Three-dimensional scanner

Abstract

The utility model provides a three-dimensional scanner, and relates to the technical field of three-dimensional scanning. The three-dimensional scanner comprises a line laser module, a plurality of speckle laser modules, a first black-and-white camera, a second black-and-white camera and a computing power board, wherein the line laser module is used for emitting a line beam to a target object; the plurality of speckle laser modules are used for emitting at least two different speckle patterned light beams to a target object; the first black-and-white camera and the second black-and-white camera are both used for collecting the linear light beam or the speckle patterning light beam reflected by the target object to generate a first image and a second image respectively; the computing power board is used for receiving the first image and the second image and generating a point cloud image of the target object. According to the three-dimensional scanner, the two scanning modes of line scanning and speckle scanning are integrated, so that the three-dimensional scanner can be suitable for various different application scenes, and the integration level and scene adaptability of the three-dimensional scanner are 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] 3D scanners have been widely used in smart phones, 3D printers, archeology, industrial reverse design and other fields. Different technical routes are used for different industry applications. For example, smart phones use low-cost dTOF scanning devices to complete fast, low-precision home scene scanning; in order to improve the scanning accuracy of industrial parts, most of them use high-cost phase-shifted structured light or multi-line structured light scanning devices. For the 3D printer field, speckle structured light scanning devices can also be used to achieve fast, high-precision scanning of small objects.

[0003] In the related technology, different three-dimensional scanners are required for different application scenarios (mainly reflected in the size, material, scanning distance, accuracy, speed, etc. of the target object), such as an independent dTOF scanning device, an independent multi-line structured light scanning device, an independent speckle structured light scanning device, etc. When the end consumers scan targets with different working distances, different target sizes, different materials, etc., most of them need to use multiple independent scanning devices for scanning, and the scanning process is very complicated. Utility Model Content

[0004] The present application provides a three-dimensional scanner, aiming to solve the problems of low integration and single application scenario of three-dimensional scanners in related technologies.

[0005] In order to solve the above-mentioned technical problems existing in the related art, an embodiment of the present application provides a three-dimensional scanner, including a line laser module, multiple speckle laser modules, a first black and white camera, a second black and white camera, and a computing board, wherein the line laser module is used to emit a line light beam to a target object; the multiple speckle laser modules are used to emit at least two different speckle patterned light beams to the target object; the first black and white camera is used to collect the line light beam or speckle patterned light beam reflected back by the target object to generate a first image of the target object; the second black and white camera is used to collect the line light beam or speckle patterned light beam reflected back by the target object to generate a second image of the target object; the computing board is connected to the multiple line laser modules, the multiple speckle laser modules, the first black and white camera and the second black and white camera, and is used to receive the first image and the second image, and generate a point cloud image of the target object.

[0006] As can be seen from the above, the three-dimensional scanner of the present application integrates line structured light scanning and speckle structured light scanning modes. The line scanning mode is suitable for scenes with high scanning accuracy or complex texture on the surface of the target object, and the speckle scanning mode is suitable for scenes with low scanning accuracy but fast scanning speed; and, multiple speckle laser modules can form at least two different speckle patterned light beams, and then in the speckle scanning mode, different scanning accuracies can be achieved by turning on different line laser modules; thus, the three-dimensional scanner can be applicable to a variety of different application scenarios, thereby improving the integration and scene adaptability of the three-dimensional scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] 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.

[0008] Figure 1 A schematic diagram of the structure of a three-dimensional scanner provided in an embodiment of the present application;

[0009] Figure 2 A schematic diagram of the structure of a line laser module provided in an embodiment of the present application;

[0010] Figure 3 A schematic diagram of line beams emitted by three line laser modules provided in an embodiment of the present application;

[0011] Figure 4 Two schematic diagrams of assembling the line laser module in a housing provided in an embodiment of the present application;

[0012] Figure 5 A schematic diagram of the structure of a speckle laser module provided in an embodiment of the present application. DETAILED DESCRIPTION

[0013] 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.

