Three-dimensional imaging module and three-dimensional scanner

Abstract

To provide a three-dimensional imaging module and a three-dimensional scanner.SOLUTION: A three-dimensional imaging module 10 includes a first camera module 101, a second camera module 102, a lens mount 103, a first lens group 104, and a second lens group 105, a first housing cavity 1031 and a second housing cavity 1032 are provided in the lens mount, the first camera module is integrated at the bottom of the first housing cavity, the first lens group is integrated in the first housing cavity, the second camera module is integrated at the bottom of the second housing cavity, and the second lens group is integrated in the second housing cavity. A three-dimensional scanner may include a housing and the three-dimensional image module, and the three-dimensional imaging module is housed in the housing.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In conventional 3D scanners, multiple modules are attached to a single base or connected in series to be fixed in place. This method of connecting multiple points makes accuracy unstable, and scanning accuracy drifts after long-term use, requiring frequent calibration, resulting in low usage efficiency and high costs. Summary of the Invention [Problem to be solved by the invention]

[0003] In view of this, the present application provides a three-dimensional imaging module and a three-dimensional scanner that can solve the above-mentioned problems of the conventional technology. [Means for solving the problem]

[0004] Specifically, the present invention is realized by the following technical means. According to a first aspect of the present application, there is provided a three-dimensional imaging module including a first camera module, a second camera module, a lens mount, a first lens group, and a second lens group, the lens mount having a first accommodating cavity and a second accommodating cavity, the first camera module being integrated at the bottom of the first accommodating cavity, the first lens group being integrated in the first accommodating cavity, the second camera module being integrated at the bottom of the second accommodating cavity, and the second lens group being integrated in the second accommodating cavity.

[0005] According to a second aspect of the present application, there is provided a three-dimensional scanner, comprising: There is provided a three-dimensional scanner which may include a housing and a three-dimensional imaging module according to the first aspect of the present application, the three-dimensional imaging module being housed within the housing.

[0006] According to the above technical means, the present application has at least the following beneficial effects. [Effects of the Invention]

[0007] By designing the structure of the receiving cavity within the lens mount, at least two modules can be integrated within the lens mount. Compared with the detachable connection method, the above technical measures of the present application improve the stability of the structure, reduce the frequency of the need for calibration, extend the usage time after a single calibration, and reduce the usage cost. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram of a three-dimensional imaging module according to an exemplary embodiment of the present application; [Figure 2] 1 is a schematic structural diagram of a three-dimensional imaging module with an integrated first light source according to an exemplary embodiment of the present application; [Figure 3] 1 is a schematic diagram illustrating the configuration of a three-dimensional imaging module integrated with a texture imaging module according to an exemplary embodiment of the present application. [Figure 4] 1 is a schematic configuration diagram of a three-dimensional imaging module using a common lens group according to an exemplary embodiment of the present application. [Figure 5] FIG. 2 is a schematic diagram of a fixing structure of a lens group shown in an exemplary embodiment of the present application. [Figure 6] FIG. 10 is a schematic diagram of a fixing structure of another lens group shown in an exemplary embodiment of the present application. [Figure 7] 1 is a schematic diagram of a three-dimensional scanner according to an exemplary embodiment of the present application; [Figure 8]1 is a schematic block diagram of a 3D scanner including an adapter module and a texture imaging module according to an exemplary embodiment of the present application. [Figure 9] FIG. 10 is a schematic block diagram of another three-dimensional imaging module according to an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0009] Illustrative embodiments will now be described in detail, examples of which are illustrated in the drawings. When the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise noted. The embodiments described in the following illustrative examples do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as set forth in the claims.

[0010] The purpose of the terminology used herein is to describe particular embodiments only and is not intended to limit the scope of the present application. As used in this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be understood that the term "and / or," as used herein, refers to and includes any and all combinations of one or more of the associated listed items.

[0011] In this application, terms such as first, second, and third may be used to describe various pieces of information, but it should be understood that such information should not be limited to these terms. These terms are merely used to distinguish between pieces of information of the same type. For example, first information may be referred to as second information, and similarly, second information may be referred to as first information, without departing from the scope of this application. Depending on the context, the word "if" as used herein may be interpreted as "when" or "in the case of" or "responsive to a determination."

[0012] Regarding the problem of accuracy drift in 3D scanners, the inventors have conducted extensive research and discovered that 3D scanners typically incorporate multiple components, such as a black-and-white camera and its lens, and that stabilizing the relative positions of these multiple components is a prerequisite for ultimately generating accurate 3D data. Each component is an independent module that is removably attached to a base member. For example, the sensor and lens each have assembly gaps between them and the base member. These gaps increase the likelihood of drift occurring during storage or when subjected to impact, requiring more frequent calibration and increasing the cost and difficulty of use.

