Three-dimensional scanner

Abstract

The utility model provides a three-dimensional scanner, which comprises a line laser module, a light supplement lamp module, a first black-and-white camera, a second black-and-white camera and an RGB camera, the first black-and-white camera and the second black-and-white camera are arranged at an interval, and the line laser module emits a line laser beam with a preset color to a target object; the light supplementing lamp module emits a first floodlight beam with a preset color and a second floodlight beam with a white color to the target object, the preset color is different from the white color, and the second floodlight beam comprises a specific light beam with the preset color; the first black-and-white camera and the second black-and-white camera collect a linear laser beam reflected by the target object and a first floodlight beam or a specific beam, and respectively generate a first black-and-white image and a second black-and-white image of the target object; and the RGB camera collects a second floodlight beam reflected by the target object and generates a corresponding texture image. The three-dimensional scanner can collect the first black-and-white image and the second black-and-white image used for calculating the point cloud and the texture image used for texture mapping in the scanning process, so that the scanning efficiency of the three-dimensional scanner is improved.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional scanning, and in particular to a three-dimensional scanner. Background Art

[0002] In the related art, a 3D scanner scans a target object, and after the scanning is completed, the 3D point cloud data of the target object can be obtained. However, when scanning a target object, the 3D scanner needs to project a blue or red line laser to the target object, and the blue or red line laser will destroy the texture of the target object itself, so the texture information cannot be collected during the scanning process. If texture mapping is to be achieved, the color image of the target object must be captured by an RGB camera after the scanning is completed, and then the 3D point cloud data is texture mapped based on the captured color image. This method is relatively complicated, time-consuming and labor-intensive, and reduces the scanning efficiency of the 3D scanner. Utility Model Content

[0003] The present application provides a three-dimensional scanner, aiming to solve the technical problem in the related art that the three-dimensional scanner cannot obtain texture images during the scanning process.

[0004] The three-dimensional scanner provided in the embodiment of the present application includes a line laser module, a fill light module, a first black-and-white camera and a second black-and-white camera arranged at intervals, and an RGB camera. The line laser module is used to emit a line laser beam of a preset color to a target object; the fill light module is used to emit a first flood beam of a preset color and a second flood beam of white to the target object, the preset color is different from the white, and the second flood beam includes a specific beam of a preset color; the first black-and-white camera and the second black-and-white camera are used to collect the line laser beam and the first flood beam or the specific beam reflected back by the target object, and respectively generate a first black-and-white image and a second black-and-white image of the target object; the RGB camera is used to collect the second flood beam reflected back by the target object, and generate a texture image of the target object.

[0005] In the three-dimensional scanner of the present application, the fill light module can emit the first flood light beam and the second flood light beam, the second flood light beam includes a specific light beam of the same color as the first flood light beam, the line laser module can emit a line laser beam, the first black-and-white camera and the second black-and-white camera can collect the line laser beam and the first flood light beam or the specific light beam reflected by the target object to generate the first black-and-white image and the second black-and-white image respectively, the RGB camera can collect the second flood light beam reflected by the target object to generate a high-quality texture image, and since the first black-and-white image and the second black-and-white image both include the line laser beam, the point cloud image of the target object can be subsequently generated based on the first black-and-white image and the second black-and-white image, so that during the scanning process, the three-dimensional scanner can collect the first black-and-white image, the second black-and-white image and the texture image of the target object, and can obtain a color three-dimensional model of the target object based on the texture image to supplement the texture in the point cloud image, and it is not necessary to collect the texture image of the target object after the scanning of the target object is completed, thereby improving the scanning efficiency of the three-dimensional scanner. In addition, the fill light module can emit the first flood light beam and the second flood light beam, and there is no need to set up an additional white fill light, which is conducive to the miniaturization of the three-dimensional scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the related technologies or the embodiments of the present application, the drawings required for use in the description of the related technologies or the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0007] Figure 1 A schematic diagram of the structure of a three-dimensional scanner provided in an embodiment of the present application;

[0008] Figure 2 A system block diagram of a three-dimensional scanner provided in an embodiment of the present application;

[0009] Figure 3 A schematic diagram of various pulse signals provided in an embodiment of the present application;