[0014] Figure 1 It is a structural schematic diagram of a three-dimensional scanner, which includes a line laser module 102, multiple speckle laser modules 103, a first black-and-white camera 104, a second black-and-white camera 105, and a computing board 106. The line laser module 102 is used to emit a line beam to a target object; the multiple speckle laser modules 103 are used to emit at least two different speckle patterned beams to a target object; the first black-and-white camera 104 is used to collect the line beam or speckle patterned beam reflected back from the target object to generate a first image of the target object; the second black-and-white camera 105 is used to collect the line beam or speckle patterned beam reflected back from the target object to generate a second image of the target object; the computing board 106 connects the line laser module 102, the multiple speckle laser modules 103, the first black-and-white camera 104, and the second black-and-white camera 105 to receive the first image and the second image, and generate a point cloud image of the target object.

[0015] The first image and the second image may include speckle or line laser, the line laser module 102 and the speckle laser module 103 are not turned on at the same time, and the three-dimensional scanner has two different working modes, namely, the line scanning mode and the speckle laser scanning mode; in the line scanning mode, the line laser module 102 works, and the speckle laser module 103 does not work; in the speckle scanning mode, the speckle laser module 103 works, and the line laser module 102 does not work. In the line scanning mode, the line laser module 102 is turned on and can emit at least one line light beam to the target object. The first black and white camera 104 and the second black and white camera 105 collect at least one line light beam reflected by the target object to generate a first line laser image and a second line laser image of the target object respectively. The computing board 106 can generate a point cloud image of the target object according to the first line laser image and the second line laser image. In the speckle scanning mode, at least one speckle laser module 103 is turned on and can emit a speckle patterned light beam to the target object. The first black and white camera 104 and the second black and white camera 105 can collect the speckle patterned light beam reflected by the target object to generate a first speckle image and a second speckle image of the target object respectively. The computing board 106 can generate a point cloud image of the target object according to the first speckle image and the second speckle image.

[0016] As can be seen from the above, the three-dimensional scanner of the present application integrates line structured light scanning and speckle structured light scanning modes. The line scanning mode is suitable for scenes with high scanning accuracy or complex texture on the surface of the target object (such as 20μm scanning scenes, scanning coins, mice, small metal parts, etc.), and the speckle scanning mode is suitable for scenes with low scanning accuracy but fast scanning speed (such as scanning portraits, faces, larger toys, etc.); multiple speckle laser modules 103 can form at least two different speckle patterned light beams, and then in the speckle scanning mode, different scanning accuracies can be achieved by turning on different line laser modules 102; thus, the three-dimensional scanner can be applicable to a variety of different application scenarios, thereby improving the integration and scene adaptability of the three-dimensional scanner.

[0017] In some embodiments, Figure 1 As shown, the three-dimensional scanner also includes a shell 101, and multiple line laser modules 102, speckle laser modules 103, a first black and white camera 104, a second black and white camera 105, and a computing board 106 are all arranged in the shell 101. The shell 101 may be provided with windows corresponding to the line laser modules 102, the speckle laser modules 103, the first black and white camera 104, and the second black and white camera 105 to avoid blocking the scanning field of view.

[0018] The basic structure of the multiple line laser modules 102 is the same. Figure 2 It is a structural schematic diagram of a line laser module. Taking the line laser module 102 emitting multiple line beams as an example, the line laser module 102 includes a first shell 1021, a first laser light source 1022, a first collimating element 1023, a first modulating element 1024 and a first diffractive optical element 1025. The first laser light source 1022, the first collimating element 1023, the first modulating element 1024 and the first diffractive optical element 1025 are sequentially arranged in the shell 1021. The first laser light source 1022 can emit a single-point or multi-point laser beam to the collimating element 1023. The first collimating element 2023 can collimate the single-point or multi-point laser beam and output it to the first modulating element 1024. The first modulating element 1024 can modulate the collimated single-point or multi-point laser beam into at least one line beam and output it to the first diffractive optical element 1025. The first diffractive optical element 1025 can replicate at least one line beam and output several line beams. Preferably, the first laser light source 1022 may be an edge-emitting laser, and the first modulation element 1024 may be a cylindrical mirror or a Powell prism. Of course, the first diffractive optical element 1025 may not be provided, and the first laser light source 1022 may also be a linear light source.

