Three-dimensional scanner

Abstract

The utility model discloses a three-dimensional scanner. The three-dimensional scanner comprises a photoelectric support, a first laser emission module, two first camera modules, two second camera modules, a mainboard support and a mainboard. The photoelectric support is provided with a first mounting hole, two second mounting holes and two third mounting holes, and the two second mounting holes are located on the two sides of the first mounting hole and located between the two third mounting holes; the first laser emission module is fixed in the first mounting hole; the two first camera modules are respectively fixed in the two third mounting holes; the two second camera modules are respectively fixed in the two second mounting holes; the mainboard support is fixed on the rear side of the photoelectric support. And the mainboard is fixed on the mainboard bracket and is electrically connected with the first laser emission module, the two first camera modules and the two second camera modules. The three-dimensional scanner has different precisions, can correspond to different scanning distances, and has good structural stability.

Description

Technical Field

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

[0002] With the rapid development of 3D vision technology, 3D scanning has been widely used in various fields. 3D scanners can scan target objects to obtain point cloud data of target objects and perform 3D reconstruction to obtain a 3D model of the target object. However, there are target objects of various sizes, and the scanning distances corresponding to target objects of different sizes are different. When scanning large objects, the scanning distance is farther, and when scanning small objects, the scanning distance is closer. 3D scanners cannot guarantee high scanning accuracy at both long and short distances at the same time. Summary of the invention

[0003] An embodiment of the present application provides a three-dimensional scanner.

[0004] The three-dimensional scanner of the embodiment of the present application includes a photoelectric bracket, a first laser emission module, two first camera modules, two second camera modules, a transfer bracket, a mainboard bracket, and a mainboard. The photoelectric bracket is provided with a first mounting hole, two second mounting holes and two third mounting holes, and the two second mounting holes are located on both sides of the first mounting hole and between the two third mounting holes; the first laser emission module is fixed in the first mounting hole; the two first camera modules are respectively fixed in the two third mounting holes; the two second camera modules are respectively fixed in the two second mounting holes; the mainboard bracket is fixed to the rear side of the photoelectric bracket; the mainboard is fixed on the mainboard bracket and is electrically connected to the first laser emission module, the two first camera modules and the two second camera modules.

[0005] In some embodiments, the two first camera modules and the two second camera modules are tilted toward the first laser emission module, the optical axes of the two first camera modules form a first angle with the optical axis of the first laser emission module, and the optical axes of the two second camera modules form a second angle with the optical axis of the first laser emission module, and the second angle is greater than the first angle.

[0006] In some embodiments, the three-dimensional scanner further includes a second laser emission module, the photoelectric support further includes a fourth mounting hole, the fourth mounting hole is located between the first mounting hole and the second mounting hole, the second laser emission module is fixed in the fourth mounting hole, the first laser emission module and the two first camera modules constitute a first binocular imaging system, and the second laser emission module and the two second camera modules constitute a second binocular imaging system. In some embodiments, the first laser emission module includes a first lens barrel, a first light source, a collimating lens and a diffractive optical element, the first lens barrel is fixed in the first mounting hole, the first light source, the collimating lens and the diffractive optical element are sequentially arranged in the first lens barrel along the emission direction of the first light source; the second laser emission module includes a first circuit board, a mounting bracket, a second lens barrel, a second light source, a focusing element, a mask, and a projection lens, the mounting bracket is fixed to the rear side of the photoelectric support, the second light source is arranged on the first circuit board, the first circuit board is fixed to the back side of the mounting bracket, the focusing element and the mask are sequentially installed in the mounting bracket along the emission direction of the second light source, the second lens barrel is fixed to the front side of the mounting bracket and extends into the fourth mounting hole, and the projection lens is installed in the second lens barrel. In some embodiments, the mainboard bracket is formed with an avoidance space, the mounting bracket is located in the avoidance space, there is a gap between the mainboard bracket and the mounting bracket, and a flexible first heat conductor is filled between the mainboard bracket and the first circuit board.

[0007] In some embodiments, the mainboard bracket includes a vertically extending connecting plate and a mounting plate, the connecting plate is fixed to the photoelectric bracket, the mounting plate is connected to the side of the connecting plate away from the photoelectric bracket and extends horizontally, and the mainboard is mounted on the mounting plate. In some embodiments, the three-dimensional scanner also includes a head plate, the head plate is fixed between the photoelectric bracket and the mainboard bracket, and is electrically connected to the mainboard, the first laser emission module, the two first camera modules and the two second camera modules; the three-dimensional scanner also includes a fill light board, the fill light board is fixed to the front side of the photoelectric bracket, and a plurality of first fill light groups are arranged on the fill light board, each first fill light group includes a plurality of first fill light lamps, and the plurality of first fill light lamp groups are respectively arranged around the two first camera modules and the two second camera modules, and the wavelength of the light beam emitted by the first fill light lamp is the same as that of the first laser emission module.