[0010] Figure 4 Another schematic diagram of various pulse signals provided in an embodiment of the present application. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solutions and advantages of the present application more obvious and easy to understand, the present application will be clearly and completely described below in conjunction with the embodiments of the present application and the corresponding drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. It should be understood that the various embodiments of the present application described below are only used to explain the present application and are not used to limit the present application, that is, based on the various embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0012] In the related art, when scanning a target object, a 3D scanner needs to project a blue or red line laser onto the target object, and the blue or red line laser will destroy the texture of the target object itself. Therefore, the 3D scanner cannot achieve texture mapping during the scanning process, and must use an RGB camera to capture a color image of the target object after the scanning is completed, and then map the 3D point cloud data based on the captured color image. This method is time-consuming and labor-intensive, and the scanning efficiency is low. For this reason, the present application proposes a 3D scanner with a texture mapping function in the following embodiments, which can achieve the acquisition of the 3D point cloud data and texture image of the target object within one scanning cycle, thereby improving the scanning efficiency of the 3D scanner.

[0013] Figure 1 It is a structural diagram of a three-dimensional scanner. In some embodiments, the three-dimensional scanner includes a line laser module 130, a fill light module 150, a first black and white camera 110, a second black and white camera 140 and an RGB camera 120. In the actual working process of the three-dimensional scanner, it takes several scanning cycles to scan the target object. This application takes one of the scanning cycles as an example for explanation.

[0014] The line laser module 130 is used to emit a line laser beam of a preset color to the target object; the fill light module 150 is used to emit a first flood beam of a preset color and a second flood beam of white to the target object, the preset color is different from white, such as blue, red, etc., and the second flood beam includes a specific beam of a preset color; the first black and white camera 110 and the second black and white camera 140 are used to collect the line laser beam and the first flood beam or the specific beam reflected back by the target object, and respectively generate a first black and white image and a second black and white image of the target object; the RGB camera 120 is used to collect the second flood beam reflected back by the target object and generate a texture image of the target object accordingly.

[0015] The line laser module 130, the first black-and-white camera 110 and the second black-and-white camera 140 together constitute a binocular stereo imaging system, which can calculate the point cloud data corresponding to the target object based on the laser line modulated by the surface of the target object in the first black-and-white image and the second black-and-white image (formed by the line laser beam emitted by the line laser module 130 irradiating the surface of the target object).

[0016] The first flood beam is a color of visible light, and the first flood beam has the same color as the line laser beam, that is, the first flood beam has the same wavelength as the line laser beam. For example, the colors of the first flood beam and the line laser beam are both blue, or the colors of the first flood beam and the line laser beam are both red. The second flood beam includes all visible light beams, such as beams of red, yellow, green, blue, etc.

[0017] As one embodiment, the line laser module 130 can emit one or more line laser beams. In some implementations of this embodiment, the line laser module 130 emits a line laser beam, and the line laser module 130 includes a laser source, a collimating element, and a Powell prism or a cylindrical mirror. The laser source can be an edge-emitting laser or a vertical cavity surface laser emitter. The laser source can emit a single point or multiple point laser beams to the collimating element, and the collimating element can collimate the single point or multiple point laser beams and project them to the Powell prism or the cylindrical mirror. The Powell prism or the cylindrical mirror can modulate the single point or multiple point laser beams into a line laser beam and project them to the target object. In other implementations of this embodiment, the line laser module 130 emits multiple line laser beams. In addition to the laser source, the collimating element, and the Powell prism, the line laser module 130 also includes a diffractive optical element (DOE), which can replicate the line laser beam from the modulation element to obtain a number of line laser beams and project them to the target object.

[0018] As one embodiment, the first black-and-white camera 110 and the second black-and-white camera 140 have the same structure and the same working principle. Taking the first black-and-white camera 110 as an example, the first black-and-white camera 110 may include a first receiving lens, a first filter and a first photosensitive chip. The first receiving lens is used to converge the light beam (such as a linear laser beam reflected back by the target object, a first floodlight beam, a specific light beam); the first filter can allow light of a preset color (equivalent to a specific wavelength) to pass through and filter out other light (such as ambient light) to avoid interference. The first photosensitive chip receives the filtered light beam and generates a black-and-white image.

[0019] As one embodiment, the RGB camera 120 includes a second receiving lens, a second filter and a second photosensitive chip. The second receiving lens is used to converge the light beam (for example, the second flood light beam reflected by the target object); the second filter can allow visible light (that is, the white second flood light beam) to pass through and filter out other light (such as infrared light); the second photosensitive chip can receive the light beam filtered by the second filter to generate a color image. Since the color image contains texture information of the surface of the target object, the color image can also be called a texture image.

