3D scanner and 3D scanning system

Abstract

The 3D scanner and the 3D scanning system comprise a light source, an image acquisition module, a first communication assembly, a second communication assembly and a 3D image processing module. The light source projects a light signal to a target object, and the image acquisition module collects the light signal reflected by the target object and generates an image sequence. The first communication assembly receives an image sequence of the image acquisition module and transmits the image sequence to the second communication assembly, and the 3D image processing module receives the image sequence from the second communication assembly and performs 3D reconstruction. According to the utility model, the 3D image processing module is integrated into the 3D scanner, and the software and hardware compatibility test of the 3D image processing module is completed before the 3D scanner leaves the factory, so that the compatibility problem occurring when a user configures a computer by himself / herself is avoided. In addition, the device has the advantages of wide industrial application and simplicity and convenience in operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to 3D scanning field especially relates to a 3D scanner and 3D scanning system. BACKGROUND

[0002] In the field of 3D scanning, 3D scanning technology refers to the technology of obtaining the three-dimensional coordinates of the surface of an object using various physical principles, which is specifically: a 3D scanner emits a light beam to irradiate the surface of the scanned object, and receives the information carried by the light beam reflected by the scanned object to obtain the three-dimensional information of the scanned object. 3D scanners are widely used in industrial manufacturing, cultural relic protection, medical detection, topographic mapping and other fields.

[0003] In 3D scanning, multiple 2D images of the same fixed position need to be taken, and 3D images of the corresponding position can be obtained through algorithm processing. In addition, due to the area limitation of single scanning, multiple scanning of multiple positions is generally required to complete the complete 3D scanning of the target object, and the multiple 3D images obtained by algorithm are spliced and integrated into a complete single 3D image.

[0004] Among them, in 3D splicing, there is non-real-time offline 3D image splicing: first, complete 3D scanning of multiple positions to obtain 3D images of each position, and finally splice and integrate multiple 3D images into a complete single 3D image. There is also a better real-time online 3D image splicing: first, complete 2D scanning of the first position to obtain the 3D image of the first position immediately; second, move the position, then complete 2D scanning of the second position to obtain the 3D image of the second position immediately; third, splice the 3D image of the second position with the 3D image of the first position to obtain a new single 3D image; fourth, move the position again, then complete 2D scanning of the third position to obtain the 3D image of the third position immediately, and splice the 3D image of the third position with the above single 3D image to obtain a new single 3D image; finally, gradually complete the entire 3D scanning and real-time 3D image splicing to obtain a complete single 3D image.

[0005] Both of the above two 3D splicing methods require a large amount of 3D algorithm calculation, and the 3D algorithm software needs to run on a powerful computer hardware platform and software system. If the 3D image software is not compatible with the hardware platform and software system of the computer, the algorithm processing speed will not be fast enough, the real-time splicing effect will be poor, and even the entire 3D scanning process cannot be smoothly performed, greatly reducing the applicability.

[0006] Therefore, in the actual application of the 3D scanner, due to the diversified application scenarios of the 3D scanner, the types of computers purchased by users are various, and the above-mentioned poor adaptability problem often exists, so it has become one of the problems to be solved by the person skilled in the art to design a 3D scanner with strong applicability and excellent performance.

[0007] It should be noted that the above introduction to the technical background is only for the convenience of clearly and completely describing the technical scheme of the utility model, and for the convenience of understanding by the person skilled in the art. The above technical scheme cannot be considered as known by the person skilled in the art only because it is described in the background art part of the utility model. Content of the utility model

[0008] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a 3D scanner and a 3D scanning system, which are used to solve the problem of poor applicability of the 3D scanner in the actual application in the prior art.

[0009] To achieve the above-mentioned purpose and other related purposes, the utility model provides a 3D scanner, which at least comprises: a first component group, a first shell, a second component group and a second shell; the first component group comprises a light source, an image acquisition module and a first communication component; the light source outputs a projection light signal, and the output end of the image acquisition module is connected to the input end of the first communication component; the first component group is assembled in the first shell; the second component group comprises a second communication component and a 3D image processing module; the first communication component communicates with the second communication component, and the output end of the second communication component is connected to the input end of the 3D image processing module; the second component group is assembled in the second shell.

[0010] Optionally, the first communication component and the second communication component communicate wirelessly.

[0011] Optionally, the 3D scanner further comprises a data connection line, which is connected between the first communication component and the second communication component.