[0019] As one embodiment, there are multiple line laser modules 102, such as two, three, four or more. Each line laser module 102 can emit at least one line beam. The number, spacing, width and direction of line beams of different line laser modules 102 can be different. For different application scenarios, different line laser modules 102 can be selectively turned on, or at least two line laser modules 102 can be turned on at the same time. Multiple line laser modules 102 can form at least two different line beams, and different scanning accuracies can be achieved by turning on different line laser modules 102 in the line scanning mode.

[0020] In some implementations of this embodiment, see Figure 1 , the multiple line laser modules 102 include a first line laser module 1021 and a second line laser module 1022, the focal length of the first line laser module 1021 is smaller than the focal length of the second line laser module 1022, and the field of view angle of the first line laser module 1021 is smaller than the field of view angle of the second line laser module 1022. For example, the focal length of the first line laser module 1021 is less than or equal to the preset focal length, and the field of view angle is less than or equal to the preset field of view angle, and the focal length of the second line laser module 1022 is greater than the preset focal length, and the field of view angle is greater than the preset field of view angle. The first line laser module 1021 is short-distance focusing and small field of view angle, while the second line laser module 1022 is long-distance focusing and large field of view angle. In the actual scanning process, the first line laser module 1021 and the second line laser module 1022 can be selectively turned on according to the distance between the target object and the three-dimensional scanner. Exemplarily, in the line scanning mode, when the distance between the target object and the three-dimensional scanner is short, the first line laser module 1021 is turned on and the second line laser module 1022 is turned off; when the distance between the target object and the three-dimensional scanner is long, the first line laser module 1021 is turned off and the second line laser module 1022 is turned on.

[0021] See also Figure 1 The multiple line laser modules 102 further include a third line laser module 1023 . The focal length, field of view and number of emitted line beams of the third line laser module 1023 are the same as those of the second line laser module 1022 . Figure 3A schematic diagram of line beams projected by three line laser modules 102 is shown, and the line beams projected by the second line laser module 1022 and the third line laser module 1023 are arranged tilted and tilted in opposite directions, so that the line beams emitted by the second line laser module 1022 and the line beams emitted by the third line laser module 1023 are interlaced with each other, and the density of the line beams projected when the second line laser module 1022 and the third line laser module 1023 are turned on at the same time is high. Preferably, the angle between the line beams emitted by the second line laser module 1022 and the line beams emitted by the third line laser module 1023 can be 60°. It should be noted that, based on the differences in focal length and field of view angle among the first line laser module 1021, the second line laser module 1022 and the third line laser module 1023, at least one of the first line laser module 1021, the second line laser module 1022 and the third line laser module 1023 can be turned on according to different application scenarios to ensure that a very small line width can be achieved at different scanning distances in the line scanning mode, which is beneficial to improve the scanning accuracy of the three-dimensional scanner at different scanning distances.

[0022] The line laser module 102 is usually in the shape of a long strip. As one implementation method, Figure 4 (a) is a schematic diagram of the assembly of the line laser module 102 in the shell. The line laser module 102 is longitudinally arranged in the shell 101. The length direction of the line laser module 102 is parallel to the width direction of the shell 101. Since the length of the line laser module 102 is relatively long, the width of the shell 101 will inevitably increase, that is, the width of the 3D scanner will increase, which is not convenient for users to hold.

[0023] As another implementation method, Figure 4 (b) is another assembly diagram of the line laser module in the shell, the line laser module 102 is arranged horizontally in the shell 101, the length direction of the line laser module 102 is parallel to the length direction of the shell 101 (i.e. the baseline direction of the three-dimensional scanner, the baseline refers to the connection line between the first black and white camera 104 and the second black and white camera 105), the line light beam emitted by the line laser module 102 cannot be directly emitted to the target object, for this reason, the three-dimensional scanner also includes a reflective element 117 arranged in the emission path of the line light beam in the shell 101, and the line light beam can be reflected to the target object by the reflective element 117. In this way, since the width of the line laser module 102 is significantly smaller than the length, the width of the shell 101 can be reduced, thereby reducing the width of the three-dimensional scanner, making it easier for users to hold the three-dimensional scanner.

