Three-dimensional imaging module and three-dimensional scanner

Abstract

The utility model provides a three-dimensional imaging module and a three-dimensional scanner. The three-dimensional imaging module comprises a first camera module, a second camera module, a lens mount, a first lens group and a second lens group, wherein the lens mount is provided with a first accommodating cavity and a second accommodating cavity, the first camera module is integrated at the bottom of the first accommodating cavity, the first lens group is integrated in the first accommodating cavity, the second camera module is integrated at the bottom of the second accommodating cavity, and the second lens group is integrated in the second accommodating cavity. A three-dimensional scanner may include: a housing; the utility model also provides the three-dimensional imaging module provided by the invention. The three-dimensional imaging module is accommodated in the housing.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional measurement technology, and in particular to a three-dimensional imaging module and a three-dimensional scanner. Background Art

[0002] Multiple modules in existing 3D scanners are fixed by being installed on a base or connected in sequence. This multiple connection method leads to unstable accuracy. The scanning accuracy drifts after long-term placement, so frequent calibration is required, which has low efficiency and high cost. Utility Model Content

[0003] In view of this, the present application provides a three-dimensional imaging module and a three-dimensional scanner.

[0004] Specifically, the present application is implemented through the following technical solutions:

[0005] According to a first aspect of the present application, a three-dimensional imaging module is provided, comprising: a first camera module, a second camera module, a lens mount, a first lens group, and a second lens group; wherein the lens mount is provided with a first accommodating cavity and a second accommodating cavity, the first camera module is integrated at the bottom of the first accommodating cavity, the first lens group is integrated in the first accommodating cavity, the second camera module is integrated at the bottom of the second accommodating cavity, and the second lens group is integrated in the second accommodating cavity.

[0006] In a second aspect of the present application, a three-dimensional scanner is provided, which may include:

[0007] A shell; and a three-dimensional imaging module as provided in the first aspect of the present application; the three-dimensional imaging module is accommodated in the shell.

[0008] Through the above scheme, the present application has at least the following beneficial effects:

[0009] By designing the structure of the accommodating cavity in the lens mount, at least two modules can be integrated in the lens mount. Compared with the detachable connection method, the above scheme of the present application improves the stability of the structure, reduces the frequency of calibration, extends the use time after a calibration, and reduces the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of a three-dimensional imaging module shown in an exemplary embodiment of the present application.

[0011] Figure 2 It is a structural schematic diagram of a three-dimensional imaging module integrated with a first light source shown in an exemplary embodiment of the present application.

[0012] Figure 3It is a schematic structural diagram of a three-dimensional imaging module integrated with a texture imaging module shown in an exemplary embodiment of the present application.

[0013] Figure 4 It is a schematic structural diagram of a three-dimensional imaging module with multiplexed lens groups shown as an exemplary embodiment of the present application.

[0014] Figure 5 It is a schematic diagram of a fixing structure of a lens group shown in an exemplary embodiment of the present application.

[0015] Figure 6 It is a schematic diagram of another fixing structure of a lens group shown in an exemplary embodiment of the present application.

[0016] Figure 7 It is a schematic structural diagram of a three-dimensional scanner shown in an exemplary embodiment of the present application.

[0017] Figure 8 It is a structural schematic diagram of a three-dimensional scanner including a switching module and a texture imaging module shown in an exemplary embodiment of the present application.

[0018] Fig. 9 It is a schematic structural diagram of another three-dimensional imaging module shown in an exemplary embodiment of the present application.

[0019] Figure Number:

[0020] 3D scanner 1; 3D imaging module 10 or 90; housing 11;

[0021] First camera module 101; second camera module 102; first lens group 104; second lens group 105; first light source 106; texture imaging module 107; beam splitter prism 108; third lens group 109; mask 1061;

[0022] Lens holder 103; first accommodating cavity 1031; second accommodating cavity 1032; third accommodating cavity 1033; spacer 1034; pressing ring 1035; glue injection hole 1036;

[0023] Adaptation module 110; lighting module 1101; second light source 11011; bracket 11012; cover plate 11013; heating module 1102;

[0024] Diagonal positioning pins 111; main control board 112; inner core bracket 113. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0026] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0028] After careful research, the inventor discovered the problem of drift in the accuracy of 3D scanners: 3D scanners usually have multiple components, such as black and white cameras and their lenses. The relative positions of multiple components need to be kept stable to form accurate 3D data. Since each component is a separate module, it can be detachably installed on the substrate. For example, there are installation gaps between the sensor and the lens and the substrate. Multiple gaps increase the probability of drift after storage and collision, and the frequency of calibration increases, resulting in an increase in the cost and difficulty of use.

