Three-dimensional scanning apparatus and three-dimensional scanning system

Abstract

Provided in the present application are a three-dimensional scanning apparatus and a three-dimensional scanning system. The three-dimensional scanning apparatus comprises: a scanning component, which comprises a first projector and a second projector, wherein the first projector is configured to emit first structured light having a first wavelength, and the second projector is configured to emit second structured light having a second wavelength; illumination components, which are configured to emit illumination light; and light-splitting sensing components, each of which comprises a first sensor and a second sensor, wherein the light-splitting sensing components are located on optical paths of detection light which is reflected by a target object and a mark point on the basis of the first structured light, the second structured light and the illumination light, and are configured to separate the optical paths of the detection light having different wavelengths, such that the first sensors and the second sensors respectively generate image information on the basis of the detection light having different wavelengths, and the image information is configured to acquire a three-dimensional image of the target object which has been subjected to three-dimensional reconstruction, and / or is configured to track the mark point. The present application can improve the anti-interference capability against environmental light.

Description

Three-dimensional scanning device and three-dimensional scanning system

[0001] The present application claims priority to the Chinese patent application No. 202410721666.X, filed on June 5, 2024, and entitled "Three-dimensional scanning device and three-dimensional scanning system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of three-dimensional scanning, in particular to a three-dimensional scanning device and a three-dimensional scanning system comprising the same. BACKGROUND

[0003] A scanner acquires features of each point on an object by scanning the object with a laser. A tracker is used to track features of a marker point on the scanner. According to the features acquired by the scanner and the tracker, a three-dimensional image of the object can be generated.

[0004] Traditional three-dimensional scanning devices have high cost, high design complexity, and heavy weight. On the other hand, they have low anti-interference ability to ambient light, which is particularly disadvantageous for outdoor scanning scenarios. SUMMARY

[0005] The first aspect of the present application provides a three-dimensional scanning device, comprising: a scanning assembly comprising a first projector and a second projector, the first projector being configured to emit first structured light having a first wavelength, the second projector being configured to emit second structured light having a second wavelength, the first wavelength being greater than the second wavelength; an illumination assembly configured to emit illumination light; and a light-splitting sensing assembly comprising a first sensor and a second sensor, the light-splitting sensing assembly being located on a light path of detection light reflected by a target object and a marker point according to the first structured light, the second structured light and the illumination light, and being configured to separate light paths of detection light having different wavelengths, so that the first sensor and the second sensor generate image information based on the detection light having different wavelengths respectively, the image information being configured to acquire a three-dimensional image of the target object after three-dimensional reconstruction and / or being configured to track the marker point.

[0006] The second aspect of the present application provides a three-dimensional scanning system, comprising: the above-mentioned three-dimensional scanning device; and a computing module connected to the three-dimensional scanning device, configured to receive the image information and perform three-dimensional reconstruction based on the image information to generate a three-dimensional image of the target object and / or track the marker point.

[0007] The three-dimensional scanning device and the three-dimensional scanning system include a scanning component, an illumination component, and a light-splitting sensing component, can track and identify a mark point on an external scanner as a tracker at a long optimal working distance, and can scan a target object as a handheld scanner at a terminal distance; the scanning component further includes a first projector and a second projector that can emit laser beams of different wavelengths; when the three-dimensional scanning device emits a first structured light of a longer wavelength, a target object in a large range can be scanned, and when the three-dimensional scanning device emits a second structured light of a shorter wavelength, a target object in a relatively small range can be scanned; and the light-splitting sensing component includes two sensors respectively configured to separate the optical paths of first detection light and second detection light of different wavelengths, generate image information based on the first detection light and the second detection light of different wavelengths, and the image information is configured to obtain a three-dimensional image of the target object after three-dimensional reconstruction or to track the mark point; therefore, the three-dimensional scanning device is beneficial to realize scanning and imaging of target objects of different sizes and is also beneficial to track the mark point; on this basis, the optical path structure of the three-dimensional scanning device is relatively simple, which is beneficial to avoid an increase in cost and weight and is beneficial to simplify the design complexity; and the anti-interference ability of the three-dimensional scanning device to ambient light is improved, especially for outdoor scanning and tracking scenes. BRIEF DESCRIPTION OF DRAWINGS

[0008] FIG. 1 is a schematic diagram of a module structure of a three-dimensional scanning device according to an embodiment of the present application.

[0009] FIG. 2 is a perspective view of the three-dimensional scanning device in FIG. 1.

[0010] FIG. 3 is a schematic diagram of an optical path structure of the three-dimensional scanning device in FIG. 1.

[0011] FIG. 4 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a tracking mode.

[0012] FIG. 5 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a scanning mode one.

[0013] FIG. 6 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a scanning mode two.

[0014] FIG. 7 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a first scanning period of a scanning mode three.

[0015] FIG. 8 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a second scanning period of the scanning mode three.

[0016] FIG. 9 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a first scanning period of a scanning mode four.

[0017] FIG. 10 is a schematic diagram of an optical path of the three-dimensional scanning device in FIG. 1 in a second scanning period of the scanning mode four.

[0018] Fig. 11 is a schematic diagram of a module structure of a three-dimensional scanning system according to an embodiment of the present application.