[0024] Taking three line laser emission modules 102 as an example, the emission direction of the line beam in the first line laser module 1021 is parallel to the baseline direction, and the emission directions of the line beams in the second line laser module 1022 and the third line laser module 1023 are inclined relative to the baseline direction and the inclined directions are opposite, so as to cross each other. A first reflection element and a second reflection element may be arranged in the housing 101, and the line beam emitted by the first line laser module 1021 is reflected to the target object by the first reflection element, and the line beams emitted by the second line laser module 1022 and the third line laser module 1023 are reflected to the target object by the second reflection element. It should be known to those skilled in the art that the first line laser module 1021, the second line laser module 1022 and the third line laser module 1023 may also share a reflection element, or use a reflection element respectively.

[0025] The basic structures of the multiple speckle laser modules 103 are the same. Figure 5 1 is a schematic diagram of the structure of a speckle laser module. The speckle laser module 103 includes a second housing 1031, a second laser light source 1032, a second collimating element 1033 and a second diffractive optical element 1034. The second laser light source 1032, the second collimating element 1033 and the second diffractive optical element 1034 are sequentially arranged in the second housing 1031. The second laser light source 1032 can generate a speckle patterned light beam and emit it to the second collimating element 1033. The second collimating element 1033 can collimate the speckle patterned light beam and output it to the second diffractive optical element 1034. The second diffractive optical element 1034 can replicate the collimated speckle patterned light beam and output it to the target object. Preferably, the second laser light source 1032 can use a VCSEL (Vertical-Cavity Surface-Emitting Laser), wherein the second collimating element and the second diffractive optical element can also be combined into one optical element. In other embodiments, the speckle laser module 103 may also adopt other structural components to form a speckle patterned light beam, which is not limited here.

[0026] As one embodiment, there are at least two speckle laser modules 103, each of which can emit a speckle patterned light beam. The more speckle laser modules are working at the same time, the greater the speckle density in the emitted speckle patterned light beam, and the higher the scanning accuracy of the three-dimensional scanner. For different application scenarios, different numbers of speckle laser modules 103 can be selectively turned on to enable the three-dimensional scanner to have different scanning accuracies. The focal lengths, field angles, and speckle distributions of different speckle laser modules 103 can be different or the same.

[0027] In some implementations of this embodiment, see Figure 1There are three speckle laser modules 103, namely, a first speckle laser module 1031, a second speckle laser module 1032 and a third speckle laser module 1033. The focal lengths and field angles of the first speckle laser module 1031, the second speckle laser module 1032 and the third speckle laser module 1033 are the same and the speckles in the speckle patterned beams emitted by the three do not overlap. The first speckle laser module 1031, the second speckle laser module 1032 and the third speckle laser module 1033 are arranged adjacent to each other in pairs, so that when at least two of them are turned on, the speckle distribution emitted to the target object is relatively uniform. In the actual scanning process, the first speckle laser module 1031, the second speckle laser module 1032 and the third speckle laser module 1033 can be selectively turned on according to the distance between the target object and the three-dimensional scanner and the scanning accuracy. Exemplarily, in the speckle scanning mode, when the distance between the target object and the three-dimensional scanner is short, the first speckle laser module 1031 can be turned on; when the distance between the target object and the three-dimensional scanner is medium and high-precision scanning is required, the first speckle laser module 1031 and the second speckle laser module 1032 can be turned on; when the distance between the target object and the three-dimensional scanner is long and high-precision scanning is required, the first speckle laser module 1031, the second speckle laser module 1032 and the third speckle laser module 1033 are turned on.