[0029] In this regard, refer to Figure 1 The present application proposes a three-dimensional imaging module 10, comprising: a first camera module 101, a second camera module 102, a lens mount 103, a first lens group 104, and a second lens group 105.

[0030] Among them, the lens holder 103 is provided with a first accommodating cavity 1031 and a second accommodating cavity 1032, the first camera module 101 is integrated at the bottom of the first accommodating cavity 1031, the first lens group 104 is integrated in the first accommodating cavity 1031, the second camera module 102 is integrated at the bottom of the second accommodating cavity 1032, and the second lens group 105 is integrated in the second accommodating cavity 1032.

[0031] Among them, the first accommodating cavity 1031 is used to receive light from the object to be scanned to form a first optical path, and the light from the object to be scanned is collected by the first camera module 101 through the first lens group 104; the second accommodating cavity 1032 is used to receive light from the object to be scanned to form a second optical path, and the light from the object to be scanned is collected by the second camera module 102 through the second lens group 105.

[0032] Through the above solution, the lens group and the camera module are integrated into a lens holder 103, rather than forming independent modules through their respective outer shells. The internal structure of the three-dimensional imaging module can be completely fixed without considering disassembly and assembly, so it is difficult to drift, thereby improving the overall measurement accuracy of the three-dimensional scanner using the three-dimensional imaging module, reducing the frequency of calibration, and reducing the cost of use.

[0033] It can be understood that in the present application, the first camera module 101 and the second camera module 102 can be cameras of any technical form, such as a color camera or a black and white camera using CMOS (Complementary Metal-Oxide-Semiconductor) technology / CCD (Charge-Coupled Device) technology.

[0034] like Figure 1 As shown in , the bottom view perspective is the back of the first camera module 101 and the second camera module 102, and the front of the first camera module 101, that is, the side that collects light, faces the opposite direction of the arrow of the first light path in the AA cross-sectional view. That is, the first camera module 101 faces the direction of the light incident, so as to obtain / collect the light. Similarly, the second camera module 102 faces the direction of the light incident in the second light path, so as to achieve a function similar to that of the first camera module 101.

[0035] It is understandable that in the present application, in order to allow light to enter, the first accommodating cavity 1031 and the second accommodating cavity 1032 both need to have openings at the locations of their respective lens groups, so that light can enter the accommodating cavity and pass through the lens group to form an image on the camera module. In another embodiment, the portion of the lens holder 103 close to the lens group installation position can also be made of transparent material so that light can smoothly enter the accommodating cavity. In order to allow light to reach the camera module only through the lens group, the lens holder 103 can be made of composite materials, and the portion close to the lens group installation position can be made of opaque materials. The lens holder 103 can also be made of fully transparent materials, and an opaque coating can be processed on the inner wall of the accommodating cavity or opaque parts can be added. The above embodiments are merely exemplary. If the solutions that can be obtained by simply replacing the embodiments of the present application are obtained, they should all fall within the scope of protection of the present application.

[0036] In the above-mentioned embodiment scheme, the first light can come from a light source (which can be a laser or a laser module) that is independent of the three-dimensional imaging module 10 in the conventional scheme. The advantage of this design is that the installation position of the light source can be determined according to the actual situation, and can be flexibly arranged according to the design and use requirements of the system, so as to better adapt to different application scenarios and needs. The independent setting of the laser can also reduce the complexity of the system and simplify the adjustment and maintenance of the system. At the same time, this design also helps to improve the stability and reliability of the system, ensuring that the first light can accurately illuminate the target object, thereby realizing the accurate acquisition of spatial information. In summary, through a light source independent of the three-dimensional imaging module, the system can be made to operate more flexibly, stably and efficiently, providing users with a better user experience.

[0037] However, the inventors found that the separation of the laser and the 3D imaging module still leads to the problem of precision drift. In order to further alleviate the problem of precision drift, based on the above embodiments, reference can be made to Figure 2 The lens holder 103 may further include a third accommodating cavity 1033 disposed between the first accommodating cavity 1031 and the second accommodating cavity 1032. The three-dimensional imaging module 10 also includes a first light source 106 integrated at the bottom of the third accommodating cavity 1033, for emitting a first light ray to the object to be scanned, so that the first camera module 101 and the second camera module 102 receive the light ray reflected by the object to be scanned through the first lens group 104 and the second lens group 105 respectively. The light ray reflected by the object to be scanned includes at least the first light ray reflected by the object to be scanned.

