Three-dimensional scanner with multiple scanning systems

Abstract

The utility model discloses a three-dimensional scanner with multiple scanning systems. The three-dimensional scanner comprises a first structured light projection module, a second structured light projection module, two first camera modules, two second camera modules, a switching circuit and a processing chip. The first structured light projection module and the two first camera modules form a first binocular structured light system of a first baseline; the second structured light projection module and the two second camera modules form a second binocular structured light system of a second base line, and the second base line is larger than the first base line; the first structured light projection module and the second structured light projection module are electrically connected with the processing chip; the processing chip is electrically connected with the two first camera modules and the two second camera modules through the switching circuit, and the processing chip is used for controlling the first binocular structured light system and the second binocular structured light system through the switching circuit and receiving data collected by the first binocular structured light system and the second binocular structured light system. The three-dimensional scanner is suitable for short-distance and long-distance scanning scenes and is high in integration degree.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional scanning, and more specifically, to a three-dimensional scanner with a multi-scanning system. Background Art

[0002] Structured light 3D scanners can be divided into speckle structured light, stripe structured light and laser line structured light based on their working principles. Speckle structured light can be generated by VCSEL / EEL, collimator and diffraction optical elements, or by LED / laser light sources, masks and projection lenses. Stripe structured light systems usually combine phase-shifted stripes and Gray code stripes to generate 3D point clouds. Stripes can be generated by DLP or MEMS. Line laser scanners project single or multiple laser lines onto the surface of an object, extract the position of the laser lines with sub-pixel accuracy in the image, and obtain a 3D point cloud based on the principle of triangulation.

[0003] Regardless of which of the above solutions is adopted, it is difficult for the same scanner to scan both large objects (such as cars) and very small objects (such as coins) because of the limited depth of field of the camera module. Summary of the invention

[0004] An embodiment of the present application provides a three-dimensional scanner with a multi-scanning system.

[0005] The three-dimensional scanner of the embodiment of the present application includes a first structured light projection module, a second structured light projection module, two first camera modules, two second camera modules, a switching circuit and a processing chip; the first structured light projection module and the two first camera modules constitute a first binocular structured light system with a first baseline; the second structured light projection module and the two second camera modules constitute a second binocular structured light system with a second baseline, and the second baseline is greater than the first baseline; the first structured light projection module, the second structured light projection module and the processing chip are electrically connected; the processing chip is electrically connected to the two first camera modules and the two second camera modules through the switching circuit, the switching circuit is used to switch the two first camera modules or the two second camera modules to connect to the processing chip, and the processing chip is used to control the first binocular structured light system and the second binocular structured light system and receive data collected by the first binocular structured light system and the second binocular structured light system.

[0006] In some embodiments, the switching circuit includes a first switching subcircuit and a second switching subcircuit; the processing chip is electrically connected to a first camera module and a second camera module through the first switching subcircuit, and is electrically connected to another first camera module and another second camera module through the second switching subcircuit; the first switching subcircuit is used to switch a first camera module or a second camera module to connect to the processing chip; the second switching subcircuit is used to switch another first camera module or another second camera module to connect to the processing chip. In some embodiments, the first switching subcircuit and the second switching subcircuit both include a control switch and a MIPI switch; the first end of the control switch is electrically connected to the processing chip, and the second end and the third end are electrically connected to a first camera module and a second camera module respectively, and is used to switch the second end or the third end to conduct according to the first control signal of the processing chip to switch the camera module that receives the second control signal of the processing chip; the first end of the MIPI switch is electrically connected to the processing chip, and the second end and the third end are electrically connected to a first camera module and a second camera module respectively, and is used to switch the second end or the third end to conduct according to the third control signal of the processing chip to switch the camera module that outputs the MIPI signal.

[0007] In some embodiments, the focal length of the first camera module is greater than the focal length of the second camera module; and / or, the wavelength of the light beam projected by the first structured light projection module is in the blue light band, and the wavelength of the light beam projected by the second structured light projection module is in the near infrared band; or the wavelengths of the light beams projected by the first structured light projection module and the second structured light projection module are both in the near infrared band. In some embodiments, the first structured light projection module and the second structured light projection module are disposed between the two first camera modules, and the two first camera modules are disposed between the two second camera modules.