[0008] In some embodiments, the optoelectronic bracket is further provided with a fifth mounting hole located between the second mounting hole and the third mounting hole, and the three-dimensional scanner further includes a color camera module, which is fixed in the fifth mounting hole; the fill light board is further provided with a second fill light group, the second fill light group includes a plurality of second fill lights, the plurality of second fill lights surround the color camera module, and the second fill light is used to emit white light. In some embodiments, the three-dimensional scanner further includes an adapter bracket, which is fixed to the rear of the optoelectronic bracket, and the mainboard bracket is fixed to the rear of the adapter bracket. In some embodiments, the adapter bracket includes a first heat-conducting boss and a second heat-conducting boss, the first heat-conducting boss is in contact with the first laser emission module, or a flexible second heat-conducting member is provided between the first laser emission module, and the second heat-conducting boss is in contact with the color camera module, or a flexible third heat-conducting member is provided between the second heat-conducting boss and the color camera module.

[0009] In some embodiments, the three-dimensional scanner further comprises a housing, and the photoelectric bracket, the adapter bracket, the mainboard bracket and the mainboard are accommodated in the housing; wherein the adapter bracket is fixed to the photoelectric bracket by a spring screw; and / or, the adapter bracket is fixed to the housing by a spring screw; and / or, the three-dimensional scanner further comprises a silicone sleeve, which is provided on the front of the photoelectric bracket to seal the gap between the front of the photoelectric bracket and the housing. In some embodiments, the housing comprises a front housing, a middle housing and a rear housing, the adapter bracket is fixedly connected to the front housing, and the front and rear ends of the middle housing are respectively connected to the front housing and the rear housing. In some embodiments, the three-dimensional scanner further comprises an indicator light button module, which is provided in the housing and electrically connected to the mainboard; the indicator light button module comprises a mounting seat, a second circuit board, an indicator light and a button, the mounting seat is fixed to the housing, the second circuit board is mounted on the mounting seat and electrically connected to the mainboard, the indicator light and the button are mounted on the second circuit board, and the indicator light can display multiple colors.

[0010] In some embodiments, a connection interface is provided on the mainboard, and a revealing hole is provided on the housing corresponding to the connection interface. The three-dimensional scanner also includes a first connection line and a second connection line. The first connection line includes a first plug, a second plug and an interface. The second connection line includes a third plug and a fourth plug. The first plug is used to connect to the connection interface, and the second plug is used to connect to an interface of the host computer. The interface is used to connect to the third plug, and the fourth plug is connected to another interface or adapter of the host computer. In some embodiments, a connection interface is provided on the mainboard, and a revealing hole is provided on the housing corresponding to the connection interface. The connection interface extends backward. The three-dimensional scanner also includes a first connection line. The back of the housing includes a groove. The revealing hole is provided in the groove and surrounded by the groove wall of the groove. The groove also includes a fixing hole provided next to the revealing hole. The first connection line also includes a locking member provided next to the first plug. The locking member is used to be fixedly connected to the fixing hole. The locking member includes a screw, a nut and a pull ring. The pull ring is rotatably connected to the nut.

[0011] The three-dimensional scanner of the embodiment of the present application includes a first laser emission module and two first camera modules and two second camera modules. The two first camera modules can constitute a first binocular imaging system, and the two second camera modules can constitute a second binocular imaging system. Since the two second mounting holes are located between the two third mounting holes, the baseline between the two first camera modules is greater than the baseline between the two second camera modules. The first binocular imaging system and the second binocular imaging system have different accuracies and can correspond to different scanning distances respectively. The high-precision positioning and high-strength positioning of the first laser emission module and the two first camera modules and the two second camera modules are ensured by the photoelectric bracket, and the mainboard support and heat dissipation are achieved by the mainboard bracket, which can ensure the overall structural stability and heat dissipation performance of the three-dimensional scanner.

[0012] 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

[0013] 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:

[0014] Figure 1 is a three-dimensional structural diagram of a three-dimensional scanner according to an embodiment of the present application from one viewing angle;

[0015] Figure 2 is a three-dimensional structural diagram of another viewing angle of the three-dimensional scanner of the embodiment of the present application;

[0016] Figure 3 is an exploded structural diagram of a three-dimensional scanner according to an embodiment of the present application;

[0017] Figure 4 is a cross-sectional view of a three-dimensional scanner according to an embodiment of the present application;

[0018] Figure 5 is a cross-sectional view of a first laser emission module and a second laser emission module according to an embodiment of the present application;

[0019] Figure 6 is a three-dimensional structural diagram of a three-dimensional scanner according to an embodiment of the present application from one viewing angle;

[0020] Figure 7 is a three-dimensional structural diagram of another viewing angle of the three-dimensional scanner of the embodiment of the present application;

[0021] Figure 8 is an exploded structural diagram of a three-dimensional scanner according to an embodiment of the present application;

[0022] Fig. 9is a cross-sectional view of a three-dimensional scanner according to an embodiment of the present application;

[0023] Fig.10 is a schematic diagram of a planar structure of a first connecting line and a second connecting line according to an embodiment of the present application;

[0024] Fig.11 It is a partial structural schematic diagram of the first connecting line of the implementation mode of the present application.

