Three-dimensional scanner and system

Abstract

The utility model provides a three-dimensional scanner and system. The three-dimensional scanner comprises a shell, an MEMS structured light module, a first camera system, a speckle projector and a second camera system, wherein the MEMS structured light module, the first camera system, the speckle projector and the second camera system are located in a containing cavity of the shell. The first camera system comprises a plurality of first cameras, and a first preset included angle is formed between the main optical axes of the two first cameras with the farthest distance; the second camera system comprises a plurality of second cameras, and a second preset included angle is formed between the main optical axes of the two farthest second cameras; the distance between the optical centers of the two farthest second cameras is greater than the distance between the optical centers of the two farthest first cameras; the first preset included angle is smaller than the second preset included angle. The combination of the MEMS structured light module and the first camera system can be selected if the requirement of the measured object on the reconstruction precision is high, and the combination of the speckle projector and the second camera system can be selected if the requirement of the measured object on the reconstruction precision is low, so that the adaptability and the flexibility of the three-dimensional scanner are improved.

Description

Technical Field

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

[0002] In the field of 3D measurement and reconstruction technology, 3D scanners, as a key piece of equipment, are widely used in a variety of fields, including industrial inspection, reverse engineering, cultural heritage preservation, medical diagnosis, virtual reality, and augmented reality. With the continuous advancement of technology, the market's performance requirements for 3D scanners are also increasing, especially in terms of scanning speed, scanning range, scanning accuracy, and portability.

[0003] Traditional 3D scanners mostly use single scanning technologies. These methods can achieve good results in specific application scenarios, but they often cannot meet the needs of fast scanning and large-scale high-precision measurement at the same time.

[0004] Furthermore, with the increasing diversification of application scenarios, single-mode 3D scanners lack flexibility. Traditional 3D scanners often require additional equipment or multiple scans, which increases operational complexity. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide a three-dimensional scanner and system to solve the technical problem that traditional three-dimensional scanners use a single scanning technology, which increases the complexity of operation.

[0006] To achieve the above-mentioned objectives, the technical solution adopted in the embodiment of the present application is as follows: providing a three-dimensional scanner, comprising: a housing, and a MEMS structured light module, a first camera system, a speckle projector, and a second camera system located in a receiving cavity of the housing;

[0007] The MEMS structured light module is used to project a coded stripe pattern onto the surface of the object being measured;

[0008] The first camera system includes a plurality of first cameras, configured to capture the coded fringe pattern on the surface of the object to be measured, wherein the principal optical axes of the two first cameras that are farthest apart form a first preset angle;

[0009] The speckle projector is used to project a speckle pattern onto the surface of the object to be measured;

[0010] The second camera system includes a plurality of second cameras for collecting the speckle pattern on the surface of the object to be measured, and the main optical axes of the two second cameras that are farthest apart form a second preset angle;

[0011] The distance between the optical centers of the two second cameras that are farthest apart is greater than the distance between the optical centers of the two first cameras that are farthest apart;

[0012] The first preset angle is smaller than the second preset angle.

[0013] As an optional implementation of the first aspect, a single-line laser module and / or a multi-line laser module is further provided in the accommodating cavity;

[0014] The single-line laser module is used to project a beam of laser line onto the surface of the object to be measured;

[0015] The multi-line laser module is used to project multiple laser lines onto the surface of the object to be measured;

[0016] The second camera system is further used to capture the laser line on the surface of the object to be measured.

[0017] As an optional implementation of the first aspect, further comprising a display screen mounted on the housing;

[0018] The display screen faces one side of the shell along the thickness direction, and the MEMS structured light module, the first camera system, the speckle projector, and the second camera system face the other side of the shell along the thickness direction.

[0019] As an optional implementation manner of the first aspect, the first camera system includes two first cameras, and the two first cameras are axially symmetrically distributed;

[0020] The second camera system includes two second cameras, and the two second cameras are axially symmetrically distributed;

[0021] The MEMS structured light module is located on a common symmetry axis of the two first cameras and the two second cameras;

[0022] There is one speckle projector, which is located on the common symmetry axis of the two first cameras and the two second cameras; or there are multiple speckle projectors, which are centrally distributed along the common symmetry axis of the two first cameras and the two second cameras.

