Three-dimensional scanner

Abstract

The application provides a kind of three-dimensional scanner, comprising: structured light module unit, including at least one or more structured light module, structured light module is used to emit structured light;Shaping optical device, activity is arranged in the light exit side of at least one structured light module, or fixedly arranged in the light exit side of part structured light module in multiple structured light modules, shaping optical device is used to shape structured light from structured light module unit into flat-top beam and is shot to measured object.The application does not need to additionally increase active light supplementing device, greatly simplifies the overall structure of three-dimensional scanner, effectively avoids the problem that three-dimensional scanner is obese, while shaping optical device can reduce failure point, reduce control complexity, improve system stability and prolong the life of whole machine;Structured light module light efficiency is high, and flat-top beam formed by cooperating shaping optical device can realize high-brightness uniform illumination, improve light efficiency utilization, adapt to conventional scanning mode and deep hole flash measurement function multi-scene demand.

Description

Technical Field

[0001] This application belongs to the field of 3D scanning technology, and more specifically, relates to a 3D scanner. Background Technology

[0002] During scanning, a 3D scanner projects a laser onto the object being measured, and then a camera module captures the pattern of the object with features imparted by the laser. After processing by an algorithm, the 3D data of the object is obtained.

[0003] However, current 3D scanners do not perform well in measuring information such as hole diameter and roundness. With the increasing prevalence of industrial 3D scanners, applications increasingly require 3D scanners to have deep hole quick measurement capabilities.

[0004] To achieve deep hole flash measurement, existing 3D scanners have implemented this function by adding a hole measuring camera and a ring light composed of multiple LEDs (Light-Emitting Diodes), resulting in a very bulky 3D scanner. In addition, as an active device, the light is easily damaged if not operated properly, reducing the overall lifespan of the machine and increasing the control complexity and system instability of the 3D scanner. Utility Model Content

[0005] The purpose of this application is to provide a 3D scanner to solve the technical problem that current 3D scanners, in order to enable deep hole flash measurement, result in bulky shapes and reduced overall lifespan.

[0006] To achieve the above objectives, the technical solution adopted in this application is: to provide a 3D scanner, comprising: A structured light module unit includes at least one or more structured light modules, the structured light modules being used to emit structured light; A shaping optics device is movably disposed on the light-emitting side of at least one of the structured light modules, or fixedly disposed on the light-emitting side of some of the structured light modules in a plurality of structured light modules. The shaping optics device is used to shape the structured light from the structured light module unit into a flat-top beam and direct it toward the object under test.

[0007] As an optional implementation, the shaping optics are movably disposed on at least one of the structured light modules, or the shaping optics are fixedly disposed on a portion of the structured light modules among a plurality of the structured light modules.

[0008] As an optional implementation, the 3D scanner further includes: A scanner housing having a cavity for accommodating the structured light module unit; the structured light module unit having at least one or more light-transmitting holes for the structured light to pass through at a position relative to the scanner housing; The shaping optical device is movably disposed within at least one of the light-transmitting holes, or the shaping optical device is fixedly disposed within a first portion of the light-transmitting holes among a plurality of light-transmitting holes.

[0009] As an optional implementation, the 3D scanner further includes: A scanner housing having a cavity for accommodating the structured light module unit; the structured light module unit having at least one or more light-transmitting holes for the structured light to pass through at a position relative to the scanner housing; The mounting base has a mounting through hole, and the shaping optical device is disposed in the mounting through hole; the mounting base is movably disposed on the scanner housing so that the shaping optical device is disposed opposite to at least one of the light-transmitting holes; or, the mounting base is fixedly disposed on the scanner housing so that the shaping optical device is disposed opposite to a second portion of the light-transmitting holes among the plurality of light-transmitting holes.

[0010] As an optional implementation, the scanner housing is provided with a first connecting part, and the mounting base is provided with a second connecting part; the mounting base is connected to the first connecting part on the scanner housing by means of a snap-fit ​​connection, a sliding connection, a rotational connection, a magnetic connection, or a threaded connection through the second connecting part.

[0011] As an optional implementation, the light-transmitting holes are multiple, the first connecting part is the third part of the light-transmitting holes, the second connecting part is a buckle disposed opposite to the third part of the light-transmitting holes, and in the state where the buckle is snapped into the third part of the light-transmitting holes, the light-transmitting holes other than the third part of the light-transmitting holes are disposed opposite to at least one of the shaping optical devices.