[0020] See also Figure 1 In one embodiment, the fill light module 150 includes a plurality of fill light 151, and there are two fill light modules 150. The plurality of fill light 151 in the two fill light modules 150 surround the first black and white camera 110 and the second black and white camera 140 respectively. In this way, the floodlight beams (including the first floodlight beam and the second floodlight beam) emitted by the two fill light modules 150 can be coaxial or nearly coaxial with the first black and white camera 110 and the second black and white camera 140 respectively. In this way, the beams collected by the first black and white camera 110 and the second black and white camera 140 are more uniform, which is conducive to improving the accuracy of the point cloud image and the accuracy of the subsequent texture mapping. All the fill light 151 work synchronously to project the same beam to the target at the same time. Each fill light 151 includes a first lamp bead and a second lamp bead. The first lamp bead is used to emit the first floodlight beam, and the second lamp bead is used to emit the second floodlight beam.

[0021] In one embodiment, if Figure 2 As shown, the three-dimensional scanner also includes a control processing circuit 160, which can be electrically connected to the line laser module 130, the fill light module 150, the first black and white camera 110, the second black and white camera 140 and the RGB camera 120, and can control the line laser module 130, the fill light module 150, the first black and white camera 110, the second black and white camera 140 and the RGB camera 120, and can receive image data transmitted by the first black and white camera 110, the second black and white camera 140 and the RGB camera 120, and process the image data, for example, it can receive the first black and white image and the second black and white image and calculate the point cloud image of the target object, receive the texture image and add the texture to the image to obtain a color three-dimensional model of the target object.

[0022] In some embodiments, the texture mapping mode includes a first texture mapping mode and a second texture mapping mode. In the texture mapping mode, a three-dimensional model of the target object with texture information needs to be generated, and there are differences in the working logic of some modules in the three-dimensional scanner.

[0023] First texture mapping mode

[0024] The emission timing of the first floodlight beam and the line laser beam is the same, and the first floodlight beam and the second floodlight beam are emitted in different time periods, so the three-dimensional scanner has at least two emission modes, namely, the first emission mode and the second emission mode. In the first emission mode, the three-dimensional scanner emits the line laser beam and the first floodlight beam to the target object at the same time, but does not emit the second floodlight beam; in the second emission mode, the second floodlight beam is emitted to the target object, but does not emit the line laser beam and the first floodlight beam. Since the second floodlight beam is white, the second floodlight beam can illuminate the target object and does not destroy the texture of the target object itself. In this way, the quality of the texture image collected by the RGB camera 120 is higher, and the texture information in the texture image is also richer and clearer.

[0025] Since the point cloud image is generated based on the first black-and-white image and the second black-and-white image, and the first black-and-white image and the second black-and-white image are respectively captured by the first black-and-white camera 110 and the second black-and-white camera 140, and the texture image is captured by the RGB camera 120, in order to accurately add the texture in the texture image to the point cloud image, during the texture mapping process, it is necessary to align the texture image captured by the RGB camera 120 with the point cloud image.

[0026] In one embodiment, a plurality of marking points are attached to the target object, and each marking point is made of a material with a high reflectivity so that each marking point can reflect enough first floodlight beams and second floodlight beams. In the actual working process, point cloud splicing can be performed according to the same marking points in the point cloud images of adjacent frames to obtain a complete point cloud image. The first black and white camera 110 and the second black and white camera 140 can collect the second floodlight beam reflected back by the target object in the second emission mode, and generate the third black and white image and the fourth black and white image of the target object accordingly. Since the third black and white image and the fourth black and white image are collected at the same time as the texture image; the control processing circuit 160 can align the texture image with the third black and white image and the fourth black and white image according to the correspondence between the marking points in the third black and white image, the fourth black and white image and the texture image, and then align the texture image with the point cloud image. In this way, the texture can be accurately supplemented to the point cloud image, and the color three-dimensional model of the target object can be accurately obtained.

[0027] As an example, see Figure 2The control processing circuit 160 may include a first timing control unit 161, a second timing control unit 162, a third timing control unit 163 and a fourth timing control unit 164, the first timing control unit 161 is electrically connected to the line laser module 130, the second timing control unit 162 is electrically connected to the fill light module 150, the third timing control unit 163 is electrically connected to the first black and white camera 110 and the second black and white camera 140, and the fourth timing control unit 164 is electrically connected to the RGB camera 120. During the actual scanning process, the first timing control unit 161 can send a laser pulse signal to the line laser module 130 to instruct the line laser module 130 to emit a line laser beam to the target object; the second timing control unit 162 can send a fill light pulse signal to the fill light module 150 to instruct the fill light module 150 to emit the first flood light beam and the second flood light beam to the target object in a time-sharing manner; the third timing control unit 163 can send a black and white camera pulse signal to the first black and white camera 110 and the second black and white camera 140 to instruct the first black and white camera 110 and the second black and white camera 140 to collect light beams; the fourth timing control unit 164 can send an RGB camera pulse signal to the RGB camera to guide the RGB camera 120 to collect light beams.