[0023] As an optional implementation manner of the first aspect, two groups of first fill lights are further provided in the accommodating cavity, for providing fill light for the first camera system and the second camera system;

[0024] The two groups of the first fill lights are located between the adjacent first camera and the second camera.

[0025] As an optional implementation of the first aspect, a texture camera is further provided in the accommodating cavity; the texture camera is used to capture texture information of the surface of the object to be measured.

[0026] As an optional implementation of the first aspect, a battery and a PCB board are further provided in the accommodating cavity, and a processor is integrated on the PCB board; the battery is used to power the MEMS structured light module, the first camera system, the speckle projector and the second camera system; the processor is used to generate three-dimensional point cloud data of the object under test based on the coded stripe pattern on the surface of the object under test acquired by the first camera system, or the speckle pattern on the surface of the object under test acquired by the second camera system, and generate a three-dimensional model with texture and color based on the three-dimensional point cloud data and the texture information of the surface of the object under test.

[0027] As an optional implementation of the first aspect, a second fill light is further provided in the accommodating cavity, and the second fill light is arranged close to the texture camera to provide fill light for the texture camera.

[0028] In a second aspect, an embodiment of the present application further provides a three-dimensional scanning system, comprising a computer and a three-dimensional scanner as described in any one of the first aspects, wherein the computer is connected to the three-dimensional scanner via a wired or wireless manner, and the computer is used to generate a three-dimensional model of the object being measured.

[0029] As an optional implementation of the second aspect, it further includes a turntable and a tripod, the three-dimensional scanner is provided with a connecting portion connected to the tripod, the turntable is used to place the object to be measured and make the object to be measured rotate at a constant speed.

[0030] The beneficial effect of the three-dimensional scanner provided by the embodiment of the present application is that: when scanning a small range at close range, the three-dimensional scanner of the embodiment of the present application can use a MEMS structured light module in combination with the first camera system to perform high-precision three-dimensional reconstruction of the object under test, which is suitable for scenes with high requirements for details. When scanning a large range at a long distance, a speckle projector can be used in combination with the second camera system to achieve rapid three-dimensional reconstruction of the object under test, which is suitable for scenes with low requirements for accuracy. Therefore, the user can choose the appropriate scanning method according to the level of reconstruction accuracy required by the object under test, thereby improving the adaptability and flexibility of the three-dimensional scanner. In addition, because the three-dimensional scanner integrates multiple scanning methods, it reduces the cost for users to purchase and maintain multiple sets of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 A rear view of the three-dimensional scanner provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the exploded structure of a three-dimensional scanner provided in an embodiment of the present application;

[0034] Figure 3 A schematic structural diagram of the rear housing provided in an embodiment of the present application;

[0035] Figure 4 Schematic diagram of the three-dimensional structure of the three-dimensional scanner provided in the embodiment of the present application Figure 1 ;

[0036] Figure 5 Schematic diagram of the three-dimensional structure of the three-dimensional scanner provided in the embodiment of the present application Figure 2 ;

[0037] Figure 6 Schematic diagram of the three-dimensional structure of the three-dimensional scanner provided in the embodiment of the present application Figure 3 .

[0038] Among them, the reference numerals in the figures are:

[0039] 1-housing, 101-first window, 102-second window, 103-third window, 104-fourth window, 105-fifth window, 106-sixth window, 107-seventh window, 108-power button, 109-function switch button, 110-data line interface, 111-heat dissipation hole, 112-threaded mounting hole, 113-front housing, 114-rear housing, 2-MEMS structured light module, 3-speckle projector, 4-first camera, 5-second camera, 6-first fill light, 7-texture camera, 8-second fill light, 9-PCB board, 10-display, 11-battery. DETAILED DESCRIPTION

[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] In the description of the embodiments of the present application, the term "plurality" refers to more than two (including two).

[0042] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0043] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0044] It should be understood that in the embodiments of the present application, "electrical connection" can be understood as physical contact and electrical conduction between components; it can also be understood as a form of connection between different components in a circuit structure through physical lines such as printed circuit board (PCB) copper foil or wires that can transmit electrical signals.

[0045] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0047] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0048] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments in any suitable manner.