[0008] In some embodiments, the optical axes of the two first camera modules are tilted toward the first structured light projection module and form a first angle with the optical axis of the first structured light projection module. In some embodiments, the optical axes of the two second camera modules are tilted toward the second structured light projection module and form a second angle with the optical axis of the second structured light projection module. In some embodiments, the second angle is smaller than the first angle.

[0009] In some embodiments, the three-dimensional scanner further comprises a color camera module, which is electrically connected to the processing chip. In some embodiments, the three-dimensional scanner further comprises at least four fill light groups electrically connected to the processing chip, and four of the at least four fill light groups surround the two first camera modules and the two second camera modules respectively.

[0010] The three-dimensional scanner of the embodiment of the present application has a first binocular structured light system with a first baseline and a second binocular structured light system with a second baseline. The second baseline is greater than the first baseline, so the first binocular structured light system and the second binocular structured light system have different accuracies and can be used to scan objects of different sizes respectively; and the processing chip is electrically connected to the two first camera modules and the two second camera modules through a switching circuit, and the switching circuit can realize switching between the first binocular structured light system and the second binocular structured light system, and then one processing chip can control the first binocular structured light system and the second binocular structured light system and receive data collected by the first binocular structured light system and the second binocular structured light system, that is, the first binocular structured light system and the second binocular structured light system share one processing chip, which saves the number of processing chips and improves the integration of the three-dimensional scanner.

[0011] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0013] Figure 1 is a schematic diagram of the system composition of a three-dimensional scanner according to an embodiment of the present application;

[0014] Figure 2 is a schematic diagram of the system composition of a three-dimensional scanner according to an embodiment of the present application;

[0015] Figure 3 is a schematic diagram of the scanning field of view of a three-dimensional scanner according to an embodiment of the present application;

[0016] Figure 4 is a schematic diagram of the scanning field of view of a three-dimensional scanner according to an embodiment of the present application;

[0017] Figure 5 It is a schematic diagram of the system composition of a three-dimensional scanner according to an embodiment of the present application.

[0018] Description of main component symbols:

[0019] A first structured light projection module 1, a second structured light projection module 2, two first camera modules 3, two second camera modules 4, a switching circuit 5, a first switching sub-circuit 51, a first control switching switch 511, a first MIPI switching switch 512, a second switching sub-circuit 52, a second control switching switch 521, a second MIPI switching switch 522, a processing chip 6, a color camera module 7, a fill light group 8, and a fill light 81. DETAILED DESCRIPTION

[0020] The following further describes the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions.

[0021] In addition, the embodiments of the present application described below in conjunction with the drawings are exemplary and are only used to explain the embodiments of the present application and should not be construed as limiting the present application.

[0022] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0023] See also Figure 1 The embodiment of the present application provides a three-dimensional scanner with a multi-scanning system, which includes a first structured light projection module 1, a second structured light projection module 2, two first camera modules 3, two second camera modules 4, a switching circuit 5 and a processing chip 6; the first structured light projection module 1 and the two first camera modules 3 constitute a first binocular structured light system with a first baseline; the second structured light projection module 2 and the two second camera modules 4 constitute a second binocular structured light system with a second baseline, and the second baseline is greater than the first baseline; the first structured light projection module 1 and the second structured light projection module 2 are electrically connected to the processing chip 6; the processing chip 6 is electrically connected to the two first camera modules 3 and the two second camera modules 4 through the switching circuit 5, and the switching circuit 5 is used to switch the two first camera modules 3 or the two second camera modules 4 to connect to the processing chip 6, and the processing chip 6 is used to control the first binocular structured light system and the second binocular structured light system and receive data collected by the first binocular structured light system and the second binocular structured light system.