[0012] Optionally, the 3D image processing module comprises a 3D image processing unit and a 3D image splicing unit; the first end of the 3D image processing unit serves as the input end of the 3D image processing module, and the second end is connected to the first end of the 3D image splicing unit; the second end of the 3D image splicing unit serves as the output end of the 3D image processing module.

[0013] Optionally, the second component group further comprises a control module, which is connected to the control end of the 3D image processing module and the control end of the second communication component.

[0014] Optionally, the 3D scanner further comprises a data temporary storage module, which is connected to the output end of the 3D image processing module, and the data temporary storage module is assembled in the second shell.

[0015] Optionally, the 3D scanner further comprises a color rendering module, which is connected to the output end of the 3D image processing module, and the color rendering module is assembled in the second shell.

[0016] Optionally, the 3D scanner further comprises a driving module, which is connected to the output end of the 3D image processing module, and the driving module is assembled in the second shell.

[0017] To achieve the above object and other related objects, the utility model also provides a 3D scanning system, the 3D scanning system at least includes: external display device and the 3D scanner, the external display device is connected the 3D scanner.

[0018] Optionally, the 3D scanning system further comprises a computer, which is connected between the 3D scanner and the external display device.

[0019] As described above, the 3D scanner and the 3D scanning system of the utility model have the following beneficial effects:

[0020] 1, the 3D scanner of the utility model integrates the 3D image processing module in the 3D scanner, and the compatibility problem of the software and hardware of the 3D image processing module is debugged in advance, which avoids the compatibility problem when the user configures the computer for image processing.

[0021] 2, the 3D image processing module of the utility model further has a control module, so that the 3D scanner of the utility model can freely regulate and control the work of each module inside the 3D scanner, and make the other modules inside the 3D scanner work cooperatively, improve the work efficiency of the 3D scanner. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It shows the structure schematic diagram of a 3D scanner.

[0023] Figure 2 It shows the structure schematic diagram of the 3D scanner of the utility model.

[0024] Figure 3 It shows the structure schematic diagram of the data connection line of the utility model.

[0025] Figure 4 It shows the structure schematic diagram of the color rendering module of the utility model.

[0026] Figure 5 A structure diagram of a data temporary storage module of the utility model is shown.

[0027] Figure 6 A structure diagram of a driving module of the utility model is shown.

[0028] Figure 7 A first structure diagram of a 3D scanning system of the utility model is shown.

[0029] Figure 8 A second structure diagram of a 3D scanning system of the utility model is shown.

[0030] Element number explanation

[0031] 1 3D scanner

[0032] 11 First component group

[0033] 1a Light source

[0034] 1b Image acquisition module

[0035] 1c First communication component

[0036] 12 First shell

[0037] 13 Second component group

[0038] 1d Second communication component

[0039] 1e 3D image processing module

[0040] 1f Control module

[0041] 14 Second shell

[0042] 1g Data connection line

[0043] 1h Color rendering module

[0044] 1i Data temporary storage module

[0045] 1j Driving module

[0046] 2 External display device

[0047] 3 Computer DETAILED DESCRIPTION

[0048] The embodiments of the present application will be described in detail with specific examples. Those skilled in the art can easily understand other advantages and functions of the present application from the content disclosed in the specification. The present application can also be implemented or applied in other different embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application.

[0049] Please refer to Figures 1-8 . It should be noted that the diagrams provided in the embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the diagrams, not the number, shape and size of the components in actual implementation. The shape, number and proportion of the components in actual implementation can be randomly changed, and the layout of the components can be more complex.

[0050] As Figure 1 indicated, a 3D scanner can be applied in the field of oral medicine. The 3D scanner acquires a sequence of images of teeth by collecting the structured light reflected by the teeth, then uploads the sequence of images to a computer one by one, and the computer performs 3D reconstruction on each sequence of images to obtain local modeling of each sequence of images. The computer then performs 3D stitching and color rendering on each local modeling to obtain a 3D stitched image of the oral cavity, and finally displays the 3D stitched image.

[0051] The existing 3D scanner only performs projection and image acquisition, and the user needs to purchase an additional computer to perform 3D image reconstruction. Since the calculation amount of 3D image modeling, 3D image stitching and 3D image rendering is huge, and real-time online 3D stitching is required, the real-time requirement of the computer is very high, and the computer needs to be configured with powerful CPU, GPU, memory, drive system and operating system, etc. Therefore, in actual application, the computer purchased by the user should have high requirements for software and hardware configuration. However, there are many types of computers on the market, and manufacturers cannot list all the types of computers that can be used by users in the user manual of the 3D scanner. Moreover, since the update of computers is very fast, the recommended computer in the user manual may not be compatible with the 3D scanner, so there are often various compatibility problems between the computer configured by the user and the 3D scanner in actual use.

