lens and a DOE device which are sequentially arranged on the same horizontal line. Wherein the light source projects light spots; the focusing lens is used for converging light spots projected by the light source to a specified working distance to form converged light spots; and the DOE device copies the converged light spots to form a plurality of regularly or irregularly distributed light spot matrixes so as to project a plurality of scattered feature mark points on the scanned object.

Description

Technical Field

[0001] This application relates to the technical field of three-dimensional scanning of objects, and particularly to a dot projector, a high-fidelity three-dimensional scanning device and method. Background Art

[0002] Three-dimensional scanning mainly involves comprehensively scanning the surface of a spatial object through a three-dimensional scanner and constructing a three-dimensional model of the object based on the scanned data. Since a three-dimensional scanner cannot scan all surfaces of an object at once, it is necessary to separately scan multiple surface areas of the object and then splice the scanned data of each surface area to obtain a three-dimensional model.

[0003] In order to accurately splice the scanned data of each surface area and obtain a complete and accurate three-dimensional model, currently, multiple fiducial points are usually evenly pasted on the object to be scanned, so that the scanned data of each surface area can be accurately spliced through the splicing of the scanned fiducial points. Or fiducial points are projected through a projector.

[0004] However, the method of pasting fiducial points not only has low efficiency but also cannot guarantee the true restoration of the object. And objects such as ancient cultural relics cannot be pasted with fiducial points, so this method cannot be used for marking and thus cannot be scanned. The method of using a projector for marking has a large volume, high cost, complex process and low efficiency, and it is difficult to be formally implemented in the application scenario. Summary of the Invention

[0005] Based on the above deficiencies of the prior art, this application provides a dot projector, a high-fidelity three-dimensional scanning device and method to solve the problem that the existing methods cannot effectively mark various objects in various scenarios efficiently and ensure the scanning accuracy.

[0006] To achieve the above object, this application provides the following technical solutions:

[0007] The first aspect of this application provides a dot projector, including:

[0008] A light source, a focusing lens, and a DOE device arranged in sequence on the same horizontal line;

[0009] Wherein, the light source projects a light spot; the focusing lens converges the light spot projected by the light source to a specified working distance to form a converged light spot; the DOE device replicates the converged light spot to form a light spot matrix with multiple regular or irregular distributions, so as to project multiple scattered feature fiducial points on the object to be scanned.

[0010] Optionally, in the above dot projector, it further includes:

[0011] A speckle eliminating wheel disposed between the light source and the focusing lens eliminates the speckle of the light source by rotating at high speed.

[0012] Optionally, in the above-mentioned dot projector, the focusing lens is a refractive optical lens or a diffractive optical lens.

[0013] Optionally, in the above-mentioned dot projector, the light source is a diode-pumped solid-state laser;

[0014] The diode-pumped solid-state laser is composed of a laser diode, a coupling lens, a laser crystal, a laser resonator, and a frequency doubling crystal arranged in sequence;

[0015] Among them, the laser diode emits a laser beam, which passes through the coupling lens and converges into the laser crystal to form a high-energy density region; the laser resonator is composed of a group of reflectors that reflect the output laser beam bundle; the frequency doubling crystal converts the laser beam output by the laser resonator into a specified wavelength.

[0016] Optionally, in the above-mentioned dot projector, the diode-pumped solid-state laser further includes:

[0017] The TEC temperature control component connected to the laser diode is used to absorb the heat of the laser diode and discharge it to the outside.

[0018] Optionally, in the above-mentioned dot projector, the light source is a fiber-coupled laser;

[0019] The fiber-coupled laser is composed of a laser diode, a coupling lens, and a fiber arranged in sequence;

[0020] Among them, the laser diode emits a laser beam, and the laser beam is coupled into the fiber through the coupling lens, so that the laser beam undergoes multiple total internal reflections inside the fiber and then exits to form a uniformly distributed light spot.

[0021] Optionally, in the above-mentioned dot projector, there are multiple laser diodes and coupling lenses;

[0022] One laser diode and one coupling lens form a group; among them, each group of coupling lenses respectively couples the laser light emitted by the laser diode in the same group into the fiber and outputs it uniformly through the fiber.