[0019] Main element symbol explanation Three-dimensional scanning system: 100 Three-dimensional scanning device: 1 Housing: 10 Containment space: 11 Scanning window: 12 Detection window: 13, 14 Scanning assembly: 20 First projector: 21 Second projector: 22 Illumination assembly: 30, 40 First fill light: 31, 41 Second fill light: 32, 42 Split light sensing assembly: 50, 60 Split light piece: 51, 61 First sensor: 52, 62 Second sensor: 53, 63 Lens: 54, 64 Filter: 55, 65 Computing device: 2 Display device: 3 First structured light: L11 Second structured light: L12 First illumination light: L21 First illumination light: L22 First detection light: L31 Second detection light: L32

[0020] The following detailed description will further illustrate the present application in conjunction with the above-mentioned figures. DETAILED DESCRIPTION

[0021] The three-dimensional scanning device according to an embodiment of the present application comprises an illumination assembly and a scanning assembly, and can be used as a tracker to track and identify a mark point on an external scanner at a long distance optimal working distance, and can also be used as a handheld scanner to scan a target object at a medium or low distance, thereby achieving one device with multiple functions.

[0022] On this basis, the three-dimensional scanning device according to the present application comprises at least two projectors that can emit laser beams of different wavelengths. When the three-dimensional scanning device emits a laser beam of a longer wavelength, it is configured to scan a target object in a large range; when the three-dimensional scanning device emits a laser beam of a shorter wavelength, it is configured to scan a target object in a small range, and thus the device can accurately scan target objects in at least two different ranges at at least two optimal focusing positions (the optimal focusing positions of laser beams of different wavelengths are also different).

[0023] Referring to Fig. 1, the three-dimensional scanning device 1 according to the present application comprises a housing 10, a scanning assembly 20, two illumination assemblies 30 and 40, and two split light sensing assemblies 50 and 60.

[0024] The scanning assembly 20 is configured to emit the first structured light L11 and the second structured light L12. The first structured light L11 and the second structured light L12 have different wavelengths. The illumination assembly 30 is configured to emit the first illumination light L21 and the second illumination light L22, and the illumination assembly 40 is also configured to emit the first illumination light L21 and the second illumination light L22. The first illumination light L21 and the second illumination light L22 have different wavelengths. The first structured light L11 and the first illumination light L21 have the same wavelength, and the second structured light L12 and the second illumination light L22 have the same wavelength. In the embodiment, the first wavelength is greater than the second wavelength. In the embodiment, the first structured light L11 and the second structured light L12 are lasers. In other embodiments of the present application, the first structured light L11 and the second structured light L12 can also be speckle or grating modulated structured light.

[0025] The first structured light L11 and the second structured light L12 are configured to project specific light spot patterns to the target object. The first illumination light L21 and the second illumination light L22 are configured to irradiate the marker points. When the target object receives the first structured light L11, the target object reflects the first structured light L11 as the first detection light L31, and when the marker points are irradiated by the first illumination light L21, the marker points are configured to reflect the first illumination light L21 as the first detection light L31. When the target object receives the second structured light L12, the target object reflects the second structured light L12 as the second detection light L32, and when the marker points are irradiated by the second illumination light L22, the marker points are configured to reflect the second illumination light L22 as the second detection light L32. That is, the first detection light L31 has the first wavelength, and the second detection light L32 has the second wavelength.

[0026] The light splitting sensing assemblies 50 and 60 have substantially the same function and structure. The light splitting sensing assemblies 50 and 60 are located on the light paths of the first detection light L31 and the second detection light L32. Each light splitting sensing assembly 50 / 60 includes two sensors, and the light splitting sensing assemblies 50 and 60 are configured to separate the light paths of the first detection light L31 and the second detection light L32 according to the different wavelengths of the first detection light L31 and the second detection light L32, so that detection lights of different wavelengths are received by different sensors respectively, and image information is generated, which includes the characteristics of the target object and the characteristics of the marker points. The image information can be used for subsequent three-dimensional reconstruction to obtain a three-dimensional image of the target object.

[0027] Please refer to FIG. 1 and FIG. 2, in the embodiment, the housing 10 has an overall long strip shape. The housing 10 is a light-tight structure. The housing 10 has an accommodating space 11 formed therein. The scanning assembly 20, the illumination assemblies 30 and 40, and the light splitting sensing assemblies 50 and 60 are located in the accommodating space 11. In other embodiments of the present application, the scanning assembly 20 can also be fixedly or movably arranged on the surface of the housing 10.

[0028] The housing 10 is formed with a light-transmissive scanning window 12, and the scanning assembly 20 is located at the scanning window 12. The scanning assembly 20 emits laser light outward through the scanning window 12. The housing 10 is also formed with two light-transmissive detection windows 13 and 14. The illumination assembly 30 and the light-splitting sensing assembly 50 are located at the detection window 13, and the illumination assembly 30 emits illumination light (first illumination light L21 and / or second illumination light L22) outward through the detection window 13, and the light-splitting sensing assembly 50 collects external detection light (first detection light L31 and / or second detection light L32) through the detection window 13. The illumination assembly 40 and the light-splitting sensing assembly 60 are located at the detection window 14, and the illumination assembly 40 emits illumination light outward through the detection window 14, and the light-splitting sensing assembly 60 collects external detection light through the detection window 14.