[0028] In one embodiment, Figure 3is a schematic diagram of various pulse signals, the fill light pulse signal includes a first fill light pulse signal (shown by a solid line) and a second fill light pulse signal (shown by a dotted line), the fill light module 150 emits a first flood light beam to the target object according to the first fill light pulse signal, and emits a second flood light beam to the target object according to the second fill light pulse signal, and the first fill light pulse signal is the same as the laser pulse signal; the black and white camera pulse signal includes a first black and white camera pulse signal (shown by a solid line) and a second black and white camera pulse signal (shown by a dotted line), the first black and white camera 110 and the second black and white camera 140 collect the line laser beam and the first flood light beam reflected by the target object according to the first black and white camera pulse signal and generate a first black and white image and a second black and white image of the target object respectively accordingly. The second black-and-white image, the first black-and-white camera 110 and the second black-and-white camera 140 collect the second floodlight beam reflected back by the target object according to the second black-and-white camera pulse signal and generate the third black-and-white image and the fourth black-and-white image of the target object accordingly. The first black-and-white camera pulse signal, the first fill-light pulse signal and the laser pulse signal are the same, so that the first black-and-white camera 110, the second black-and-white camera 140, the line laser module 130 and the fill-light module 150 are synchronized to improve the scanning accuracy; the second black-and-white camera pulse signal, the second fill-light pulse signal and the RGB camera pulse signal are the same, so that the first black-and-white camera 110, the second black-and-white camera 140, the RGB camera 120 and the fill-light module 150 are synchronized to ensure the accuracy of texture mapping. Among them, in a scanning cycle, the second fill-light pulse signal can be before or after the first fill-light pulse signal, that is, the texture image can be collected first and then the first black-and-white image and the second black-and-white image, or the first black-and-white image and the second black-and-white image can be collected first and then the texture image.

[0029] Preferably, the first fill light pulse signal and the second fill light pulse signal have the same pulse width, and the first black and white camera pulse signal, the first fill light pulse signal and the laser pulse signal are the same, and the second black and white camera pulse signal, the second fill light pulse signal and the RGB camera pulse signal are the same, then the laser pulse signal, the fill light pulse signal, the black and white camera pulse signal and the RGB camera pulse signal have the same pulse width. In one embodiment, the number of pulses in the first fill light pulse signal (equivalent to the laser pulse signal and the first black and white camera pulse signal) is several times the number of pulses in the second fill light pulse signal (equivalent to the second black and white camera pulse signal and the RGB camera pulse signal), for example, 9 times, so that more frames of the first black and white image and the second black and white image containing the laser line modulated by the surface of the target object can be collected to improve the accuracy of generating the point cloud image. As Figure 3As shown in , most of the image frames of the first black-and-white camera 110 and the second black-and-white camera 140 are collected according to the first black-and-white camera pulse signal, and a few image frames are collected according to the second black-and-white camera pulse signal, and the first black-and-white camera pulse signal corresponds to the generation of a point cloud image, and the second black-and-white camera pulse signal corresponds to the generation of a texture image. Exemplarily, 10% of the image frames collected in one scanning cycle are used for texture mapping, and 90% of the image frames are used to generate point cloud images. Assuming 60 frames per second and 10 frames as one scanning cycle, then for the images collected by each camera of the three-dimensional scanner within 1 second, 54 frames of images are used to generate point cloud images, and 6 frames of images are used for texture mapping. Of course, the 9 times given in this embodiment is only an example, and it can actually be other times, such as 8 times, 10 times, etc., and this application does not make a sole limitation on this.

[0030] Second texture mapping mode

[0031] The main difference between the second texture mapping mode and the first texture mapping mode is that the light beam emitted by the fill light module 150 is different, and the working methods of other modules are the same as those of the first texture mapping mode, which will not be described in detail here. Figure 4 As shown, a schematic diagram of the pulse signals of each module in the second texture mapping mode is shown. The pulse signals of each module may be the same as those in the first texture mapping mode. In the second texture mapping mode, the fill light module 150 emits a second flood light beam according to the fill light pulse signal, but does not emit the first flood light beam. In one scanning cycle, when collecting point cloud data, the first black and white camera 110 and the second black and white camera 140 both collect the line laser beam and the specific beam reflected back by the target and generate the first black and white image and the second black and white image respectively; when collecting texture data, the first black and white camera 110 and the second black and white camera 140 both collect the specific beam reflected back by the target and generate the first black and white image and the second black and white image respectively, and the RGB camera 120 collects the second flood light beam reflected back by the target to generate a texture image.