[0023] The second aspect of the present application provides a high-fidelity three-dimensional scanning device, including:

[0024] A three-dimensional scanner, a controller, and at least one dot projector;

[0025] The controller is respectively communicatively connected to the 3D scanner and each of the point projectors. When starting the scanning operation, it controls the linkage between the controller and the point projectors through the communication connection.

[0026] Wherein, when working, the point projector projects a plurality of scattered feature marker points onto an area on the object to be scanned.

[0027] When working, the 3D scanner scans each area on the object to be scanned where the point projector projects the feature marker points by changing the scanning posture, so as to obtain the 3D data of the object to be scanned.

[0028] Optionally, in the above high-fidelity 3D scanning device, it further includes:

[0029] A beam splitting prism disposed on the imaging optical path in the 3D scanner splits the light of different wavelengths collected and images them into corresponding image sensors to obtain a marker point pattern and a coded image.

[0030] Optionally, in the above high-fidelity 3D scanning device, each of the point projectors is disposed at a fixed position and projects a plurality of scattered feature marker points onto one of the areas on the object to be scanned when working.

[0031] The third aspect of the present application provides a high-fidelity 3D scanning method, which is applied to a high-fidelity 3D scanning device. The high-fidelity 3D scanning device includes a 3D scanner, at least one point projector, and a controller connecting the 3D scanner and each of the point projectors. The high-fidelity 3D scanning method includes:

[0032] When starting the scanning operation, the controller controls each of the point projectors to start working and projects a plurality of scattered feature marker points onto an area on the object to be scanned.

[0033] The controller controls the 3D scanner to change the scanning posture and scans each area on the object to be scanned where the point projector projects the feature marker points, so as to obtain the 3D data of the object to be scanned.

[0034] The present application provides a dot projector, which includes a light source, a focusing lens, and a DOE device arranged in sequence on the same horizontal line. Therefore, its structure is lightweight and the cost is not high. Among them, the light source projects a light spot. The focusing lens converges the light spot projected by the light source to a specified working distance to form a converged light spot. Finally, the DOE device replicates the converged light spot to form a light spot matrix with multiple regularly or irregularly distributed light spots, so as to project multiple scattered feature marking points on the object to be scanned, realizing the marking of the object to be scanned, and then scanning can be performed. Therefore, the lightweight dot projector provided by the present application can efficiently project multiple scattered feature marking points on the object to be scanned, so that the object to be scanned can be scanned, without being restricted by the object and the scene, and various objects in various scenes can be effectively marked, thereby ensuring the scanning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0036] Figure 1 Schematic structural diagram of a dot projector provided by an embodiment of the present application;

[0037] Figure 2 Schematic diagram of a speckle and non-speckle light spot provided by an embodiment of the present application;

[0038] Figure 3 Schematic structural diagram of a diode-pumped solid-state laser provided by an embodiment of the present application;

[0039] Figure 4 Schematic structural diagram of an optical fiber coupled laser provided by an embodiment of the present application;

[0040] Figure 5 Schematic structural diagram of another optical fiber coupled laser provided by an embodiment of the present application;

[0041] Figure 6 Schematic structural diagram of a high-fidelity three-dimensional scanning device provided by an embodiment of the present application;

[0042] Figure 7 Schematic diagram of an image obtained with the same working wavelength provided by an embodiment of the present application;

[0043] Figure 8 Schematic diagram of an image obtained with different working wavelengths provided by an embodiment of the present application;

[0044] Figure 9 Flow chart of a high-fidelity three-dimensional scanning method provided by an embodiment of the present application. Detailed implementation manner

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0046] In the present application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0047] An embodiment of the present application provides a dot projector, as Figure 1 shown, including:

[0048] A light source 101, a focusing lens 102, and a DOE device 103 arranged in sequence on the same horizontal line.

[0049] Specifically, as Figure 1 shown, the light source 101 projects a light spot. Since the light source 101 and the focusing lens 102 are on the same horizontal line, the light spot projected by the light source 101 will be projected onto the focusing lens 102, and a DOE device 103 is installed behind the focusing lens 102. So then, the focusing lens 102 converges the light spot projected by the light source 101 to a specified working distance to form a converged light spot, thereby converging the light spot onto the DOE device 103. The DOE device 103 replicates the converged light spot to output a plurality of light spot matrices with regular or irregular distributions, thereby projecting the output plurality of light spot matrices with regular or irregular distributions onto the object to be scanned, and further projecting a plurality of scattered feature marking points onto the object to be scanned.