[0049] Please also refer to Figure 1-Figure 3 A three-dimensional scanner provided by an embodiment of the present application is now described. The three-dimensional scanner comprises: a housing 1 having a receiving cavity, in which a MEMS structured light module 2, a first camera system, a speckle projector 3, and a second camera system are disposed.

[0050] The housing 1 is provided with a first window 101 , a second window 102 , a third window 103 and a fourth window 104 corresponding to the positions of the MEMS structured light module 2 , the first camera system, the speckle projector 3 and the second camera system.

[0051] The MEMS structured light module 2 is used to project a coded stripe pattern onto the surface of the object being measured, and the coded stripe pattern is emitted from the first window 101. After being projected onto the surface of the object being measured, the coded stripe pattern causes deformation on the surface of the object being measured, which is then captured by the first camera system. The deformation of the coded stripe pattern on the surface of the object being measured is calculated by the processor within the 3D scanner or an external computer, and the 3D shape of the object being measured can be reconstructed, that is, 3D point cloud data is generated.

[0052] The first camera system includes multiple first cameras 4 for capturing the coded stripe pattern on the surface of the object to be measured. It should be noted that the multiple first cameras 4 refer to two or more first cameras 4. The number of second windows 102 is the same as the number of first cameras 4, and the first cameras 4 capture the coded stripe pattern on the surface of the object to be measured through the second windows 102. In addition, the principal optical axes of the two first cameras 4 farthest apart have a first preset angle therebetween; the principal optical axis of a camera refers to a straight line passing through the optical center of the camera lens and perpendicular to the lens plane. It is easy to understand that when the first camera system includes two first cameras 4, the two first cameras 4 farthest apart refer to the two first cameras 4 in the first camera system.

[0053] The speckle projector 3 is used to project a speckle pattern onto the surface of the object being measured, and the speckle pattern is emitted from the third window 103. These speckle patterns are deformed on the surface of the object being measured, and this deformation reflects the three-dimensional shape information of the object being measured. The second camera system captures these deformed speckle patterns from different angles. The speckle pattern and its deformation in these images are analyzed by the processor within the 3D scanner or an external computer. The 3D coordinates of each point on the surface of the object being measured can be calculated, thereby generating 3D point cloud data.

[0054] The second camera system includes multiple second cameras 5 for capturing speckle patterns on the surface of the object being measured. It should be noted that the term "multiple second cameras 5" refers to two or more second cameras 5. The number of fourth windows 104 is the same as the number of second cameras 5, and the second cameras 5 capture speckle patterns on the surface of the object being measured through the fourth windows 104. Furthermore, the principal optical axes of the two second cameras 5 furthest apart form a second predetermined angle. It will be readily understood that when the second camera system includes two second cameras 5, the two second cameras 5 furthest apart refer to the two second cameras 5 in the second camera system.

[0055] The distance between the optical centers of the two farthest second cameras 5 is greater than the distance between the optical centers of the two farthest first cameras 4. The optical center of a camera refers to the imaging center of the camera or the optical center of the lens. The first preset angle is smaller than the second preset angle, and both the first preset angle and the second preset angle are obtuse angles.

[0056] The two first cameras 4 that are the farthest apart can form a binocular system. Since the distance between the optical centers of the two first cameras 4 that are the farthest apart is small (compared to the distance between the two second cameras 5 that are the farthest apart), this will reduce the first camera system's ability to resolve spatial distances. However, the small spacing will increase the overlapping area of ​​the fields of view of the two first cameras 4 that are the farthest apart, and when the angle between the main optical axes of the two first cameras 4 that are the farthest apart is small (compared to the angle between the two second cameras 5 that are the farthest apart), the overlapping part of the fields of view of the two first cameras 4 that are the farthest apart is larger, and more overlapping areas have more data points that can be used for calculation, thereby reducing data uncertainty caused by errors or occlusions of a single first camera 4. This makes it easier to obtain complete data during the scanning process, which helps to perform high-precision three-dimensional reconstruction of the object being measured. Therefore, when scanning at close range, the first camera system can provide more accurate three-dimensional data, which is suitable for small objects or areas with rich details.