[0025] Description of main component symbols:

[0026] Photoelectric bracket 1, first laser emission module 2, first lens barrel 21, first light source 22, collimating lens 23, diffractive optical element 24, first camera module 3, second camera module 4, adapter bracket 5, first heat conduction boss 51, second heat conduction boss 52, first mounting portion 53, second mounting portion 54, mainboard bracket 6, avoidance space 61, connecting plate body 62, mounting plate body 63, mainboard 7, connecting interface 71, second laser emission module 8, first circuit board 81, mounting bracket 82, second lens barrel 83, second light source 84, focusing element 85, mask plate 86, projection lens 87, machine Head plate 9, fill light board 11, first fill light 111, second fill light 112, color camera module 12, casing 13, front casing 131, middle casing 132, rear casing 133, groove 1331, silicone sleeve 14, button indicator light module 15, mounting base 151, second circuit board 152, indicator light 153, button 154, first connecting line 16, first plug 161, second plug 162, interface 163, locking piece 164, screw 1641, nut 1642, pull ring 1643, second connecting line 17, third plug 171, fourth plug 172, lens 18. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] See also Figures 1 to 3 The three-dimensional scanner of the embodiment of the present application includes a photoelectric bracket 1, a first laser emission module 2, two first camera modules 3, two second camera modules 4, a mainboard bracket 6 and a mainboard 7. The photoelectric bracket 1 is provided with a first mounting hole, two second mounting holes and two third mounting holes. The two second mounting holes are located on both sides of the first mounting hole and between the two third mounting holes. The first laser emission module 2 is fixed in the first mounting hole; the two first camera modules 3 are respectively fixed in the two third mounting holes; the two second camera modules 4 are respectively fixed in the two second mounting holes; the mainboard bracket 6 is fixed to the rear side of the photoelectric bracket 6; the mainboard 7 is fixed on the mainboard bracket 6 and is electrically connected to the first laser emission module 2, the two first camera modules 3 and the two second camera modules 4.

[0031] The three-dimensional scanner of the embodiment of the present application includes a first laser emission module 2 and two first camera modules 3 and two second camera modules 4. The two first camera modules 3 can constitute a first binocular imaging system, and the two second camera modules 4 can constitute a second binocular imaging system. Since the two second mounting holes are located between the two third mounting holes, the baseline between the two first camera modules 3 is greater than the baseline between the two second camera modules 4. The first binocular imaging system and the second binocular imaging system have different accuracies and can correspond to different scanning distances respectively. The high-precision positioning and high-strength positioning of the first laser emission module 2 and the two first camera modules 3 and the two second camera modules 4 are guaranteed by the photoelectric bracket 1, and the mainboard bracket 6 realizes support and heat dissipation of the mainboard 7, which can ensure the stability of the three-dimensional scanner structure and the heat dissipation performance.

[0032] In some embodiments, the three-dimensional scanner may further include an adapter bracket 5, the adapter bracket 5 is fixed to the rear of the photoelectric bracket 1, and the mainboard bracket 6 may be fixed to the rear of the adapter bracket 5. In other embodiments, the adapter bracket 5 may not be provided, and the mainboard bracket 6 is directly fixed to the rear of the photoelectric bracket 5. This application is described by taking the adapter bracket 5 as an example. If the adapter bracket 5 is not included, the mainboard bracket 6 can take into account the relevant structure and function of the adapter bracket 5 described below, that is, the mainboard bracket 6 in this embodiment is an integrated structure in which the adapter bracket 5 and the mainboard bracket 6 in the following embodiments are combined into one.

[0033] The adapter bracket 5 is connected to the photoelectric bracket 1 by a spring screw, so that the adapter bracket 5 and the photoelectric bracket 1 have a buffering performance. When the adapter bracket 5 is impacted, the spring screw can be contracted to buffer the impact, thereby preventing the photoelectric bracket 1 from being deformed by the impact, thereby ensuring that the relative positions of the modules on the photoelectric bracket 1 will not change, thereby ensuring the accuracy of the three-dimensional scanner. The mainboard bracket 6 can be fixed to the adapter bracket 5 by screws and other fasteners. Figure 2 and Figure 4 As shown, the mainboard bracket 6 includes a vertically extending connecting plate body 62 and a mounting plate body 63. The connecting plate body 62 is fixed to the adapter bracket 5. The mounting plate body 63 is connected to the side of the connecting plate body 62 away from the adapter bracket 5 and extends horizontally. The mainboard 7 is mounted on the mounting plate body 63. Therefore, the mainboard 7 and the mounting plate body 63 have a large heat dissipation space on both the upper and lower sides, which is beneficial to the heat dissipation of the mainboard 7 and the mainboard bracket 6, thereby ensuring the working stability of the three-dimensional scanner.