[0052] In summary, this utility model provides a 3D scanner that can not only perform image acquisition but also 3D image reconstruction, 3D image stitching, and 3D image rendering. Furthermore, the scanner is pre-calibrated at the factory, eliminating the need for users to manually adjust it before use for 3D image reconstruction. This allows the 3D scanner to overcome compatibility issues while maintaining excellent performance, making it suitable for diverse application scenarios. The specific implementation of this utility model is as follows:

[0053] Example 1

[0054] like Figure 2 As shown, this embodiment provides a 3D scanner 1, which includes: a first component group 11, a first housing 12, a second component group 13, and a second housing 14.

[0055] like Figure 2 As shown, the first component group 11 includes a light source 1a, an image acquisition module 1b, and a first communication component 1c; the light source 1a outputs a projection light signal, and the output terminal of the image acquisition module 1b is connected to the input terminal of the first communication component 1c.

[0056] Specifically, in this embodiment, the light source 1a mainly projects light signals onto the target object, causing the target object to reflect the light signals, so as to facilitate subsequent image acquisition of the target object. As an example, the light source 1a can be a laser light source, a structured light source, or an infrared light source. Specifically in the field of oral medicine, the light source 1a can be a structured light source. In practical applications, the specific type of light source 1a can be selected as needed, and is not limited to this embodiment. Further, the image acquisition module 1b receives the reflected light signals from the target object to obtain an image of the target object. When the light source 1a projects onto a fixed position of the target object, the image acquisition module 1b can obtain a sequence of images of the target object at the corresponding position. As an example, the image acquisition module 1b can be an imaging camera. In practical applications, the specific type of image acquisition module 1b can be selected as needed, and is not limited to this embodiment. Furthermore, the first communication component 1c receives the image sequence obtained by the image acquisition module 1b and uses it to transmit the image sequence to the second communication component 1d. The first communication component 1c and the second communication component 1d can perform wireless communication or wired communication. In practical applications, the specific communication method can be selected as needed, and is not limited to this embodiment.

[0057] like Figure 2 As shown, the first component group 11 is assembled inside the first housing 12.

[0058] Specifically, in this embodiment, such as Figure 2As shown in the figure, the first component group 11 is assembled in the first shell 12, and the purpose is to facilitate the user to move the first component group 11 as a whole, and the user can collect different positions of the target object or collect different target objects according to needs. As an example, the material of the first shell 12 can be a square plastic shell, and in actual application, the specific shape and material of the first shell 12 can be selected according to needs, and the present embodiment is not limited.

[0059] As shown in the figure, Figure 2 The second component group 13 includes a control module 1f, a second communication component 1d, and a 3D image processing module 1e. The first communication component 1c communicates with the second communication component 1d, the output end of the second communication component 1d is connected to the input end of the 3D image processing module 1e, and the control module 1f is connected to the control end of the 3D image processing module 1e.

[0060] Specifically, in the present embodiment, when the first communication component 1c and the second communication component 1d adopt wireless communication, as an example, the first communication component 1c and the second communication component 1d both adopt wireless chips, and in actual application, the specific hardware types of the first communication component 1c and the second communication component 1d can be selected according to needs, and the present embodiment is not limited. When the first communication component 1c and the second communication component 1d adopt wired communication, as shown in the figure, Figure 3 The first communication component 1c and the second communication component 1d are connected through a data connection line 1g, that is, the first shell 12 and the second shell 14 can also be connected through the data connection line 1g, as an example, the data connection line 1g adopts a USB data line, and the first communication component 1c and the second communication component 1d both adopt USB interfaces. In actual application, the specific hardware types of the first communication component 1c, the second communication component 1d, and the data connection line 1g can be selected according to needs, and the present embodiment is not limited.

