Three-dimensional scanning system

Abstract

The utility model relates to a three-dimensional scanning system. The system comprises a projection module, an imaging module and a processing module, the projection module is connected with the processing module and is used for synchronously projecting speckle patterns and linear patterns to the surface of the to-be-scanned object; the imaging module is connected with the processing module and used for acquiring image data of the surface of the to-be-scanned object; the processing module is used for assisting point cloud splicing of the second point cloud data according to the first point cloud data to complete scanning of the to-be-scanned object; wherein the first point cloud data is the point cloud data collected based on a speckle pattern in the image data, and the second point cloud data is the point cloud data collected based on a linear pattern in the image data, so that the problem that the scanning efficiency is affected due to the fact that point marking is needed to assist point cloud data splicing is solved, and the scanning efficiency is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of three-dimensional scanners, and particularly to a three-dimensional scanning system. Background Art

[0002] A three-dimensional laser scanner is a non-contact three-dimensional scanning device that uses lasers to perform digital 3D measurements on an object and its surrounding environment. Among them, three-dimensional laser scanning technology obtains the three-dimensional coordinate data of the surface of the target object over a large area through a high-speed laser scanning measurement method, and based on the scanned data, the three-dimensional reconstruction of the target object can be quickly realized. Therefore, three-dimensional laser scanning technology is widely used in multiple fields, such as building and heritage measurement, surveying and mapping engineering, and structural measurement.

[0003] When using a laser scanner for scanning, a pattern is projected onto the target object through a laser projector, and the image data of the surface of the target object is collected to further obtain the three-dimensional point cloud data of the object surface. In order to perform three-dimensional target reconstruction based on the obtained point cloud data, it is required that the surface of the target object to be scanned needs to be pasted with marker points to assist in the splicing of the point cloud data. However, pasting marker points takes a lot of time and cannot quickly complete the scanning work of the target object when using a laser projector to project a pattern, resulting in low scanning efficiency.

[0004] In view of the problem in the related art that marker points are required to assist in the splicing of point cloud data, which affects the scanning efficiency, no effective solution has been proposed yet. Summary of the Utility Model

[0005] Based on this, in view of the problem in the prior art that marker points are required to assist in the splicing of point cloud data, which affects the scanning efficiency, it is necessary to provide a three-dimensional scanning system.

[0006] In a first aspect, the utility model provides a three-dimensional scanning system, which includes: a projection module, an imaging module, and a processing module;

[0007] The projection module is connected to the processing module and is used to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned;

[0008] The imaging module is connected to the processing module and is used to obtain the image data of the surface of the object to be scanned;

[0009] The processing module is used to assist in the point cloud splicing of the second point cloud data according to the first point cloud data to complete the scanning of the object to be scanned; the first point cloud data is the point cloud data collected based on the speckle pattern in the image data; the second point cloud data is the point cloud data collected based on the linear pattern in the image data.

[0010] In one embodiment, the projection module is a projector combination, and the projector combination includes at least one speckle projection module and at least one laser projection module;

[0011] The speckle projection module is configured to project a speckle pattern onto the surface of the object to be scanned;

[0012] The laser projection module is configured to project a linear pattern onto the surface of the object to be scanned.

[0013] In one embodiment, each speckle projection module includes one speckle projector or multiple speckle projectors of the same wavelength band; each laser projection module includes one laser projector or multiple laser projectors of the same wavelength band.

[0014] In one embodiment, the projector combination includes an infrared speckle projection module and an infrared laser projection module;

[0015] Alternatively, the projector combination includes a blue speckle projection module and a blue laser projection module.

[0016] In one embodiment, the projector combination includes an infrared speckle projection module, an infrared laser projection module, and a blue laser projection module;

[0017] Alternatively, the projector combination includes a blue speckle projection module, an infrared laser projection module, and a blue laser projection module.

[0018] In one embodiment, the projector combination includes at least one of an infrared speckle projection module, a blue speckle projection module, an infrared laser projection module, a blue laser projection module, a red speckle projection module, and a red laser projection module.

[0019] In one embodiment, the projection module is a projection lamp, a projector, a vertical cavity surface emitting laser, or a laser projector.

[0020] In one embodiment, the imaging module includes at least two black and white cameras;

[0021] The black and white cameras are configured to acquire image data of the surface of the object to be scanned;

[0022] And / or, the imaging module further includes at least one color camera;

[0023] The color camera is configured to acquire texture information of the surface of the object to be scanned.