[0013] In contrast, the present application provides a three-dimensional imaging module 10 including a first camera module 101, a second camera module 102, a lens mount 103, a first lens group 104, and a second lens group 105, as shown in FIG.

[0014] The lens mount 103 has a first accommodating cavity 1031 and a second accommodating cavity 1032, the first camera module 101 is integrated at the bottom of the first accommodating cavity 1031, the first lens group 104 is integrated in the first accommodating cavity 1031, the second camera module 102 is integrated at the bottom of the second accommodating cavity 1032, and the second lens group 105 is integrated in the second accommodating cavity 1032.

[0015] The first accommodating cavity 1031 receives light rays from the object to be scanned to form a first optical path, and the light rays from the object to be scanned pass through the first lens group 104 and are collected by the first camera module 101; the second accommodating cavity 1032 receives light rays from the object to be scanned to form a second optical path, and the light rays from the object to be scanned pass through the second lens group 105 and are collected by the second camera module 102.

[0016] According to the above technical means, the lens group and camera module are integrated into a single lens mount 103 rather than forming independent modules with their respective housings, so that the internal structure of the 3D imaging module can be completely fixed without consideration for attachment and detachment, making drift less likely to occur, improving the measurement accuracy of the entire 3D scanner to which the 3D imaging module is applied, reducing calibration frequency, and reducing usage costs.

[0017] It should be noted that in the present application, the first camera module 101 and the second camera module 102 may be cameras of any technology type, such as color cameras or black and white cameras using CMOS (Complementary Metal-Oxide-Semiconductor) technology / CCD (Charge-Coupled Device) technology.

[0018] 1, the viewing angle of the bottom view is the rear surface of the first camera module 101 and the second camera module 102, and the front surface of the first camera module 101, i.e., the surface that collects light rays, faces in the opposite direction to the arrow of the first optical path in the AA cross-sectional view. That is, the orientation of the first camera module 101 faces the direction in which light rays are incident, thereby capturing / collecting light rays. Similarly, the orientation of the second camera module 102 faces the direction in which light rays in the second optical path are incident, in order to achieve the same function as the first camera module 101.

[0019]

[0033] Note that in this application, to allow light to enter the first receiving cavity 1031 and the second receiving cavity 1032, both the first receiving cavity 1031 and the second receiving cavity 1032 must have openings at the positions of their respective lens groups, allowing light to enter the receiving cavity, pass through the lens groups, and be imaged on the camera module. In another embodiment, the lens mount 103 may be made of a composite material, with the portions of the lens groups near the positions where the lens groups are attached made of a transparent material, allowing light to smoothly enter the receiving cavity and only reaching the camera module by passing through the lens groups. Alternatively, the lens mount 103 may be made entirely of a transparent material, with an opaque coating applied to the inner wall of the receiving cavity or with an opaque component added. The above embodiments are merely illustrative, and any technical means that can be easily substituted based on the embodiments of this application are intended to fall within the scope of protection of this application.

[0020] In the technical solutions of the above embodiments, the first light beam may be from a light source (which may be a laser device or laser module) independent of the 3D imaging module 10 in the conventional technical solutions. The advantage of this design is that the mounting position of the light source can be determined according to the actual situation and can be flexibly arranged according to the system design and usage requirements, making it more adaptable to different application scenarios and needs. The independent arrangement of the laser device also reduces the system complexity and simplifies system adjustment and maintenance. At the same time, this design also contributes to improving the stability and reliability of the system, ensuring that the first light beam can be accurately irradiated onto the target object and achieving accurate acquisition of spatial information. As described above, the use of a light source independent of the 3D imaging module allows the system to operate more flexibly, stably, and efficiently, providing users with a better user experience.

[0021] However, the inventors discovered that separately arranging the laser device and the 3D imaging module still leads to the problem of precision drift. To further mitigate the problem of precision drift, based on the above embodiment, as shown in FIG. 2, the lens mount 103 may further include a third receiving cavity 1033 disposed between the first receiving cavity 1031 and the second receiving cavity 1032, and the 3D imaging module 10 further includes a first light source 106 integrated at the bottom of the third receiving cavity 1033, the first light source 106 emitting a first light beam to the scanning object, and the first camera module 101 and the second camera module 102 receiving the light beam reflected by the scanning object through the first lens group 104 and the second lens group 105, respectively, and the light beam reflected by the scanning object includes at least the first light beam reflected by the scanning object.