[0032] In one embodiment, Figure 2 As shown, the control processing circuit 160 also includes a processing unit 165, which is electrically connected to the first black and white camera 110, the second black and white camera 140 and the RGB camera 120. The processing unit 165 can receive the first black and white image and the third black and white image from the first black and white camera 110, the second black and white image and the fourth black and white image from the second black and white camera 140, and the texture image from the RGB camera 120, and calculate the point cloud image, the texture map, and generate a three-dimensional model of the target object.

[0033] As an example, see Figure 1In addition to the structures listed above, the three-dimensional scanner also includes a shell 170. The control processing circuit 160, the fill light module 150, the first black and white camera 110, the RGB camera 120, the line laser module 130 and the second black and white camera 140 are all arranged in the shell 170, and the first black and white camera 110, the RGB camera 120, the line laser module 130 and the second black and white camera 140 are arranged in sequence along the baseline direction of the three-dimensional scanner. The baseline refers to the line connecting the centers of the first black and white camera 110 and the second black and white camera 140. By disposing the line laser module 130 between the first black-and-white camera 110 and the second black-and-white camera 140, and by disposing the RGB camera 120 between the first black-and-white camera 110 and the line laser module 130, a longer baseline can be provided between the first black-and-white camera 110 and the second black-and-white camera 140, which is beneficial to improving the scanning accuracy of the three-dimensional scanner; by disposing the RGB camera 120 between the first black-and-white camera 110 and the second black-and-white camera 140, since the two fill light modules 150 surround the first black-and-white camera 110 and the second black-and-white camera 140 respectively, the second flood light beam within the field of view corresponding to the RGB camera 120 is more uniform, which is beneficial to improving the quality of texture images collected by the RGB camera 120.

[0034] A hand-held portion is formed on the outer surface of the shell 170, and the hand-held portion is located between the line laser module 130 and the second black-and-white camera 140. When the user uses the three-dimensional scanner, the hand-held portion on the shell 170 can be grasped by the user. Since the hand-held portion is located between the line laser module 130 and the second black-and-white camera 140, the user will not block the line laser module 130 and the second black-and-white camera 140 when holding the three-dimensional scanner, thereby avoiding affecting the scanning of the target object by the three-dimensional scanner, and it is more convenient to use.

[0035] In the three-dimensional scanner of the present application, the fill light module 150 can emit a first floodlight beam and a second floodlight beam, the second floodlight beam includes a specific beam of the same color as the first floodlight beam, the line laser module 130 can emit a line laser beam, the first black-and-white camera 110 and the second black-and-white camera 140 can collect the line laser beam and the first floodlight beam or the specific beam reflected back by the target object to generate a first black-and-white image and a second black-and-white image, respectively, and the RGB camera 120 can collect the second floodlight beam reflected back by the target object to generate a high-quality texture image. In this way, during the scanning process, the three-dimensional scanner collects the first black-and-white image, the second black-and-white image and the texture image of the target object, the first black-and-white image and the second black-and-white image both include the line laser beam, and subsequently a point cloud image of the target object can be generated based on the first black-and-white image and the second black-and-white image, and the texture in the point cloud image is supplemented based on the texture image to obtain a color three-dimensional model of the target object, and it is not necessary to collect the texture image of the target object after the scanning of the target object is completed, thereby improving the scanning efficiency of the three-dimensional scanner. In addition, the fill light module 150 can emit a first flood light beam and a second flood light beam, and there is no need to additionally provide a white fill light, which is beneficial to the miniaturization of the three-dimensional scanner.

[0036] The above embodiments are only preferred implementations of the present application and are not the only limitations on the relevant contents of the three-dimensional scanner. In this regard, those skilled in the art can flexibly set them according to the actual application scenarios based on the above embodiments.