[0029] The scanning window 12, the detection window 13 and the detection window 14 are arranged at intervals, and the detection windows 13 and 14 are symmetrically distributed on both sides of the scanning window 12. Correspondingly, the two illumination assemblies 30 and 40 are respectively located on both sides of the scanning assembly 20. In other embodiments of the present application, the detection windows 13 and 14 can also be asymmetrically distributed on both sides of the scanning window 12. In the present embodiment, the scanning window 12, the detection window 13 and the detection window 14 are oriented in the same direction to scan a target object in the same space and receive the first detection light L31 and / or the second detection light L32 reflected by the target object.

[0030] Referring to FIG. 3, in the present embodiment, the scanning assembly 20 includes a first projector 21 and a second projector 22. The first projector 21 is configured to emit first structured light L11, and the second projector 22 is configured to emit second structured light L12. In the embodiments of the present application, the first projector 21 and the second projector 22 can be digital light processing (DLP) projectors or lasers.

[0031] In the present embodiment, the illumination assembly 30 includes a plurality of first light supplementing lamps 31 and a plurality of second light supplementing lamps 32. Each first light supplementing lamp 31 is configured to emit first illumination light L21, and each second light supplementing lamp 32 is configured to emit second illumination light L22. The first illumination light L21 and the second illumination light L22 are configured to irradiate a marker point. In the present embodiment, each first light supplementing lamp 31 and each second light supplementing lamp 32 is a light-emitting diode (LED).

[0032] The first structured light L11 is reflected by a target object as first detection light L31 when scanning the surface of the target object, and the second structured light L12 is reflected by the target object as second detection light L32 when scanning the surface of the target object. The first illumination light L21 is reflected by a marker point as first detection light L31 when irradiating the marker point, and the second illumination light L22 is reflected by the marker point as second detection light L32 when irradiating the marker point.

[0033] In this embodiment, the light splitting sensing assembly 50 includes a light splitting member 51, a first sensor 52, a second sensor 53, and a lens 54. The lens 54 is configured to collect the first detection light L31 and the second detection light L32, and is configured to focus the first detection light L31 and the second detection light L32 to the light splitting member 51.

[0034] In this embodiment, the optical axis of the lens 54 is perpendicular to the detection window 13, a plurality of first light supplement lamps 31 are arranged at intervals around the circumference of the lens 54 (i.e. around the optical axis of the lens 54), a plurality of second light supplement lamps 32 are also arranged at intervals around the circumference of the lens 54 (i.e. around the optical axis of the lens 54), and the plurality of second light supplement lamps 32 are arranged around the plurality of first light supplement lamps 31. In other embodiments of the present application, the plurality of first light supplement lamps 31 and the plurality of second light supplement lamps 32 are arranged at intervals in the circumferential direction (i.e. around the optical axis of the lens 54) to jointly surround the lens 54. The plurality of first light supplement lamps 31 and the plurality of second light supplement lamps 32 can be alternately arranged at intervals in the circumferential direction, or the plurality of first light supplement lamps 31 are arranged continuously for half a circle, and the plurality of second light supplement lamps 32 are arranged continuously for the other half a circle.

[0035] In this embodiment, the light splitting sensing assembly 50 further includes a filter 55 located in front of the lens 54, i.e. the filter 55 is located between the lens 54 and the detection window 13 (see FIG. 2). The filter 55 is a double-pass filter configured to allow light with wavelengths in a first wavelength band and a second wavelength band to pass through, and to block light with other wavelengths from entering the lens 54. The first wavelength band and the second wavelength band do not overlap. The first wavelength described above is in the first wavelength band, and the second wavelength described above is in the second wavelength band.

[0036] The light splitting member 51 is located on the optical axis of the lens 54, and is located on the side of the lens 54 away from the filter 55. The light splitting member 51 is located on the light paths of the first detection light L31 and the second detection light L32, and is configured to direct the part of the detection light with the first wavelength to the first sensor 52 and the part of the detection light with the second wavelength to the second sensor 53 according to the wavelengths of the detection light. In this embodiment, the light splitting member 51 is configured to reflect the first detection light L31 with the first wavelength to the first sensor 52, and is configured to transmit the second detection light L32 with the second wavelength to the second sensor 53. Therefore, the first sensor 52 and the second sensor 53 are respectively configured to generate image information based on the first detection light L31 and the second detection light L32 with different wavelengths, and the image information includes the features of the target object and the features of the landmark points. In embodiments of the present application, the light splitting member 51 is a beam splitter, and the first sensor 51 and the second sensor 52 are Charge Coupled Device (CCD) cameras.

[0037] In the embodiment of the present application, the lighting assembly 40 and the lighting assembly 30 have substantially the same structure and function, including a plurality of first light supplement lamps 41 and a plurality of second light supplement lamps 42. The light splitting and sensing assembly 60 and the light splitting and sensing assembly 50 have substantially the same structure and function, including a light splitting member 61, a first sensor 62, a second sensor 63, a lens 64, and a filter 65. The optical axis of the lens 64 is perpendicular to the detection window 14, the plurality of first light supplement lamps 41 are arranged around the circumference of the lens 64, and the plurality of second light supplement lamps 42 are also arranged around the circumference of the lens 64 and located at the periphery of the plurality of first light supplement lamps 41. The function of the light splitting and sensing assembly 60 will not be described again.