[0024] In one embodiment, the imaging module further includes at least one group of fill lights; wherein, the light sources used by different groups of fill lights are different;

[0025] The supplementary light lamp is correspondingly arranged with the projection modules of different light source types in the projection module, and is used for supplementary lighting when the imaging module acquires images;

[0026] Wherein, the number of groups of the supplementary light lamps is the same as the number of light source types used by each of the projection modules.

[0027] In one embodiment, when there are multiple groups of the supplementary light lamps, the supplementary light lamps using different light sources are arranged in a ring around the black-and-white camera in the imaging module at uniform intervals.

[0028] The 3D scanning system provided by the present utility model, compared with the prior art, the system includes: a projection module, an imaging module, and a processing module; the projection module is connected to the processing module and is used for synchronously projecting a speckle pattern and a linear pattern onto the surface of the object to be scanned; the imaging module is connected to the processing module and is used for acquiring image data of the surface of the object to be scanned; the processing module is used for assisting the point cloud stitching of the second point cloud data according to the first point cloud data to complete the scanning of the object to be scanned; wherein, the first point cloud data is the point cloud data collected based on the speckle pattern in the image data, and the second point cloud data is the point cloud data collected based on the linear pattern in the image data, thereby solving the problem that marker points are required to assist the point cloud data stitching, which affects the scanning efficiency, and realizing an effective improvement in the scanning efficiency. Description of the Drawings

[0029] Figure 1 It is a structural block diagram of a 3D scanning system according to an embodiment of the present utility model;

[0030] Figure 2 It is a structural schematic diagram of a 3D scanning system according to an embodiment of the present utility model;

[0031] Figure 3 It is a structural schematic diagram of a 3D scanning system according to an embodiment of the present utility model;

[0032] Figure 4 It is a structural schematic diagram of a 3D scanning system according to an embodiment of the present utility model.

[0033] Reference numerals: 100, projection module; 110, infrared speckle projection module; 111, vertical cavity surface emitting laser; 120, infrared laser projection module; 130, blue laser projection module; 140, blue speckle projection module; 200, imaging module; 210, black-and-white camera; 220, color camera; 230, infrared supplementary light lamp; 240, white supplementary light lamp; 250, blue supplementary light lamp; 300, processing module. Detailed Embodiments

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0035] It should be noted that when a component is referred to as "installed on" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "arranged on" another component, it can be directly arranged on the other component or there may be an intermediate component at the same time. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there may be an intermediate component at the same time.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used in the specification of the present utility model herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0037] The present utility model provides a three-dimensional scanning system. Figure 1 It is a structural block diagram of a three-dimensional scanning system according to an embodiment of the present utility model, as Figure 1 shown. The system includes: a projection module 100, an imaging module 200, and a processing module 300.

[0038] The projection module 100 is connected to the processing module 300 and is used to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned.

[0039] The imaging module 200 is connected to the processing module 300 and is used to obtain image data of the surface of the object to be scanned.

[0040] The processing module 300 is used to assist the point cloud stitching of the second point cloud data according to the first point cloud data to complete the scanning of the object to be scanned; the first point cloud data is the point cloud data collected based on the speckle pattern in the image data; the second point cloud data is the point cloud data collected based on the linear pattern in the image data.

[0041] Specifically, the scanning system of this embodiment is provided with a projection module 100, an imaging module 200, and a processing module 300. Among them, the projection module 100 is set as a combination of different projectors. The projection module 100 includes at least one speckle projection module and at least one laser projection module. The speckle projection module is used to project a speckle pattern onto the surface of the object to be scanned, and the laser projection module is used to project a linear pattern onto the surface of the object to be scanned. Based on this, the projection module 100 is controlled to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned.

[0042] Furthermore, the image data of the surface of the object to be scanned is obtained through the imaging module 200 in the system. The image data includes the first point cloud data collected based on the speckle pattern and the second point cloud data collected based on the linear pattern, so that the point cloud stitching of the second point cloud data can be assisted according to the first point cloud data, and the scanning of the object to be scanned can be completed.