[0038] The light reflected by the object to be scanned may include only the first light reflected by the object to be scanned, or may also include ambient light reflected by the object to be scanned, or may also include light emitted by other light sources reflected by the object to be scanned.

[0039] Through the above scheme, multiple accommodating cavities are cleverly designed, wherein the first light source 106 in the third accommodating cavity 1033 is used to emit the first light, and the sensors in the first accommodating cavity 1031 and the second accommodating cavity 1032 are used to receive light including at least the first light. The emission and reception are both in one module, thereby reducing the number of gaps between the module and the substrate. The reduction in the number of gaps means that the probability of offset is reduced, which further improves stability and reduces the cost of use.

[0040] It can be understood that any solution of the camera module that enables the first light emitted by the first light source 106 to be reflected into the first accommodating cavity 1031 and / or the second accommodating cavity 1032 can be applied in the present application.

[0041] In one embodiment, the first accommodating cavity 1031 and the second accommodating cavity 1032 can be symmetrically arranged along the axis of the third accommodating cavity 1033. Not only can the overall shape and structure be compact by forming a symmetrical layout of the two cameras and a reasonable layout in which the projection light path is located in the middle, but also the path of the first light emitted by the first light source 106 can intersect with the first light path and the second light path at the same point. Such a design can ensure that the first light can be accurately reflected into the first accommodating cavity 1031 and the second accommodating cavity 1032 after irradiating the object to be scanned, thereby realizing the acquisition of spatial information. By ensuring the precise intersection of the first light path, the system can more accurately acquire the spatial information of the target object, improving the quality and accuracy of imaging. At the same time, this design also helps to simplify the structure and adjustment of the system, improve the stability and reliability of the system, and provide users with a better user experience.

[0042] It should be noted that the first light source 106 can be a monochromatic light source, and the first light emitted by the first light source 106 can be a line structured light or a surface structured light; specifically, the first light source 106 can be a laser, a blue light lamp or an infrared light lamp, and the first light can be a laser, a blue light or an infrared light; therefore, there is no limitation on the specific implementation of the first light source.

[0043] On the basis of the above scheme, the inventor has made further improvements, which can be referred to Figure 3 A texture imaging module 107 may be disposed in the third accommodating cavity 1033 , and the texture imaging module 107 may be a texture camera, such as a color camera; the three-dimensional imaging module 10 also includes a beam splitter prism 108 , which is used to transmit the first light emitted by the first light source 106 and reflect the light from the object to be scanned (the light reflected by the object to be scanned) to the texture imaging module 107 .

[0044] As an example, the texture imaging module 107 is integrated into the side of the third accommodating cavity 1033, the orientation of the texture imaging module 107 can be perpendicular to the direction in which the first light source 106 emits the first light, and the inclined surface of the beam splitter prism 108 can be at a 45-degree angle with the first light emitted by the texture imaging module 107 and the first light source 106, respectively.

[0045] The inclined surface of the beam splitter prism 108 is a beam splitter surface, and a coating is provided on the beam splitter surface. The beam splitter prism 108 is used to separate the collected incident light or reflected light according to different wavelengths, and then reflect or transmit to different directions. For example, the beam splitter prism 108 includes a normal beam splitter prism (BS) and a polarization beam splitter prism (PBS). The normal beam splitter prism uses the refraction and reflection of light to separate white light into different colors, while the polarization beam splitter prism uses the polarization characteristics of light to separate the incident light into two mutually perpendicular polarized lights.

[0046] Through the above scheme, when it is necessary to scan and obtain spatial information, the first light source 106 generates a first light, and the first light directly hits the beam splitter prism 108, so it directly passes through the beam splitter prism 108 and then emits from the accommodating cavity. After the emitted first light is irradiated on the object, it is reflected into the first camera module 101 in the first accommodating cavity 1031 and the second camera module 102 in the second accommodating cavity 1032, thereby realizing the acquisition of spatial information. When it is necessary to scan and obtain color or texture information, the light emitted by ambient light or other light sources is irradiated on the object to be scanned, and the object to be scanned reflects the light emitted by ambient light or other light sources. The reflected light passes through the beam splitting surface of the beam splitter prism 108 and is reflected by the beam splitter prism 108 to the texture imaging module 107, thereby realizing the acquisition of color or texture information.