[0024] The three-dimensional scanner of the embodiment of the present application has two scanning systems, a first binocular structured light system of a first baseline and a second binocular structured light system of a second baseline. If the second baseline is greater than the first baseline, the first binocular structured light system and the second binocular structured light system have different accuracies and can be used to scan objects of different sizes respectively; and the processing chip 6 is electrically connected to the two first camera modules 3 and the two second camera modules 4 through the switching circuit 5. The switching circuit 5 can realize switching control of the first binocular structured light system and the second binocular structured light system, and then one processing chip 6 can control the first binocular structured light system and the second binocular structured light system and receive data collected by the first binocular structured light system and the second binocular structured light system, that is, the first binocular structured light system and the second binocular structured light system share one processing chip 6, thereby saving the number of processing chips 6 and improving the integration of the three-dimensional scanner.

[0025] The first binocular structured light system has a higher precision when scanning at close range and can be used for scanning at close range; the second binocular structured light system has a higher precision when scanning at medium and long distances and can be used for scanning at medium and long distances. It should be noted that close range and medium and long distances are relative, and close range and medium and long distances can be divided according to the distance threshold. The processing chip 6 controls the switching circuit 5 to control the first binocular structured light system and the second binocular structured light system. When the close range scanning mode is selected, the processing chip 6 can control the switching circuit 5 to switch the two first camera modules 3 to be connected to the processing chip 6, and the two first camera modules 3 and the first structured light projection module 1 work synchronously according to the first synchronization signal; when the medium and long distance scanning mode is selected, the processing chip 6 can control the switching circuit 5 to switch the two second camera modules 4 to be connected to the processing chip 6, and the two second camera modules 4 and the second structured light projection module 2 work synchronously according to the second synchronization signal. The first binocular structured light system and the second binocular structured light system can also work simultaneously to realize mixed scanning. At this time, the switching circuit 5 can make the two first camera modules 3 and the two second camera modules 4 connected to the processing chip 6.

[0026] In some embodiments, when the processing chip 6 receives data collected by the first binocular structured light system or the second binocular structured light system, it can calculate the depth information of the target object based on the collected data, or it can transmit the collected data to a host computer, and the host computer calculates the depth information of the target object based on the collected data. There is no limitation here.

[0027] For the convenience of explanation, the two first camera modules 3 are distinguished by different numbers, and the two second camera modules 4 are distinguished by different numbers.

[0028] like Figure 2As shown, in some embodiments, the switching circuit 5 may include a first switching subcircuit 51 and a second switching subcircuit 52, the processing chip 6 is electrically connected to the first camera module 3a and the second camera module 4a through the first switching subcircuit 51, and is electrically connected to the first camera module 3b and the second camera module 4b through the second switching subcircuit 52, the first switching subcircuit 51 is used to switch the first camera module 3a or the second camera module 4a to connect to the processing chip 6, and the second switching subcircuit 52 is used to switch the first camera module 3b or the second camera module 4b to connect to the processing chip 6. Thus, the switching control of the processing chip 6 on the two first camera modules 3 and the two second camera modules 4 is more accurately realized, and the circuit layout is more reasonable.

[0029] In some embodiments, the first switching subcircuit 51 includes a first control switching switch 511 and a first MIPI switching switch 512; the first end of the first control switching switch 511 is electrically connected to the processing chip 6, and the second end and the third end are respectively electrically connected to the first camera module 3a and the second camera module 4a, and is used to switch the second end or the third end to be turned on according to the first control signal of the processing chip 6 to switch the camera module that receives the second control signal of the processing chip 6; the first end of the first MIPI switching switch 512 is electrically connected to the processing chip 6, and the second end and the third end are respectively connected to the first camera module 3a and the second camera module 4a, and the first MIPI switching switch 512 is used to control the second end or the third end to be turned on according to the third control signal of the processing chip 6 to switch the MIPI signals of the first camera module 3a and the second camera module 4a, so that the first camera module 3a or the second camera module 4a transmits image data to the processing chip 6 through the MIPI interface. In this way, control signal transmission between the processing chip 6 and the first camera module 3a and the second camera module 4a and MIPI signal transmission between the processing chip 6 and the first camera module 3a and the second camera module 4a are realized. Moreover, compared with the way in which the processing chip 6 is connected to the first camera module 3a and the second camera module 4a through two signal interfaces and two MIPI interfaces, the processing chip 6 of this embodiment is connected to the first control switching switch 511 through a signal interface and a MIPI interface to connect the first MIPI switching switch 512 to realize control and data transmission of the first camera module 3a and the second camera module 4a, thereby saving the number of interfaces required for the processing chip 6.