[0028] In one embodiment, since the working currents of the three speckle laser modules 1031 are relatively large, if more than two speckle laser modules 1031 are turned on at the same time, the peak current of the three-dimensional scanner is relatively high. Therefore, in one implementation, when multiple speckle laser modules 103 need to be turned on, the multiple speckle laser modules 103 can be controlled to be turned on in sequence within one frame exposure time. For example, when the distance between the target object and the three-dimensional scanner is long and high-precision scanning is required, the first speckle laser module 1031, the second speckle laser module 1032 and the third speckle laser module 1033 can be turned on in sequence during one exposure process of the first black and white camera 104 and the second black and white camera 105. At this time, the peak current is only the working current of a single speckle laser module 103, but the first black and white camera 104 and the second black and white camera 105 will still respectively collect the three speckle patterned light beams reflected back by the target object, so that the scanning accuracy of the three-dimensional scanner is also guaranteed.

[0029] As an example, see Figure 1The three-dimensional scanner also includes a first fill light module 107. There are two first fill light modules 107. Each first fill light module 107 includes a plurality of first fill light lamps 1071. Each first fill light lamp 1071 is used to emit a first flood light beam and a white second flood light beam. The first flood light beam and the line light beam have the same wavelength, and the speckle patterned light beam and the first flood light beam have different wavelengths. The emission timing of the first flood light beam and the line light beam is the same. The first black-and-white camera 104 and the second black-and-white camera 105 collect the line light beam and the first flood light beam reflected back by the target object to generate a first line laser image and a second line laser image respectively. The plurality of first fill light lamps 1071 of the two first fill light modules 107 surround the first black-and-white camera 104 and the second black-and-white camera 105 respectively, so that the beams projected by the two first fill light modules 107 coincide with or are parallel to the optical axes of the first black-and-white camera 104 and the second black-and-white camera 105 respectively, so that the beams collected by the first black-and-white camera 104 and the second black-and-white camera 105 are more uniform, and the generated image quality is better. The first floodlight beam and the line light beam have the same wavelength, and the first floodlight beam and the line light beam have the same color, for example, both are blue or red. The first fill light 1071 can emit the first floodlight beam and the second floodlight beam in different time periods to avoid mutual interference.

[0030] It is necessary to rotate and scan around the target object to obtain a complete point cloud of the target object. Since it is impossible to collect a complete point cloud at one time, it is necessary to splice the point clouds collected multiple times. Therefore, a number of marking points can be attached to the target object, and each marking point has a high reflectivity, so that the marking points in the images collected by the first black and white camera 104 and the second black and white camera 105 are clearer, which is conducive to the subsequent splicing of point clouds based on the marking points. When the three-dimensional scanner is in line laser mode, the first black and white camera 104 can collect the first floodlight beam and line beam reflected by the target object and generate a first line laser image accordingly, the second black and white camera 105 can collect the first floodlight beam and line beam reflected by the target object and generate a second line laser image accordingly, the computing board 106 can generate a point cloud image of the target object according to the first line laser image and the second line laser image, and splice multiple frames of point cloud images according to the same marking points in the multiple frames of point cloud images to obtain the final point cloud image of the target object.

[0031] In some implementations of this embodiment, all the first fill light lamps 1071 work synchronously to simultaneously project the same light beam to the target. Each first fill light lamp 1071 may include a first lamp bead and a second lamp bead, the first lamp bead is used to emit a first flood beam, and the second lamp bead is used to emit a second flood beam. The first lamp bead and the second lamp bead can be packaged into one fill light lamp, so that the three-dimensional scanner has a higher degree of integration, the first lamp bead and the second lamp bead are turned on in time-sharing, and the first lamp bead is turned on synchronously with the line laser module 102. In some embodiments, the first fill light module 107 may also include two different fill lights, which respectively emit a first flood beam and a second flood beam.