[0038] The number of projectors in the scanning assembly 20 is the same as the number of light supplement lamp types in each lighting assembly (30 / 40), different projectors emit light of different wavelengths, and different types of light supplement lamps emit light of different wavelengths. In the embodiment of the present application, the scanning assembly 20 includes two projectors (21 / 22), each lighting assembly (30 / 40) includes two types of light supplement lamps (31 / 32 or 41 / 42), and the corresponding projectors and light supplement lamps emit light of the same wavelength (the first projector 21 and the first light supplement lamp 31 and the first light supplement lamp 41 emit light of the same wavelength, and the second projector 22 and the second light supplement lamp 32 and the second light supplement lamp 42 emit light of the same wavelength).

[0039] In at least one modified embodiment of the present application, the scanning assembly 20 can include a larger number of projectors, and each lighting assembly (30 / 40) can include a larger number of light supplement lamps, and the corresponding projectors and light supplement lamps emit light of the same wavelength, each projector emits light of a different wavelength, and each type of light supplement lamp emits light of a different wavelength.

[0040] The number of lighting assemblies and light splitting and sensing assemblies is the same and one-to-one correspondence, in the embodiment of the present application, the three-dimensional scanning device 1 includes two lighting assemblies (30 / 40) and two light splitting and sensing assemblies (50 / 60). In at least one modified embodiment of the present application, the three-dimensional scanning device 1 can include a larger or smaller number of lighting assemblies and light splitting and sensing assemblies, and the number of lighting assemblies and light splitting and sensing assemblies is kept the same.

[0041] In at least one modified embodiment of the present application, the light splitting member 51 can also be other optical elements that can separate different wavelengths of light beams. In at least one modified embodiment of the present application, the light splitting and sensing assembly 50 can include a larger number of optical elements to achieve light splitting together. In the embodiment of the present application, the light splitting member 51 is a beam splitter, which is beneficial to save cost and space.

[0042] The working process of the three-dimensional scanning device 1 is described below by taking an example in which the scanning assembly 20 includes two projectors (21 / 22), each of the illumination assemblies (30 / 40) includes two light supplement lamps (31 / 32), the three-dimensional scanning device 1 includes two illumination assemblies (30 / 40) and two light splitting sensing assemblies (50 / 60), and the light splitting member 51 is a beam splitter.

[0043] In this embodiment, the three-dimensional scanning device 1 can work in a tracking mode and a scanning mode.

[0044] When the three-dimensional scanning device 1 works in the tracking mode, it is used as a tracker and needs to work in cooperation with an external scanner to obtain a three-dimensional image of a target object.

[0045] The external scanner is fixedly provided with a plurality of marker points. A user can hold the external scanner to scan the target object. During the scanning of the target object by the external scanner, the three-dimensional scanning device 1 of the embodiment of the application is fixedly arranged (for example, fixedly arranged on a tripod), and the detection windows 13 and 14 (see FIG. 2) are directed towards the external scanner and the position of the target object.

[0046] Please refer to FIG. 4. During the scanning of the target object by the external scanner: the first light supplement lamp 31 and the first light supplement lamp 41 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit first illumination light L21 having a first wavelength at a preset frequency; the first illumination light L21 is irradiated on the plurality of marker points of the external scanner, the plurality of marker points reflect it as first detection light L31, the first detection light L31 has the same wavelength (the first wavelength) as the first illumination light L21; the filter 55 allows the first detection light L31 having the first wavelength to pass through, the lens 54 receives the first detection light L31 from the filter 55 and focuses it to the light splitting member 51; the light splitting member 51 reflects the first detection light L31 to the first sensor 53; and the first sensor 53 generates marker point features based on the first detection light L31.

[0047] The external scanner emits a laser line to the target object to scan the target object. During the scanning, the target object reflects the laser line. The wavelength of the laser line reflected by the target object is within the first waveband, the filter 55 allows the laser line to pass through, the lens 54 receives the laser line from the filter 55 and focuses it to the light splitting member 51; the light splitting member 51 reflects the laser line to the first sensor 53; and the first sensor 53 generates image information based on the laser line. The image information is configured to reconstruct a three-dimensional image of the target object.

[0048] The three-dimensional scanning device 1 integrates tracking and scanning functions, and a plurality of marker points are attached to the surface of a target object. A user holds the three-dimensional scanning device 1 and moves it, and the target object can be scanned without using another scanner to obtain a three-dimensional image of the target object. When the three-dimensional scanning device 1 works in a scanning mode, at least the following multiple working modes can be used.

[0049] Mode one: single-range scanning, two sensors obtain image information.

[0050] Referring to FIG. 5, the first light supplement lamp 31 / 41 and the second light supplement lamp 32 / 42 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit first illumination light L21 with a first wavelength and second illumination light L22 with a second wavelength at a preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted at the same time, and the second projector 22 emits second structured light L12 with the second wavelength at this time.

[0051] The first illumination light L21 and the second illumination light L22 are irradiated on a plurality of marker points on the target object, and the plurality of marker points reflect them as first detection light L31 and second detection light L32, respectively. The first detection light L31 has the same wavelength (the first wavelength) as the first illumination light L21, and the second detection light L32 has the same wavelength (the second wavelength) as the second illumination light L22. The second structured light L12 is projected on the surface of the target object to form a scanning spot, and the target object reflects it as the second detection light L32.