[0030] The second switching subcircuit 52 includes a second control switching switch 521 and a second MIPI switching switch 522; the first end of the second control switching switch 521 is electrically connected to the processing chip 6, and the second end and the third end are respectively electrically connected to the first camera module 3b and the second camera module 4b, and is used to switch the second end or the third end to be turned on according to the first control signal of the processing chip 6 to switch the camera module that receives the second control signal of the processing chip 6; the first end of the second MIPI switching switch 522 is electrically connected to the processing chip 6, and the second end and the third end are respectively connected to the first camera module 3b and the second camera module 4b, and the second MIPI switching switch 522 is used to control the second end or the third end to be turned on according to the third control signal of the processing chip 6 to switch the MIPI signals of the first camera module 3a and the second camera module 4a, so that the first camera module 3b or the second camera module 4b transmits image data to the processing chip 6 through the corresponding MIPI channel. In this way, control signal transmission between the processing chip 6 and the first camera module 3b and the second camera module 4b and image data transmission between the processing chip 6 and the first camera module 3b and the second camera module 4b are realized. Moreover, compared with the way in which the processing chip 6 is connected to the first camera module 3b and the second camera module 4b through two signal interfaces and two MIPI interfaces, the processing chip 6 of this embodiment is connected to the second control switching switch 521 through a signal interface and a MIPI interface to connect the second MIPI switching switch 522 to realize control and data transmission of the first camera module 3b and the second camera module 4b, thereby saving the number of interfaces required for the processing chip 6.

[0031] The first control switch 511, the second control switch 521, the first MIPI switch 512 and the second MIPI switch 522 can actually be corresponding chips, and the first control switch 511 and the second control switch 521 have the same working principle, and the first MIPI switch 512 and the second MIPI switch 522 have the same working principle, and the first control switch 511 and the first MIPI switch 512 are used as examples for explanation. The first control signal of the processing chip 6 can control the first control switch 511 to switch the camera module that receives the control signal. For example, if the first control signal is at a high level, the first control switch 511 controls the second end to be turned on, and the first camera module 3a receives the second control signal sent by the processing chip 6. If the first control signal is at a low level, the first control switch 511 controls the third end to be turned on, and the second camera module 4a receives the second control signal sent by the processing chip 6. The second control signal includes a control signal and a synchronization signal. The third control signal of the processing chip 6 can control the first MIPI switch 512 to switch the camera module; for example, if the third control signal is at a high level, the second end of the first MIPI switch 512 is controlled to be turned on to receive the MIPI signal of the first camera module 3a; for example, if the third control signal is at a low level, the third end of the first MIPI switch 512 is controlled to be turned on to receive the MIPI signal of the second camera module 4a. The first control signal and the third control signal can be transmitted to the first control switch 511 and the first MIPI switch 512 through the GPIO interface.

[0032] like Figure 1 and Figure 2 As shown, the processing chip 6 can send a PWM signal to the first structured light projection module 1 or the second structured light projection module 2 to trigger the first structured light projection module 1 or the second structured light projection module 2 to synchronously project structured light to the target object.

[0033] like Figure 1 As shown, the first structured light projection module 1 and the second structured light projection module 2 are arranged between the two first camera modules 3, and the two first camera modules 3 are located between the two second camera modules 4. In this way, the length of the three-dimensional scanner is not too long while ensuring that the first binocular structured light system has a shorter baseline and the second binocular structured light system has a longer baseline. In other embodiments, the two first camera modules 3 and the two second camera modules 4 can be arranged alternately or the two first camera modules 3 can be arranged on one side of one of the second camera modules 4, which is not limited here.