[0022] The light beam reflected by the object to be scanned may include only the light beam of the first light beam reflected by the object to be scanned, may further include light beams of ambient light reflected by the object to be scanned, and may further include light beams emitted from other light sources reflected by the object to be scanned.

[0023] By using the above technical means, multiple receiving cavities are cleverly designed, specifically, the first light source 106 in the third receiving cavity 1033 emits a first light beam, and the sensors in the first receiving cavity 1031 and the second receiving cavity 1032 receive light beams, including at least the first light beam reflected by the object to be scanned. Since the emission and reception are performed within one module, the number of gaps between the module and the substrate is reduced, which means that the probability of offset occurring is reduced, further improving stability and reducing usage costs.

[0024] In addition, any technical means of the camera module that allows the first light ray emitted from the first light source 106 to be reflected and then enter the first accommodating cavity 1031 and / or the second accommodating cavity 1032 may be applied to the present application.

[0025] In one embodiment, the first receiving cavity 1031 and the second receiving cavity 1032 may be symmetrically arranged with respect to the axis of the third receiving cavity 1033. Forming a symmetrical dual-camera layout not only reduces the overall shape structure through a rational layout with the projection optical path located in the center, but also allows the path of the first light beam emitted by the first light source 106 to intersect with both the first optical path and the second optical path at a single point. This design ensures that the first light beam is accurately reflected by the first receiving cavity 1031 and the second receiving cavity 1032 after being irradiated onto the object to be scanned, thereby achieving spatial information acquisition. By ensuring the accurate intersection of the path of the first light beam, the system can more accurately acquire spatial information of the target object, improving imaging quality and accuracy. At the same time, this design also simplifies the system structure and adjustment, improves system stability and reliability, and provides users with a better user experience.

[0026] In addition, the first light source 106 may be a monochromatic light source, and the first light ray emitted from the first light source 106 may be a line structured light or a surface structured light. Specifically, the first light source 106 may be a laser device, a blue light lamp, or an infrared light lamp, and the first light ray may be a laser, blue light, or infrared light. Therefore, the specific implementation of the first light source is not limited.

[0027] Based on the above technical means, the inventor has made further improvements. As shown in Fig. 3, a texture imaging module 107 may be provided in the third accommodating cavity 1033, and the texture imaging module 107 may be a texture camera, for example, a color camera, and the three-dimensional imaging module 10 further includes a beam splitter 108, which transmits the first light beam emitted from the first light source 106 and reflects the light beam from the object to be scanned (the light beam reflected by the object to be scanned) to the texture imaging module 107.

[0028] As an example, the texture imaging module 107 may be integrated on the side of the third accommodating cavity 1033, and the orientation of the texture imaging module 107 may be perpendicular to the direction in which the first light source 106 emits the first light ray, and the inclined surface of the beam splitter 108 may form a 45-degree angle with the texture imaging module 107 and the first light ray emitted by the first light source 106, respectively.

[0029] The inclined surface of the beam splitter 108 is a spectral surface, and a plating film is provided on the spectral surface. The beam splitter 108 separates the collected incident or reflected light according to different wavelengths, and then reflects or transmits the light in different directions. For example, the beam splitter 108 includes a conventional beam splitter (BS) and a polarizing beam splitter (PBS). A conventional beam splitter separates white light into different colored lights using the refraction and reflection of light, while a polarizing beam splitter separates incident light into two mutually perpendicular polarized lights using the polarization properties of light.

[0030] According to the above technical solutions, when spatial information needs to be scanned and acquired, the first light source 106 emits a first light ray, which directly hits the beam splitter 108 and then passes through the beam splitter 108 to exit the receiving cavity. The emitted first light ray is irradiated onto the object and then reflected by the first camera module 101 in the first receiving cavity 1031 and the second camera module 102 in the second receiving cavity 1032, thereby achieving the acquisition of spatial information. When color or texture information needs to be scanned and acquired, a light ray emitted from ambient light or another light source is irradiated onto the object to be scanned, which reflects the light ray emitted from the ambient light or another light source. The reflected light ray passes through the spectral surface of the beam splitter 108 and is reflected by the beam splitter 108 to the texture imaging module 107, thereby achieving the acquisition of color or texture information.

[0031] Since both the first light source 106 and the texture imaging module 107 can utilize the space of the third accommodating cavity 1033, the overall size of the 3D imaging module can be kept small, making it applicable to small 3D scanners such as oral 3D scanners and ear cavity 3D scanners.