[0047] Since the first light source 106 and the texture imaging module 107 can both utilize the space of the third accommodating cavity 1033, the overall size of the three-dimensional imaging module can be controlled to be smaller, so that it can be applied to small three-dimensional scanners, such as oral three-dimensional scanners and ear cavity three-dimensional scanners.

[0048] At the same time, sharing the same optical path also allows the use of the same lens group, see Figure 4 , a third lens group 109 may be arranged in the third accommodating cavity 1033, the third lens group 109 is integrated in the head of the third accommodating cavity 1033, and the third lens group 109 is located between the beam splitter prism 108 and the head of the third accommodating cavity 1033, and is used to project the first light transmitted by the beam splitter prism 108 onto the object to be scanned, and reflect the light from the object to be scanned to the beam splitter prism 108. For example, the first light emitted by the first light source 106 can be projected and imaged by the third lens group 109, and the texture imaging module 107 can be projected and imaged with the help of the third lens group 109. Using one lens group to realize multiple functions can reduce costs and simplify assembly. At the same time, the optical path can be made smaller, and the volume of the three-dimensional imaging module 10 is reduced, and it can be applied to small three-dimensional scanners 1 such as oral three-dimensional scanners and ear cavity three-dimensional scanners. At the same time, the reuse of the lens group also saves the number of lens groups. The reduction in the number of lens groups means that the number of parts where precision drift occurs is reduced, so the overall stability of the three-dimensional imaging module can also be improved.

[0049] On this basis, the distance between the first light source 106 emitting the first light and the bottom of the third accommodating cavity 1033 can be reasonably adjusted so that the first light source 106 can directly use the third lens group 109 to project the image on the basis that the texture imaging module 107 can use the third lens group 109 to realize imaging.

[0050] In another embodiment, in addition to the lens group between the beam splitter prism 108 and the first light source 106, an additional lens group can be added to adjust the projection imaging capability of the first light source 106. Such a design can ensure that when the projection imaging capability of the third lens group 109 is too large or too small for the first light source 106, the first light source 106 can work normally through the additional lens group. This adjustment capability makes the system more flexible and can adapt to different working environments and requirements, thereby improving the stability and reliability of the overall system. At the same time, this design also helps to reduce the cost and complexity of the system and improve the performance and competitiveness of the product.

[0051] like Figure 4 As shown, a mask 1061 may be disposed in the third accommodating cavity 1033, and the mask 1061 is disposed between the first light source 106 and the beam splitter prism 108. The mask 1061 includes an image, and the first light emitted by the first light source 106 passes through the mask 1061, the beam splitter prism 108, and the third lens group 109 in sequence and is projected onto the object to be scanned. As an example, the mask 1061 may be a color grating sheet or a black-and-white grating sheet, which is used to modulate the first light; wherein, when a plurality of first light rays pass through the mask 1061, a color-coded image or a black-and-white-coded image is automatically generated and projected onto the object to be scanned.

[0052] In another embodiment, the lens holder 103 may further include a third accommodating cavity 1033 disposed between the first accommodating cavity 1031 and the second accommodating cavity 1032; the three-dimensional imaging module 10 may further include a texture imaging module 107 and a third lens group 109, the texture imaging module 107 is integrated at the bottom of the third accommodating cavity 1033, and the third lens group 109 is integrated in the third accommodating cavity 1033, for projecting the image of the object to be scanned onto the texture imaging module 107. Through the above scheme, the texture imaging module 107 can be integrated through the third accommodating cavity 1033. The first camera module 101 in the first accommodating cavity 1031 and the second camera module 102 in the second accommodating cavity 1032 can obtain spatial information with the help of the first light source 106 (laser) located outside the third accommodating cavity. This design not only makes the entire system more compact and integrated, reduces the volume of the three-dimensional imaging module 10, and can be applied to small three-dimensional scanners 1 such as oral three-dimensional scanners and ear cavity three-dimensional scanners; but also can effectively improve the performance and function of the product, and provide users with a more convenient and efficient use experience. At the same time, this integrated design can also reduce system cost and complexity, and improve production efficiency and product competitiveness.

[0053] Based on the above solution, the lens mount 103 may include a plurality of diagonal positioning pins 111; the diagonal positioning pins 111 are used to fix the diagonal portions of the components to limit the movement of the first camera module 101 and / or the second camera module 102, the first lens group 104 and / or the second lens group 105 relative to the lens mount. The components at least include the first camera module 101, the second camera module 102, the first lens group 104 and the second lens group 105.