[0034] The first structured light projection module 1 and the second structured light projection module 2 can project speckle structured light, stripe structured light or laser line structured light. This application is described by taking the first structured light projection module 1 and the second structured light projection module 2 as an example of projecting speckle structured light. The first structured light projection module 1 and the second structured light projection module 2 can both include a laser light source, a collimator and a diffractive optical element, and can also both include a laser light source, a mask and a projection lens.

[0035] In one embodiment, the first structured light projection module 1 includes a laser light source, a mask and a projection lens, and the second structured light projection module 2 includes a laser light source, a collimator and a diffractive optical element. The first binocular structured light system is used for close-range scanning, generally scanning small objects. In order to restore its details to the greatest extent, the density of the speckle is required to be as high as possible, and the closest projection distance is required to be within 10 cm. The first structured light projection module 1 adopts a laser light source + mask + projection lens solution, so that the speckle pattern projected by the first structured light projection module 1 has a high speckle density, and more than 100k speckles can be projected in a 10cm*10cm area. The small speckle size makes the speckle non-sticky, and the working distance and depth of field can be easily adjusted by focusing distance. The closest working distance can be within 10 cm. By replacing different LED wavelengths, speckles of different wavelengths can be projected, and the speckle density can be freely adjusted by adjusting the pattern density of the mask and the focal length of the projection lens, etc., to ensure the accuracy of close-range scanning. For medium and long-range scanning, the speckle projection distance is required to be farther and the depth of field is larger. The second structured light projection module 2 adopts a laser light source + collimator + DOE solution, which has a relatively high energy efficiency and can ensure that the maximum scanning distance reaches more than 1m and has a larger field of view angle.

[0036] If the focal length of the camera lens is relatively short, the camera's field of view will be relatively large, which is conducive to scanning large objects; and a short focal length lens generally means a larger depth of field, which can usually cover both nearer and farther objects. However, a small focal length and a large field of view mean that the spatial resolution of the image is low, and the accuracy is poor when scanning small objects, making it difficult to reconstruct small objects in three dimensions. If the focal length of the lens is relatively long, the camera's field of view will be relatively small. At this time, the image's spatial resolution is high, which is conducive to scanning small objects, but the field of view is small, and the efficiency of scanning large objects is low, and point cloud stitching errors are prone to occur; in addition, a long focal length lens generally means a small depth of field, which cannot cover both nearer and farther objects at the same time.

[0037] In some embodiments, the field of view of the first camera module 3 is smaller than that of the second camera module 4. The first binocular structured light system uses the first camera module 3 with a smaller field of view, which is more suitable for close-range scanning and can be used to scan relatively small objects at close range, and can obtain good details and accuracy. The second binocular structured light system uses the second camera module 4 with a larger field of view, which is more suitable for medium and long distances and can be used to scan relatively large objects. At the same time, a higher scanning accuracy can also be ensured through a long baseline.

[0038] In a specific embodiment, the focal length of the first camera module 3 is greater than the focal length of the second camera module 4. The first camera module 3 uses a lens with a larger focal length, so that the first binocular structured light system is more suitable for scanning relatively small objects at close range to obtain good details. The second camera module 4 uses a lens with a smaller focal length to obtain a larger field of view, so that the second binocular structured light system is more suitable for scanning relatively large objects. At the same time, the long baseline between the two second camera modules 4 can also ensure high scanning accuracy.