[0034] like Figure 1 and Figure 4 As shown, in some embodiments, the two first camera modules 3 are tilted toward the first laser emission module 2, and the optical axes of the two first camera modules 3 form a first angle with the optical axis of the first laser emission module 2. In this way, the overlapping range of the fields of view of the two first camera modules 3 is larger, so that the effective scanning area is larger during three-dimensional scanning, and the scanning efficiency and accuracy are improved. The two second camera modules 4 are tilted toward the first laser emission module 2, and the optical axes of the two second camera modules 4 form a second angle with the optical axis of the first laser emission module 2. In this way, the overlapping range of the fields of view of the two second camera modules 4 is larger, so that the effective scanning area is larger during three-dimensional scanning, and the scanning efficiency and accuracy are improved. The size of the first angle is related to the field of view angle and the baseline distance of the two first camera modules 3, and the size of the second angle is related to the field of view angle and the baseline distance of the two second camera modules 4. In one example, the second angle is greater than the first angle, for example, the first angle is in the interval of [4°, 7°], and the second angle is in the interval of [8°, 12°]; for example, the first angle is 5° and the second angle is 10°.

[0035] The first binocular imaging system composed of two first camera modules 3 can be used for long-range scanning, and the second binocular imaging system composed of two second camera modules 4 can be used for short-range scanning. The two first camera modules 3 can cooperate with the first laser emission module 2, and the first binocular imaging system scans the target based on the active binocular principle; the two second camera modules 4 can also cooperate with the first laser emission module 2, and the second binocular imaging system scans the target based on the active binocular principle.

[0036] In some embodiments, Figure 1 and Figure 3 As shown, the three-dimensional scanner also includes a second laser emission module 8, and the photoelectric bracket 1 also includes a fourth mounting hole, the fourth mounting hole is located between the first mounting hole and the second mounting hole, and the second laser emission module 8 is fixed in the fourth mounting hole, that is, the second laser emission module 8 is located between the first laser emission module 2 and a second camera module 4, the first laser emission module 2 and the two first camera modules 3 constitute a first binocular imaging system, and the second laser emission module 8 and the two second camera modules 4 constitute a second binocular imaging system, so that the three-dimensional scanner has a high scanning accuracy in both close-range and long-range scenes. Among them, the second laser emission module 8 and the first laser emission module 2 project different structured light patterns, and the different patterns may include different types, different densities, different energies, etc. For example, the first laser emission module 2 and the second laser emission module 8 both emit speckle structured light, and the speckle density in the emitted speckle structured light is different.

[0037] Figure 5 FIG. 4 shows a cross-sectional structure diagram of the first laser emission module 2 and the second laser emission module 8. Figure 5 As shown, in some embodiments, the first laser emission module 2 and the second laser emission module 8 have different structural compositions. Figure 5 As shown in (a), the first laser emission module 2 includes a first lens barrel 21, a first light source 22, a collimating lens 23 and a diffractive optical element 24. The first lens barrel 21 is fixed in the first mounting hole. The first light source 22, the collimating lens 23 and the diffractive optical element 24 are sequentially arranged in the first lens barrel 21 along the emission direction of the first light source 22. The first light source 22 is used to generate a first patterned light beam, the collimating element is used to collimate the first patterned light beam and output a second patterned light beam, and the diffractive optical element 24 is used to replicate the second patterned light beam and output a third patterned light beam. In this way, the energy of a single pattern point in the first laser emission module 2 is large, the projection distance is long, the module volume is small, the overall energy is high, the laser power is low, the light efficiency is high, the power consumption is low, the scattered spots are clear, and it is suitable for long-distance scanning. Among them, the patterned light beam can be a speckle beam, and the first light source 22 can be a VCSEL light source array.

[0038] like Figure 5As shown in (b), the second laser emission module 8 includes a first circuit board 81, a mounting bracket 82, a second lens barrel 83, a second light source 84, a focusing element 85, a mask 86, and a projection lens 87. The mounting bracket 82 is fixed to the rear side of the adapter bracket 5. The second light source 84 is arranged on the first circuit board 81, and the first circuit board 81 is fixed to the back side of the mounting bracket 82. The focusing element 85 and the mask 86 are sequentially installed in the mounting bracket 82 along the emission direction of the second light source 84. The second lens barrel 83 is fixed to the front side of the mounting bracket 82 and extends into the fourth mounting hole. The projection lens 87 is installed in the second lens barrel 83. The second light source 84 is used to generate a flood beam, the focusing element 85 is used to converge the flood beam and output the converged flood beam, the mask 86 is provided with a mask pattern, the mask 86 is used to receive the converged flood beam and output the fourth patterned beam, and the projection lens 87 is used to receive the fourth patterned beam and project to form a fifth patterned beam. The mask pattern can be a speckle pattern, a stripe pattern, etc. After the convergent flood beam passes through the mask plate 86, a fourth patterned beam having a mask pattern can be output. In this way, the patterned beam emitted by the second laser emission module 8 has the advantages of large speckle density, large number of points, and good randomness, and has high precision at close range, which is suitable for close-range scanning. The second light source 84 can be an LED light source, a VCSEL light source, etc. Glue can also be dispensed between the second lens barrel 83 and the photoelectric bracket 1 to further fix it. The focusing element 85 can include one or a lens, etc., and the projection lens 87 can include one or more lenses.