[0054] In one embodiment, every two diagonal positioning pins 111 can be set at the diagonals of the first camera module 101, the second camera module 102, the first lens group 104 and the second lens group 105, so as to limit the movement of the first camera module 101 and the first lens group 104 relative to the lens mount 103 along a plane perpendicular to the first optical path, and limit the movement of the second camera module 102 and the second lens group 105 relative to the lens mount 103 along a plane perpendicular to the second optical path.

[0055] The diagonal positioning pins can fix the diagonal of any component to ensure that when the three-dimensional imaging module is subjected to external forces such as vibration, falling or impact, the center distance between the components in the first accommodating cavity 1031 and the components in the second accommodating cavity 1032 can remain stable. This design can effectively improve the stability and durability of the product, protect the camera module and its internal components, ensure that it can work normally and provide high-quality imaging effects in various environments, and reduce the probability of drift, thereby improving the overall measurement accuracy of the three-dimensional scanner 1 using the three-dimensional imaging module 10, reducing the frequency of calibration required for the three-dimensional scanner 1, and reducing the cost of using the three-dimensional scanner 1.

[0056] like Figure 1 As shown, every two diagonal positioning pins 111 can be set at the diagonals of the first camera module 101 and the second camera module 102 to ensure that when the three-dimensional imaging module is subjected to external forces such as vibration, falling or impact, the center distance between the two camera modules can remain stable. This design can effectively improve the stability and durability of the product, protect the camera module and its internal components, ensure that it can work normally and provide high-quality imaging effects in various environments, and reduce the probability of drift, thereby improving the overall measurement accuracy of the three-dimensional scanner 1 using the three-dimensional imaging module 10, reducing the frequency of calibration required for the three-dimensional scanner 1, and reducing the cost of using the three-dimensional scanner 1.

[0057] The diagonal locating pins are an exemplary locating method of the present application. In addition, the contents of other technical solutions can also be applied in the present application. For example, solutions that can be replaced without any doubt by technical personnel in this field based on the inspiration of the present application can all be applied to the present application and should also fall within the scope of protection of the present application.

[0058] Based on any of the above embodiments, Figure 5 The lens mount 103 may include at least one pressing ring 1035 and at least one spacer 1034; the spacer 1034 is installed between two lenses of the first lens group 104 and / or the second lens group 105, and is used to axially position the lenses in the first lens group 104 and / or the second lens group 105; the pressing ring 1035 is installed at both ends of the first lens group 104 and / or the second lens group 105, and is used to fix the first lens group 104 and / or the second lens group 105.

[0059] After assembly, the structure of the three-dimensional imaging module 10 is as follows: the lens holder 103 contains two groups of lenses, each group of lenses is composed of multiple lenses. A spacer 1034 is installed between the two lenses of the first lens group 104 or the second lens group 105. The spacer 1034 is located at a specific position between the lenses to ensure that the spacing and position between the lenses meet the design requirements. The pressure ring 1035 is installed at both ends of the entire first lens group 104 or the second lens group 105 to fix the lens group and ensure its stable position.

[0060] The structure of the entire lens mount is compact, which can effectively protect the lens, maintain a stable positional relationship and provide good optical performance. At the same time, it can reduce the probability of drift, improve the overall measurement accuracy of the three-dimensional scanner 1 using the three-dimensional imaging module 10, reduce the frequency of calibration required for the three-dimensional scanner 1, and reduce the cost of using the three-dimensional scanner 1.

[0061] refer to Figure 6 The lenses in the first lens group 104 or the second lens group 105 may include a glue dispensing position; the lens mount 103 may also include a glue injection hole 1036, the glue injection hole 1036 corresponds to the glue dispensing position, and the glue injection hole 1036 is used to allow glue to flow into the glue injection position.

[0062] like Figure 6 As shown, there can be multiple glue injection holes 1036, and they can be distributed at any position on the front, back or side of the product, or distributed at multiple positions at the same time. This design can inject glue at different positions according to actual needs to ensure that each part of the product is evenly stressed and fixed. The position and number of the glue injection holes 1036 can be adjusted according to the design requirements and functional requirements of the product to meet different usage scenarios and process requirements.

[0063] Through the above solution, the designed glue injection hole 1036 and the glue point provide a good attachment position for the glue, so that the lens mount and the lens can be firmly fixed by glue to reduce the probability of offset. At the same time, the glue fixation can effectively play a role in vibration isolation and improve the quality of three-dimensional scanning.