[0050] Among them, the DOE device 103 follows the following diffraction equation:

[0051] d(sinα) = mλ; m = 0, ±1, ±2,...

[0052] Among them, d is the period of the fine structure, α is the exit angle, m is the main diffraction order, and λ is the wavelength of the incident laser. Therefore, by modifying the length of d and the depth of the period, the light spot can be diffracted into a matrix of several regularly or irregularly distributed light spots.

[0053] Optionally, the characteristic marking point can be a perfect circle with a roundness less than 1:1.1, that is, a light spot with a roundness less than 1:1.1 is output through the DOE device 103, so as to project a light spot of a perfect circle with sufficient roundness on the surface of the object to be scanned, which is more convenient for subsequent more accurate data stitching.

[0054] Optionally, specifically as Figure 2 shown in the left figure, considering that there will be speckles in the projected light spot, which will cause the light spot to be not clear enough. Therefore, in another embodiment of the present application, the spot projector further includes:

[0055] A speckle reduction wheel disposed between the light source and the focusing lens.

[0056] Among them, the speckle reduction wheel can eliminate the speckles of the light source by rotating at high speed, so as to obtain a clearer light spot. For example, as Figure 2 shown, the speckle reduction wheel is used to process the light spot with speckles in the left figure, so as to eliminate the speckles of the light source, so as to obtain a light spot without speckles as shown in the right figure in Figure 2 .

[0057] Optionally, in another embodiment of the present application, the focusing lens is a refractive optical lens or a diffractive optical lens, and the light spot projected by the light source can be converged to a specified working distance through the refractive optical lens or the diffractive optical lens to form a converged light spot.

[0058] Optionally, in another embodiment of the present application, the light source is a diode-pumped solid-state laser.

[0059] As Figure 3 shown, the diode-pumped solid-state laser is composed of a laser diode, a coupling lens, a laser crystal, a laser resonator, and a frequency doubling crystal arranged in sequence. Therefore, the laser diode emits a laser beam bundle, which passes through the coupling lens, the laser crystal, the laser resonator, and the frequency doubling crystal in sequence, and finally outputs a light spot.

[0060] Specifically, the laser diode emits a laser beam, and the laser beam passes through the coupling lens and converges into the laser crystal to form a high-energy density region, thereby exciting the particles in the laser crystal to achieve energy level transition. For example, if the wavelength of the laser beam emitted by the laser diode is 808 nm and the laser crystal is Nd:YAG or Nd:YVO4, the laser beam output after passing through the laser crystal is a near-infrared laser beam of 1064 nm.

[0061] The laser resonator consists of a set of mirrors that reflect the laser beam bundle output by the laser crystal. Specifically, the rear mirror of the laser resonator highly reflects the output laser beam with a reflectivity greater than 99%, while the front mirror partially reflects the output laser beam with a reflectivity of 0 - 90%. Therefore, the oscillation of the fundamental frequency light of the output laser beam can be maintained through the laser resonator, and stray frequencies can be suppressed to improve monochromaticity. Finally, the frequency doubling crystal converts the laser beam output by the laser resonator into a specified wavelength.

[0062] For example, a 1064 nm laser beam passing through a frequency doubling crystal such as a KTP crystal generates a 532 nm green laser beam. The laser beam thus generated has a circular spot, and the roundness ratio is less than 1:1.1.

[0063] Optionally, to ensure the operating temperature of the laser diode, thus ensuring the operating wavelength of the laser diode, and further ensuring the stable output of the laser beam bundle. Therefore, in another embodiment of the present application, the diode - pumped solid - state laser further includes:

[0064] A TEC temperature control component connected to the laser diode, which is used to absorb the heat of the laser diode and discharge it to the outside.

[0065] Optionally, in another embodiment of the present application, the light source is a fiber - coupled laser.

[0066] As Figure 4 shown, the fiber - coupled laser consists of a laser diode, a coupling lens, and an optical fiber arranged in sequence. Therefore, the laser diode emits a laser beam, which passes through the coupling lens and the optical fiber in sequence, and finally outputs a spot.

