Three-dimensional detection method and apparatus, device, storage medium, and program product
By simultaneously acquiring 3D and 2D scanning data using light sources of different wavelengths under the target acquisition light source, the time loss and accuracy problems caused by separate detection in existing technologies are solved, and efficient 3D model construction and feature verification are achieved.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- HANGZHOU SHINING TIANYUAN 3D INSPECTION TECH CO LTD
- Filing Date
- 2025-10-29
- Publication Date
- 2026-05-15
AI Technical Summary
In existing technologies, separately detecting three-dimensional features and two-dimensional features affects the working time cycle and leads to a loss of working coordinate accuracy.
Using a synchronous acquisition device under the target acquisition light source, three-dimensional scanning data and two-dimensional scanning data are acquired respectively using a first light source and a second light source of different wavelengths through optical path separation technology or separation channel method, and the data are acquired on a black and white sensor or a color sensor respectively.
It enables the simultaneous acquisition of 3D and 2D scanning data, improving scanning efficiency and data alignment accuracy.
Smart Images
Figure CN2025130879_15052026_PF_FP_ABST
Abstract
Description
3D inspection methods, devices, equipment, storage media and program products Cross-reference to related applications
[0001] This application claims priority to Chinese Patent Application No. 202411564180.6, filed on November 5, 2024, entitled “Three-dimensional detection method, apparatus, device, storage medium and program”, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This invention relates to the field of three-dimensional reconstruction technology, and in particular to a three-dimensional detection method, apparatus, equipment, storage medium, and program product. Background Technology
[0003] In the process of 3D reconstruction based on 3D scanning technology, some 2D features are needed to assist in the construction of the workpiece to improve detection accuracy. Since 3D scanning technology typically uses the same camera with different light sources, and the identification of 2D features cannot be interfered with by the 3D acquisition light source, the usual procedure for acquiring both 3D and 2D features is to first perform a 3D scan using the 3D acquisition light source, then turn off the 3D acquisition light source, and finally use the 2D acquisition light source for 2D feature recognition. However, because the two detections need to be performed separately, it not only affects the work cycle time but also leads to a loss of accuracy in the working coordinates of the two detection operations. Summary of the Invention
[0004] This invention provides a three-dimensional detection method, apparatus, device, storage medium, and program product to solve the problem that separately detecting three-dimensional features and two-dimensional features not only affects the working time cycle, but also causes the working coordinates of the two detection operations to suffer from accuracy loss.
[0005] This invention provides a three-dimensional detection method, comprising: simultaneously acquiring three-dimensional scanning data and two-dimensional scanning data of a target object through an acquisition device under a target acquisition light source; wherein, the target acquisition light source includes a first light source and a second light source, the wavelength of the first light source being different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize feature verification of the three-dimensional model; the three-dimensional scanning data and two-dimensional scanning data are acquired through optical path separation technology or channel separation.
[0006] According to a three-dimensional detection method provided by the present invention, three-dimensional scanning data and two-dimensional scanning data of a target object are simultaneously acquired by an acquisition device under a target acquisition light source. The method includes: when the acquisition device is a monochrome sensor, the first light source and the second light source are respectively associated with different monochrome sensors by optical path separation technology, and the target object is simultaneously scanned based on the different monochrome sensors to obtain three-dimensional scanning data and two-dimensional scanning data.
[0007] According to a three-dimensional detection method provided by the present invention, three-dimensional scanning data and two-dimensional scanning data of a target object are simultaneously acquired by an acquisition device under a target acquisition light source. The method includes: when the acquisition device is a color sensor, scanning the feature information of the target object based on the color sensor, and obtaining three-dimensional scanning data and two-dimensional scanning data by separating different channels of the color sensor; wherein, different channels correspond to different light source wavelengths.
[0008] According to a three-dimensional detection method provided by the present invention, the acquisition device includes a first acquisition device and a second acquisition device; under a target acquisition light source, the acquisition device synchronously acquires three-dimensional scanning data and two-dimensional scanning data of a target object, including: at the same time, scanning the feature information of the target object with the first acquisition device to obtain three-dimensional scanning data, and scanning the feature information of the target object with the second acquisition device to obtain two-dimensional scanning data; wherein, the first acquisition device corresponds to a first light source, and the second acquisition device corresponds to a second light source.
[0009] The present invention also provides a three-dimensional detection device, comprising the following modules: an acquisition module; the acquisition module is configured to simultaneously acquire three-dimensional scanning data and two-dimensional scanning data of a target object through an acquisition device under a target acquisition light source; wherein, the target acquisition light source includes a first light source and a second light source, the wavelength of the first light source being different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize feature verification of the three-dimensional model; the acquisition module is used to acquire the three-dimensional scanning data and the two-dimensional scanning data through optical path separation technology or a channel separation method.
[0010] According to the present invention, a three-dimensional detection device includes an acquisition module configured to, when the acquisition device is a monochrome sensor, associate a first light source and a second light source with different monochrome sensors through optical path separation technology, and simultaneously scan the target object based on the different monochrome sensors to obtain three-dimensional scanning data and two-dimensional scanning data.