[0043] It should be noted that during the above point cloud stitching process, the first point cloud data collected based on the speckle pattern is processed through a point cloud registration algorithm to obtain the coordinate transformation parameters between the point cloud data in the speckle mode. The coordinate transformation parameters include a rotation matrix, a translation vector, etc. Then, according to the calculated coordinate transformation parameters, the second point cloud data collected based on the linear pattern is stitched and fused, that is, the point cloud stitching and fusion in the laser scanning mode are realized without using the marker points to calculate the coordinate transformation parameters.

[0044] Currently, when using a laser scanner for scanning, a pattern is projected onto the target object through a laser projector, and the image data of the surface of the target object is collected to further obtain the three-dimensional point cloud data of the object surface. In order to perform three-dimensional target reconstruction based on the obtained point cloud data, it is required that marker points be pasted on the surface of the target object to be scanned to assist in the stitching of the point cloud data. However, pasting the marker points will consume a lot of time, and it is impossible to quickly complete the scanning work of the target object when using a laser projector to project a pattern, resulting in low scanning efficiency.

[0045] In comparison with the prior art, the scanning system of the present application is provided with a projection module 100, an imaging module 200, and a processing module 300; the projection module 100 is connected to the processing module 300 and is used to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned; the imaging module 200 is connected to the processing module 300 and is used to acquire the image data of the surface of the object to be scanned; the processing module 300 is used to assist the point cloud stitching of the second point cloud data based on the first point cloud data to complete the scanning of the object to be scanned; wherein, the first point cloud data is the point cloud data collected based on the speckle pattern in the image data, and the second point cloud data is the point cloud data collected based on the linear pattern in the image data. Based on this, by calculating the coordinate transformation parameters such as the rotation matrix and translation vector between the first point cloud data, and according to the calculated coordinate transformation parameters, assisting the second point cloud data for stitching and fusion, avoiding calculating the coordinate transformation parameters using marker points, solving the problem that marker points are required to assist the point cloud data stitching, which affects the scanning efficiency, and realizing the effective improvement of the scanning efficiency.

[0046] In one embodiment, the projection module 100 is a projector combination, and the projector combination includes at least one speckle projection module and at least one laser projection module;

[0047] The speckle projection module is used to project a speckle pattern onto the surface of the object to be scanned;

[0048] The laser projection module is used to project a linear pattern onto the surface of the object to be scanned.

[0049] Specifically, the projection module 100 is set as a projector combination, and the projector combination includes at least one speckle projection module and at least one laser projection module. Among them, the speckle projection module is used to project a speckle pattern onto the surface of the object to be scanned, and the laser projection module is used to project a linear pattern onto the surface of the object to be scanned, so as to be able to control the projection module 100 to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned.

[0050] It should be noted that in this embodiment, there are three preferred setting methods for the projector combination, including setting the projector combination to include one speckle projection module and one laser projection module; setting the projector combination to include one speckle projection module and two laser projection modules with different wavelengths; or setting the projector combination to include two speckle projection modules with different wavelengths and two laser projection modules with different wavelengths.

[0051] Through this embodiment, the projection module 100 is set as a projector combination including at least one speckle projection module and at least one laser projection module. The speckle projection module projects a speckle pattern onto the surface of the object to be scanned, and the laser projection module projects a linear pattern onto the surface of the object to be scanned, thereby realizing the synchronous projection of a speckle pattern and a linear pattern by the projection module 100 onto the surface of the object to be scanned.

[0052] In one embodiment, each speckle projection module includes one speckle projector or multiple speckle projectors of the same wavelength band; each laser projection module includes one laser projector or multiple laser projectors of the same wavelength band.

[0053] Specifically, in the case where the projector combination includes at least one speckle projection module and at least one laser projection module, each speckle projection module contains one speckle projector or multiple speckle projectors of the same wavelength band, and each laser projection module contains one laser projector or multiple laser projectors of the same wavelength band.

[0054] Further, the speckle projection module and the laser projection module are triggered to work synchronously, and the projectors in each projection module project speckles or lasers of corresponding wavelength bands onto the surface of the object to be scanned according to the scanning requirements, and then the reconstruction and stitching results of the speckle projection module are used to guide the reconstruction and stitching of the data of the laser projection module.

[0055] Through this embodiment, one speckle projector or multiple speckle projectors of the same wavelength band are provided in each speckle projection module, and one laser projector or multiple laser projectors of the same wavelength band are provided in each laser projection module, so that a speckle pattern and a linear pattern can be synchronously projected onto the surface of the object to be scanned.