[0052] The optical filter 55 / 65 allows the first detection light L31 with the first wavelength and the second detection light L32 with the second wavelength to pass through. The lens 54 receives the first detection light L31 and the second detection light L32 from the optical filter 55 and focuses them to the light splitting piece 51; the light splitting piece 51 reflects the first detection light L31 to the first sensor 52 and transmits the second detection light L32 to the second sensor 53. The lens 64 receives the first detection light L31 and the second detection light L32 from the optical filter 65 and focuses them to the light splitting piece 61; the light splitting piece 61 reflects the first detection light L31 to the first sensor 62 and transmits the second detection light L32 to the second sensor 63.

[0053] The first sensor 52 / 62 generates image information of the marker points based on the first detection light L31, including marker point features, and the second sensor 53 / 63 generates image information of the target object based on the second detection light L32, including target object features, and the marker point features are configured to splice and reconstruct the target object features, so that a three-dimensional image of the target object can be obtained.

[0054] Mode two: single-range scanning, a single sensor obtains image information.

[0055] The first light supplement lamp 31 / 41 or the second light supplement lamp 32 / 42 in the three-dimensional scanning device 1 flashes at a preset frequency, i.e., emits the first illumination light L21 with the first wavelength at a preset frequency or emits the second illumination light L22 with the second wavelength at a preset frequency, at which time the corresponding projector is synchronously controlled to emit laser light. For example, if the first light supplement lamp 31 / 41 emits the first illumination light L21, the first projector 21 is synchronously controlled to emit the first structured light L11; if the second light supplement lamp 32 / 42 emits the second illumination light L22, the second projector 22 is synchronously controlled to emit the second structured light L12. The following is an example of the first light supplement lamp 31 / 41 emitting the first illumination light L21 and the first projector 21 being synchronously controlled to emit the first structured light L11.

[0056] Referring to FIG. 6, the first illumination light L21 is irradiated on a plurality of mark points on a target object, which reflect the first illumination light L21 as first detection light L31 having the same wavelength (first wavelength) as the first illumination light L21. The first structured light L11 is projected on the surface of the target object to form a scanning spot, which is reflected by the target object as the first detection light L31 having the same wavelength as the first structured light L11.

[0057] The filter 55 / 65 allows the first detection light L31 having the first wavelength to pass through. The lens 54 receives the first detection light L31 from the filter 55 and focuses it to the light splitting member 51, which reflects the first detection light L31 to the first sensor 52. The lens 64 receives the first detection light L31 from the filter 65 and focuses it to the light splitting member 61, which reflects the first detection light L31 to the first sensor 62. The second sensors 53 and 63 do not receive detection light.

[0058] The first sensor 52 / 62 generates image information of the mark points (including mark point features) and image information of the target object (including target object features) based on the first detection light L31, and the mark point features are configured to stitch and reconstruct the target object features, so that a three-dimensional image of the target object can be obtained.

[0059] In this embodiment, the first wavelength is greater than the second wavelength. Therefore, the focusing positions of the first illumination light L21 with the first wavelength and the second illumination light L22 with the second wavelength are different, and the focusing positions of the first structured light L11 with the first wavelength and the second structured light L12 with the second wavelength are also different. The first illumination light L21 and the first structured light L11 with the greater wavelength are suitable for large-range tracking and scanning, and the second illumination light L22 and the second structured light L12 with the smaller wavelength are suitable for relatively small-range tracking and scanning. Therefore, the three-dimensional scanning device 1 can select the illumination light and the laser with the corresponding wavelength according to the distance and size of the target object to be tracked and scanned in practice, so as to realize double-range (or multiple-range in other embodiments) scanning, and high scanning accuracy can be achieved in each different range.

[0060] Mode three: double-range scanning, and two sensors acquire image information respectively.

[0061] In the scanning mode three, the three-dimensional scanning device 1 can alternately work in the first scanning period and the second scanning period during scanning a target object.

[0062] Please refer to FIG. 7 again. In the first scanning period, the three-dimensional scanning device 1 performs large-range scanning: the first light supplement lamp 31 / 41 and the second light supplement lamp 32 / 42 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit the first illumination light L21 with the first wavelength and the second illumination light L22 with the second wavelength at a preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously, and at this time, the first projector 21 emits the first structured light L11 with the first wavelength.

[0063] The first illumination light L21 and the second illumination light L22 are irradiated on a plurality of mark points on the target object, and the plurality of mark points reflect them as the first detection light L31 and the second detection light L32. The first detection light L31 has the same wavelength (the first wavelength) as the first illumination light L21, and the second detection light L32 has the same wavelength (the second wavelength) as the second illumination light L22. The first structured light L11 is projected on the surface of the target object to form a scanning spot, and the target object reflects it as the first detection light L31.

[0064] The optical filter 55 / 65 allows the first detection light L31 with the first wavelength and the second detection light L32 with the second wavelength to pass through. The lens 54 / 41 receives the first detection light L31 and the second detection light L32 from the optical filter 55 / 65 and focuses them to the light splitting member 51 / 61. The light splitting member 51 / 61 reflects the first detection light L31 to the first sensor 52 / 62 and transmits the second detection light L32 to the second sensor 53 / 63.

[0065] The first sensor 52 / 62 generates a landmark feature based on the first detection light L31, and the second sensor 53 / 63 generates image information of the landmark (including the landmark feature) and image information of the target object (including the target object feature) based on the second detection light L32, the landmark feature being configured to reconstruct the target object feature.