[0032] As one embodiment, the first black and white camera 104 has the same structure and working principle as the second black and white camera 105. Taking the first black and white camera 104 as an example, the first black and white camera 104 includes a first lens, a first filter element and a first photosensitive chip. The first lens can converge the light beam reflected back by the target object to the first filter element; the first filter element can allow the light beam of the corresponding wavelength to pass through and filter out the light beams of other wavelengths. The first photosensitive chip can receive the light beam filtered by the first filter element and generate an image. In one embodiment, the first filter element adopts a dual-pass filter, which allows light beams with wavelengths corresponding to the line light beam and the speckle patterned light beam to pass through. For example, the wavelength of the line light beam is 450nm, and the wavelength of the speckle patterned light beam is 850nm (or 940nm), then the passband wavelengths of the dual-pass filter can be 450nm and 850nm (or 940nm); alternatively, the first filter element adopts two filters, and the filters located in the optical path are switched so that the first black-and-white camera 104 and the second black-and-white camera 105 only receive light beams of corresponding wavelengths, thereby reducing interference from other laser signals not used for scanning.

[0033] In one embodiment, the three-dimensional scanner further includes an RGB camera 109, which is disposed in the housing 101. The RGB camera 109 is used to collect visible light (such as the second flood beam) reflected by the target object and generate a texture image of the target object accordingly, which is transmitted to the computing board 106. Since the second flood beam is white, the second flood beam can better illuminate the target object without destroying the texture of the target object. In this way, the texture image collected by the RGB camera 109 is of higher quality, and the texture information in the image is richer and clearer. Based on this, after obtaining the point cloud image and texture image of the target object, the computing board 106 can use the texture image to perform texture mapping on the point cloud image, and finally obtain a three-dimensional scanned image of the target object.

[0034] In some embodiments, the three-dimensional scanner further includes a second fill light module 110, which may include a plurality of second fill lights 1101, which may be used to emit a second flood light beam to enrich the texture information of the texture image collected by the RGB camera 109, and the plurality of second fill lights 1101 may be arranged around the RGB camera 109, so that the second flood light beam collected by the RGB camera 109 is more uniform and the texture image quality is better. The second fill light 1101 may work synchronously with the RGB camera 109.

[0035] The RGB camera 109 includes a second lens, a second filter and a second photosensitive chip. The second lens is used to converge the light beam reflected back by the target object (mainly the second flood beam); the second filter allows visible light (including the second flood beam) to pass through and filters 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 of the target object. Since the color image contains texture information of the surface of the target object, the color image can also be called a texture image.

[0036] As an example, see Figure 1The three-dimensional scanner also includes a fan 111, which is arranged in the housing 101. The airflow formed by the fan 111 flows through the line laser module 102, the speckle laser module 103, the first black and white camera 104 and the second black and white camera 105 to take away the heat of the line laser module 102, the speckle laser module 103, the first black and white camera 104 and the second black and white camera 105 to dissipate heat. The three-dimensional scanner may also include a temperature sensor (not shown). The fan 111 and the temperature sensor are electrically connected to the computing board 106 respectively. The temperature sensor can detect the temperature in the housing 101 in real time. The computing board 106 can compare the detected temperature with a preset temperature threshold. When it is greater than the temperature threshold, the fan 111 can be turned on for heat dissipation. At the same time, the computing board 106 can also adjust the speed of the fan 111 according to the temperature of the line laser module 102, the speckle laser module 103, the first black and white camera 104, the second black and white camera 105 and other devices to achieve different heat dissipation effects. In some embodiments, the three-dimensional scanner further includes a button module 119, which is disposed in the housing 101 and exposed. The button module is electrically connected to the computing board 106. The button module 119 may include a plurality of buttons, some of which may be used to adjust the scanning field of view (e.g., the field of view angles of the first black-and-white camera and the second black-and-white camera), some of which may be used to control the start and stop of scanning, and some of which may be used to adjust the driving current of the line laser module and the speckle laser module. Exemplarily, the button module 119 includes five buttons, button 1 is used to control the start and pause of the three-dimensional scanner scanning, buttons 2 and 3 are used to control the size of the three-dimensional scanner scanning field of view, and buttons 4 and 5 are used to adjust the driving current of the line laser module and the speckle laser module. In addition, the three-dimensional scanner further includes a five-color LED indicator (not shown) disposed near the button module 119, and different colors may represent different scanning distances. Exemplarily, the five colors may be blue, light blue, green, yellow and orange, which are respectively used to indicate that the current scanning distance is too far, far, optimal, close and too close. Based on this, the user can adjust the distance between the 3D scanner and the target object according to the color of the five-color LED indicator light; wherein, the five-color LED indicator light may be composed of five LED lights of different colors, or may be composed of three LED lights of different colors, and the three LED lights of different colors may be configured with five different colors.