[0056] In one embodiment, the projector combination includes an infrared speckle projection module 110 and an infrared laser projection module 120;

[0057] Alternatively, the projector combination includes a blue speckle projection module 140 and a blue laser projection module 130.

[0058] Specifically, in the projector combination, a speckle projection module and a laser projection module of the same wavelength band are provided. The combination modes of the modules include the infrared speckle projection module 110 and the infrared laser projection module 120, or the blue speckle projection module 140 and the blue laser projection module 130, and each projection module can be composed of multiple projectors of the same wavelength band.

[0059] Please refer to Figure 2, taking the infrared speckle projection module 110 and the infrared laser projection module 120 as an example in a combined manner, the infrared speckle projection module 110 and the infrared laser projection module 120 are placed in combination. The infrared speckle projection module 110 can be set to include a form of multiple vertical cavity surface emitting lasers 111 (Vertical Cavity Surface Emitting Laser, abbreviated as VCSEL). There are three cameras arranged around the projection module, including a black and white camera 210 and a color camera 220, and fill lights are arranged evenly at intervals in a ring around each camera. Among them, the infrared fill lights 230 are arranged evenly at intervals in a ring around each black and white camera 210, and the color camera 220 uses white fill lights 240 for fill light.

[0060] It should be noted that in this embodiment, the projector combination has multiple working modes, including separately triggering the speckle projection module or the laser projection module, so that both projection modules can work independently; triggering the speckle projection module and the camera to work, and the fill lights of the same wavelength band can also be triggered simultaneously to perform scanning in the speckle scanning mode; triggering the laser projection module and the camera to work, and the fill lights of the same wavelength band can also be triggered simultaneously to perform scanning in the laser scanning mode; or, triggering the speckle projection module and the laser projection module simultaneously, and using the results of reconstruction and splicing of the speckle projection module to guide the reconstruction and splicing of the data of the laser projection module.

[0061] Through this embodiment, the projector combination is set to include the infrared speckle projection module 110 and the infrared laser projection module 120, or to include the blue speckle projection module 140 and the blue laser projection module 130, realizing multiple working modes of the projector combination, and being able to assist in splicing the point cloud data in the laser mode according to the point cloud data in the speckle mode, improving the scanning efficiency of the system.

[0062] In one of the embodiments, the projector combination includes an infrared speckle projection module 110, an infrared laser projection module 120, and a blue laser projection module 130;

[0063] Or, the projector combination includes a blue speckle projection module 140, an infrared laser projection module 120, and a blue laser projection module 130.

[0064] Specifically, in the projector combination, there is a speckle projection module and laser projection modules of different wavelength bands. The combination method of the modules includes an infrared speckle projection module 110, an infrared laser projection module 120, and a blue laser projection module 130, or there is a blue speckle projection module 140, an infrared laser projection module 120, and a blue laser projection module 130, and each projection module can be composed of multiple projectors of the same wavelength band.

[0065] Please refer to Figure 3, taking the infrared speckle projection module 110, the infrared laser projection module 120, and the blue laser projection module 130 as an example in a combined manner, the speckle projection module and the laser projection module are placed in combination, and three cameras are arranged around the projection module, including a black-and-white camera 210 and a color camera 220, and the fill lights are arranged in a uniformly spaced annular manner around each camera. Among them, the infrared fill lights 230 and the blue fill lights 250 are arranged in a uniformly spaced annular manner around each black-and-white camera 210, while the color camera 220 is filled with white fill lights 240.

[0066] It should be noted that in this embodiment, the projector combination has multiple working modes, including separately triggering the speckle projection module or the laser projection module, so that both projection modules can work independently; triggering the speckle projection module and the camera to work, and at the same time triggering the fill lights of the same wavelength band to perform scanning in the speckle scanning mode; triggering the infrared laser projection module 120 and the camera to work, and at the same time triggering the infrared fill lights 230 to perform scanning in the laser scanning mode, or triggering the blue laser projection module 130 and the camera to work, and triggering the blue fill lights 250 to perform scanning in the laser scanning mode.

[0067] In addition, the speckle projection module and the laser projection module can be triggered simultaneously, and the results of reconstruction and stitching by the speckle projection module are used to guide the reconstruction and stitching of the data of the laser projection module. For example, trigger the infrared speckle projection module 110, the infrared laser projection module 120, and the camera to work, and at the same time trigger the infrared fill lights 230.