[0066] Please refer to FIG. 8 again, during the second scanning period, the first light supplement lamp 31 and the second light supplement lamp 32 in the three-dimensional scanning device 1 flash at a preset frequency, that is, emit the first illumination light L21 with the first wavelength and the second illumination light L22 with the second wavelength at a preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted at the same time, at this time, the second projector 22 emits the second structured light L12 with the second wavelength.

[0067] The first illumination light L21 and the second illumination light L22 are irradiated on the plurality of landmarks on the target object, and the plurality of landmarks reflect them as the first detection light L31 and the second detection light L32, the first detection light L31 has the same wavelength (the first wavelength) as the first illumination light L21, and the second detection light L32 has the same wavelength (the second wavelength) as the second illumination light L22. The second structured light L12 is projected on the surface of the target object to form a scanning spot, and the target object reflects it as the second detection light L32.

[0068] The filter 55 / 65 allows the first detection light L31 with the first wavelength and the second detection light L32 with the second wavelength to pass through. The lens 54 / 41 receives the first detection light L31 and the second detection light L32 from the filter 55 / 44 and focuses them to the light splitting piece 51 / 61. The light splitting piece 51 / 61 reflects the first detection light L31 to the first sensor 52 / 62 and transmits the second detection light L32 to the second sensor 53 / 63.

[0069] The first sensor 52 / 62 generates a landmark feature based on the first detection light L31, and the second sensor 53 / 63 generates image information of the landmark (including the landmark feature) and image information of the target object (including the target object feature) based on the second detection light L32, the landmark feature being configured to reconstruct the target object feature.

[0070] The data generated during the first scanning period and the second scanning period are reconstructed by splicing, and the three-dimensional image of the target object can be obtained. In the third mode, the surface type with low detail requirement on the target object is obtained by large-range data acquisition, and the surface type with high detail requirement is obtained by small-range data acquisition, and the multi-resolution data model can be obtained by alternating work in the first scanning period and the second scanning period.

[0071] The fourth mode: double-range scanning, and a single sensor acquires image information.

[0072] In the fourth scanning mode, the three-dimensional scanning device 1 can also work alternately in the first scanning period and the second scanning period during scanning a target object.

[0073] Referring to FIG. 9, in the first scanning period, the three-dimensional scanning device 1 performs a large-range scanning: the first light supplement lamp 31 / 41 in the three-dimensional scanning device 1 flashes at a preset frequency, that is, emits the first illumination light L21 with the first wavelength at a preset frequency, and at this time, the first projector 21 emits the first structured light L11 with the first wavelength.

[0074] The first illumination light L21 irradiates on the plurality of mark points on the target object, and the plurality of mark points reflect it as the first detection light L31 with the same wavelength (the first wavelength) as the first illumination light L21. The first structured light L12 is projected on the surface of the target object to form a scanning spot, and the target object reflects it as the first detection light L31.

[0075] The filter 55 / 65 allows the first detection light L31 with the first wavelength to pass through. The lens 54 / 64 receives the first detection light L31 from the filter 55 / 65 and focuses it to the light splitting piece 51 / 61. The light splitting piece 51 / 61 reflects the first detection light L31 to the first sensor 52 / 62.

[0076] The first sensor 52 / 62 generates image information (including mark point features) of the mark points and image information (including target object features) of the target object based on the first detection light L31, and the mark point features are configured to stitch and reconstruct the target object features.

[0077] Referring to FIG. 10, in the second scanning period, the second light supplement lamp 32 / 43 in the three-dimensional scanning device 1 flashes at a preset frequency, that is, emits the second illumination light L22 with the second wavelength at a preset frequency, and at this time, the second projector 22 emits the second structured light L12 with the second wavelength.

[0078] The second illumination light L22 irradiates on the plurality of mark points on the target object, and the plurality of mark points reflect it as the second detection light L32 with the same wavelength (the second wavelength) as the second illumination light L22. The second structured light L12 is projected on the surface of the target object to form a scanning spot, and the target object reflects it as the second detection light L32.

[0079] The filter 55 / 65 allows the second detection light L32 with the second wavelength to pass through. The lens 54 receives the second detection light L32 from the filter 55 and focuses it to the light splitting piece 51 / 61. The light splitting piece 51 / 61 transmits the second detection light L32 to the second sensor 53 / 63.

[0080] The second sensor 53 / 63 generates image information (including the landmark feature) of the landmark and image information (including the target object feature) of the target object based on the second detection light L32, and the landmark feature is configured to splice and reconstruct the target object feature.

[0081] The data generated in the first scanning period and the second scanning period are spliced and reconstructed to obtain a three-dimensional image of the target object. In the fourth mode, a large range of data of the surface type with low detail requirement on the target object is acquired, and a small range of data of the surface type with high detail requirement is acquired and replaced to obtain a multi-resolution data model.

[0082] In addition, the scanning mode in the fourth mode separates the detection light corresponding to the target object feature and the landmark feature, which is beneficial to avoid interference between the detection light corresponding to the target object feature and the landmark feature. Although the third mode does not separate the detection light corresponding to the target object feature and the landmark feature, it is beneficial to reduce the difference under different depths of field, and in a specific use scenario, a higher scanning accuracy can also be obtained.