[0057] Due to the limitations of measurement accuracy and the projection range of the light source, the MEMS structured light module 2 can maintain high measurement accuracy and stability at short distances. Based on this, when performing close-range, small-scale scanning, the 3D scanner of the embodiment of the present application can use the MEMS structured light module 2 in combination with the first camera system to perform high-precision 3D reconstruction of the measured object. This is suitable for scenarios requiring high detail, such as cultural relic protection and restoration, medical image reconstruction, industrial design and manufacturing, and other scenarios.

[0058] The two second cameras 5 that are the farthest apart can form a binocular system. Since the distance between the optical centers of the two second cameras 5 that are the farthest apart is large (compared to the distance between the two first cameras 4 that are the farthest apart), this helps to improve the system's ability to resolve spatial distances. At the same time, the large distance also means that the overlapping range of the fields of view of the two second cameras 5 that are the farthest apart will be reduced, that is, the spatial area they observe together will be smaller; similarly, when the angle between the main optical axes of the two second cameras 5 that are the farthest apart is large (compared to the angle between the two first cameras 4 that are the farthest apart), the overlapping part of the field of view will be reduced. Fewer overlapping areas mean fewer data points used for calculation, thereby increasing the uncertainty caused by single camera errors or occlusions, and the accuracy of three-dimensional reconstruction will be appropriately reduced. However, since a larger angle can increase the coverage of the scan, and since fewer data points are processed, the scanning speed will also be faster.

[0059] A speckle pattern, formed by a laser beam reflected or transmitted through a rough surface, consists of randomly distributed bright and dark spots. This pattern exhibits strong resistance to interference during propagation and maintains a certain level of stability and clarity in complex environments or over long distances. Furthermore, speckle patterns are highly adaptable, capable of covering surfaces of varying shapes, materials, and colors. Therefore, a speckle projector3 is suitable for long-distance, large-scale scanning.

[0060] Based on this, the three-dimensional scanner of the embodiment of the present application can use the speckle projector 3 in combination with the second camera system to quickly reconstruct the object being measured in three dimensions when scanning over a long distance and a large range. It is suitable for scenarios with low accuracy requirements, such as topographic mapping, interior decoration modeling, etc.

[0061] Therefore, users can choose the appropriate scanning method based on the object's reconstruction accuracy requirements, improving the adaptability and flexibility of the 3D scanner. In addition, because the 3D scanner integrates multiple scanning methods, it reduces the cost of purchasing and maintaining multiple sets of equipment.

[0062] As some optional embodiments of this application, see Figure 1There are two speckle projectors 3, and the speckle patterns projected by these two speckle projectors 3 partially or completely overlap, thus providing more data points for the object being measured during the scanning process. These additional data points increase the redundancy of the scan data, facilitating more accurate reconstruction of the object's three-dimensional shape during subsequent data processing. Since each speckle projector 3 may have certain errors or noise, the overlap of the two speckle patterns can, to a certain extent, mutually correct these errors, thereby improving the overall scanning accuracy. It will be readily understood that in other optional embodiments, the number of speckle projectors 3 can be one or more than three.

[0063] As some optional embodiments of this application, see Figure 1 The first camera system includes two first cameras 4, which are arranged axially symmetrically. The second camera system includes two second cameras 5, which are arranged axially symmetrically. The symmetry axes of the two first cameras 4 coincide with the symmetry axes of the two second cameras 5. The MEMS structured light module 2 is located on the common symmetry axis of the two first cameras 4 and the two second cameras 5.

[0064] As some optional embodiments of the present application, there is one speckle projector 3 (not shown in the figure), and the speckle projector 3 is located on the common symmetry axis of the two first cameras 4 and the two second cameras 5 .

[0065] As other optional embodiments of this application, see Figure 1 There are two speckle projectors 3 , and the two speckle projectors 3 are centrally distributed along the common symmetry axis of the two first cameras 4 and the two second cameras 5 .