[0068] Through this embodiment, the projector combination is set to include the infrared speckle projection module 110, the infrared laser projection module 120, and the blue laser projection module 130, or to include the blue speckle projection module 140, the infrared laser projection module 120, and the blue laser projection module 130, realizing multiple working modes of the projector combination, and being able to assist in stitching the point cloud data in the laser mode according to the point cloud data in the speckle mode, so as to improve the scanning efficiency of the system while selecting different wavelength band projection modules for scanning according to the scanning requirements.

[0069] In one embodiment, the projector combination includes at least one of the infrared speckle projection module 110, the blue speckle projection module 140, the infrared laser projection module 120, the blue laser projection module 130, the red speckle projection module, and the red laser projection module.

[0070] Specifically, the projector combination in this embodiment includes at least one of the infrared speckle projection module 110, the blue speckle projection module 140, the infrared laser projection module 120, the blue laser projection module 130, the red speckle projection module, and the red laser projection module, and each projection module can be composed of multiple projectors of the same wavelength band.

[0071] Please refer to Figure 4 , the speckle projection modules and the laser projection modules are placed in combination, and three cameras are arranged around the projection modules, including a black and white camera 210 and a color camera 220, and the fill lights are arranged in a ring around each camera at uniform intervals. Among them, the infrared fill lights 230 and the blue fill lights 250 are arranged in a ring around each black and white camera 210 at uniform intervals, while the color camera 220 uses white fill lights 240 for fill light.

[0072] It should be noted that the above projector combination has multiple working modes, including separately triggering the speckle projection module or the laser projection module, so that both projection modules can work independently; triggering the infrared speckle projection module 110 and the camera to work, and the infrared fill light 230 can also be triggered at the same time to perform scanning in the speckle scanning mode, or triggering the blue speckle projection module 140 and the camera to work, and triggering the blue fill light 250 to perform scanning in the speckle scanning mode; triggering the infrared laser projection module 120 and the camera to work, and the infrared fill light 230 can also be triggered at the same time to perform scanning in the laser scanning mode, or triggering the blue laser projection module 130 and the camera to work, and triggering the blue fill light 250 to perform scanning in the laser scanning mode.

[0073] In addition, the speckle projection module and the laser projection module can be triggered at the same time, and the results of reconstruction and stitching by the speckle projection module are used to guide the reconstruction and stitching of the data of the laser projection module. For example, triggering the infrared speckle projection module 110, the infrared laser projection module 120 and the camera to work, and triggering the infrared fill light 230 at the same time, or triggering the blue speckle projection module 140, the blue laser projection module 130 and the camera to work, and triggering the blue fill light 250 at the same time.

[0074] Through this embodiment, the projector combination is set to include an infrared speckle projection module 110, a blue speckle projection module 140, an infrared laser projection module 120 and a blue laser projection module 130, realizing multiple working modes of the projector combination, and being able to assist in stitching the point cloud data in the laser mode according to the point cloud data in the speckle mode, so as to improve the scanning efficiency of the system while selecting different wavelength band projection modules for scanning according to the scanning requirements.

[0075] In one embodiment, the projection module 100 is a projection lamp, a projector, a vertical cavity surface emitting laser or a laser projector.

[0076] Specifically, in addition to setting the projection module 100 as a projector combination, the projection module 100 can be a projector capable of simultaneously projecting speckle features and linear features, and the projector includes, but is not limited to, a projection lamp, a projector, a vertical cavity surface emitting laser, or a laser projector. Based on this, during three-dimensional scanning, the above projector is controlled to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned.

[0077] In this embodiment, the projection module 100 uses projectors such as projection lamps, projectors, or vertical cavity surface emitting lasers to achieve synchronous projection of a speckle pattern and a linear pattern onto the surface of the object to be scanned.

[0078] In one embodiment, the imaging module 200 includes at least two black-and-white cameras 210;

[0079] The black-and-white camera 210 is used to obtain image data of the surface of the object to be scanned.

[0080] And / or, the imaging module 200 further includes at least one color camera 220;

[0081] The color camera 220 is used to obtain texture information of the surface of the object to be scanned.

[0082] Specifically, the imaging module 200 includes at least two black-and-white cameras 210, and the black-and-white cameras 210 are arranged around the projection module 100. Each black-and-white camera 210 is used to obtain image data of the surface of the object to be scanned, and the image data includes first point cloud data collected based on the speckle pattern and second point cloud data collected based on the linear pattern.