[0012] As an optional implementation, the 3D scanner further includes a vibration component for driving the shaping optics to vibrate in a direction perpendicular to the light emission direction of the structured light.

[0013] As an optional implementation, the vibrating component includes: Drive mechanism, including a rotary output shaft; A cam mechanism includes a cam and a follower. The cam is eccentrically mounted on the rotary output shaft. One end of the follower is tactilely connected to the cam, and the other end of the follower is used to drive the shaping optics to vibrate in a direction perpendicular to the light output direction of the structured light.

[0014] As an optional implementation, the mounting base is provided with a gripping part.

[0015] As an optional implementation, the shaping optics are diffusers or diffractive optical elements. This enables immediate switching from 3D scanning to aperture position measurement using a 3D scanner. The beneficial effects of this application are as follows: By setting a shaping optical device on the light-emitting side of the structured light module, the structured light passing through the shaping optical device forms a flat-top beam, eliminating the need for additional active lighting devices. This significantly simplifies the overall structure of the 3D scanner, effectively avoiding the problem of a bulky 3D scanner and providing support for miniaturized equipment design. At the same time, the passive shaping optical device can reduce failure points, reduce control complexity, improve system stability, and extend the overall lifespan of the device. The structured light module has high luminous efficiency, and the flat-top beam formed by the shaping optical device can achieve high-brightness and uniform illumination, improve luminous efficiency utilization, and adapt to the needs of multiple scenarios, including conventional scanning modes and deep hole flash measurement functions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the shaping optical device provided in this application embodiment, which is disposed on the light-emitting side of the structured light module; Figure 2 An illustration of the projection pattern formed by structured light passing through a shaping optics in a line laser module provided in this application embodiment; Figure 3 for Figure 2 The pixel coordinates of the black line in the middle - relative light intensity map; Figure 4 A schematic diagram of the structure of the shaping optical device fixedly mounted on the structured light module according to an embodiment of this application; Figure 5 A schematic diagram of the structure of the shaping optical device provided in the embodiments of this application, which is installed on the structured light module by a snap-fit ​​connection; Figure 6 A schematic diagram of the structure of the shaping optical device mounted on the scanner housing according to an embodiment of this application; Figure 7 A schematic diagram illustrating the structure of the mounting base provided in this application embodiment, which is mounted on the scanner housing via a snap-fit ​​connection. Figure 8 A partial schematic diagram showing the mounting base provided in this application embodiment being installed on the scanner housing via a snap-fit ​​connection; Figure 9 A cross-sectional view of the mounting base provided in this application embodiment being mounted on the scanner housing via a snap-fit ​​connection; Figure 10 A schematic diagram of the structure of the mounting base slidably mounted on the scanner housing according to an embodiment of this application. Figure 1 ; Figure 11 A schematic diagram of the structure of the mounting base slidably mounted on the scanner housing according to an embodiment of this application. Figure 2 ; Figure 12 A schematic diagram of the structure of the mounting base provided in this application embodiment, which is mounted on the scanner housing via a hinge. Figure 1 ; Figure 13 A schematic diagram of the structure of the mounting base provided in this application embodiment, which is mounted on the scanner housing via a hinge. Figure 2 ; Figure 14 The projection pattern without speckle after decoherence provided in the embodiments of this application; Figure 15 This is a schematic diagram of the structure of the vibration component and the mounting base disclosed in the embodiments of this application.

[0018] The following are the labeling elements in the figure: 100-3D scanner, 10-structured light module, 11-boob, 20-shaping optics, 21-straight arm buckle, 30-scanner housing, 31-guide block, 32-light-transmitting hole, 33-slide rail, 34-hinge, 40-mounting base, 41-mounting through hole, 42-grip, 43-circumferential buckle, 50-cam mechanism, 51-cam, 52-follower, 521-follower rod, 5211-limiting block, 522-spring, 523-ball bearing, 60-structured light, 70-rotary output shaft, 80-camera module. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0020] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two).

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0022] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0023] It should be understood that in the embodiments of this application, "electrical connection" can be understood as physical contact and electrical conduction between components; it can also be understood as the form in which different components in the circuit structure are connected through physical lines that can transmit electrical signals, such as copper foil of a printed circuit board (PCB) or wires.

[0024] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0025] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0026] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments in any suitable manner.