[0067] Specifically, the laser diode emits a laser beam, and the coupling lens couples the laser beam into the optical fiber, so that the laser beam undergoes multiple total internal reflections inside the optical fiber and then exits, forming a uniformly distributed shaped spot. Optionally, the uniformly distributed spot formed can be a circular spot with a roundness ratio less than 1:1.1.

[0068] Optionally, in another embodiment of the present application, there are multiple laser diodes and coupling lenses.

[0069] As Figure 5 shown, one laser diode and one coupling lens form a group, so the light source includes multiple groups of laser diodes and coupling lenses.

[0070] Among them, as Figure 5As shown in the figure, each group of coupling lenses couples the laser light emitted by the laser diodes in the same group to the optical fiber and outputs them uniformly through the optical fiber. Therefore, by coupling through different input ends and outputting through the same output end, the total output optical power can be increased. For example, to output a 532nm laser beam with an optical power of 2W, while the output power of the relatively mature 532nm laser diodes on the market is only 0.5W currently, so the output power of 2W can be achieved through four groups of couplings.

[0071] A dot projector provided by an embodiment of the present application includes a light source, a focusing lens, and a DOE device that are sequentially arranged on the same horizontal line. Therefore, it has a light and compact structure and a low cost. Among them, the light source projects a light spot. The focusing lens converges the light spot projected by the light source to a specified working distance to form a converged light spot. Finally, the DOE device replicates the light spot to form a light spot matrix with multiple regularly or irregularly distributed light spots, thereby projecting multiple scattered feature marking points on the object to be scanned, realizing the marking of the object to be scanned, and then scanning can be performed. Therefore, the light and compact dot projector provided by the present application can project multiple scattered feature marking points on the object to be scanned efficiently, so that the object to be scanned can be scanned, without being restricted by the object and the scene, and various objects in various scenes can be effectively marked, thereby ensuring the scanning accuracy.

[0072] Another embodiment of the present application provides a high-fidelity three-dimensional scanning device, as Figure 6 shown, specifically including:

[0073] A three-dimensional scanner, a controller, and at least one dot projector.

[0074] It should be noted that the dot projector is the dot projector provided by any of the above embodiments.

[0075] Among them, when the dot projector works, it projects multiple scattered feature marking points on an area of the object to be scanned.

[0076] Optionally, each dot projector can be set at a fixed position. When each dot projector works, it projects multiple scattered feature marking points on one area of the object to be scanned, that is, one dot projector corresponds to one area, and thus the distribution of the feature marking points projected on the object to be scanned can be ensured to be more definite, which is convenient for accurately stitching the scanning data of each area subsequently. Of course, it can also be movable, so that it can project feature marking points on multiple areas of the object to be scanned by moving.

[0077] Optionally, the feature marking points can be regular circles with a roundness less than 1 to 1.1. Based on the projected regular circles, it is more convenient to accurately perform data stitching and ensure the scanning accuracy.

[0078] It should be noted that the dot projector is an instrument that can only project feature marker points. Its function is relatively simple, so the structure of the dot projector can be relatively simple and lightweight. Therefore, its volume is relatively small and the cost is relatively low, making it more convenient to be applied to specific scenarios for efficient three-dimensional scanning.

[0079] Optionally, since the object to be scanned may be small and it may also be rotatable, even if its installation position is fixed, a single dot projector can meet the three-dimensional scanning requirements. Of course, multiple dot projectors can also be set according to needs.

[0080] When the three-dimensional scanner is working, it changes the scanning posture to scan each area of the object to be scanned where the dot projector projects feature marker points, so as to obtain the three-dimensional data of the object to be scanned.

[0081] The controller is respectively communicatively connected to the three-dimensional scanner and each dot projector. When starting the scanning operation, it controls the linkage work between the controller and the dot projector through the communication connection.

[0082] Specifically, when starting the scanning operation, the controller sends instructions to the dot projector and the three-dimensional scanner simultaneously through the communication connection to trigger the dot projector and the controller to start working. And it controls the three-dimensional scanner to continuously change the scanning posture so as to scan the surfaces of various areas of the object to be scanned, thereby obtaining the three-dimensional data of the object to be scanned.