[0032] At the same time, sharing the same optical path also allows the same lens group to be shared. As shown in FIG. 4 , a third lens group 109 may be provided in the third receiving cavity 1033. The third lens group 109 is integrated at the tip of the third receiving cavity 1033 and is located between the beam splitter 108 and the tip of the third receiving cavity 1033. The third lens group 109 projects the first light beam transmitted through the beam splitter 108 onto the object to be scanned, and projects the light beam from the object to be scanned onto the beam splitter 108. For example, the first light beam emitted by the first light source 106 can be projected and imaged via the third lens group 109, and the texture imaging module 107 can be projected and imaged via the third lens group 109. Using one lens group to achieve multiple functions reduces costs, simplifies assembly, and allows for a smaller optical path, reducing the volume of the 3D imaging module 10 and making it applicable to small 3D scanners 1 such as oral 3D scanners and ear cavity 3D scanners. At the same time, sharing a lens group reduces the number of lens groups, and a reduction in the number of lens groups means fewer areas where precision drift occurs, improving the overall stability of the 3D imaging module.

[0033] Based on this, the distance between the first light source 106 that emits the first light ray and the bottom of the third accommodating cavity 1033 can be reasonably adjusted, so that the texture imaging module 107 can realize imaging using the third lens group 109, while the first light source 106 can directly use the third lens group 109 to perform projection imaging.

[0034] In another embodiment, in addition to the lens group between the beam splitter 108 and the first light source 106, a lens group may be added to adjust the projection imaging capability of the first light source 106. With this design, even if the projection imaging capability of the third lens group 109 is too large or too small for the first light source 106, the additional lens group can ensure that the first light source 106 can operate normally. This adjustment capability increases the flexibility of the system, making it adaptable to different working environments and needs, thereby improving the stability and reliability of the overall system. At the same time, this design also helps reduce the cost and complexity of the system and improve the performance and competitiveness of the product.

[0035] 4, a mask 1061 may be provided in the third receiving cavity 1033, and the mask 1061 is provided between the first light source 106 and the beam splitter 108. The mask 1061 carries an image, and the first light beam emitted from the first light source 106 passes through the mask 1061, the beam splitter 108, and the third lens group 109 in order to be projected onto the object to be scanned. For example, the mask 1061 may be a color diffraction grating or a black-and-white diffraction grating, which modulates the first light beam, and when a plurality of the first light beams pass through the mask 1061, a color code image or a black-and-white code image is automatically generated and projected onto the object to be scanned.

[0036] In another embodiment, the lens mount 103 may further include a third accommodating cavity 1033 disposed between the first accommodating cavity 1031 and the second accommodating cavity 1032, and the 3D imaging module 10 may further include a texture imaging module 107 and a third lens group 109, where the texture imaging module 107 is integrated at the bottom of the third accommodating cavity 1033, and the third lens group 109 is integrated in the third accommodating cavity 1033, and an image of the scanned object is projected onto the texture imaging module 107 for imaging. According to the above technical means, the texture imaging module 107 can be integrated in the third accommodating cavity 1033. The first camera module 101 in the first accommodating cavity 1031 and the second camera module 102 in the second accommodating cavity 1032 can acquire spatial information through a first light source 106 (laser device) located outside the third accommodating cavity. This design makes the entire system more compact and integrated, reducing the volume of the 3D imaging module 10, making it suitable for small 3D scanners 1 such as oral 3D scanners and ear cavity 3D scanners, while also effectively improving product performance and functionality and providing users with a more convenient and efficient user experience. At the same time, this integrated design also reduces system cost and complexity, improving production efficiency and product competitiveness.

[0037] Based on the above technical means, the lens mount 103 may include a plurality of diagonal positioning pins 111, which fix diagonal corners of the components so as to restrict the first camera module 101 and / or the second camera module 102, the first lens group 104 and / or the second lens group 105 from moving relative to the lens mount. The components include at least the first camera module 101, the second camera module 102, the first lens group 104 and the second lens group 105.

[0038] In one embodiment, two diagonal positioning pins 111 may be provided at diagonal positions of the first camera module 101, the second camera module 102, the first lens group 104, and the second lens group 105, thereby restricting the movement of the first camera module 101 and the first lens group 104 relative to the lens mount 103 along a plane perpendicular to the first optical path, and restricting the movement of the second camera module 102 and the second lens group 105 relative to the lens mount 103 along a plane perpendicular to the second optical path.

[0039] The use of diagonal positioning pins allows the diagonal corners of either component to be fixed, ensuring that the center-to-center distance between the components in first receiving cavity 1031 and second receiving cavity 1032 is stably maintained even when the 3D imaging module is subjected to external forces such as vibration, dropping, or impact. This design effectively improves the stability and durability of the product and protects the camera module and its internal assembly, thereby ensuring normal operation in various environments, providing high-quality imaging results, reducing the probability of drift, improving the overall measurement accuracy of 3D scanner 1 to which 3D imaging module 10 is applied, reducing the calibration frequency of 3D scanner 1, and reducing the operating costs of 3D scanner 1.