[0028] Industrial 3D scanners typically include a camera module and a structured light module. The camera module can be a binocular camera module, a three / multi-camera camera module, etc. The laser module is used to emit structured light, which can be a line laser, speckle laser, point laser, phase laser, pulsed laser, area laser, etc. Therefore, the structured light module can be a line laser module, speckle laser module, point laser module, phase laser module, pulsed laser module, area laser module, etc.

[0029] For example, taking a binocular camera module and a line laser module as an example, the focal points of the binocular camera module and the line laser module coincide in the working area. During scanning, the line laser is directed onto the object being measured, and then the binocular camera captures the pattern of the object being measured, which is characterized by the line laser. After processing by the algorithm, the three-dimensional data of the object being measured is obtained.

[0030] Traditional industrial 3D scanners often fail to accurately measure information such as the diameter and roundness of holes on the surface of objects. Therefore, there is an urgent need for 3D scanners to have deep hole quick measurement capabilities.

[0031] Currently, some 3D scanners achieve this function by adding a hole-measuring camera and a ring light composed of multiple LEDs, resulting in a very bulky 3D scanner. Furthermore, the ring light is an active device, and active devices have a limited lifespan; improper operation can easily damage it, reducing the overall lifespan of the device. Therefore, in order to achieve deep hole flash measurement, existing 3D scanners not only increase the size of the device but also increase the complexity of the 3D scanner's control and system instability, thus reducing the overall lifespan of the device.

[0032] Therefore, this application discloses a 3D scanner 100. Please refer to [link / reference]. Figure 1The 3D scanner 100 provided in this application embodiment will now be described. The 3D scanner 100 includes: a structured light module unit, including at least one or more structured light modules 10, which are used to emit structured light 60; and a shaping optics device 20, which is movably disposed on the light-emitting side of at least one structured light module 10, or fixedly disposed on the light-emitting side of some of the multiple structured light modules 10, which is used to shape the structured light 60 from the structured light module unit into a flat-top beam and direct it toward the object being measured.

[0033] Optionally, the structured light module unit can be any one or more of line laser modules, speckle laser modules, point laser modules, phase-type laser modules, pulsed laser modules, and area laser modules. For example, the 3D scanner 100 includes one line laser module, one speckle laser module, and one phase-type laser module. As another example, the 3D scanner 100 includes multiple line laser modules, which can be single-line laser modules, few-line parallel laser modules, multi-line intersecting laser modules, and multi-line array laser modules. By switching between different working modes, it can adapt to diverse scenarios with different object features, accuracy requirements, and scanning efficiency.

[0034] Specifically, single-line laser modules correspond to local high-precision scanning modes, using only one laser line with strong focusing; they are characterized by the highest precision, smallest spot size, and the ability to penetrate confined spaces at the slowest speed. Few-line parallel laser modules correspond to fine scanning modes, using 7-10 parallel laser lines with concentrated power; they balance precision and detail, have low noise, and can reproduce complex surfaces and edges. Multi-line intersecting laser modules correspond to high-speed scanning modes, using 14-34 intersecting laser lines with wide coverage; they are characterized by fast scanning speed, high point cloud density, and strong material adaptability (e.g., reflective, black objects). Multi-line array laser modules correspond to large-area scanning modes, using 60+ laser lines (including 60% structured light fusion), with a large scanning area; they are characterized by extremely high scanning efficiency and support for markerless stitching.

[0035] The shaping optical device 20 is a passive optical device made of optical materials with beam shaping function. It has a sheet-like or block-like structure and its optical surface is precision polished and coated to ensure the transmittance and shaping accuracy when the beam passes through.

[0036] See Figure 1 The shaping optics 20 is disposed on the light-emitting side of the structured light module 10 and is used to shape the structured light 60 output by the structured light module 10, transforming the original linear, point-like or non-uniformly distributed structured light 60 into a beam with a flat-top energy distribution.

[0037] A flat-top beam is a laser beam or electron beam that has an almost uniform flux (energy density) within a circular region.

[0038] See Figure 2 and Figure 3 , Figure 2 This is an image showing the effect of the structured light from the line laser module passing through the shaping optics 20 to form the projection pattern. Figure 3 for Figure 2 The pixel coordinates of the black line in the middle - relative intensity map. From Figure 3 It can be seen that the light intensity in the middle of the projected pattern is almost uniform.