[0083] In addition to the black-and-white cameras 210, at least one color camera 220 can be provided in the imaging module 200, and is arranged around the projection module 100 to obtain texture information of the surface of the object to be scanned, and then use the texture information of the surface of the object to be scanned to assist in restoring the material properties of the scanned object and enhance the realism, texture details, and appearance accuracy of the three-dimensional reconstruction model.

[0084] In this embodiment, image data of the surface of the object to be scanned is obtained through the black-and-white cameras 210 to facilitate subsequent point cloud stitching of the second point cloud data assisted by the first point cloud data. In addition, texture information of the surface of the object to be scanned can be obtained through the color cameras 220, effectively assisting the three-dimensional reconstruction process of the scanned object and improving the accuracy and integrity of the three-dimensional reconstruction model.

[0085] In one embodiment, the imaging module 200 further includes at least one group of fill lights; among them, the light sources used by different groups of fill lights are different;

[0086] The fill light is correspondingly set with the projection modules of different light source types in the projection module 100, and is used for filling light when the imaging module 200 acquires images;

[0087] Among them, the number of groups of fill lights is the same as the number of light source types used by each projection module.

[0088] Specifically, the imaging module 200 of this embodiment includes at least one group of fill lights, and the fill lights are correspondingly set with the projection modules of different light source types in the projection module 100, and are used for filling light when the imaging module 200 acquires images. It should be noted that since the light sources used by different groups of fill lights are different, the number of groups of fill lights is the same as the number of light source types used by each projection module.

[0089] Exemplarily, when the projection module adopts a projector combination including an infrared speckle projection module 110 and an infrared laser projection module 120, infrared fill lights 230 are arranged evenly around each black-and-white camera 210; when the projection module adopts a projector combination including a blue speckle projection module 140 and a blue laser projection module 130, blue fill lights 250 are arranged evenly around each black-and-white camera 210. In addition, if the imaging module 200 is provided with a color camera 220, a plurality of white fill lights 240 are arranged evenly around the color camera 220.

[0090] Through this embodiment, the fill lights are correspondingly set with the projection modules of different light source types in the projection module 100, so as to fill light when the imaging module 200 acquires images, so as to obtain high-quality scan data, which is convenient for subsequent processing and analysis.

[0091] In one embodiment, in the case of multiple groups of fill lights, fill lights using different light sources are arranged in a ring at uniform intervals around the black-and-white cameras 210 in the imaging module 200.

[0092] Specifically, if there are multiple groups of fill lights in the system, fill lights using different light sources are arranged in a ring at uniform intervals around the black-and-white cameras 210 in the imaging module 200. For example, when the projection module adopts a projector combination including an infrared speckle projection module 110, a blue speckle projection module 140, an infrared laser projection module 120, and a blue laser projection module 130, the infrared fill lights 230 and the blue fill lights 250 are arranged around the ring of each black-and-white camera 210 at a preset uniform interval, and the infrared fill lights 230 and the blue fill lights 250 are adjacent to each other.

[0093] In this embodiment, in the case of multiple groups of fill lights, fill lights with different light sources are arranged in a ring around the black-and-white camera 210 in the imaging module 200 at uniform intervals, so that corresponding fill lights can be triggered for fill light according to different selection methods of the projection modules, effectively enhancing the visibility of the object to be scanned and the capture of details.

[0094] The following describes and illustrates this embodiment through preferred embodiments.

[0095] This embodiment provides a three-dimensional scanning system, which includes: a projection module 100, an imaging module 200, and a processing module 300; wherein, the projection module 100 and the imaging module 200 are respectively connected to the processing module 300. Specifically, the projection module 100 is a projector combination, and the projector combination includes an infrared speckle projection module 110, a blue speckle projection module 140, an infrared laser projection module 120, and a blue laser projection module 130, which are used to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned.

[0096] The imaging module 200 includes two black-and-white cameras 210, a color camera 220, and multiple groups of fill lights with different light sources. Among them, the black-and-white camera 210 is used to obtain image data on the surface of the object to be scanned, including first point cloud data collected based on the speckle pattern and second point cloud data collected based on the linear pattern, and the color camera 220 is used to obtain texture information on the surface of the object to be scanned.