[0083] Referring to FIG. 11, the embodiment of the present application further provides a three-dimensional scanning system 100, which comprises any one of the three-dimensional scanning device 1, the computing device 2 and the display device 3 as described above, the computing device 2 is connected to the first sensor 52 / 62 and the second sensor 53 / 63 in the three-dimensional scanning device 1 respectively, and the display device 3 is connected to the computing device 2. The three-dimensional scanning device 1, the computing device 2 and the display device 3 can be connected through a wired or wireless mode. In the embodiment of the present application, the computing device 2 can be a chip, a chip set or a smart terminal. The display device 3 can be a display or a smart terminal.

[0084] The computing device 2 is configured to receive the image information (including the landmark feature and the target object feature) generated by the first sensor 52 / 62 and the second sensor 53 / 63, perform three-dimensional reconstruction calculation based on the target object feature to generate point cloud three-dimensional data, and perform three-dimensional reconstruction based on the landmark feature to obtain landmark three-dimensional data, that is, the target three-dimensional data includes the point cloud three-dimensional data and the landmark three-dimensional data.

[0085] In the embodiment, the three-dimensional scanning device 1 comprises two illumination assemblies (30, 40), the computing device 2 performs three-dimensional reconstruction calculation based on the binocular matching principle to determine the respective three-dimensional data of the target object and the landmark. The three-dimensional data includes the three-dimensional coordinates of the plurality of laser points formed by the laser beams of the first structured light L11 / second structured light L12 on the target object, the number of laser points, and the three-dimensional coordinates of the landmark, and the number of landmarks. The three-dimensional coordinates of the plurality of laser points and the three-dimensional coordinates of the landmark are in the same coordinate system.

[0086] The computing device 2 is also configured to receive multi-frame target three-dimensional data for stitching fusion, and render the incremental data in each frame of target three-dimensional data to generate a three-dimensional model of the target object, and then display the three-dimensional model through the display device 3. In the embodiment, the computing device 2 includes a graphics processing unit (GPU) to perform three-dimensional reconstruction calculation on the data to determine the target three-dimensional data.

[0087] The three-dimensional scanning device 1 of the embodiment includes a scanning assembly 20, an illumination assembly 30 / 40, and a light splitting sensing assembly 50 / 60, which can be used as a tracker to track and identify a marker point on an external scanner at a long optimal working distance, and can also be used as a handheld scanner to scan a target object at a terminal distance. The scanning assembly 20 further includes a first projector 21 and a second projector 22 that can emit laser beams of different wavelengths. When the three-dimensional scanning device 1 emits a first structured light L11 of a longer wavelength, a target object in a large range can be scanned, and when the three-dimensional scanning device 1 emits a second structured light L12 of a shorter wavelength, a target object in a relatively smaller range can be scanned. The light splitting sensing assemblies 50 and 60 each include two sensors configured to separate the optical paths of first detection light L31 and second detection light L32 of different wavelengths, and generate image information based on the first detection light and the second detection light of different wavelengths, respectively. The image information is configured to obtain a three-dimensional image of the target object after three-dimensional reconstruction, or is configured to track the marker point. Therefore, the three-dimensional scanning device 1 of the present application is beneficial to the scanning and imaging of target objects of different sizes, and is also beneficial to the tracking of marker points.

[0088] On this basis, the optical path structure of the three-dimensional scanning device 1 of the present application is relatively simple, which is beneficial to avoiding the increase of cost and weight, and is also beneficial to simplifying the design complexity. Moreover, the three-dimensional scanning device 1 of the present application uses infrared light and blue light as the first structured light and the second structured light, respectively, and can also select the first structured light or the second structured light to be emitted according to different situations, so that the anti-interference ability of the three-dimensional scanning device 1 to ambient light is improved, especially for outdoor scanning and tracking scenes.

[0089] Those skilled in the art should understand that the above embodiments are only used to illustrate the present application, but not as a limitation to the present application, and any appropriate changes and variations to the above embodiments within the spirit and scope of the present application are within the scope of the present application. Industrial applicability

[0090] The three-dimensional scanning device and the three-dimensional scanning system provided by the present disclosure include a scanning assembly, an illumination assembly and a light splitting sensing assembly, which can not only track and identify the mark points on the external scanner as a tracker at a long optimal working distance, but also scan the target object as a handheld scanner at a terminal distance; the scanning assembly further includes a first projector and a second projector that can emit laser beams of different wavelengths; when the three-dimensional scanning device emits the first structured light with a longer wavelength, it can scan the target object in a large range, and when the three-dimensional scanning device emits the second structured light with a shorter wavelength, it can scan the target object in a relatively small range; and the light splitting sensing assembly includes two sensors respectively configured to separate the optical paths of the first detection light and the second detection light of different wavelengths, generate image information based on the first detection light and the second detection light of different wavelengths, and the image information is configured to obtain the three-dimensional image of the target object after three-dimensional reconstruction, or is configured to track the mark points; therefore, the three-dimensional scanning device of the present application is beneficial to realize the scanning and imaging of target objects of different sizes, and is also beneficial to track the mark points; on this basis, the optical path structure of the three-dimensional scanning device of the present application is relatively simple, which is beneficial to avoid the increase of cost and weight, and is beneficial to simplify the design complexity; and the anti-interference ability of the three-dimensional scanning device of the present application to the ambient light is improved, especially for outdoor scanning and tracking scenes, which has strong industrial practicability.