[0039] When the flat-top beam is projected onto the plane surrounding the deep hole, it can achieve uniform illumination of the plane and make it overexposed, while the deep hole area forms a distinct dark area due to the lack of light reflection. The two create a strong contrast, which makes it easy for the camera module 80 to clearly capture the deep hole image, and then calculate the hole's diameter, roundness and other dimensional information through algorithms. At the same time, the shaping optics is a passive device that does not require an additional power supply, avoiding the lifespan limitations and failure risks of traditional active lighting components (such as LED fill lights).

[0040] Optionally, the shaping optics 20 can be a diffuser or a diffractive optical element (DOE).

[0041] Specifically, the active setup refers to assembling the shaping optical device 20 in a detachable, movable, or adjustable manner on the light-emitting side of at least one structured light module 10. The assembly relationship is not fixed and can be adjusted at any time (added / removed / shifted / removed) according to the functional requirements of the 3D scanner 100 (regular scanning / hole position flash measurement).

[0042] Fixed setup refers to the following: for configuration scenarios with multiple structured light modules 10, the shaping optical device 20 is assembled on the light-emitting side of some structured light modules 10 in a fixed position and cannot be arbitrarily disassembled. After assembly, it remains stable for a long time and is specifically used for beam shaping for deep hole flash measurement function. The remaining unassembled structured light modules 10 retain their original functions and are used for conventional 3D scanning.

[0043] For example, a structured light module unit may include a structured light module 10, with a shaping optics 20 movably disposed on the light-emitting side of the structured light module 10; that is, in the normal scanning mode, the shaping optics 20 is removed from the light-emitting side of the structured light module 10; when the deep aperture flash measurement function is required, the shaping optics 20 is disposed on the light-emitting side of the structured light module 10.

[0044] For example, a structured light module unit may include multiple structured light modules 10, and shaping optics 20 may be movably disposed on the light-emitting side of one or more of the structured light modules 10; for example, there may be four structured light modules 10, and the shaping optics 20 may be movably disposed on the light-emitting side of one, two, three, or four structured light modules 10. It should be noted that in the embodiments where the shaping optics 20 is movably disposed, the number of multiple structured light modules 10 may be equal to or less than the number of structured light modules 10.

[0045] For example, a structured light module unit may include multiple structured light modules 10, and shaping optics 20 may be fixedly disposed on the light-emitting side of some of the multiple structured light modules 10; for example, there are four structured light modules 10, and the shaping optics 20 are fixedly disposed on the light-emitting side of one, two, or three of the structured light modules 10. In the normal scanning mode, the structured light module 10 without the shaping optics 20 fixedly disposed on the light-emitting side is used to scan the surface of the object being measured; when the deep hole flash measurement function is required, the structured light module 10 with the shaping optics 20 disposed on the light-emitting side is used to scan the area surrounding the deep hole.

[0046] Specifically, the conventional scanning mode refers to projecting structured light 60 onto a large area of ​​the surface of the object being measured through the structured light module 10. The camera module 80 acquires the structured light 60 pattern with features on the surface of the object being measured, and the algorithm processes the data to obtain the three-dimensional data of the object being measured.

[0047] Specifically, the deep hole flash measurement function refers to the structured light 60 passing through the shaping optics 20 forming a flat-top beam that illuminates the deep hole area. Since the deep hole area has no light reflection and forms a distinct dark area, the two form a strong contrast, which makes it easy for the camera module 80 to clearly capture the deep hole image, and then calculate the hole's diameter, roundness and other dimensional information through algorithms.

[0048] This embodiment of the application sets a shaping optics device 20 on the light-emitting side of the structured light module 10, so that the structured light 60 passing through the shaping optics device 20 forms a flat-top beam. This eliminates the need for additional active lighting devices, greatly simplifying the overall structure of the 3D scanner 100 and effectively avoiding the problem of a bulky 3D scanner 100. This provides support for the miniaturization design of the device. At the same time, the passive shaping optics device 20 can reduce failure points, reduce control complexity, improve system stability, and extend the life of the whole machine. The structured light module 10 has high luminous efficiency, and the flat-top beam formed by the shaping optics device 20 can achieve high-brightness and uniform illumination, improve luminous efficiency utilization, and adapt to the needs of multiple scenarios such as conventional scanning modes and deep hole flash measurement functions.

[0049] As some alternative implementations, the shaping optics 20 is movably disposed on at least one structured light module 10, or the shaping optics 20 is fixedly disposed on the housing of a portion of the structured light modules 10 among a plurality of structured light modules 10.