[0037] In some embodiments, the three-dimensional scanner also includes a first PCBA board 115, and the line laser module 102 and the speckle laser module 103 are electrically connected to the computing board 106 through the first PCBA board 115. The first PCBA board 115 may be provided with driving circuits for the line laser module 102 and the speckle laser module 103. In this way, the line laser module 102 and the speckle laser module 103 are independent modules, which are connected to the computing board 106 through the first PCBA board 115 and the connector, which is conducive to the assembly of the three-dimensional scanner, convenient for mass production and assembly, and also conducive to subsequent use and maintenance.

[0038] In some embodiments, the three-dimensional scanner also includes a second PCBA board 116, the button module 119 can be electrically connected to the computing board 106 through the second PCBA board 116, and the LED indicator light can also be electrically connected to the computing board 106 through the second PCBA board. Thus, the button module 119 is an independent module, which is connected to the computing board 106 through the first PCBA board 115 and the connector, which is conducive to the assembly of the three-dimensional scanner, convenient for mass production and assembly, and also conducive to subsequent use and maintenance.

[0039] In some embodiments, a connection interface 113 is provided on the computing board 106, and a through hole 112 is provided on the shell 101 corresponding to the connection interface 113 to expose the connection interface 113 for easy plugging and unplugging. The three-dimensional scanner can be connected to an external device, such as a host computer, through the connection interface 113. The three-dimensional scanner can exchange information with the host computer. The user can also set the working mode of the three-dimensional scanner through the host computer, as well as set which line laser modules 102 are turned on in the line scanning mode, or set which speckle laser modules 103 are turned on in the speckle scanning mode, to adapt to different application scenarios; wherein, the first connection interface 113 can be a USB interface, a network port, etc.

[0040] In some embodiments, a main control chip (not shown) is provided on the computing board 106. The main control chip may be an ASIC chip, an FPGA chip or a GPU chip, etc. The main control chip may be used to control the line laser module 102, the speckle laser module 103, the first fill light module 107, the second fill light module and the first black and white camera 104, the second black and white camera 105, and the image acquisition of the RGB camera 109. The main control chip is also used to perform depth calculation, point cloud processing, texture mapping, etc. according to the image data collected by the RGB camera 109, the first black and white camera 104, and the second black and white camera 105, and transmit the processing results to the host computer for display. Among them, the main control chip can communicate with the RGB camera 109, the first black and white camera 104 and the second black and white camera 105 through the I2C interface, and the RGB camera 109, the first black and white camera 104 and the second black and white camera 105 all transmit the image data collected by themselves to the main control chip through the MIPI interface; the main control chip communicates with the first fill light module 107 and the second fill light module through the I2C interface; the main control chip can output PWM control signals to the first fill light module 107, the second fill light module, the line laser module 102 and the speckle laser module 103, and control them to be triggered according to corresponding pulse signals; the main control chip communicates with the button module 119 through the GPIO interface; the main control chip can provide the fan 111 with the current required for operation.

[0041] The above embodiments are only preferred implementations of the present application, and they 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.

[0042] 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.

[0043] 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: Line laser module, used to emit a line beam to a target object; A plurality of speckle laser modules, used for emitting at least two different speckle patterned light beams to the target object; A first black-and-white camera, used for collecting the line light beam or the speckle patterned light beam reflected back by the target object to generate a first image of the target object; a second black-and-white camera, configured to collect the line light beam or the speckle patterned light beam reflected back by the target object to generate a second image of the target object; A computing board is connected to the multiple line laser modules, the multiple speckle laser modules, the first black-and-white camera, and the second black-and-white camera, and is used to receive the first image and the second image, and generate a point cloud image of the target object.