Claims

1. A three-dimensional scanning apparatus, wherein, The three-dimensional scanning device comprises: a scanning assembly comprising a first projector configured to emit first structured light having a first wavelength and a second projector configured to emit second structured light having a second wavelength, the first wavelength being greater than the second wavelength; an illumination assembly configured to emit illumination light; and a light-splitting sensing assembly comprising a first sensor and a second sensor, the light-splitting sensing assembly being located on a light path of detection light reflected by a target object and a landmark point according to the first structured light, the second structured light and the illumination light, and being configured to separate the light path of detection light having different wavelengths, so that the first sensor and the second sensor generate image information based on detection light having different wavelengths respectively, the image information being configured to obtain a three-dimensional image of the target object after three-dimensional reconstruction and / or being configured to track the landmark point. The light-splitting sensing assembly further comprises a light-splitting member; 2. The three-dimensional scanning device of claim 1, wherein, the light-splitting member is located on the light path of the detection light and is configured to reflect at least part of the detection light to the first sensor according to the wavelength of the detection light, and / or to transmit at least part of the detection light to the second sensor. The illumination assembly comprises a first fill light configured to emit first illumination light having the first wavelength and a second fill light configured to emit second illumination light having the second wavelength.

3. The three-dimensional scanning device of claim 1, wherein, The illumination assembly comprises a plurality of first fill lights and a plurality of second fill lights, and the light-splitting sensing assembly further comprises a lens; 4. The three-dimensional scanning device of claim 3, wherein, the plurality of first fill lights and the plurality of second fill lights surround the lens respectively, and the plurality of second fill lights are located at the periphery of the plurality of first fill lights; or the plurality of first fill lights and the plurality of second fill lights are arranged in a circumferential direction to jointly surround the lens. The light-splitting sensing assembly further comprises a filter arranged in front of the lens, and the filter is configured to allow detection light having a wavelength in a first wavelength band and a second wavelength band to pass through; 5. The three-dimensional scanning device of claim 4, wherein, the first wavelength is in the first wavelength band, and the second wavelength is in the second wavelength band, and the first wavelength band and the second wavelength band do not overlap. When the three-dimensional scanning device works in a tracking mode, the scanning assembly does not emit light, the illumination assembly emits the first illumination light and / or the second illumination light, and the first sensor and / or the second sensor receives first detection light and / or second detection light reflected according to the first illumination light and / or the second illumination light.

6. The three-dimensional scanning device of claim 1, wherein, When the three-dimensional scanning device works in a scanning mode, the illumination assembly emits the first illumination light and the second illumination light, the second projector emits the second structured light, the first sensor receives first detection light reflected according to the first illumination light, and the second sensor receives second detection light reflected according to the second illumination light and the second structured light.

7. The three-dimensional scanning device of claim 6, wherein, When the three-dimensional scanning device works in a scanning mode, the illumination assembly emits the first illumination light, the first projector emits the first structured light, and the first sensor receives first detection light reflected according to the first illumination light and the first structured light.

8. The three-dimensional scanning device of claim 6, wherein, ​ or when the three-dimensional scanning device works in the scanning mode, the illumination assembly emits the second illumination light, the second projector emits the second structured light, and the second sensor receives second detection light reflected back according to the second illumination light and the second structured light.

9. The three-dimensional scanning device of claim 6, wherein, when the three-dimensional scanning device works in the scanning mode, the illumination assembly emits the second illumination light, the second projector emits the second structured light, and the second sensor receives second detection light reflected back according to the second illumination light and the second structured light. in the first scanning period, the illumination assembly emits the first illumination light and the second illumination light, the first projector emits the first structured light, the first sensor receives first detection light reflected back according to the first illumination light and the first structured light, and the second sensor receives second detection light reflected back according to the second illumination light; in the second scanning period, the illumination assembly emits the first illumination light and the second illumination light, the second projector emits the second structured light, the first sensor receives first detection light reflected back according to the first illumination light, and the second sensor receives second detection light reflected back according to the second illumination light and the second structured light.

10. The three-dimensional scanning device of claim 6, wherein, when the three-dimensional scanning device works in the scanning mode, the illumination assembly emits the second illumination light, the second projector emits the second structured light, and the second sensor receives second detection light reflected back according to the second illumination light and the second structured light. in the first scanning period, the illumination assembly emits the first illumination light, the first projector emits the first structured light, and the first sensor receives first detection light reflected back according to the first illumination light and the first structured light; in the second scanning period, the illumination assembly emits the second illumination light, the second projector emits the second structured light, and the second sensor receives second detection light reflected back according to the second illumination light and the second structured light.

11. The three-dimensional scanning device of any one of claims 1-10, wherein, The three-dimensional scanning device comprises two illumination assemblies, and the two illumination assemblies are located on two sides of the scanning assembly.

12. The three-dimensional scanning device of any one of claims 1-10, wherein, The three-dimensional scanning device further comprises a housing, and the illumination assembly and the light splitting and sensing assembly are located in the housing, and the scanning assembly is located in or fixed on the housing.

13. The three-dimensional scanning device of any one of claims 1-10, wherein, The first structured light is infrared light, and the second structured light is blue light.

14. A three-dimensional scanning system, wherein, The three-dimensional scanning device comprises: The three-dimensional scanning device comprises: The three-dimensional scanning device comprises: The computing module is connected to the three-dimensional scanning device, configured to receive the image information, and perform three-dimensional reconstruction based on the image information to generate a three-dimensional image of the target object and / or track the landmark points.

Images