[0061] Specifically, in the embodiment, the 3D image processing module 1e acquires the image sequence from the second communication assembly 1d and performs 3D image reconstruction on the image sequence. Further, the 3D image processing module 1e comprises a 3D image processing unit and a 3D image stitching unit, the 3D image processing unit processes a group of image sequences to obtain a partial 3D image of the target object, and thus a 3D image stitching unit is further needed to stitch all the partial 3D images to obtain a complete 3D stitched image of the target object; wherein the first end of the 3D image processing unit serves as the input end of the 3D image processing module, and the second end is connected to the first end of the 3D image stitching unit; the second end of the 3D image stitching unit serves as the output end of the 3D image processing module. Further, the 3D image processing module 1e comprises a software part and a hardware part, the software part comprises 3D reconstruction software, 3D stitching software and an operating system, and the hardware part comprises a CPU, a GPU and a memory. Before the 3D scanner is shipped, the software and hardware of the 3D image processing module 1e need to be debugged, and the collaborative work between the 3D image processing module 1e and other modules of the 3D scanner 1 has also been debugged to avoid compatibility problems when used by the user.

[0062] Specifically, in the embodiment, the second assembly group further comprises a control module, the control module being connected to the control end of the 3D image processing module and the control end of the second communication assembly. On the one hand, as shown in Figure 2 , the 3D image processing module can be controlled by setting different instructions in the control module to realize starting, pausing and stopping of the 3D image processing module. On the other hand, as shown in Figure 2 , the second communication assembly can also be controlled by the control module 1f, and the control module sequentially transmits control signals to the light source and the image acquisition module through the sequential connection of the second communication assembly, the first communication assembly, the image acquisition module and the light source to realize starting, pausing and stopping of the 3D scanning. In actual application, the specific functions of the control module are set according to the needs, which are not limited by the embodiment.

[0063] As shown in Figure 2 , the second assembly group 13 is assembled in the second housing 14.

[0064] Specifically, in the embodiment, the first assembly group 11 and the second assembly group 13 are assembled in different housings, the purpose being to make the 3D scanner 1 more mobile and flexible during image acquisition. As an example, the material of the second housing 14 can be a square plastic shell. In actual application, the specific shape and material of the second housing 14 are selected according to the needs, which are not limited by the embodiment.

[0065] Specifically, in the embodiment, as shown in Figure 4As shown, the 3D scanner 1 also includes a color rendering module 1h, which is connected to the output end of the 3D image processing module 1e and installed inside the second housing 14. The purpose of the color rendering module 1h is to render the 3D image obtained by the 3D image processing module 1e, thereby giving the 3D image obtained by the 3D scanner 1 a better visual effect. Furthermore, as... Figure 5 As shown, the 3D scanner 1 also includes a data storage module 1i, which is connected to the output of the 3D image processing module 1e and installed inside the second housing 14. The purpose of the data storage module 1i is to temporarily store the 3D images obtained by the 3D image processing module 1e, so that an external storage device can independently choose when to copy the 3D images from the 3D scanner 1. Furthermore, as... Figure 6 As shown, the 3D scanner also includes a drive module 1j, which is connected to the output end of the 3D image processing module 1e and installed inside the second housing 14. The purpose of setting up the drive module 1j is to enable the external device to be driven smoothly when the 3D scanner is connected to an external device.

[0066] It should be noted that, as an example, the workflow of the 3D scanner 1 in this embodiment is as follows: First, the light source 1a projects light signals onto the target object such as teeth; second, the image acquisition module 1b captures the light signals reflected by the target object and generates an image sequence, wherein a corresponding number of images are generated according to the number of times the light source 1a projects onto the target object; third, the first communication component 1c obtains the image sequence from the image acquisition module 1b, the first communication component 1c and the second communication component 1d establish communication and perform data transmission, and the second communication component 1d sends the image sequence to the 3D image processing module 1e; fourth, the 3D image processing... The processing module 1e performs 3D image reconstruction on the image sequence based on software and hardware configurations, and generates local 3D images (in practical applications, the 3D image obtained by the 3D image processing module 1e in a single processing is usually a local image). Therefore, the 3D image processing module 1e also needs to stitch the local 3D images together to obtain a complete 3D stitched image of the target object. The control module 1f can control the various modules in the 3D scanner, coordinate the work between the modules, and improve work efficiency. Fifth, according to actual needs, the 3D scanner 1 can also perform color rendering, data temporary storage, and other processing on the 3D stitched image. In practical applications, the specific workflow of the 3D scanner can be set as needed, and is not limited to this embodiment.