[0011] According to the present invention, a three-dimensional detection device includes an acquisition module configured to, when the acquisition device is a color sensor, scan the feature information of a target object based on the color sensor, and obtain three-dimensional scanning data and two-dimensional scanning data by separating different channels of the color sensor; wherein, different channels correspond to different light source wavelengths.
[0012] According to the present invention, a three-dimensional detection device includes a first acquisition device and a second acquisition device; an acquisition module is configured to simultaneously scan the feature information of a target object through the first acquisition device to obtain three-dimensional scan data, and scan the feature information of the target object through the second acquisition device to obtain two-dimensional scan data; wherein, the first acquisition device corresponds to a first light source, and the second acquisition device corresponds to a second light source.
[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the three-dimensional detection methods described above.
[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the three-dimensional detection methods described above.
[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the three-dimensional detection methods described above.
[0016] The three-dimensional detection method, apparatus, device, storage medium, and program product provided by this invention can simultaneously acquire three-dimensional and two-dimensional scan data of a target object under a target acquisition light source. The target acquisition light source includes a first light source and a second light source, with the wavelengths of the first and second light sources being different. The three-dimensional scan data is used to construct a three-dimensional model, and the two-dimensional scan data is used to verify the features of the three-dimensional model. The three-dimensional and two-dimensional scan data are acquired through optical path separation technology or a channel separation method. This scheme allows for the simultaneous acquisition of three-dimensional and two-dimensional scan data of a target object under a target acquisition light source. Since the target acquisition light source includes a first and a second light source with different wavelengths, the acquisition device uses different light source wavelengths when acquiring three-dimensional and two-dimensional scan data. Therefore, the synchronously acquired feature information can be dimensionally divided based on the wavelength of the acquisition light source, thereby achieving simultaneous acquisition of three-dimensional and two-dimensional scan data and improving scanning efficiency and data alignment accuracy. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 is a flowchart illustrating the three-dimensional detection method provided by the present invention;
[0019] Figure 2 is a schematic diagram of the structure of the three-dimensional detection device provided by the present invention;
[0020] Figure 3 is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0022] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0023] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0024] To facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with essentially the same function and effect. Those skilled in the art can understand that the terms "first" and "second" are not intended to limit the quantity or execution order.
[0025] This application describes some exemplary embodiments for illustrative purposes. It should be understood that this application may be implemented in other ways not specifically shown in the accompanying drawings.
[0026] As shown in Figure 1, this application provides a three-dimensional detection method, which can be applied to a three-dimensional detection device. The three-dimensional detection method may include step S101:
[0027] S101, the three-dimensional detection device simultaneously acquires the three-dimensional and two-dimensional scanning data of the target object through the acquisition equipment under the target acquisition light source.
[0028] The target acquisition light source includes a first light source and a second light source, with the wavelengths of the first light source and the second light source being different; the three-dimensional scanning data is used to construct the three-dimensional model, and the two-dimensional scanning data is used to realize the feature verification of the three-dimensional model; the three-dimensional scanning data and the two-dimensional scanning data are acquired through optical path separation technology or by separating channels.
[0029] Optionally, the first light source can be a structured light source, and the second light source is a light source different from the structured light source. The structured light source is used by the acquisition device to acquire 3D scanning data, while the second light source is used by the acquisition device to acquire 2D scanning data. It should be noted that the wavelength of the structured light source is different from the wavelength of the second light source.
[0030] Optionally, the structured light mentioned above may include commonly used three-dimensional scanning structured light patterns such as speckle, single-line laser, multi-line laser, and striped phase structured light.
[0031] It should be noted that the above synchronous acquisition refers to the simultaneous acquisition of three-dimensional and two-dimensional features at the same location of the target object.
[0032] Specifically, the 3D detection device can acquire 3D scanning data and 2D scanning data in the following three ways:
[0033] Method 1: When the acquisition device is a monochrome sensor, the three-dimensional detection device can use optical path separation technology to associate the first light source and the second light source with different monochrome sensors, and simultaneously scan the target object based on the different monochrome sensors to obtain three-dimensional scanning data and two-dimensional scanning data.
[0034] In other words, since the wavelength of structured light is different from that of the second light source, when the acquisition device is a black and white sensor, the data collected by the acquisition device at different wavelengths can be obtained separately by optical path separation technology.
[0035] Method 2: The three-dimensional detection device can scan the feature information of the target object based on the color sensor when the acquisition device is a color sensor, and obtain three-dimensional scanning data and two-dimensional scanning data by separating different channels of the color sensor; where different channels correspond to different light source wavelengths.
[0036] In other words, since the wavelength of structured light is different from that of the second light source, and different channels correspond to different light source wavelengths, when the acquisition device is a color sensor, data acquired by the acquisition device at the corresponding wavelength can be obtained from different channels by separating the channels of the color sensor.