[0083] Optionally, when there are multiple dot projectors, the controller can turn on each dot projector simultaneously, and then the three-dimensional scanner continuously changes the scanning posture to scan each surface area of the object to be scanned, and then turns off each dot projector and the three-dimensional scanner. Of course, it can also be to turn on each dot projector in sequence, let each dot projector start working in sequence to project feature marker points on the object to be scanned. At the same time, control the three-dimensional scanner to change the scanning posture so that it scans the area projected by the currently turned-on dot projector. Then turn off this dot projector and turn on the next dot projector to scan the next area until all surfaces of the object to be scanned are scanned.

[0084] Optionally, the wavelength of the image projected by the three-dimensional scanner in the high-fidelity three-dimensional scanning device provided by the embodiments of the present application during operation can be the same as the wavelength of the feature marker points projected by the dot projector. In this case, a corresponding image can be directly collected by an image sensor that receives the wavelength.

[0085] Specifically as Figure 7 shown, when the working wavelengths of both are the same, the two-dimensional image obtained by the image sensor includes the straight line pattern projected by the three-dimensional scanner and each feature marker point projected by the dot projector.

[0086] Optionally, the wavelength of the image projected by the three-dimensional scanner in the high-fidelity three-dimensional scanning device during operation may be different from the wavelength of the feature mark projected by the projector. In this case, light beams of different wavelengths need to be collected by corresponding sensors. Therefore, in the embodiment of the present application, the high-fidelity three-dimensional scanning device further includes:

[0087] The beam splitter prism arranged on the imaging optical path in the three-dimensional scanner splits the collected light beams of different wavelengths into images to the corresponding image sensors to obtain the marking point pattern and the coded image.

[0088] Specifically, light beams of different wavelengths are separated by a beam splitter prism disposed on an imaging light path in the three-dimensional scanner, so that different light beams are imaged onto different image sensors.

[0089] For example, Figure 8 As shown, the straight line pattern projected by the three-dimensional scanner is imaged onto one sensor through a beam splitter prism to obtain the image corresponding to the sensor. And the projected marking point is imaged onto another sensor through a beam splitter prism to obtain the image of the marking point.

[0090] The embodiment of the present application provides a high-fidelity three-dimensional scanning device, which includes a three-dimensional scanner, a controller and at least one projector. The controller is respectively connected to the three-dimensional scanner and each projector in communication. When the scanning operation starts, the controller and the projector are controlled to work in linkage through the communication connection. When working, the projector projects multiple scattered feature marker points to an area on the scanned object. When working, the three-dimensional scanner changes the scanning posture to scan each area on the scanned object where the feature marker points are projected by each projector, and obtains the three-dimensional data of the scanned object, so that the projector and the three-dimensional scanner are controlled to work in linkage through the controller, so that the small and simple projector is controlled by the controller to project multiple scattered light spots, and the area projected by the three-dimensional scanner is controlled to scan at the same time, so that based on the light spots projected by the projector, accurate splicing can be performed more efficiently, without pasting marker points, so it can be applied to various objects in various scenes, and the accuracy of scanning can be effectively guaranteed.

[0091] Another embodiment of the present application provides a high-fidelity three-dimensional scanning method, which is applied to a high-fidelity three-dimensional scanning device. The high-fidelity three-dimensional scanning device includes a three-dimensional scanner, at least one projector, and a controller connecting the three-dimensional scanner and each projector. That is, the high-fidelity three-dimensional scanning device provided by any of the above embodiments can be applied.

[0092] like Figure 9 As shown, a high-fidelity three-dimensional scanning method provided in an embodiment of the present application includes the following steps:

[0093] S901. When starting a scanning operation, the controller controls each dot projector to start working respectively, and projects a plurality of scattered feature marking points onto an area of the object to be scanned.

[0094] Specifically, before starting the scanning operation, fix each dot projector at its corresponding position. Then, when starting the scanning operation, send instructions to each dot projector through the controller to control each dot projector to start working. When starting to work, the dot projector projects a plurality of scattered feature marking points onto an area of the object to be scanned. Specifically, the projected feature marking points can be evenly distributed or unevenly distributed.

[0095] Optionally, the feature marking point can be a perfect circle with a roundness less than 1:1.1, so that the stitching can be carried out more accurately and efficiently through the perfect circle feature marking points.

[0096] S902. The controller controls the 3D scanner to change its scanning posture, scans each area of the object to be scanned where the dot projector projects the feature marking points, and obtains the 3D data of the object to be scanned.