[0064] As an example, the glue may be low expansion structural glue or other types of glue, which are not specifically limited.

[0065] As an example, the glue can be a low-expansion structural glue such as a low-expansion coefficient epoxy structural glue, which has a smaller size change when the temperature changes, thereby further reducing the probability of offset between the lens mount and the lens, improving the overall measurement accuracy of the three-dimensional scanner 1 using the three-dimensional imaging module 10, reducing the frequency of calibration of the three-dimensional scanner 1, and reducing the cost of using the three-dimensional scanner 1.

[0066] In the present application, the three-dimensional imaging module 10 in any embodiment can be used in equipment such as a three-dimensional scanner. The three-dimensional scanner can be a scanner such as an oral scanner, an ear cavity scanner, a facial scanner, an industrial scanner, a professional scanner, a product cavity scanner, etc., which can realize three-dimensional reconstruction of objects or scenes such as teeth, ear cavities, human faces, human bodies, industrial products, industrial equipment, pipelines, cultural relics, artworks, prostheses, medical instruments, buildings, etc.

[0067] Accordingly, reference Figure 7 The present application proposes a three-dimensional scanner 1, which may include: a housing 11; and a three-dimensional imaging module 10 as provided in any embodiment; the three-dimensional imaging module 10 is accommodated in the housing 11.

[0068] On this basis, reference Figure 8 In one embodiment of the present application, the three-dimensional scanner 1 may further include a transfer module 110 and a texture imaging module 107; the texture imaging module 107 is used to collect color information of the object to be scanned, and the three-dimensional imaging module 10 can be connected to the transfer module 110; the transfer module 110 includes a lighting module 1101 and a heating module 1102 (not shown in the figure, and can be installed at any position of the transfer module 110); the lighting module 1101 includes a second light source 11011, a bracket 11012 and a cover plate 11013; the second light source 11011 is used to provide a lighting environment for the texture imaging module 107; the bracket 11012 is used to determine the position of the second light source 11011, and the cover plate 11013 is used to fix the second light source 11011 and the bracket 11012 in the transfer module.

[0069] In another embodiment, the three-dimensional scanner 1 may further include a core bracket 113, a main control board 112 and a flexible circuit board, and the three-dimensional imaging module 10 and the main control board 112 are electrically connected through the flexible circuit board; the three-dimensional imaging module and the main control board are fixed on the core bracket, and the core bracket is made of a high thermal conductivity material, which can be used to evenly heat and dissipate the three-dimensional imaging module and the main control board.

[0070] As an example, the core bracket 113 may be made of aluminum alloy, which can be used for temperature uniformity and heat dissipation. The three-dimensional imaging module 10 and the main control board 112 are fixedly mounted on the core bracket 113 along the length direction of the core bracket 113 .

[0071] As an example, the first light source 106 and the second light source 11011 are different types of light sources. The second light source 11011 can emit a second light; as another example, the second light can be a mixed color light source; as another example, the mixed color light source can be an RGB mixed color light source or a yellow-green-blue mixed color light source; as another example, the second light source 11011 can be a fill light as white light, and the fill light can be an LED, a metal halide lamp, a fluorescent lamp, a high-pressure sodium, an incandescent lamp, an iodine tungsten lamp, or a xenon lamp; therefore, the specific implementation of the second light source 11011 is not limited.

[0072] The second light source 11011 provides a lighting environment and has little effect on the accuracy, so it is independent of the 3D imaging module and will not have a significant impact on the quality of the 3D scanning. Placing the lighting module 1101 in other positions through a flexible circuit board can give more space to the 3D imaging module so as to arrange the internal layout reasonably.

[0073] Among them, the optical axis of the second light source 11011 is not coaxial with the optical axis of the third lens group 109 (first light source 106). When the texture imaging module 107 is working, the second light source 11011 emits a second light to fill in the object to be scanned. Specifically, the second light source 11011 can perform coaxial or off-axis illumination on the object to be scanned.

[0074] As an example, the first light emitted by the first light source 106 passes through the mask 1061, the beam splitter prism 108, and the third lens group 109 in sequence and is projected onto the object to be scanned; the second light source 11011 emits a second light to supplement the object to be scanned; the object to be scanned reflects the received light. The light received by the object to be scanned comes from at least the first light (such as laser) emitted by the first light source 106 and the second light (such as white light) emitted by the second light source 11011, wherein the first light is modulated by the mask 1061 and includes the light of the image of the mask 1061.