[0040] As shown in Figure 1, two diagonal positioning pins 111 may be provided at diagonal corners of the first camera module 101 and the second camera module 102, ensuring that the center-to-center distance between the two camera modules is stably maintained when the 3D imaging module is subjected to external forces such as vibration, dropping, or impact. This design effectively improves the stability and durability of the product and protects the camera modules and their internal assemblies, ensuring normal operation in various environments, providing high-quality imaging results, reducing the probability of drift, improving the overall measurement accuracy of the 3D scanner 1 to which the 3D imaging module 10 is applied, reducing the calibration frequency of the 3D scanner 1, and reducing the operating costs of the 3D scanner 1.

[0041] The diagonal positioning pin is one exemplary positioning method according to the present application. In addition, the contents of other technical means may also be applied in the present application. For example, any technical means obtained by a person skilled in the art through substitution based on the teachings of the present application may be applied to the present application, and all of them should be included in the scope of protection of the present application.

[0042] Based on any of the above embodiments, as shown in FIG. 5 , the lens mount 103 may include at least one push ring 1035 and at least one spacer ring 1034, where the spacer ring 1034 is attached between two lenses of the first lens group 104 and / or the second lens group 105 to axially position the lenses of the first lens group 104 and / or the second lens group 105, and the push rings 1035 are attached to both ends of the first lens group 104 and / or the second lens group 105 to secure the first lens group 104 and / or the second lens group 105.

[0043] After assembly is complete, the 3D imaging module 10 has the following structure: The lens mount 103 contains two lens groups, each consisting of multiple lenses. A spacer ring 1034 is attached between each pair of adjacent lenses in the first lens group 104 or the second lens group 105. The spacer ring 1034 is positioned at a specific location between the lenses to ensure that the spacing and position of the lenses meets design requirements. Push rings 1035 are attached to both ends of the entire first lens group 104 or the entire second lens group 105 to secure the lens groups and ensure their positional stability.

[0044] The overall structure of the lens mount is compact, effectively protects the lens, maintains a stable positional relationship, and provides good optical performance. At the same time, it reduces the probability of drift, improves the overall measurement accuracy of the 3D scanner 1 to which the 3D imaging module 10 is applied, reduces the calibration frequency of the 3D scanner 1, and reduces the operating costs of the 3D scanner 1.

[0045] As shown in FIG. 6 , a lens in the first lens group 104 or the second lens group 105 may include an adhesive application position 120, and the lens mount 103 may further include an adhesive injection hole 1036, which corresponds to the adhesive application position 120 and allows adhesive to flow into the adhesive application position 120.

[0046] As shown in Figure 6, there may be multiple adhesive injection holes 1036, which may be distributed at any position on the front, back, or side of the product, or may be distributed at multiple positions simultaneously. In this design, adhesive can be injected at different positions according to actual needs to ensure that each part of the product receives equal pressure and is fixed. The location and number of adhesive injection holes 1036 can be adjusted according to the design and functional requirements of the product to meet different usage scenarios and process requirements.

[0047] According to the above technical solutions, the designed adhesive injection hole 1036 and adhesive application position 120 provide a good adhesive attachment site, realizing stable adhesive fixation between the lens mount and the lens, and reducing the probability of offset. At the same time, adhesive fixation can effectively play a role in vibration isolation, improving the quality of 3D scanning.

[0048] By way of example, the adhesive may be a low expansion structural adhesive or other types of adhesive, and is not particularly limited.

[0049] As an example, the adhesive may be a low-expansion structural adhesive with an expansion coefficient of 90 ppm or less, such as a low-expansion epoxy structural adhesive, which has a small size change when the temperature changes, thereby further reducing the probability of offset occurring between the lens mount and the lens, improving the measurement accuracy of the entire 3D scanner 1 to which the 3D imaging module 10 is applied, reducing the calibration frequency of the 3D scanner 1, and reducing the operating costs of the 3D scanner 1.

[0050] In any embodiment of the present application, the 3D imaging module 10 can be applied to devices such as a 3D scanner. The 3D scanner can be an oral cavity scanner, an ear cavity scanner, a face scanner, an industrial scanner, a professional scanner, a product cavity scanner, or the like, and can realize 3D reconstruction of objects or scenes such as teeth, ear cavities, faces, the human body, industrial products, industrial equipment, pipelines, cultural relics, artworks, prosthetic limbs, medical instruments, and architecture.