[0039] The center wavelength of the filters in the two first camera modules 3 is the same as the wavelength of the light beam projected by the first structured light projection module 1, so that the two first camera modules 3 can collect the first structured light projected by the first structured light projection module 1 that is reflected back; the center wavelength of the filters in the two second camera modules 4 is the same as the wavelength of the light beam projected by the second structured light projection module 2, so that the two second camera modules 4 can collect the second structured light projected by the second structured light projection module 2 that is reflected back. In some embodiments, the wavelength of the light beam projected by the first structured light projection module 1 is in the blue light band, because the wavelength of blue light is shorter, and its projected speckle contrast is higher, especially on some translucent objects, which is more conducive to the restoration of details. The wavelength of the light beam projected by the second structured light projection module 2 is in the near-infrared band, because the near-infrared band has a stronger ability to resist ambient light interference, which is more conducive to the scanning of distant objects. In another embodiment, the wavelength of the light beam projected by the first structured light projection module 1 and the wavelength of the light beam projected by the second structured light projection module 2 are the same, for example, both are in the near-infrared band.

[0040] Figure 3 and Figure 4 The following are schematic diagrams showing the field of view of each module of the three-dimensional scanner in two different installation modes. Figure 3 As shown, the optical axes of the two first camera modules 3 are parallel to the optical axis of the first structured light projection module 1, the optical axes of the two second camera modules 4 are parallel to the optical axis of the second structured light projection module 2, the overlapping range A1 of the two first camera modules 3 is relatively small, the overlapping range A2 of the two second camera modules 4 is relatively small, and the scanning efficiency is relatively low. Figure 4As shown, the two first camera modules 3 are tilted toward the first structured light projection module 1, so that the fields of view of the two first camera modules 3 have a larger overlapping range B1; the two second camera modules 4 are tilted toward the second structured light projection module 2, so that the fields of view of the two second camera modules 4 have a larger overlapping range B2; thereby, the scanning efficiency of the three-dimensional scanner can be improved.

[0041] The optical axes of the two first camera modules 3 form a first angle with the optical axis of the first structured light projection module 1, and the optical axes of the two second camera modules 4 form a second angle with the optical axis of the second structured light projection module 2. Since the field of view of the second camera module 4 is greater than that of the first camera module 3, and the baselines of the two second camera modules 4 are greater, the second angle is less than the first angle. The first angle may be related to the field of view of the two first camera modules 3 and the baseline distance between them, and the second angle may be related to the field of view of the two second camera modules 4 and the baseline distance between them, and can be reasonably set according to needs. In a specific embodiment, the first angle is 10° and the second angle is 5°.

[0042] like Figure 1 As shown, the three-dimensional scanner also includes a color camera module 7, which can be electrically connected to the processing chip 6. The color camera module 7 is used to collect visible light to generate a color image (i.e., a texture image) so as to obtain the color texture information of the scanned object for subsequent texture mapping. The color camera module 7 can work synchronously with the two first camera modules 3 or the two second camera modules 4 to obtain the texture information of the object during the scanning process. Figure 4 As shown, the color camera module 7 is tilted toward the first structured light projection module 1, and the optical axis of the color camera module 7 forms a third angle with the optical axis of the first structured light projection module 1. The third angle can be between the first angle and the second angle, for example, 8°, so that the color camera module 7 has more overlapping fields of view with the first camera module 3 and the second camera module, which is beneficial to improving the scanning efficiency and the subsequent texture mapping accuracy. In other embodiments, if the field of view angle of the color camera module 7 is large enough, the color imaging module may not be tilted.

[0043] like Figure 5As shown, in some embodiments, the three-dimensional scanner also includes at least four fill-in light groups 8 electrically connected to the processing chip 6, each fill-in light group 81 may include multiple fill-in light groups 81, and the four fill-in light groups 8 surround the two first camera modules 3 and the two second camera modules 4 respectively, so that the supplementary light beams collected by each camera module are more uniform. The wavelength of the light beam generated by the two fill-in light groups 8 surrounding the two first camera modules 3 is the same as that of the first structured light projection module 1, and the wavelength of the light beam generated by the two fill-in light groups 8 surrounding the two second camera modules 4 is the same as that of the second structured light projection module 2. The fill-in light 81 in the four fill-in light groups 8 is mainly used to illuminate the mark point (if the mark point scanning mode is turned on) during scanning, which is conducive to extracting the mark point. In addition, the fill-in light 81 can also be turned on when the three-dimensional scanner is calibrated. The three-dimensional scanner also includes a fifth fill-in light group 8, which is arranged around the color camera. The fifth fill-in light group 8 is used to generate white light to ensure the effect of the texture image in a darker environment.