[0066] First of all, it should be noted that the MEMS structured light module 2 and the speckle projector 3 do not have to be set on the symmetry axis of the two first cameras 4. The MEMS structured light module 2 and the speckle projector 3 can be set at other positions, and then the error caused by the position offset can be compensated by optical path design and camera calibration. In the embodiment of the present application, the MEMS structured light module 2 and the speckle projector 3 are placed on the symmetry axis of the two first cameras 4, which has the following advantages: (1) Improving imaging symmetry: The middle position can ensure that the deformation of the projected light pattern on the surface of the object under test has better symmetry from the perspective of the two first cameras 4 at the farthest distance / the two second cameras 5 at the farthest distance. This helps to reduce the image matching error caused by the difference in viewing angle. (2) Simplifying the optical path design: Placing the MEMS structured light module 2 in the middle position can simplify the design and layout of the optical path and reduce the interference and error sources in the optical path. (3) Improving the accuracy of three-dimensional reconstruction: Due to the symmetry of imaging and the simplification of optical path design, placing the MEMS structured light module 2 in the middle position between the two first cameras 4 at the farthest distance / the two second cameras 5 at the farthest distance can improve the accuracy and reliability of three-dimensional reconstruction.

[0067] As some optional embodiments of this application, see Figure 1 The 3D scanner also includes two sets of first fill-lights 6 disposed within the housing. Two sets of fifth windows 105 are defined within the housing 1, corresponding to the positions of the two sets of first fill-lights 6. Light from the two sets of first fill-lights 6 is emitted through the two sets of fifth windows 105. The two sets of first fill-lights 6 are positioned between adjacent first cameras 4 and second cameras 5. Specifically, one set of first fill-lights 6 is positioned between a first camera 4 and a second camera 5 that are adjacent to each other (i.e., the left set of first fill-lights 6 is positioned between the left first camera 4 and the left second camera 5); the other set of first fill-lights 6 is positioned between another first camera 4 and another second camera 5 that are adjacent to each other (i.e., the right set of first fill-lights 6 is positioned between the right first camera 4 and the right second camera 5).

[0068] The two sets of first fill lights 6 provide fill light for both the first and second camera systems. Natural or ambient light can be uneven, leading to problems such as shadows, reflections, and color distortion in the scan results. By providing two sets of first fill lights 6, artificial supplemental lighting can be provided, ensuring uniform and adequate illumination of the surface of the object being measured, thereby improving the scanning effect. The two sets of first fill lights 6 also help improve color reproduction, particularly when scanning colored objects. They provide a stable light source, reducing color deviations caused by ambient light variations.

[0069] The first fill light 6 can be an LED light; a group of first fill light 6 includes at least one first fill light 6.

[0070] As other optional embodiments of the present application, the first camera system includes three first cameras 4 (not shown in the figure). Optionally, the three first cameras 4 are distributed on the same straight line, or the three first cameras 4 can be distributed in a triangular shape. The three first cameras 4 can improve scanning accuracy and robustness, specifically because the three first cameras 4 can simultaneously capture the deformation of the coded stripe pattern from different angles, thereby providing richer three-dimensional data. This multi-angle data capture helps reduce errors and blind spots caused by a single perspective. In addition, the data between multiple first cameras 4 can be mutually verified to improve the accuracy and reliability of the data. If there is an anomaly or error in the data of a certain camera, the data of other cameras can be used as a supplement or correction. The three first cameras 4 can also expand the scanning range and field of view, specifically because the three first cameras 4 can cover a wider field of view, allowing the scanner to capture objects with larger areas or more complex shapes at one time. And due to the expansion of the field of view, the number of scans and the number of times the scanner is moved can be reduced, thereby improving scanning efficiency. In addition, the three first cameras 4 can also improve the data processing speed and thus improve efficiency, specifically because multiple first cameras 4 can work simultaneously and transmit the captured data to the processing unit for parallel processing, thereby significantly improving the speed and efficiency of data processing.

[0071] Similarly, the second camera system may also include three second cameras 5 (not shown). Optionally, the three second cameras 5 are distributed along the same line or in a triangular pattern. The three second cameras 5 can also improve scanning accuracy and robustness, expand the scanning range and field of view, and increase data processing speed and efficiency.

[0072] It is readily understood that the first camera system can include a greater number of first cameras 4, and the second camera system can include a greater number of second cameras 5. Furthermore, the number of first cameras 4 in the first camera system and the number of second cameras 5 in the second camera system can be the same or different, and any combination can be used based on actual needs. For example, in one 3D scanner, the first camera system includes two first cameras 4, and the second camera system includes three second cameras 5. In another 3D scanner, the first camera system includes three first cameras 4, and the second camera system includes two second cameras 5.