[0097] It should be noted that each group of fill lights is correspondingly arranged with the projection modules of different light source types in the projection module 100. According to the preset uniform interval, the infrared fill lights 230 and the blue fill lights 250 are arranged in a ring around each black-and-white camera 210, and the infrared fill lights 230 and the blue fill lights 250 are adjacent to each other. Around the color camera 220, multiple uniformly arranged white fill lights 240 are provided.

[0098] Further, after the processing module 300 obtains the first point cloud data and the second point cloud data, the first point cloud data is processed through a point cloud registration algorithm to obtain coordinate transformation parameters between the point cloud data in the speckle mode. The coordinate transformation parameters include a rotation matrix, a translation vector, etc. Based on this, according to the calculated coordinate transformation parameters, the second point cloud data is stitched and fused, and then the scanning of the object to be scanned is completed.

[0099] Through this embodiment, the projector combination is controlled to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned, and the first point cloud data collected based on the speckle pattern and the second point cloud data collected based on the linear pattern are accurately acquired. Thus, the point cloud registration result of the first point cloud data can be used to assist in the stitching and fusion of the second point cloud data, avoiding the calculation of coordinate transformation parameters using fiducial points, thereby solving the problem that fiducial points are required to assist in the stitching of point cloud data and affecting the scanning efficiency, and effectively improving the scanning efficiency.

[0100] In addition, the projection module 100 in this embodiment includes a multi-band speckle projector and a laser projector, which can be flexibly switched according to different scanning scenarios, improving the flexibility and practicality of the scanning system.

[0101] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered that the scope described in this specification.

[0102] The above-described embodiments merely represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. A three-dimensional scanning system, characterized in that, The system includes: a projection module, an imaging module, and a processing module; The projection module, connected to the processing module, is configured to synchronously project a speckle pattern and a linear pattern onto the surface of the object to be scanned; Wherein, the projection module is a projector combination, and the projector combination includes at least one speckle projection module and at least one laser projection module; the speckle projection module is configured to project a speckle pattern onto the surface of the object to be scanned; the laser projection module is configured to project a linear pattern onto the surface of the object to be scanned; The imaging module, connected to the processing module, is configured to acquire image data of the surface of the object to be scanned; The imaging module further includes at least one group of fill lights; different groups of the fill lights use different light sources; the fill lights are correspondingly arranged with the projection modules of different light source types in the projection module, and are used for filling light when the imaging module acquires images; wherein, the number of groups of the fill lights is the same as the number of types of light sources used by each of the projection modules; Wherein, in the case where there are multiple groups of the fill lights, the fill lights using different light sources are evenly spaced in a ring around the black-and-white camera in the imaging module; The processing module is configured to assist in point cloud stitching of the second point cloud data based on the first point cloud data to complete the scanning of the object to be scanned; the first point cloud data is the point cloud data collected based on the speckle pattern in the image data; the second point cloud data is the point cloud data collected based on the linear pattern in the image data.

2. The three-dimensional scanning system according to claim 1, characterized in that, Each of the speckle projection modules includes one speckle projector or multiple speckle projectors of the same wavelength band; each of the laser projection modules includes one laser projector or multiple laser projectors of the same wavelength band.

3. The three-dimensional scanning system according to claim 1, characterized in that, The projector combination includes an infrared speckle projection module and an infrared laser projection module; Alternatively, the projector combination includes a blue speckle projection module and a blue laser projection module.

4. The three-dimensional scanning system according to claim 1, characterized in that, The projector combination includes an infrared speckle projection module, an infrared laser projection module, and a blue laser projection module; Alternatively, the projector combination includes a blue speckle projection module, an infrared laser projection module, and a blue laser projection module.

5. The three-dimensional scanning system according to claim 1, characterized in that, The projector combination includes at least one of an infrared speckle projection module, a blue speckle projection module, an infrared laser projection module, a blue laser projection module, a red speckle projection module, and a red laser projection module.

6. The three-dimensional scanning system according to claim 1, characterized in that, The projection module is a projection lamp, a projector, a vertical cavity surface emitting laser, or a laser projector.

7. The three-dimensional scanning system according to claim 1, characterized in that, The imaging module includes at least two black-and-white cameras; The black-and-white camera is configured to acquire image data of the surface of the object to be scanned; And / or, the imaging module further includes at least one color camera; The color camera is configured to acquire texture information of the surface of the object to be scanned.

Images