[0051] Accordingly, as shown in Figure 7, the present application provides a 3D scanner 1, which may include a housing 11 and a 3D imaging module 10 according to any embodiment, wherein the 3D imaging module 10 is accommodated within the housing 11.

[0052] Based on this, as shown in FIG. 8, in one embodiment of the present application, the three-dimensional scanner 1 may further include an adapter module 110 and a texture imaging module 107, where the texture imaging module 107 collects color information of the object to be scanned, the three-dimensional imaging module 10 is connectable to the adapter module 110, where the adapter module 110 includes an illumination module 1101 and a heating module 1102 (not shown, but may be attached to any attachable position of the adapter module 110), where the illumination module 1101 includes a second light source 11011, a bracket 11012, and a cover plate 11013, where the second light source 11011 provides an illumination environment for the texture imaging module 107, the bracket 11012 fixes the position of the second light source 11011, and the cover plate 11013 fixes the second light source 11011 and the bracket 11012 within the adapter module 110.

[0053] In another embodiment, the 3D scanner 1 may further include a core bracket 113, a main control board 112, and a flexible circuit board 114, in which the 3D imaging module 10 and the main control board 112 are electrically connected via the flexible circuit board 114, and the 3D imaging module and the main control board are fixed to the core bracket, which is made of a highly thermally conductive material with a thermal conductivity of 200 w / m·K or more to uniformly heat the 3D imaging module and the main control board and dissipate heat. It is preferable that the thermal conductivity of the highly thermally conductive material be 200 w / m·K or more and 350 w / m·K or less.

[0054] For example, the core bracket 113 may be made of an aluminum alloy, which is capable of uniformly heating and dissipating heat. The 3D imaging module 10 and the main control board 112 are attached and fixed to the core bracket 113 from the front to the rear along the length of the core bracket 113.

[0055] For example, the first light source 106 and the second light source 11011 are different types of light sources. The second light source 11011 can emit a second light ray. For example, the second light source can be a mixed-color light source. For example, the mixed-color light source can be an RGB mixed-color light source or a yellow-green-blue mixed-color light source. For example, the second light source 11011 can be a supplemental lamp that emits white light. The supplemental lamp can be an LED, a metal halide lamp, a fluorescent lamp, a high-pressure sodium lamp, an incandescent lamp, a halogen lamp, or a xenon lamp. Therefore, the specific implementation of the second light source 11011 is not limited.

[0056] The second light source 11011 provides a lighting environment and has little effect on accuracy, so that its independence from the 3D imaging module does not significantly affect the quality of 3D scanning. The flexible circuit board 114 allows the lighting module 1101 to be positioned elsewhere, ensuring more space for the 3D imaging module and allowing for a more rational internal layout design.

[0057] The optical axis of the second light source 11011 is not coaxial with the optical axis of the third lens group 109 (first light source 106), and when the texture imaging module 107 is operating, the second light source 11011 emits a second light beam to provide supplementary illumination to the object to be scanned; specifically, the second light source 11011 can provide non-coaxial illumination or paraxial illumination to the object to be scanned.

[0058] As an example, a first light beam emitted from the first light source 106 is sequentially transmitted through the mask 1061, the beam splitter 108, and the third lens group 109 and projected onto the object to be scanned, the second light source 11011 emits a second light beam to supplementarily illuminate the object to be scanned, and the object to be scanned reflects the received light beam. The light beam received by the object to be scanned is from at least the first light beam (e.g., laser) emitted by the first light source 106 and the second light beam (e.g., white light) emitted by the second light source 11011, and the first light beam is modulated by the mask 1061 and contains an image of the mask 1061.

[0059] The light beam from the object to be scanned is reflected by the third lens group 109, passes through the third lens group 109, and is reflected by the beam splitter 108. The light beam reaches the texture imaging module 107, which receives the light beam and performs texture imaging to obtain color information and texture information of the object to be scanned.

[0060] The light beam from the object to be scanned enters the first accommodating cavity 1031 via a first optical path, i.e., is collected by the first camera module 101 via the first lens group 104, and the light beam from the object to be scanned enters the second accommodating cavity 1032 via a second optical path, i.e., is collected by the second camera module 102 via the second lens group 105. The first camera module 101 and the second camera module 102 receive and image the light beam to obtain spatial information of the object to be scanned.