[0037] It should be noted that the several embodiments shown in the present application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can refer to each other. It should also be noted that in the text description of 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 that there is such an actual relationship or order between these entities or operations. Further, the terms "include", "comprise" or any other corresponding variants are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only these elements, but also other elements that are not explicitly listed, or may also include elements inherent to such process, method, article or equipment; and, in the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0038] In addition, by implementing the several embodiments shown above in the present application, professionals and technicians in this field can implement or use the present application. For the several embodiments shown above in the present application, various modifications will be obvious to professionals and technicians in this field, and the general principles defined in the present application can be implemented in other embodiments not shown without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the several embodiments shown above, but will comply with the widest range consistent with the principles and novel features disclosed in the present application.

Claims

1. A three-dimensional scanner, characterized in that: include: A line laser module, used to emit a line laser beam of a preset color to a target object; A fill light module, used for emitting a first floodlight beam of a preset color and a second floodlight beam of white to the target object, wherein the preset color is different from the white color, and the second floodlight beam includes a specific beam of the preset color; A first black-and-white camera and a second black-and-white camera are arranged at intervals, and are used to collect the line laser beam and the first flood beam or the specific beam reflected back by the target object, and respectively generate a first black-and-white image and a second black-and-white image of the target object; The RGB camera is used to collect the second floodlight beam reflected by the target object to generate a texture image of the target object.

2. The three-dimensional scanner according to claim 1, characterized in that: The target object is provided with a plurality of marking points, and the first black-and-white camera and the second black-and-white camera are further used to collect only the light beam of a preset color in the second flood light beam reflected back by the target object, and respectively generate a third black-and-white image and a fourth black-and-white image of the target object, and the texture image, the third black-and-white image and the fourth black-and-white image include the marking points.

3. The three-dimensional scanner according to claim 2, characterized in that: The three-dimensional scanner also includes a control processing circuit, and the control processing circuit includes: A first timing control unit, used for sending a laser pulse signal to the line laser module to instruct the line laser module to emit the line laser beam; a second timing control unit, configured to send a fill light pulse signal to the fill light module to instruct the fill light module to emit the first flood light beam and / or the second flood light beam; A third timing control unit, used for sending a black-and-white camera pulse signal to the first black-and-white camera and the second black-and-white camera to instruct the first black-and-white camera and the second black-and-white camera to collect light beams; a fourth timing control unit, used for sending an RGB camera pulse signal to the RGB camera to instruct the RGB camera to collect a light beam; Among them, the fill light pulse signal includes a first fill light pulse signal and a second fill light pulse signal, the fill light module is used to emit the first flood light beam according to the first fill light pulse signal, emit the second flood light beam according to the second fill light pulse signal, or emit the second flood light beam according to the first fill light pulse signal and the second fill light pulse signal, the first fill light pulse signal is the same as the laser pulse signal, the black and white camera pulse signal is the same as the fill light pulse signal, and the second fill light pulse signal is the same as the RGB camera pulse signal.

4. The three-dimensional scanner according to claim 3, characterized in that: The first fill light pulse signal and the second fill light pulse signal have equal pulse widths, the number of pulses in the first fill light pulse signal is several times the number of pulses in the second fill light pulse signal, and the second fill light pulse signal is located after or before the first fill light pulse signal.

5. The three-dimensional scanner according to claim 1, characterized in that: The fill light module includes a plurality of fill lights. There are two fill light modules, and the plurality of fill lights in the two fill light modules are respectively arranged around the first black-and-white camera and the second black-and-white camera.

6. The three-dimensional scanner according to claim 5, characterized in that: Each of the fill lights includes a first lamp bead and a second lamp bead. The first lamp bead is used to emit the first floodlight beam, and the second lamp bead is used to emit the second floodlight beam.

7. The three-dimensional scanner according to claim 1, characterized in that: The line laser module comprises: A laser source, used for emitting a point laser beam; A collimating element, used for collimating the point laser beam; The Powell prism or cylindrical mirror is used to modulate the collimated point laser beam into the line laser beam.

8. The three-dimensional scanner according to claim 7, characterized in that: The line laser module also includes a diffraction optical element for replicating the line laser beam output by the Powell prism or cylindrical mirror and outputting it to the target object.

9. The three-dimensional scanner according to claim 1, characterized in that: The first black-and-white camera, the RGB camera, the line laser module and the second black-and-white camera are arranged in sequence along a baseline direction.

10. The three-dimensional scanner according to claim 9, characterized in that: The three-dimensional scanner also includes a shell, and the fill light module, the first black and white camera, the RGB camera, the line laser module and the second black and white camera are all arranged in the shell. A hand-held part is formed on the surface of the shell, and the hand-held part is located between the line laser module and the second black and white camera.

Images