[0067] Example 2

[0068] like Figure 7 As shown, this embodiment provides a 3D scanning system, which includes: an external display device 2 and a 3D scanner 1 as described in Embodiment 1; the external display device 2 is connected to the 3D scanner 1.

[0069] Specifically, in the embodiment, the external display device 2 is connected with the 3D scanner 1 in wired or wireless manner, and the external display device 2 is connected with the driving module 1j of the 3D scanner 1 in wired or wireless manner as an example. In addition, the external display device 2 can display the 3D image obtained by the 3D scanner 1 in real time, so that the external display device 2 of the embodiment does not need to be configured and compatibility debugged by the user. Further, as shown in Figure 8 The 3D scanning system further comprises a computer 3 connected between the 3D scanner 1 and the external display device 2. The computer 3 can be connected with the 3D scanner 1 in wired or wireless manner, and can be connected with the external display device 2 in wired or wireless manner. The computer 3 is connected with the driving module 1j of the 3D scanner 1 in wired or wireless manner as an example. In addition, the computer 3 is used for storing the 3D image obtained by the 3D scanner 1 or sending a control instruction to the 3D scanner, so that the computer 3 can receive and store the 3D image, drive the external display device 2, and transmit the control instruction input by the user to the control module in the 3D scanner 1 through the mouse or keyboard, without too many hardware and software requirements, and the computer 3 does not need to be configured and compatibility debugged by the user.

[0070] In summary, the 3D scanner and the 3D scanning system of the utility model comprise a light source, an image acquisition module, a first communication component, a second communication component and a 3D image processing module. The light source projects a light signal to a target object. The image acquisition module collects the light signal reflected by the target object and generates an image sequence. The first communication component receives the image sequence of the image acquisition module and transmits it to the second communication component. The 3D image processing module receives the image sequence from the second communication component and performs 3D reconstruction. Therefore, the utility model integrates the 3D image processing module into the 3D scanner, and completes the hardware and software compatibility test of the 3D image processing module before the 3D scanner is shipped, thereby avoiding the compatibility problem when the user configures the computer by himself. In addition, the utility model has the advantages of wide industrial application and simple operation. Therefore, the utility model effectively overcomes the shortcomings of the prior art and has high industrial utilization value.

[0071] The above embodiments only exemplarily illustrate the principles and effects of the utility model, and are not used to limit the utility model. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and category of the utility model. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the utility model should be covered by the claims of the utility model.

Claims

1. A 3D scanner characterized in that, The 3D scanner comprises at least a first component group, a first shell, a second component group and a second shell. The first component group comprises a light source, an image acquisition module and a first communication component; the light source outputs a projection light signal, and an output end of the image acquisition module is connected to an input end of the first communication component. The first component group is assembled in the first shell. The second component group comprises a second communication component and a 3D image processing module; the first communication component communicates with the second communication component, and an output end of the second communication component is connected to an input end of the 3D image processing module. The second component group is assembled in the second shell.

2. The 3D scanner of claim 1, wherein: The first communication component and the second communication component communicate wirelessly.

3. The 3D scanner of claim 1, wherein: The 3D scanner further comprises a data connection line connected between the first communication component and the second communication component.

4. The 3D scanner of claim 1, wherein: The 3D image processing module comprises a 3D image processing unit and a 3D image splicing unit; a first end of the 3D image processing unit serves as an input end of the 3D image processing module, and a second end thereof is connected to a first end of the 3D image splicing unit; a second end of the 3D image splicing unit serves as an output end of the 3D image processing module.

5. The 3D scanner of claim 1, wherein: The second component group further comprises a control module connected to a control end of the 3D image processing module and a control end of the second communication component.

6. The 3D scanner of any of claims 1-5, wherein: The 3D scanner further comprises a data temporary storage module connected to the output end of the 3D image processing module, and the data temporary storage module is assembled in the second shell.

7. The 3D scanner of any of claims 1-5, wherein: The 3D scanner further comprises a color rendering module connected to the output end of the 3D image processing module, and the color rendering module is assembled in the second shell.

8. The 3D scanner of any of claims 1-5, wherein: The 3D scanner further comprises a driving module connected to the output end of the 3D image processing module, and the driving module is assembled in the second shell.

9. A 3D scanning system, characterized by The 3D scanning system comprises at least an external display device and the 3D scanner according to any one of claims 1-8; the external display device is connected to the 3D scanner.

10. The 3D scanning system of claim 9, wherein: The 3D scanning system further comprises a computer connected between the 3D scanner and the external display device.

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