[0061] Accordingly, as shown in FIG. 9, the present application further provides another three-dimensional imaging module 90, which includes: The device includes a receiving cavity, a first light source 106, a texture imaging module 107, and a beam splitter 108. The first light source 106 is integrated at the bottom of the receiving cavity and emits a first light beam toward the object to be scanned. The texture imaging module 107 is integrated in the receiving cavity and is oriented perpendicular to the direction in which the first light source 106 emits the first light beam. The inclined surfaces of the beam splitter 108 form a 45-degree angle with the texture imaging module 107 and the first light beam emitted by the first light source 106, respectively, and reflect the light beam from the object to be scanned to the texture imaging module 107.

[0062] As an example, projecting a first light beam onto the object to be scanned may be understood as projecting a laser stripe or laser pattern onto the surface of the object to be scanned.

[0063] According to the above technical means, the reflection / projection action of the beam splitter 108 can realize at least the functions of laser emission and texture scanning in the same receiving cavity.

[0064] Specifically, as shown in FIG. 9 , for example, the first light beam is a laser. When spatial information needs to be scanned and acquired, the first light source 106 emits a laser. The laser enters the beam splitter 108 directly or via a mask 1061, passes through the beam splitter 108, and is then emitted from the receiving cavity. The emitted laser is irradiated on the object and then reflected to a sensor that collects spatial information. The sensor that collects spatial information can be an independent sensor in the prior art, such as a black-and-white camera, and is not specifically illustrated in this application. On the other hand, when texture information needs to be acquired, natural light / ambient light reflected by an external object enters the receiving cavity, is irradiated onto the inclined surface of the beam splitter 108 at a 45° angle, is further deflected by 90°, and is then irradiated onto the texture imaging module 107, which can then acquire texture information of the scanned object. The sensor that collects spatial information can be an independent sensor in the prior art, such as a color camera, and is not specifically illustrated in this application.

[0065] Therefore, the technical means of the present application enables the sharing of optical paths, thereby reducing the overall volume of the 3D imaging module and making it applicable to small 3D scanners such as oral 3D scanners and ear cavity 3D scanners.

[0066] At the same time, since the texture imaging module 107 and the first light source 106 are integrated into the receiving cavity of the lens mount, compared to the conventional technical means in which each module is detachably connected, the above technical means of the present application improves structural stability, reduces calibration frequency, extends the usage time after calibration, and reduces usage costs.

[0067] In addition, taking the first light ray as an example, in FIG. 9, the path of the first light ray is offset to make it easier to observe the path of the laser and the path of the ambient light. In actual technical solutions, these two paths may coincide in the vertical direction of FIG. 9.

[0068] Embodiments of the subject matter and functional operations described herein may be implemented in hardware, including the structures disclosed herein and structural equivalents thereof, or one or more combinations thereof.

[0069] Other aspects that should be included in the scope of protection of this application include, but are not limited to, similar implementation methods or devices (even if they have slightly different structures or functions), equivalent alternative means for the specific technical principles described in this application, technical improvements or modifications made based on the ideas disclosed in this application, other devices or systems that use similar principles but have different specific implementation methods, derived products or methods based on the technical concepts disclosed in this application, and other technical means related to the technical field of this application (which may not be explicitly described in this application). In short, the scope of protection of this application should be determined based on the requirements of patent law and an understanding of the technical contribution, and includes protection to all reasonable scopes covering the technical principles disclosed in this application.

[0070] While this specification contains many details, these should not be construed as limiting the scope of any subject matter or the scope of the claims, but rather as descriptions of features that may be specific to particular embodiments of a particular technology. Certain features described in multiple examples herein may be implemented in combination in a single example. Conversely, various features described in a single example may be implemented separately or in any suitable subcombination in multiple examples. Furthermore, while features may be described above as acting in a particular combination and initially claimed as such, one or more features from a claimed combination may, in some cases, be extracted from the combination, and the claimed combination may be directed to a subcombination or a variation of the subcombination.

[0071] The above are only preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application should be included within the protection scope of the present application. [Explanation of symbols]

[0072] 1. 3D scanner 10 or 90 3D Imaging Module 11. Housing 101 First camera module 102 Second camera module 104 First lens group 105 Second lens group 106 1st light source 107 Texture Imaging Module 108 Beam Splitter 109 Third lens group 1061 Mask 103 lens mount 1031 First Containment Cavity 1032 Second Containment Cavity 1033 Third Containment Cavity 1034 Spacer ring 1035 Push Ring 1036 Adhesive injection hole 110 Adapter Module 1101 Lighting Module 11011 Second light source 11012 Bracket 11013 Cover plate 1102 Heating Module 111 Diagonal positioning pin 112 Main control board 113 Core Bracket 120 Adhesive application position 114 Flexible Circuit Board

Claims

1. 1. A three-dimensional imaging module, comprising:

1. A three-dimensional imaging module comprising: a first camera module, a second camera module, a lens mount, a first lens group, and a second lens group; the lens mount having a first accommodating cavity and a second accommodating cavity; the first camera module integrated at a bottom of the first accommodating cavity, the first lens group integrated in the first accommodating cavity; the second camera module integrated at a bottom of the second accommodating cavity, and the second lens group integrated in the second accommodating cavity.