[0044] It should be noted that the three-dimensional scanner may also include more binocular structured light systems, such as a third binocular structured light system composed of two third camera modules, a fourth binocular structured light system composed of two fourth camera modules, etc., which are not described in detail here.

[0045] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, unless otherwise clearly and specifically defined.

[0047] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A three-dimensional scanner with a multi-scanning system, comprising a first structured light projection module, a second structured light projection module, two first camera modules, two second camera modules, a switching circuit and a processing chip; The first structured light projection module and the two first camera modules form a first binocular structured light system of a first baseline; The second structured light projection module and the two second camera modules form a second binocular structured light system with a second baseline, and the second baseline is greater than the first baseline; The first structured light projection module and the second structured light projection module are electrically connected to the processing chip; The processing chip is electrically connected to the two first camera modules and the two second camera modules through the switching circuit. The switching circuit is used to switch the two first camera modules or the two second camera modules to connect to the processing chip. The processing chip is used to control the first binocular structured light system and the second binocular structured light system and receive data collected by the first binocular structured light system and the second binocular structured light system.

2. The three-dimensional scanner according to claim 1, characterized in that: The switching circuit includes a first switching subcircuit and a second switching subcircuit; the processing chip is electrically connected to one of the first camera modules and one of the second camera modules through the first switching subcircuit, and is electrically connected to another of the first camera modules and another of the second camera modules through the second switching subcircuit; The first switching subcircuit is used to switch one of the first camera modules or one of the second camera modules to connect to the processing chip; The second switching subcircuit is used to switch another first camera module or another second camera module to connect to the processing chip.

3. The three-dimensional scanner according to claim 2, characterized in that: The first switching subcircuit and the second switching subcircuit both include a control switching switch and a MIPI switching switch; The first end of the control switch is electrically connected to the processing chip, and the second end and the third end are electrically connected to one of the first camera modules and one of the second camera modules respectively, and is used to switch the second end or the third end to be turned on according to the first control signal of the processing chip, so as to switch the camera module receiving the second control signal of the processing chip; The first end of the MIPI switching switch is electrically connected to the processing chip, and the second end and the third end are respectively connected to the first camera module and the second camera module, and is used to switch the second end or the third end to be turned on according to the third control signal of the processing chip to switch the camera module that outputs the MIPI signal.

4. The three-dimensional scanner according to claim 1, characterized in that: The focal length of the first camera module is greater than the focal length of the second camera module; and / or, The wavelength of the light beam projected by the first structured light projection module is in the blue light band, and the wavelength of the light beam projected by the second structured light projection module is in the near infrared band; or the wavelengths of the light beams projected by the first structured light projection module and the second structured light projection module are both in the near infrared band.

5. The three-dimensional scanner according to claim 1, characterized in that: The optical axes of the two first camera modules are both inclined toward the first structured light projection module, and form a first angle with the optical axis of the first structured light projection module.

6. The three-dimensional scanner according to claim 5, characterized in that: The optical axes of the two second camera modules are both inclined toward the second structured light projection module, and form a second angle with the optical axis of the second structured light projection module.

7. The three-dimensional scanner according to claim 6, characterized in that: The second angle is smaller than the first angle.

8. The three-dimensional scanner according to claim 1, characterized in that: The first structured light projection module and the second structured light projection module are disposed between the two first camera modules, and the two first camera modules are located between the two second camera modules.

9. The three-dimensional scanner according to any one of claims 1 to 8, characterized in that: The three-dimensional scanner also includes a color camera module, and the color camera module is electrically connected to the processing chip.

10. The three-dimensional scanner according to any one of claims 1 to 8, characterized in that: The three-dimensional scanner also includes at least four fill light groups electrically connected to the processing chip, and four fill light groups among the at least four fill light groups respectively surround the two first camera modules and the two second camera modules.

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