[0050] For example, there are four structured light modules 10, and shaping optics 20 are fixedly mounted on the housing of one, two, or three of the structured light modules 10. Thus, the 3D scanner 100 can scan a large area of ​​the surface of the object being measured using the structured light module 10 without the shaping optics 20 mounted on the housing (i.e., conventional scanning mode), and scan the deep hole area of ​​the surface of the object being measured using the structured light module 10 with the shaping optics 20 mounted on the housing (i.e., deep hole flash measurement function).

[0051] For example, the structured light module 10 has four units, and the shaping optics 20 are detachably mounted on the housing of one, two, three, or four of the structured light modules 10. In the normal scanning mode, the shaping optics 20 are detached from the structured light module 10, and when using the deep hole flash measurement function, the shaping optics 20 are mounted on the structured light module 10.

[0052] Figure 4 The diagram shows a structural schematic of the shaping optical device 20 provided in this application embodiment being fixedly mounted on the housing of the structured light module 10. In this embodiment, the shaping optical device 20 is bonded to the housing of the structured light module 10.

[0053] Figure 5 The illustration shows a schematic diagram of the structure of the shaping optical device 20 provided in this application, which is installed on the housing of the structured light module 10 by a snap-fit ​​connection. In this embodiment, the housing of the structured light module 10 is provided with a boss 11, which is optionally hemispherical. The shaping optical device 20 is integrally formed or detachably connected with a snap-fit, which is optionally a straight-arm snap-fit ​​21. Through the cooperation between the snap-fit ​​and the boss 11, the shaping optical device 20 and the housing of the structured light module 10 can be detachably installed.

[0054] In other embodiments, the shaping optics 20 and the housing of the structured light module 10 can be detachably installed by means of magnetic connection or threaded connection.

[0055] In this embodiment, the shaping optical device 20 is fixedly installed or detachably installed on the housing of the structured light module 10, so the volume of the 3D scanner 100 is hardly increased. It can realize the rapid switching between single-device conventional scanning and deep hole flash measurement functions and the reuse of devices between multiple devices. It also avoids the addition of active devices and extra structures, thus ensuring the lifespan of the whole machine.

[0056] As some optional implementation methods, Figure 6 This is a schematic diagram of the structure of the shaping optical device 20 installed on the scanner housing 30 according to an embodiment of this application. The 3D scanner 100 further includes: a scanner housing 30, which has a cavity for accommodating a structured light module unit; the structured light module unit is provided with at least one or more light-transmitting holes 32 for structured light 60 to pass through at a position relative to the scanner housing 30; wherein, the shaping optical device 20 is movably disposed in at least one light-transmitting hole 32, or the shaping optical device 20 is fixedly disposed in a first portion of the light-transmitting holes 32 among a plurality of light-transmitting holes 32.

[0057] For example, the shaping optical device 20 can be fixed in the light-transmitting hole 32 by means of bonding, threaded connection, interference fit, etc. Among them, for the threaded connection, the light-transmitting hole 32 and the shaping optical device 20 are circular, the light-transmitting hole 32 is provided with internal thread, and the circumferential sidewall of the shaping optical device 20 is provided with external thread adapted to the internal thread.

[0058] Optionally, the number of light-transmitting holes 32 is the same as the number of structured light modules 10. The first portion of light-transmitting holes 32 can be one or more of a plurality of light-transmitting holes 32, but the number of the first portion of light-transmitting holes 32 is less than the number of the plurality of light-transmitting holes 32.

[0059] For example, the structured light module 10 has four light-transmitting holes, and the first part of the light-transmitting hole 32 can be one, two, or three of them.

[0060] See Figure 6 The structured light module 10 has four components. Two shaping optical devices 20 can be fixedly installed or detachably installed in two light-transmitting holes 32. Thus, the 3D scanner 100 can scan a large area of ​​the surface of the object being measured (i.e., conventional scanning mode) through the two structured light modules 10 without shaping optical devices 20 installed in the light-transmitting holes 32, and scan the deep hole area of ​​the surface of the object being measured (i.e., deep hole flash measurement function) through the two structured light modules 10 with shaping optical devices 20 installed in the light-transmitting holes 32. Thus, a 3D scanner 100 has both conventional scanning mode and deep hole flash measurement function.

[0061] In this embodiment, by detachably installing or fixing the shaping optical device 20 in the first part of the multiple light-transmitting holes 32, not only can a 3D scanner 100 have both conventional scanning mode and deep hole flash measurement function, but the size of the 3D scanner 100 is also almost not increased.