2. 2. The three-dimensional imaging module of claim 1, wherein the lens mount further includes a third accommodating cavity disposed between the first accommodating cavity and the second accommodating cavity, and the three-dimensional imaging module further includes a first light source integrated at a bottom of the third accommodating cavity, the first light source emitting a first light beam to the object to be scanned, and the first camera module and the second camera module receiving the light beam reflected by the object to be scanned through the first lens group and the second lens group, respectively, and the light beam reflected by the object to be scanned includes at least the first light beam reflected by the object to be scanned.

3. The three-dimensional imaging module of claim 2, characterized in that a texture imaging module is provided in the third accommodating cavity, and the three-dimensional imaging module further includes a beam splitter, which transmits a first light beam emitted from a first light source and reflects a light beam from the scanned object to the texture imaging module.

4. the three-dimensional imaging module further includes a third lens group, the third lens group being integrated at a tip of the third receiving cavity, projecting the first light beam transmitted through the beam splitter onto the scanning target object, and reflecting the light beam from the scanning target object to the beam splitter; The three-dimensional imaging module of claim 3, characterized in that the texture imaging module is integrated on a side of the third accommodating cavity, the orientation of the texture imaging module is perpendicular to the direction in which the first light source emits the first light beam, and the inclined surfaces of the beam splitter form a 45-degree angle with the texture imaging module and the first light beam emitted by the first light source, respectively.

5. 2. The three-dimensional imaging module of claim 1, wherein the lens mount further includes a third accommodating cavity disposed between the first accommodating cavity and the second accommodating cavity, the three-dimensional imaging module further includes a texture imaging module and a third lens group, the texture imaging module is integrated at the bottom of the third accommodating cavity, and the third lens group is integrated within the third accommodating cavity, and an image of the scanned object is projected onto the texture imaging module for imaging.

6. 2. The three-dimensional imaging module of claim 1, wherein the lens mount includes a plurality of diagonal alignment pins that fix diagonal corners of components so as to limit movement of at least one of the first camera module and the second camera module and at least one of the first lens group and the second lens group relative to the lens mount.

7. 2. The three-dimensional imaging module of claim 1, wherein the lens mount includes a push ring and a spacer ring, the spacer ring being attached between two lenses of at least one of the first lens group and the second lens group to axially position the lenses of at least one of the first lens group and the second lens group, and the push rings being attached to both ends of the first lens group and / or the second lens group to secure at least one of the first lens group and the second lens group.

8. 8. The three-dimensional imaging module of claim 7, wherein a lens in the first lens group and / or the second lens group includes an adhesive application position, and the lens mount further includes an adhesive injection hole, the adhesive injection hole corresponding to the adhesive application position, and the adhesive injection hole allows adhesive to flow into the adhesive application position.

9. The three-dimensional imaging module of claim 8 , wherein the adhesive is a low expansion structural adhesive.

10. The three-dimensional imaging module according to claim 2 , wherein the first and second accommodating cavities are symmetrically arranged with respect to an axis of the third accommodating cavity.

11. 4. The three-dimensional imaging module according to claim 3, wherein a plating film is provided on the inclined surface of the beam splitter.

12. The three-dimensional imaging module of claim 3 , wherein a mask is provided in the third accommodating cavity, and the mask is provided between the first light source and the beam splitter.

13. A three-dimensional scanner, Housing and A three-dimensional scanner comprising: the three-dimensional imaging module according to claim 1; and the three-dimensional imaging module housed within the housing.

14. the three-dimensional scanner further includes an adapter module and a texture imaging module; the texture imaging module collects color information of the scanned object, and the three-dimensional imaging module is connectable to the adapter module; the adapter module includes a lighting module and a heating module; the lighting module includes a second light source, a bracket, and a cover plate; the second light source provides an illumination environment for the texture imaging module; 14. The three-dimensional scanner of claim 13, wherein the bracket fixes the position of the second light source, and the cover plate fixes the second light source and bracket within the adapter module.

15. 14. The 3D scanner of claim 13, further comprising a core bracket, a main control board, and a flexible circuit board, wherein the 3D imaging module and the main control board are electrically connected via the flexible circuit board, the 3D imaging module and the main control board are fixed to the core bracket, and the core bracket is made of a highly thermally conductive material.

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