[0073] As some optional embodiments of the present application, the three-dimensional scanner also includes a single-line laser module (not shown in the figure) arranged in the accommodating cavity, and the housing 1 is provided with an eighth window (not shown in the figure) at a position corresponding to the single-line laser module. The single-line laser module is used to project a beam of laser line onto the surface of the object to be measured, and the beam of laser line is deformed on the surface of the object to be measured. The deformed laser line can reflect the depth information of the surface of the object to be measured. By collecting the deformed laser line on the surface of the object to be measured through the second camera system, the object to be measured can be three-dimensionally reconstructed to generate three-dimensional point cloud data.

[0074] As other optional embodiments of the present application, the three-dimensional scanner also includes a multi-line laser module (not shown in the figure) arranged in the accommodating cavity, and the housing 1 is provided with a ninth window (not shown in the figure) at a position corresponding to the multi-line laser module. The multi-line laser module is used to project multiple laser lines onto the surface of the object to be measured, and the multiple laser lines are deformed on the surface of the object to be measured, and the deformed laser lines can reflect the depth information of the surface of the object to be measured. The second camera system collects the deformed laser lines on the surface of the object to be measured, and the processor inside the three-dimensional scanner or the external computer can perform three-dimensional reconstruction of the object to be measured to generate three-dimensional point cloud data.

[0075] As some optional embodiments of this application, see Figure 4 、 Figure 5 The 3D scanner also includes a display screen 10 mounted on a rectangular parallelepiped housing 1. The housing 1 is oriented toward one side of the housing 1 along its thickness, while the MEMS structured light module 2, the first camera system, the speckle projector 3, and the second camera system face the other side of the housing 1 along its thickness. In other words, the display screen 10, the MEMS structured light module 2, the first camera system, the speckle projector 3, and the second camera system are disposed in a direction opposite to each other.

[0076] When the 3D scanner of the embodiment of the present application performs 3D reconstruction of the measured object, the 3D point cloud data of the measured object is displayed in real time on the display screen 10. The rectangular 3D scanner is similar in shape to a mobile phone, and the scanning process of the 3D scanner is very similar to the process of recording the measured object through the rear camera of the mobile phone. This is in line with user usage habits, and new users can easily learn the scanning operation.

[0077] As some optional embodiments of this application, see Figure 1The 3D scanner also includes a texture camera 7 disposed in the accommodating cavity. A sixth window 106 is provided on the housing 1 at a position corresponding to the texture camera 7. The texture camera 7 captures texture information of the surface of the object being measured through the sixth window 106. The texture information includes detailed information such as the color, texture, and gloss of the surface of the object being measured. By combining the 3D point cloud data (i.e., shape data) acquired by the 3D scanner and the texture information captured by the texture camera 7, a 3D model with realistic color and texture can be generated. The texture camera 7 can accurately record the texture of the surface of the object being measured, such as smoothness and roughness, making the 3D model visually closer to the real object.

[0078] Optionally, the texture camera 7 is also arranged on the symmetry axis of the two first cameras 4 .

[0079] By incorporating a texture camera 7 into a 3D scanner, the 3D scanning device has a broader range of applications. For example, in industrial design, the texture camera 7 can be used for reverse engineering, prototyping, and quality control of product appearance. By acquiring texture information about a product, designers can more accurately understand its appearance characteristics, enabling improvements and optimization. In the field of cultural relic preservation, the texture camera 7 can help researchers record the original state of cultural relics, providing an important basis for subsequent restoration, reproduction, and display. Furthermore, digitally preserved cultural relic information can be permanently preserved and widely disseminated.

[0080] Optional, see Figure 1 The 3D scanner also includes a set of second fill lights 8 disposed within the accommodating cavity. A seventh window 107 is provided on the housing 1 at a position corresponding to the set of second fill lights 8. Light from the second fill lights 8 is emitted from the seventh window 107. The second fill lights 8 are positioned near the texture camera 7 to provide supplemental light for the texture camera 7. In other words, the distance between the second fill lights 8 and the texture camera 7 is relatively short, less than the set distance. Alternatively, if multiple second fill lights 8 are provided, they can be arranged around the texture camera 7. Each set of second fill lights 8 includes at least one second fill light 8.