[0039] like Figures 1 to 4 As shown, the three-dimensional scanner also includes a head plate 9, which is fixed between the photoelectric bracket 1 and the adapter bracket 5, and is electrically connected to the main board 7, the first laser emission module 2, the two first camera modules 3 and the two second camera modules 4. The head plate 9 can be fixed to the back of the photoelectric bracket 1 or the front side of the adapter bracket 5, and the head plate 9 can be provided with circuits such as a driving circuit to realize the driving of each module and data transmission.

[0040] The mainboard bracket 6 is formed with an avoidance space 61, and the mounting bracket 82 is located in the avoidance space 61. There is a gap between the mainboard bracket 6 and the mounting bracket 82. The mainboard bracket 6 and the first circuit board 81 are filled with a flexible first heat-conducting member. In this way, the structure of the three-dimensional scanner is more compact and smaller in size. At the same time, the heat of the first circuit board 81 can be timely transferred to the mainboard bracket 6 to ensure the stability of the second laser emission module 8 when emitting light, and the second laser emission module 8 is in flexible heat dissipation contact with the bracket to avoid mechanical contact with the mainboard bracket 6 and cause impact deformation, thereby ensuring optical accuracy. The first heat-conducting member can be thermal grease, thermal adhesive, etc. The adapter bracket 5 is formed with an installation groove for the second lens barrel 83 of the installation part, and the head plate 9 is provided with a first avoidance hole. The second lens barrel 83 can pass through the first avoidance hole and extend into the installation hole of the photoelectric bracket 1, making the structure of the three-dimensional scanner more compact.

[0041] The adapter bracket 5 is also formed with a first heat-conducting boss 51, which can pass through the second avoidance hole on the head plate 9 to contact the first laser emission module 2, and the contact can be direct contact or indirect contact through a flexible second heat-conducting member. The heat of the first laser emission module 2 can be timely transferred to the adapter bracket 5 through the first heat-conducting boss 51 to ensure the stability of the first laser emission module 2 when emitting light. The second heat-conducting member can be heat-conducting silicone grease, heat-conducting glue, etc.

[0042] like Figures 1 to 4 As shown, the three-dimensional scanner also includes a fill light board 11, which is fixed to the front side of the photoelectric bracket 1 and electrically connected to the main board 7. A plurality of first fill light groups are provided on the fill light board 11, each of which includes a plurality of first fill light lamps 111. The first fill light lamps 111 are used to emit first supplementary light beams to illuminate the marking points attached to the object. The four first fill light groups are respectively arranged around the two first camera modules 3 and the two second camera modules 4, so that the first supplementary light beams collected by the two first camera modules 3 and the two second camera modules 4 when collecting images are more uniform, which is conducive to identifying the marking points attached to the scanned object. The wavelength of the light beams emitted by the first fill light lamps 111 and the first laser emission module 2 is the same. For example, there are 4 first fill light groups in total, each of which includes 2 first fill light lamps 111, and the 2 first fill light lamps 111 are arranged on the upper and lower sides of the corresponding module. There can be two fill light panels 11, which are respectively arranged on the left and right sides of the first laser emission module 2. The fill light panels 11 are provided with through holes corresponding to the first camera module 3 and the second camera module 4 to facilitate lighting of the first camera module 3 and the second camera module 4.

[0043] like Figures 1 to 4 As shown, the photoelectric support 1 is also provided with a fifth mounting hole located between the second mounting hole and the third mounting hole, and the three-dimensional scanner also includes a color camera module 12, which is fixed in the fifth mounting hole and electrically connected to the head plate 9, and the color camera module 12 is used to collect visible light to generate a color image, so as to obtain the color texture information of the scanned target for subsequent texture mapping. The color camera module 12 is tilted toward the first laser emission module 2, and the optical axis of the color camera module 12 forms a third angle with the optical axis of the first laser emission module 2. The third angle can be between the first angle and the second angle, for example, 8°, so that the color camera module 12 has a larger overlapping field of view with the first camera module 3 and the second camera module 4, which is conducive to improving the scanning efficiency and the subsequent texture mapping accuracy.