2. The three-dimensional scanner according to claim 1, characterized in that: There are multiple line laser modules, including a first line laser module and a second line laser module. The focal length of the first line laser module is smaller than that of the second line laser module, and the field of view of the first line laser module is smaller than that of the second line laser module.

3. The three-dimensional scanner according to claim 2, characterized in that: The plurality of line laser modules further include a third line laser module, the focal length and field of view of the third line laser module are the same as those of the second line laser module, and the line beam emitted by the second line laser module intersects with the line beam emitted by the third line laser module.

4. The three-dimensional scanner according to claim 1, characterized in that: The first black-and-white camera, the line laser module, the speckle laser module and the second black-and-white camera are arranged in sequence along the baseline direction; the three-dimensional scanner also includes a reflecting element, the emission direction of the line light beam emitted by the line laser module is parallel to or forms an angle with the baseline direction, and the reflecting element is arranged in the emission path of the line laser module to reflect the line light beam to the target object.

5. The three-dimensional scanner according to claim 1, characterized in that: Each of the line laser modules comprises: A laser light source, used for generating a single-point laser beam or multiple-point laser beams; A collimating element, used for collimating the single-point laser beam or the multi-point laser beam; The Powell lens or cylindrical mirror is used to modulate the collimated single-point laser beam or multi-point laser beam into one or more line beams.

6. The three-dimensional scanner according to claim 1, characterized in that: The multiple speckle laser modules include a first speckle laser module, a second speckle laser module and a third speckle laser module. The first speckle laser module, the second speckle laser module and the third speckle laser module have the same focal length and the speckles in the emitted speckle patterned light beams do not overlap. The first speckle laser module, the second speckle laser module and the third speckle laser module are adjacent to each other.

7. The three-dimensional scanner according to claim 1, characterized in that: The three-dimensional scanner also includes a first fill light module, there are two first fill light modules, each of the first fill light modules includes multiple first fill light lamps, each of the first fill light lamps is used to emit a first flood light beam and a white second flood light beam, the first flood light beam and the line light beam have the same wavelength, the speckle patterned beam and the first flood light beam have different wavelengths, and the multiple first fill light lamps in the two first fill light modules surround the first black and white camera and the second black and white camera respectively.

8. The three-dimensional scanner according to claim 7, characterized in that: The first black-and-white camera and the second black-and-white camera each include a double-pass filter, and the double-pass filter is used to allow light beams with wavelengths corresponding to the line light beam and the speckle patterned light beam to pass through, and filter out light beams with other wavelengths.

9. The three-dimensional scanner according to claim 7, characterized in that: The three-dimensional scanner also includes an RGB camera for collecting visible light reflected by the target object and generating a texture image of the target object.

10. The three-dimensional scanner according to claim 9, characterized in that: The three-dimensional scanner also includes a second fill light module, which includes a plurality of second fill light modules, each of which is used to emit the second flood light beam, and the plurality of second fill light modules surround the RGB camera.

11. The three-dimensional scanner according to claim 1, characterized in that: The three-dimensional scanner further includes a first PCBA board, and the line laser module and the speckle laser module are connected to the computing board via the first PCBA board; and / or, The three-dimensional scanner also includes a fan, and the airflow formed by the fan flows through the line laser module, the speckle laser module, the first black and white camera, and the second black and white camera.

12. The three-dimensional scanner according to claim 1, characterized in that: The three-dimensional scanner also includes a button module, which includes a plurality of buttons, some of which are used to adjust the scanning field of view, some of which are used to control the start and stop of scanning, and some of which are used to adjust the driving current of the line laser module and the speckle laser module.

13. The three-dimensional scanner according to claim 12, characterized in that: The three-dimensional scanner also includes a second PCBA board, and the button module is connected to the computing board through the second PCBA board.

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