[0062] As some optional implementations, the 3D scanner 100 further includes: a scanner housing 30 having a cavity for accommodating a structured light module unit; the structured light module unit having at least one or more light-transmitting holes 32 for the structured light 60 to pass through at a position relative to the scanner housing 30; a mounting base 40 having a mounting through hole 41, in which a shaping optics 20 is disposed; the mounting base 40 being movably disposed on the scanner housing 30 such that the shaping optics 20 is disposed opposite to at least one light-transmitting hole 32; or, the mounting base 40 being fixedly disposed on the scanner housing 30 such that the shaping optics 20 is disposed opposite to a second portion of the multiple light-transmitting holes 32.

[0063] Optionally, the mounting base 40 is made of lightweight, high-rigidity materials (such as aluminum alloy, engineering plastics, etc.). The mounting base 40 can be plate-shaped or frame-shaped. The mounting base 40 has mounting through holes 41 that are adapted to the shape of the shaping optical device 20. The shaping optical device 20 can be fixed in the mounting through holes 41 by interference fit, snap-fit ​​structure or adhesive.

[0064] Optionally, the mounting base 40 can be fixedly connected to the scanner housing 30 by means of bonding, welding, riveting, etc., so that the shaping optical device 20 is positioned opposite to the second part of the multiple light-transmitting holes 32.

[0065] For example, both the structured light module 10 and the light-transmitting holes 32 have four. The second part of the light-transmitting holes 32 can be one, two, or three of the four light-transmitting holes 32. After the mounting base 40 is fixedly mounted on the scanner housing 30, the shaping optics 20 is positioned opposite to the second part of the light-transmitting holes 32. Thus, the 3D scanner 100 can perform conventional scanning through the structured light module 10 corresponding to the second part of the light-transmitting holes 32, and scan deep hole areas through the structured light module 10 corresponding to the second part of the light-transmitting holes 32. This allows a 3D scanner 100 to have both conventional scanning mode and deep hole flash measurement function.

[0066] In this embodiment, by placing the shaping optical device 20 on the mounting base 40 and fixing or detachably mounting the mounting base 40 on the scanner housing 30, not only can a 3D scanner 100 have both conventional scanning mode and deep hole flash measurement function, but the size of the 3D scanner 100 is also almost not increased.

[0067] As some optional implementations, the scanner housing 30 is provided with a first connecting part, and the mounting base 40 is provided with a second connecting part; the mounting base 40 is connected to the first connecting part on the scanner housing 30 by snap-fit, sliding, rotating, magnetic attraction, or threaded connection through the second connecting part.

[0068] Please refer to the following: Figures 7-9 , Figure 7 This is a schematic diagram of the structure of the mounting base 40 provided in this embodiment of the application, which is mounted on the scanner housing 30 by a snap-fit ​​connection. Figure 8 This is a partial schematic diagram showing the mounting base 40 being installed on the scanner housing 30 via a snap-fit ​​connection. Figure 9 This is a cross-sectional view showing the mounting base 40 mounted on the scanner housing 30 via a snap-fit ​​connection. (The view is not visible due to the angle of view.) Figure 7 See the clips on the mounting base 40. Figure 7 , Figure 8 The scanner housing 30 has four light-transmitting holes 32, and the mounting base 40 has two mounting through holes 41, each housing a shaping optical element 20. (See also...) Figure 8 , Figure 9 Two of the four light-transmitting holes 32 are the first connecting parts (i.e., the third part of the light-transmitting holes 32). The mounting base 40 is provided with two buckles, which are the second connecting parts. After the mounting base 40 is installed in the third part of the light-transmitting holes 32 by the buckles, the two mounting through holes 41 on the mounting substrate are directly opposite the two light-transmitting holes 32 outside the third part of the light-transmitting holes 32.

[0069] Optionally, the buckle adopts the following method: Figure 8 , Figure 9 The circumferential buckle 43 in the middle.

[0070] It is easy to understand that since the mounting base 40 can be attached to the scanner housing 30 by snap-fit, the deep hole scanning function can be activated; the mounting base 40 can also be removed from the scanner housing 30, so that the regular scanning mode can be performed.

[0071] Optionally, the first connecting part is one of the slide groove and the slide rail 33, and the second connecting part is the other of the slide groove and the slide rail 33; when the slide rail 33 slides to the target position of the slide groove, at least one light-transmitting hole 32 is disposed opposite to at least one shaping optical device 20.