[0044] The fill light board 11 is also provided with a second fill light group, which includes a plurality of second fill lights 112. The second fill lights 112 are used to emit white light to illuminate the scanned target, so that the three-dimensional scanner can be used for scanning in dark places and auxiliary scanning of dark low-flood objects. The plurality of second fill lights 112 surround the color camera module 12, so that the white light collected by the color camera module 12 is more uniform and the color image is clearer. The adapter bracket 5 also includes a second heat-conducting boss 52, which can pass through the third avoidance hole on the head plate 9 to contact the color camera module 12. The contact can be direct contact or indirect contact through a flexible third heat-conducting member. The heat of the color camera module 12 can be timely transferred to the adapter bracket 5 through the second heat-conducting boss 52 to ensure the stability of the color camera module 12 when emitting light. The flexible third heat-conducting member can ensure that the impact of the adapter bracket 5 will not be directly transferred to the color camera module 12.

[0045] like Figures 6 to 9 As shown, the three-dimensional scanner also includes a housing 13, and the photoelectric bracket 1, the first laser emission module 2, the two first camera modules 3, the two second camera modules 4, the head plate 9, the adapter bracket 5, the main board bracket 6, the main board 7 and the color camera module 12 are all arranged in the housing 13, and the adapter bracket 5 is fixed to the housing 13 by spring screws. The housing 13 includes a front housing 131, a middle housing 132 and a rear housing 133, and the front end and the rear end of the middle housing 132 are respectively connected to the front housing 131 and the rear housing 133, and the adapter bracket 5 is fixed to the front housing 131 by spring screws. The adapter bracket 5 is formed with a first mounting portion 53 and a second mounting portion 54. The first mounting portion 53 can be located at the upper and lower sides of the adapter bracket 5, and the second mounting portion 54 can be located at the left and right sides of the adapter bracket 5. The spring screw can fix the adapter bracket 5 to the front shell 131 through the first mounting portion 53 and the second mounting portion 54. When the three-dimensional scanner is impacted, such as falling, the spring screw can buffer the impact in the front and rear directions, so that the impact reaching the adapter bracket 5 is smaller, and this part of the impact is borne by the adapter bracket 5, ensuring that the photoelectric bracket 1 will not be deformed by the impact. The second mounting portion 54 includes lugs on the left and right sides, and the front shell 131 is provided with through holes corresponding to the first laser emission module 2, the two first camera modules 3, the two second camera modules 4, the second laser emission module 8, the color camera module 12, the first fill light 111 and the second fill light 112.

[0046] The three-dimensional scanner also includes a silicone sleeve 14, which is sleeved on the front of the photoelectric bracket 1. The silicone sleeve 14 is provided with through holes and convex rings surrounding the through holes corresponding to the first laser emission module 2, the two first camera modules 3, the two second camera modules 4, the second laser emission module 8, the color camera module 12, the first fill light 111 and the second fill light 112. The silicone sleeve 14 can seal the gap between the front of the photoelectric bracket 1 and the front shell 131 to achieve dustproofing of the optical lighting surface and the appearance surface. Since the silicone sleeve 14 has good elasticity, it can play a role in buffering and vibration reduction, and effectively buffer the impact of up, down, left, right, front and back. At the same time, the silicone sleeve 14 seals the gap between the area between each module on the photoelectric bracket 1 and the front shell 131, which can play a role in isolating light transmission and avoiding cross-light interference between the laser light source and the fill light and the imaging module.

[0047] The three-dimensional scanner also includes a key indicator module 15, which can be arranged on the housing 13 and electrically connected to the mainboard 7. The key indicator module 15 includes a mounting seat 151, a second circuit board 152, an indicator light 153 and a key 154. The mounting seat 151 is fixed to the housing 13, the second circuit board 152 is mounted on the mounting seat 151 and electrically connected to the mainboard 7, the indicator light 153 and the key 154 are mounted on the second circuit board 152, and the indicator light 153 can display different colors. Figures 7 to 9 In the illustrated embodiment, the button indicator module 15 is disposed on the rear shell 133 and the button 154 and the indicator 153 are exposed on the rear shell 133. The indicator 153 can indicate different colors according to the relationship between the actual scanning distance and the optimal scanning distance between the scanned object and the three-dimensional scanner. For example, when the actual scanning distance is greater than the optimal scanning distance, the indicator 153 displays a first color, when the actual scanning distance is moderately greater than the optimal scanning distance, the indicator 153 displays a second color, when the actual scanning distance is equal to or near the optimal scanning distance, the indicator 153 displays a third color, when the actual scanning distance is moderately less than the optimal scanning distance, the indicator 153 displays a fourth color, and when the actual scanning distance is greater than the optimal scanning distance, the indicator 153 displays a fifth color. At the same time, the indicator 153 is also used to display a sixth color when the three-dimensional scanner fails; the button 154 may also include a start / pause scanning button. In this way, the user can move the three-dimensional scanner by the color of the indicator 153 to maintain the optimal scanning distance and improve the scanning accuracy. The button 154 is used to adjust the three-dimensional scanner, for example, to adjust the driving current of the first laser emission module 2 and the second laser emission module 8, the exposure time of the first camera module 3, the second camera module 4 and the color camera module 12, etc. The indicator light 153 may surround the button 154. When the button 154 is pressed, only the area of ​​the indicator light 153 corresponding to the button 154 may light up, and other areas may not light up, so as to indicate that the user has effectively pressed the button 154.