[0081] As some optional embodiments of this application, see Figure 2The chamber also contains a battery 11 and a PCB (Printed Circuit Board) 9. The PCB 9 is integrated with a processor. The battery 11 is used to power the MEMS structured light module 2, the first camera system, the speckle projector 3, and the second camera system. The processor is used to generate three-dimensional point cloud data (i.e., shape data) based on the coded fringe pattern on the surface of the object being measured captured by the first camera system, the speckle pattern on the surface of the object being measured captured by the second camera system, and a single laser beam or multiple laser beams on the surface of the object being measured captured by the second camera system. This data is then combined with the texture information on the surface of the object being measured captured by the texture camera 7 to generate a three-dimensional model with realistic color and texture. The three-dimensional model with realistic color and texture can be displayed on the display screen 10. It should be noted that the processor generating three-dimensional point cloud data of the object being measured based on the coded fringe pattern, speckle pattern, single laser beam, or multiple laser beams is a prior art, and the processor generating a three-dimensional model with realistic color and texture based on the three-dimensional point cloud data combined with the texture information on the surface of the object being measured captured by the texture camera 7 is also a prior art.

[0082] By arranging the battery 11 and the processor within the housing 1, the 3D scanner becomes a handheld and highly portable 3D scanner. This 3D scanner can achieve 3D reconstruction without relying on an external power source or an external computer. In other alternative implementations, the 3D scanner transmits the collected data to an external computer, which then performs the 3D reconstruction calculations.

[0083] For details, see Figure 2 The battery 11, processor, MEMS structured light module 2, first camera system, speckle projector 3, second camera system, single-line laser module, multi-line laser module, texture camera 7, etc. are all integrated on the PCB board 9.

[0084] See also Figure 4 A power button 108 and a function switch button 109 are also provided on the side wall of the shell 1. The power button 108 and the function switch button 109 are electrically connected to the PCB board 9. The power button 108 is used to turn the machine on and off. Depending on the actual situation of the object to be measured, the user can switch between the speckle projector 3, the MEMS structured light module 2, and the single-line laser module through the function switch button 109.

[0085] See also Figure 5A data line interface 110 is provided on the side wall of the housing 1. The data line interface 110 is electrically connected to the PCB board 9. Through this data line interface 110, the 3D scanner can be charged and data can be transmitted via a data line. For smaller objects or objects with simple surface structures, calculations can be performed directly by the processor inside the 3D scanner. For larger objects or objects with complex surface structures, an external computer can be connected via a data line for rapid calculations.

[0086] See also Figure 6 A heat dissipation hole 111 is provided at the bottom of the shell 1. The heat dissipation hole 111 is provided corresponding to the position of the heat dissipation fin inside the shell 1, and a fan is provided inside the shell 1. The fan is used to blow the heat on the PCB board 9 to the heat dissipation fin and then discharge it from the heat dissipation hole 111.

[0087] See also Figure 6 A threaded mounting hole 112 is provided at the bottom of the housing 1, and the threaded mounting hole 112 can be detachably connected to the tripod.

[0088] As some optional embodiments of this application, see Figure 2 The housing 1 includes a front housing 113 and a rear housing 114. The display screen 10 is mounted on the front housing 113. The front housing 113 and the rear housing 114 are connected by screws to form a receiving cavity. The PCB board 9 and the processor integrated on the PCB board 9, the battery 11, the MEMS structured light module 2, the first camera system, the speckle projector 3, the second camera system, the texture camera 7, the first fill light 6, the second fill light 8, the fan, the heat sink, etc. are all mounted in the receiving cavity. The first window 101, the second window 102, the third window 103, the fourth window 104, the fifth window 105, the sixth window 106, the seventh window 107, the eighth window, and the ninth window are all provided on the rear housing 114.

[0089] The present application also discloses a three-dimensional scanning system comprising a computer and the three-dimensional scanner of the above embodiment, wherein the computer and the three-dimensional scanner are connected via a wired or wireless connection for data transmission. The computer is used to generate a three-dimensional model of the object being measured.

[0090] Specifically, a data cable can be used to connect the data cable interface 110 on the 3D scanner to the computer to complete data transmission and complete the 3D reconstruction process on the computer; or a communication module can be set in the shell 1 of the 3D scanner to transmit data with the computer through wireless transmission.