[0097] At the same time, the controller controls the 3D scanner to change its scanning posture, so that the 3D scanner scans the area of the object to be scanned where the dot projector projects the feature marking points.

[0098] Optionally, when there are multiple dot projectors, each dot projector can be turned on in sequence to work, and at the same time, the controller controls the 3D scanner to scan the area projected by the turned-on dot projector. After the 3D scanner finishes scanning, turn off this dot projector and turn on the next dot projector for scanning until the object to be scanned is scanned completely, and then turn off the 3D scanner. Of course, it is also possible to turn on all the dot projectors and perform step-by-step scanning through the 3D scanner until the object to be scanned is scanned completely, and then turn off each dot projector and the 3D scanner.

[0099] Those skilled in the art can further realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, they can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0100] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A point-casting device, characterized in that: include: A light source, a focusing lens and a DOE device are sequentially arranged on the same horizontal line; Among them, the light source projects a light spot; the focusing lens converges the light spot projected by the light source to a specified working distance to form a converged light spot; the DOE device replicates the converged light spot to form a plurality of regularly or irregularly distributed light spot matrices, so as to project a plurality of scattered feature marking points on the scanned object.

2. The point-casting device according to claim 1, characterized in that: Also includes: The speckle elimination wheel is arranged between the light source and the focusing lens, and eliminates the speckle of the light source by high-speed rotation.

3. The point-casting device according to claim 1, characterized in that: The focusing lens is a refractive optical lens or a diffractive optical lens.

4. The point-casting device according to claim 1, characterized in that: The light source is a diode-pumped solid-state laser; The diode-pumped solid-state laser is composed of a laser diode, a coupling lens, a laser crystal, a laser resonant cavity, and a frequency-doubling crystal arranged in sequence; The laser diode emits a laser beam, which is converged into the laser crystal through the coupling lens to form a high energy density area; the laser resonant cavity is composed of a group of reflectors to reflect the output laser beam; the frequency doubling crystal converts the laser beam output by the laser resonant cavity into a specified wavelength.

5. The point-casting device according to claim 4, characterized in that: The diode-pumped solid-state laser further comprises: The TEC temperature control component connected to the laser diode is used to absorb the heat of the laser diode and discharge it to the outside.

6. The dosing device according to claim 1, characterized in that: The light source is a fiber-coupled laser; The fiber-coupled laser is composed of a laser diode, a coupling lens and an optical fiber arranged in sequence; The laser diode emits a laser beam, and couples the laser beam into the optical fiber through the coupling lens, so that the laser beam is emitted after multiple total reflections inside the optical fiber, forming a uniformly distributed light spot.

7. The dosing device according to claim 6, characterized in that: The laser diode and the coupling lens include a plurality of; One laser diode and one coupling lens form a group; wherein each group of coupling lenses respectively couples the laser light emitted by the laser diode in the same group to the optical fiber, and outputs them uniformly through the optical fiber.

8. A high-fidelity three-dimensional scanning device, characterized in that: include: A three-dimensional scanner, a controller, and at least one projector; The controller is respectively connected to the three-dimensional scanner and each of the projectors for communication. When the scanning operation starts, the controller and the projectors are controlled to work in linkage through the communication connection. Wherein, when the point projector is in operation, it projects a plurality of scattered characteristic marking points onto an area on the scanned object; When the three-dimensional scanner is working, it changes the scanning posture to scan each area on the scanned object where each feature mark point is projected by each projector, so as to obtain the three-dimensional data of the scanned object.

9. The device according to claim 8, characterized in that Also includes: The beam splitter prism arranged on the imaging optical path in the three-dimensional scanner splits the collected light beams of different wavelengths into images to the corresponding image sensors to obtain the marking point pattern and the coded image.

10. A high-fidelity three-dimensional scanning method, characterized in that: Applied to a high-fidelity three-dimensional scanning device, the high-fidelity three-dimensional scanning device includes a three-dimensional scanner, at least one projector, and a controller connecting the three-dimensional scanner and each of the projectors, the high-fidelity three-dimensional scanning method includes: When the scanning operation starts, the controller controls each of the projectors to start working, and projects a plurality of scattered characteristic marking points onto an area on the scanned object; The controller controls the three-dimensional scanner to change its scanning posture, and scans each area on the scanned object where each feature mark point is projected by each projector, so as to obtain three-dimensional data of the scanned object.

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