[0075] The light from the object to be scanned is reflected to the third lens group 109, and is reflected by the beam splitter prism 108 through the third lens group 109 to reach the texture imaging module 107. The texture imaging module 107 receives the light for texture imaging to obtain color texture information of the object to be scanned.

[0076] The light from the object to be scanned enters the first accommodating cavity 1031 through the first optical path, that is, is collected by the first camera module 101 through the first lens group 104; the light from the object to be scanned enters the second accommodating cavity 1032 through the second optical path, that is, is collected by the second camera module 102 through the second lens group 105. The first camera module 101 and the second camera module 102 receive the light for imaging and obtain spatial information of the object to be scanned.

[0077] Accordingly, reference Fig. 9 The present application also provides another three-dimensional imaging module 90, including:

[0078] A accommodating cavity, a first light source 106, a texture imaging module 107 and a beam splitter prism 108; the first light source 106 is integrated at the bottom of the accommodating cavity, and is used to emit a first light ray to the object to be scanned; the texture imaging module 107 is integrated in the accommodating cavity, and the orientation of the texture imaging module 107 is perpendicular to the direction in which the first light ray is emitted by the first light source 106; the inclined surfaces of the beam splitter prism 108 are respectively at an angle of 45 degrees to the first light rays emitted by the texture imaging module 107 and the first light source 106, and are used to reflect the light from the object to be scanned to the texture imaging module 107.

[0079] As an example, emitting a first light beam to the object to be scanned may be understood as projecting a laser stripe or a laser pattern onto the surface of the object to be scanned.

[0080] Through the above solution, by means of the reflection / projection effect of the beam splitter prism 108, at least the functions of laser emission and texture scanning can be realized in the same accommodating cavity.

[0081] Specifically, refer to Fig. 9 , taking the first light as a laser as an example, when it is necessary to scan and obtain spatial information, the first light source 106 generates a laser, and the laser is directly or through the mask 1061 into the beam splitter prism 108, so it passes directly through the beam splitter prism 108 and then is emitted from the accommodating cavity. The emitted laser is irradiated on the object and then reflected into the sensor for collecting spatial information. The sensor for collecting spatial information can be an independent sensor in the prior art, such as a black and white camera, which is not exemplified one by one in this application. When it is necessary to collect texture, the natural light / ambient light reflected by the external object enters the accommodating cavity and irradiates the inclined surface of the beam splitter prism 108 at an angle of 45°, and then deflected by 90° and irradiated on the texture imaging module 107, so that the texture imaging module 107 can obtain the texture information of the object to be scanned. The sensor for collecting spatial information can be an independent sensor in the prior art, such as a color camera, which is not exemplified one by one in this application.

[0082] Therefore, the solution of the present application can realize the multiplexing of the optical path, so that the overall volume of the three-dimensional imaging module is smaller, and it can be applied to small three-dimensional scanners such as oral three-dimensional scanners and ear cavity three-dimensional scanners.

[0083] At the same time, since the texture imaging module 107 and the first light source 106 are integrated through the accommodating cavity of the lens holder, compared with the detachable connection method of each module in the conventional scheme, the above scheme of the present application also improves the stability of the structure, reduces the frequency of calibration, extends the use time after a calibration, and reduces the cost of use.

[0084] It can be understood that, taking the first light as laser as an example, Fig. 9 In order to facilitate the observation of the laser path and the ambient light path, the first light path is offset. In the actual solution, the two are Fig. 9 The paths in the vertical direction can overlap.

[0085] Embodiments of the subject matter and functional operations described in this specification may be implemented in hardware including the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them.

[0086] Other situations that should fall within the scope of protection of this application include, but are not limited to: similar implementation methods or devices, even if they have slightly different structures or functions. Equivalent alternatives to the specific technical principles described in this application. Technical improvements or variations based on the ideas disclosed in this application. Other devices or systems that use similar principles but have different specific implementations. Derivative products or methods based on the technical concepts disclosed in this application. Other technical solutions related to the technical field described in this application, even if they are not explicitly described in this application. In short, the scope of protection of this application should be determined based on the requirements of patent law and the understanding of technical contributions, including protection of all reasonable scopes covering the technical principles disclosed in this application.

[0087] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any utility model or the scope of protection claimed, but are mainly used to describe the features of the specific embodiments of a particular utility model. Certain features described in multiple embodiments in this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although features may work in certain combinations as described above and even initially claimed as such, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of a sub-combination.