[0091] In the 3D scanning process, in addition to being able to carry out 3D reconstruction of a fixed object by holding the 3D scanner and moving it, you can also fix the connection part of the 3D scanner on a tripod, at this time the 3D scanner is stationary, and the object to be measured is placed on a turntable, so that the object to be measured rotates at a constant speed, thereby reconstructing the object to be measured in 3D. The connection part can be as follows Figure 5 The threaded mounting hole 112 at the bottom of the housing 1.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A three-dimensional scanner, characterized in that: The device comprises: a housing, and a MEMS structured light module, a first camera system, a speckle projector, and a second camera system located in a receiving cavity of the housing; The MEMS structured light module is used to project a coded stripe pattern onto the surface of the object being measured; The first camera system includes a plurality of first cameras, configured to capture the coded fringe pattern on the surface of the object to be measured, wherein the principal optical axes of the two first cameras that are farthest apart form a first preset angle; The speckle projector is used to project a speckle pattern onto the surface of the object to be measured; The second camera system includes a plurality of second cameras for collecting the speckle pattern on the surface of the object to be measured, and the main optical axes of the two second cameras that are farthest apart form a second preset angle; The distance between the optical centers of the two second cameras that are farthest apart is greater than the distance between the optical centers of the two first cameras that are farthest apart; The first preset angle is smaller than the second preset angle.

2. The three-dimensional scanner according to claim 1, wherein: A single-line laser module and / or a multi-line laser module is also provided in the accommodating cavity; The single-line laser module is used to project a beam of laser line onto the surface of the object to be measured; The multi-line laser module is used to project multiple laser lines onto the surface of the object to be measured; The second camera system is further used to capture the laser line on the surface of the object to be measured.

3. The three-dimensional scanner according to claim 1, wherein: Also included is a display screen mounted on the housing; The display screen faces one side of the shell along the thickness direction, and the MEMS structured light module, the first camera system, the speckle projector, and the second camera system face the other side of the shell along the thickness direction.

4. The three-dimensional scanner according to claim 1, wherein: The first camera system includes two first cameras, and the two first cameras are axially symmetrically distributed; The second camera system includes two second cameras, and the two second cameras are axially symmetrically distributed; The MEMS structured light module is located on a common symmetry axis of the two first cameras and the two second cameras; There is one speckle projector, which is located on the common symmetry axis of the two first cameras and the two second cameras; or there are multiple speckle projectors, which are centrally distributed along the common symmetry axis of the two first cameras and the two second cameras.

5. The three-dimensional scanner according to claim 4, wherein: Two groups of first fill lights are also provided in the accommodating cavity for providing fill light for the first camera system and the second camera system; The two groups of the first fill lights are located between the adjacent first camera and the second camera.

6. The three-dimensional scanner according to any one of claims 1 to 5, wherein: A texture camera is also provided in the accommodating cavity; the texture camera is used to capture texture information of the surface of the object being measured.

7. The three-dimensional scanner according to claim 6, wherein: A battery and a PCB board are also provided in the accommodating cavity, and a processor is integrated on the PCB board; the battery is used to power the MEMS structured light module, the first camera system, the speckle projector, and the second camera system; The processor is configured to generate three-dimensional point cloud data of the object under test based on the coded fringe pattern on the surface of the object under test acquired by the first camera system, or the speckle pattern on the surface of the object under test acquired by the second camera system, and to generate a three-dimensional model having texture and color based on the three-dimensional point cloud data and the texture information on the surface of the object under test.

8. The three-dimensional scanner according to claim 6, wherein: A second fill light is further provided in the accommodating cavity. The second fill light is arranged close to the texture camera and is used for filling light for the texture camera.

9. A three-dimensional scanning system, characterized in that: It comprises a computer and a three-dimensional scanner as described in any one of claims 1 to 8, wherein the computer is connected to the three-dimensional scanner via a wired or wireless manner, and the computer is used to generate a three-dimensional model of the object to be measured.

10. The three-dimensional scanning system according to claim 9, wherein: It also includes a turntable and a tripod. The three-dimensional scanner is provided with a connecting portion connected to the tripod. The turntable is used to place the object to be measured and make the object to be measured rotate at a constant speed.

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