[0072] Figure 10 A schematic diagram of the structure in which the mounting base 40 is slidably mounted on the scanner housing 30 according to an embodiment of this application. Figure 1 , Figure 11 A schematic diagram of the structure in which the mounting base 40 is slidably mounted on the scanner housing 30 according to an embodiment of this application. Figure 2 The scanner housing 30 is provided with a raised dovetail slider, and the mounting base 40 is provided with a dovetail groove that matches the dovetail slider (not visible due to viewing angle). Figure 10 , Figure 11(Dovetail slide on mounting base 40). Optionally, a limiting structure is provided in the dovetail slide. When the mounting base 40 slides to the limiting structure, it reaches the target position. At this time, the two shaping optical devices 20 on the mounting base 40 are directly opposite the two light-transmitting holes 32.

[0073] It is easy to understand that since the mounting base 40 can be slidably mounted on the scanner housing 30, the deep hole scanning function can be activated; the mounting base 40 can also be slidably removed from the scanner housing 30, so that the regular scanning mode can be performed.

[0074] Optionally, the first connecting part and the second connecting part constitute a hinge 34. When the mounting base 40 is rotated to the target position via the hinge 34, at least one light-transmitting hole 32 is disposed opposite to at least one shaping optical device 20.

[0075] Figure 12 A schematic diagram of the structure of the mounting base 40 provided in this application embodiment, which is mounted on the scanner housing 30 via a hinge 34. Figure 1 , Figure 13 This embodiment of the application provides a schematic diagram of the structure in which the mounting base 40 is mounted on the scanner housing 30 via a hinge 34. Figure 2 When the mounting base 40 is rotated to face the area of ​​multiple light-transmitting holes 32 (i.e. Figure 13 When the target position is reached (as shown in the figure), the two shaping optical devices 20 on the mounting base 40 are facing the two light-transmitting holes 32.

[0076] Optional, see Figure 12 A circumferential buckle 43 can be provided on the mounting base 40 so that when the mounting base 40 is rotated to the target position, the circumferential buckle 43 can be engaged in the two light-transmitting holes 32.

[0077] It is easy to understand that, since the mounting base 40 is rotatably mounted on the scanner housing 30, when the deep hole scanning function needs to be activated, the mounting base 40 is rotated to the target position (i.e., Figure 13 (as shown in the diagram); when a regular scanning mode is required, the mounting base 40 is rotated to... Figure 12 The state.

[0078] As for some alternative implementations, see Figure 9 , Figure 12 , Figure 13 The mounting base 40 is provided with a gripping part 42. When it is necessary to remove, install, or rotate the mounting base 40 from the mounting housing, the gripping part 42 can be pinched by hand.

[0079] As some optional implementations, the 3D scanner 100 also includes a vibration component for driving the shaping optics 20 to vibrate in a direction perpendicular to the light emission direction of the structured light 60.

[0080] See Figure 2 The structured light 60 of the structured light module 10 has speckle on the projection pattern after passing through the shaping optical device 20. This is because when the laser irradiates the surface of the object, the tiny bumps and depressions on the surface will cause the laser to diffusely reflect. The reflected light from different reflection points will have a phase difference due to different propagation paths. These light with different phases will be superimposed in space to form bright and dark, randomly distributed spots, which is the laser speckle effect.

[0081] Figure 14 The projection pattern without speckle after decoherence is shown. In this embodiment, the shaping optics 20 is made to vibrate at high speed by a vibration component, thereby achieving the purpose of decoherence and eliminating the speckle effect of the laser.

[0082] As some optional implementation methods, Figure 15 The diagram below shows the structure of the vibration component disclosed in this application and the mounting base 40. The vibration component includes a drive mechanism and a cam mechanism 50. The drive mechanism includes a rotary output shaft 70. The cam mechanism 50 includes a cam 51 and a follower 52. The cam 51 is eccentrically mounted on the rotary output shaft 70. One end of the follower 52 is rolledly connected to the cam 51, and the other end of the follower 52 is connected to the mounting base 40.

[0083] Optionally, the drive mechanism is a motor.