[0048] like Figures 7 to 9As shown, the mainboard 7 is provided with a connection interface 71, and the connection interface 71 is used to connect to a host computer, such as a mobile phone, a laptop computer, a desktop computer, etc. The housing 13 is provided with an exposure hole corresponding to the connection interface 71 to expose the connection interface 71 for user convenience.

[0049] like Fig.10 As shown, the three-dimensional scanner also includes a first connecting line 16, the first connecting line 16 includes a first plug 161 and a second plug 162, the first plug 161 is used to connect the connection interface 71, and the second plug 162 is used to connect an interface of the host computer, thereby connecting the three-dimensional scanner to the host computer, realizing data interaction between the three-dimensional scanner and the host computer and powering the three-dimensional scanner through the host computer. In one embodiment, the voltage output by a single output port of the host computer is small and cannot meet the power supply requirements of the three-dimensional scanner. The three-dimensional scanner also includes a second connecting line 17, the first connecting line 16 also includes an interface 163, the second connecting line 17 includes a third plug 171 and a fourth plug 172, the interface 163 is used to connect the third plug 171, and the fourth plug 172 is connected to another interface or adapter of the host computer to increase the input voltage of the three-dimensional scanner to ensure that the three-dimensional scanner can be used normally.

[0050] like Figures 7 to 11 As shown, the rear shell 133 includes a groove 1331, the exposure hole is arranged in the groove 1331 and is surrounded by the groove wall of the groove 1331; the groove 1331 also includes a fixing hole arranged next to the exposure hole, and the first connecting line 16 also includes a locking member 164 arranged next to the first plug 161, and the locking member 164 is used to be fixedly connected to the fixing hole; the locking member 164 includes a screw rod 1641, a nut 1642 and a pull ring 1643, and the pull ring 1643 is rotatably connected to the nut 1642. When the locking member 164 needs to be rotated, the pull ring 1643 can be pulled up and the screw rod 1641 can be rotated by operating the pull ring 1643, as shown in FIG. Fig.11 When the middle pull ring 1643 is pulled up, as shown by the dotted line, when the fastener does not need to be operated, the pull ring 1643 can be flush with the nut 1642. The pull ring 1643 can be hidden in the groove at the top of the plug to avoid hurting the hand and affecting the user experience. The plug 161 has a slope and can be formed with a flange to facilitate the removal of the plug 161.

[0051] like Figure 7 , Fig. 9 and Fig.10 As shown, the three-dimensional scanner also includes a glass lens 18 attached to the front of the front shell 131. The glass lens 18 can be bonded to the front of the front shell 131 by dispensing glue or back glue. The glass lens 18 can protect each module and prevent water and dust.

[0052] 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.

[0053] 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.

[0054] 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, characterized in that: include: A photoelectric bracket, provided with a first mounting hole, two second mounting holes and two third mounting holes, wherein the two second mounting holes are located on both sides of the first mounting hole and between the two third mounting holes; A first laser emission module is fixed in the first mounting hole; Two first camera modules are respectively fixed in the two third mounting holes; Two second camera modules are respectively fixed in the two second mounting holes; A mainboard bracket, fixed to the rear side of the photoelectric bracket; The mainboard is fixed on the mainboard bracket and is electrically connected to the first laser emission module, the two first camera modules and the two second camera modules.

2. The three-dimensional scanner according to claim 1, characterized in that: The two first camera modules and the two second camera modules are both inclined toward the first laser emission module, the optical axes of the two first camera modules form a first angle with the optical axis of the first laser emission module, and the optical axes of the two second camera modules form a second angle with the optical axis of the first laser emission module, and the second angle is greater than the first angle.

3. The three-dimensional scanner according to claim 1, characterized in that: The three-dimensional scanner also includes a second laser emitting module, and the photoelectric bracket also includes a fourth mounting hole, wherein the fourth mounting hole is located between the first mounting hole and the second mounting hole, and the second laser emitting module is fixed in the fourth mounting hole. The first laser emitting module and the two first camera modules constitute a first binocular imaging system, and the second laser emitting module and the two second camera modules constitute a second binocular imaging system.

4. The three-dimensional scanner according to claim 3, characterized in that: The first laser emission module comprises a first lens barrel, a first light source, a collimating lens and a diffractive optical element, the first lens barrel is fixed in the first mounting hole, and the first light source, the collimating lens and the diffractive optical element are sequentially arranged in the first lens barrel along the emission direction of the first light source; The second laser emission module includes a first circuit board, a mounting bracket, a second lens barrel, a second light source, a focusing element, a mask, and a projection lens. The mounting bracket is fixed to the rear side of the photoelectric bracket, the second light source is arranged on the first circuit board, the first circuit board is fixed to the back side of the mounting bracket, the focusing element and the mask are sequentially installed in the mounting bracket along the emission direction of the second light source, the second lens barrel is fixed to the front side of the mounting bracket and extends into the fourth mounting hole, and the projection lens is installed in the second lens barrel.