[0088] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A three-dimensional imaging module, characterized in that: include: A first camera module, a second camera module, a lens mount, a first lens group, and a second lens group; the lens mount is provided with a first accommodating cavity and a second accommodating cavity, the first camera module is integrated at the bottom of the first accommodating cavity, the first lens group is integrated in the first accommodating cavity, the second camera module is integrated at the bottom of the second accommodating cavity, and the second lens group is integrated in the second accommodating cavity.

2. The three-dimensional imaging module according to claim 1, characterized in that: The lens mount also includes a third accommodating cavity placed between the first accommodating cavity and the second accommodating cavity, and the three-dimensional imaging module also includes a first light source integrated at the bottom of the third accommodating cavity, which is used to emit a first light to the object to be scanned, so that the first camera module and the second camera module receive the light reflected by the object to be scanned through the first lens group and the second lens group respectively, and the light reflected by the object to be scanned at least includes the light reflected by the first light from the object to be scanned.

3. The three-dimensional imaging module according to claim 2, characterized in that: A texture imaging module is arranged in the third accommodating cavity; the three-dimensional imaging module further comprises a beam splitter prism, which is used for transmitting the first light emitted by the first light source and reflecting the light from the object to be scanned to the texture imaging module.

4. The three-dimensional imaging module according to claim 3, characterized in that: The three-dimensional imaging module further includes a third lens group, which is integrated in the head of the third accommodating cavity and is used to project the first light transmitted through the beam splitter prism onto the object to be scanned and reflect the light from the object to be scanned to the beam splitter prism; The texture imaging module is integrated on the side of the third accommodating cavity, the orientation of the texture imaging module is perpendicular to the direction in which the first light source emits the first light, and the inclined surfaces of the beam splitter prism form an angle of 45 degrees with the texture imaging module and the first light emitted by the first light source respectively.

5. The three-dimensional imaging module according to claim 1, characterized in that: The lens mount also includes a third accommodating cavity placed between the first accommodating cavity and the second accommodating cavity; the three-dimensional imaging module also includes a texture imaging module and a third lens group, the texture imaging module is integrated at the bottom of the third accommodating cavity, and the third lens group is integrated in the third accommodating cavity, and is used to project the image of the object to be scanned onto the texture imaging module.

6. The three-dimensional imaging module according to any one of claims 1 to 5, characterized in that: The lens mount includes a plurality of diagonal positioning pins, which are used to fix the diagonals of components to limit the movement of the first camera module and / or the second camera module, the first lens group and / or the second lens group relative to the lens mount.

7. The three-dimensional imaging module according to any one of claims 1 to 5, characterized in that: The lens mount includes a pressure ring and a spacer; the spacer is installed between two lenses of the first lens group and / or the second lens group, and is used to axially position the lenses in the first lens group and / or the second lens group; the pressure ring is installed at both ends of the first lens group and / or the second lens group, and is used to fix the first lens group and / or the second lens group.

8. The three-dimensional imaging module according to claim 7, characterized in that: The lenses in the first lens group and / or the second lens group include glue dispensing positions; the lens mount also includes glue injection holes, which correspond to the glue dispensing positions and are used to allow glue to flow into the glue injection positions.

9. The three-dimensional imaging module according to claim 8, characterized in that: The glue is a low expansion structural glue.

10. The three-dimensional imaging module according to claim 2 or 5, characterized in that: The first accommodating cavity and the second accommodating cavity are symmetrically arranged along the axis of the third accommodating cavity.

11. A three-dimensional scanner, characterized in that: The three-dimensional scanner comprises: shell; A three-dimensional imaging module as described in any one of claims 1-10; the three-dimensional imaging module is accommodated in the housing.

12. The three-dimensional scanner according to claim 11, characterized in that: The three-dimensional scanner also includes a switching module and a texture imaging module; the texture imaging module is used to collect color information of the object to be scanned, and the three-dimensional imaging module can be connected to the switching module; the switching module includes a lighting module and a heating module; the lighting module includes a second light source, a bracket and a cover plate; the second light source is used to provide a lighting environment for the texture imaging module; The bracket is used to determine the position of the second light source, and the cover plate is used to fix the second light source and the bracket in the adapter module.

13. The three-dimensional scanner according to claim 11, characterized in that: The three-dimensional scanner also includes a core bracket, a main control board and a flexible circuit board. The three-dimensional imaging module and the main control board are electrically connected through the flexible circuit board. The three-dimensional imaging module and the main control board are fixed on the core bracket, and the core bracket is made of high thermal conductivity material.

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