[0084] Optionally, the driven member 52 includes a driven rod 521, a roller bearing, and a spring 522. A ball bearing 523 is rotatably mounted on one end of the driven rod 521, and the outer ring of the ball bearing 523 is in rolling connection with the outer edge of the cam 51. A guide mechanism is provided on the scanner housing 30, and the driven rod 521 moves along the length of the guide rod under the action of the guide mechanism. A limit block 5211 is provided on the driven rod 521, and the spring 522 is sleeved on the driven rod 521, with one end of the spring 522 abutting against the limit block 5211 and the other end abutting against the guide mechanism. The spring 522 provides elastic restoring force to the driven rod 521.

[0085] The rotating output shaft 70 of the motor drives the cam 51 to rotate, and the cam 51 drives the follower 52 and the mounting base 40 to move along the length of the follower rod 521, thereby realizing the high-speed vibration of the shaping optical device 20 to achieve the purpose of decoherence.

[0086] In order to ensure that the shaping optical device 20 is always positioned opposite to the light-transmitting hole 32 during the high-speed vibration of the mounting base 40, the mounting through hole 41 on the mounting base 40 can be designed as an elongated through hole with the length direction of the elongated through hole being the same as the vibration direction; the elongated shaping optical device 20 is installed in the elongated through hole.

[0087] It is worth noting that the other end of the follower 52 can also be directly connected to the shaping optics 20.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A three-dimensional scanner, characterized in that, include: A structured light module unit includes at least one or more structured light modules, the structured light modules being used to emit structured light; A shaping optics device is movably disposed on the light-emitting side of at least one of the structured light modules, or fixedly disposed on the light-emitting side of some of the structured light modules in a plurality of structured light modules. The shaping optics device is used to shape the structured light from the structured light module unit into a flat-top beam and direct it toward the object under test.

2. The three-dimensional scanner as described in claim 1, characterized in that: The shaping optical device is movably disposed on at least one of the structured light modules, or the shaping optical device is fixedly disposed on a portion of the structured light modules among a plurality of the structured light modules.

3. The three-dimensional scanner as described in claim 1, characterized in that: The 3D scanner also includes: A scanner housing having a cavity for accommodating the structured light module unit; the structured light module unit having at least one or more light-transmitting holes for the structured light to pass through at a position relative to the scanner housing; The shaping optical device is movably disposed within at least one of the light-transmitting holes, or the shaping optical device is fixedly disposed within a first portion of the light-transmitting holes among a plurality of light-transmitting holes.

4. The three-dimensional scanner as described in claim 1, characterized in that: The 3D scanner also includes: A scanner housing having a cavity for accommodating the structured light module unit; the structured light module unit having at least one or more light-transmitting holes for the structured light to pass through at a position relative to the scanner housing; The mounting base has a mounting through hole, and the shaping optical device is disposed in the mounting through hole; the mounting base is movably disposed on the scanner housing so that the shaping optical device is disposed opposite to at least one of the light-transmitting holes; or, the mounting base is fixedly disposed on the scanner housing so that the shaping optical device is disposed opposite to a second portion of the light-transmitting holes among the plurality of light-transmitting holes.

5. The three-dimensional scanner as described in claim 4, characterized in that: The scanner housing is provided with a first connecting part, and the mounting base is provided with a second connecting part; the mounting base is connected to the first connecting part on the scanner housing by means of a snap-fit ​​connection, a sliding connection, a rotating connection, a magnetic connection, or a threaded connection through the second connecting part.

6. The three-dimensional scanner as described in claim 5, characterized in that: The light-transmitting holes are multiple, the first connecting part is the third part of the light-transmitting holes, and the second connecting part is a buckle that is disposed opposite to the third part of the light-transmitting holes. When the buckle is snapped into the third part of the light-transmitting holes, the light-transmitting holes other than the third part of the light-transmitting holes are disposed opposite to at least one of the shaping optical devices.

7. The three-dimensional scanner as described in claim 1, characterized in that: The 3D scanner also includes a vibration component, which drives the shaping optics to vibrate in a direction perpendicular to the light emission direction of the structured light.

8. The three-dimensional scanner as described in claim 7, characterized in that: The vibrating component includes: Drive mechanism, including a rotary output shaft; A cam mechanism includes a cam and a follower. The cam is eccentrically mounted on the rotary output shaft. One end of the follower is tactilely connected to the cam, and the other end of the follower is used to drive the shaping optics to vibrate in a direction perpendicular to the light output direction of the structured light.

9. The three-dimensional scanner as described in any one of claims 4-6, characterized in that: The mounting base is provided with a gripping part.

10. The three-dimensional scanner as described in any one of claims 1-8, characterized in that: The shaping optical device is a diffuser or a diffractive optical element.

Images