5. The three-dimensional scanner according to claim 4, characterized in that: The mainboard bracket is formed with an avoidance space, the mounting bracket is located in the avoidance space, a gap is provided between the mainboard bracket and the mounting bracket, and a flexible first heat conducting member is filled between the mainboard bracket and the first circuit board.

6. The three-dimensional scanner according to any one of claims 1 to 3, characterized in that: The mainboard bracket includes a vertically extending connecting plate body and a mounting plate body, wherein the connecting plate body is fixed to the rear side of the photoelectric bracket, the mounting plate body is connected to a side of the connecting plate body away from the photoelectric bracket and extends horizontally, and the mainboard is mounted on the mounting plate body.

7. The three-dimensional scanner according to any one of claims 1 to 3, characterized in that: The three-dimensional scanner also includes a head plate, which is fixed between the photoelectric support and the main board support and electrically connected to the main board, the first laser emission module, the two first camera modules and the two second camera modules; and / or, The three-dimensional scanner also includes a fill light board, which is fixed to the front side of the photoelectric bracket. A plurality of first fill light groups are arranged on the fill light board, each of which includes a plurality of first fill light groups. The plurality of first fill light groups are respectively arranged around the two first camera modules and the two second camera modules. The wavelength of the light beam emitted by the first fill light is the same as that of the first laser emission module.

8. The three-dimensional scanner according to claim 7, characterized in that: The photoelectric bracket is also provided with a fifth mounting hole located between the second mounting hole and the third mounting hole, and the three-dimensional scanner also includes a color camera module, and the color camera module is fixed in the fifth mounting hole; the fill light board is also provided with a second fill light group, and the second fill light group includes a plurality of second fill lights, and the plurality of second fill lights surround the color camera module, and the second fill light is used to emit white light.

9. The three-dimensional scanner according to claim 8, characterized in that: The three-dimensional scanner also includes an adapter bracket fixed to the rear of the photoelectric bracket, and the mainboard bracket is fixed to the rear of the adapter bracket.

10. The three-dimensional scanner according to claim 9, characterized in that: The adapter bracket includes a first heat-conducting boss and a second heat-conducting boss. The first heat-conducting boss is in contact with the first laser emission module, or a flexible second heat-conducting member is provided between the first laser emission module, and the second heat-conducting boss is in contact with the color camera module, or a flexible third heat-conducting member is provided between the second heat-conducting boss and the color camera module.

11. The three-dimensional scanner according to claim 9, characterized in that: The three-dimensional scanner also includes a housing, and the photoelectric bracket, the adapter bracket, the mainboard bracket and the mainboard are accommodated in the housing; wherein, The adapter bracket and the photoelectric bracket are fixed by spring screws; and / or, The adapter bracket is fixed to the housing by a spring screw; and / or, The three-dimensional scanner also includes a silicone sleeve, which is sleeved on the front part of the photoelectric bracket to seal the gap between the front part of the photoelectric bracket and the housing.

12. The three-dimensional scanner according to claim 11, characterized in that: The housing comprises a front housing, a middle housing and a rear housing, the adapter bracket is fixedly connected to the front housing, and the front end and the rear end of the middle housing are respectively connected to the front housing and the rear housing.

13. The three-dimensional scanner according to claim 11, characterized in that: The three-dimensional scanner also includes an indicator light button module, which is arranged in the housing and electrically connected to the mainboard; The indicator light button module includes a mounting base, a second circuit board, an indicator light and a button. The mounting base is fixed to the housing. The second circuit board is mounted on the mounting base and electrically connected to the mainboard. The indicator light and the button are mounted on the second circuit board. The indicator light can display multiple colors.

14. The three-dimensional scanner according to claim 11, characterized in that: The mainboard is provided with a connection interface, and the casing is provided with an exposure hole corresponding to the connection interface. The three-dimensional scanner also includes a first connection line and a second connection line. The first connection line includes a first plug, a second plug and an interface. The second connection line includes a third plug and a fourth plug. The first plug is used to connect the connection interface, the second plug is used to connect to an interface of a host computer, the interface is used to connect to the third plug, and the fourth plug is connected to another interface or an adapter of the host computer.

15. The three-dimensional scanner according to claim 11, characterized in that: The mainboard is provided with a connection interface, the housing is provided with an exposure hole corresponding to the connection interface, the connection interface extends backward, the three-dimensional scanner further includes a first connection line, the back of the housing includes a groove, the exposure hole is provided in the groove and is surrounded by the groove wall of the groove; The groove further includes a fixing hole disposed next to the revealing hole, and the first connecting line further includes a locking member disposed next to the first plug, and the locking member is used to be fixedly connected to the fixing hole; The locking member comprises a screw rod, a nut and a pull ring, and the pull ring is rotatably connected to the nut.

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