[0037] Method 3: The acquisition equipment includes a first acquisition device and a second acquisition device; the three-dimensional detection device can simultaneously scan the feature information of the target object through the first acquisition device to obtain three-dimensional scan data, and scan the feature information of the target object through the second acquisition device to obtain two-dimensional scan data; wherein, the first acquisition device corresponds to the first light source, and the second acquisition device corresponds to the second light source.
[0038] In other words, since the wavelength of structured light is different from that of the second light source, and the first and second acquisition devices correspond to acquisition light sources of different wavelengths, the two acquisition devices can synchronously acquire three-dimensional scanning data and two-dimensional scanning data without interfering with each other.
[0039] Optionally, after determining the three-dimensional scanning data and the two-dimensional scanning data, the three-dimensional detection device can perform corresponding calculations to achieve three-dimensional reconstruction and feature extraction of the two-dimensional image.
[0040] Optionally, before acquiring data, the 3D detection device can first map the coordinates of the target object in 3D space to 2D space to obtain the calibration information of the acquisition device. After acquiring data, the 3D detection device can unify the coordinate systems of the 3D scan data and the 2D scan data based on the calibration information to achieve mutual constraints and verification between the 3D and 2D data.
[0041] Optionally, during the 3D reconstruction process, the 3D detection device can first calibrate the intrinsic and extrinsic parameters of the acquisition equipment, that is, map the coordinates of the target object in the 3D world to the 2D image plane. For example, calibration methods such as direct linear calibration and Zhang Zhengyou calibration can be used to determine the calibration information of the acquisition equipment.
[0042] Optionally, the 3D detection device can also achieve mutual constraint and verification between 3D scanning data and 2D scanning data through methods such as optical tracker stitching and external tracking stitching with a third camera.
[0043] In this embodiment, three-dimensional and two-dimensional scanning data of a target object can be simultaneously acquired by an acquisition device under a target acquisition light source. Since the target acquisition light source includes a first light source and a second light source, and the wavelengths of the first light source and the second light source are different, the corresponding light source wavelengths are different when the acquisition device acquires three-dimensional and two-dimensional scanning data. Therefore, the feature information acquired synchronously can be divided into dimensions based on the wavelength of the acquisition light source, thereby realizing the synchronous acquisition of three-dimensional and two-dimensional scanning data, and thus improving the scanning efficiency and data alignment accuracy.
[0044] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0045] The three-dimensional detection method provided in this application can be executed by a three-dimensional detection device or a control module for three-dimensional detection within that device. This application uses the execution of the three-dimensional detection method by a three-dimensional detection device as an example to illustrate the three-dimensional detection device provided in this application.
[0046] It should be noted that the embodiments of this application can divide the 3D detection device into functional modules according to the above method examples. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. Optionally, the module division in the embodiments of this application is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.
[0047] As shown in Figure 2, this application embodiment provides a three-dimensional detection device 200. The three-dimensional detection device 200 includes: a data acquisition module 201; the data acquisition module 201 is configured to simultaneously acquire three-dimensional scanning data and two-dimensional scanning data of a target object through an acquisition device under a target acquisition light source; wherein, the target acquisition light source includes a first light source and a second light source, the wavelength of the first light source being different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize feature verification of the three-dimensional model; the data acquisition module 201 is configured to acquire the three-dimensional scanning data and the two-dimensional scanning data through optical path separation technology or a channel separation method.
[0048] Optionally, the acquisition module 201 is configured to, when the acquisition device is a monochrome sensor, associate the first light source and the second light source with different monochrome sensors respectively through optical path separation technology, and simultaneously scan the target object based on the different monochrome sensors to obtain three-dimensional scanning data and two-dimensional scanning data.
[0049] Optionally, the acquisition module 201 is configured to, when the acquisition device is a color sensor, scan the feature information of the target object based on the color sensor, and obtain three-dimensional scanning data and two-dimensional scanning data by separating different channels of the color sensor; wherein, different channels correspond to different light source wavelengths.
[0050] Optionally, the acquisition device includes a first acquisition device and a second acquisition device; the acquisition module 201 is configured to simultaneously scan the feature information of the target object through the first acquisition device to obtain three-dimensional scan data, and scan the feature information of the target object through the second acquisition device to obtain two-dimensional scan data; wherein, the first acquisition device corresponds to a first light source, and the second acquisition device corresponds to a second light source.
[0051] In this embodiment, three-dimensional and two-dimensional scanning data of a target object can be simultaneously acquired by an acquisition device under a target acquisition light source. Since the target acquisition light source includes a first light source and a second light source, and the wavelengths of the first light source and the second light source are different, the corresponding light source wavelengths are different when the acquisition device acquires three-dimensional and two-dimensional scanning data. Therefore, the feature information acquired synchronously can be divided into dimensions based on the wavelength of the acquisition light source, thereby realizing the synchronous acquisition of three-dimensional and two-dimensional scanning data, and thus improving the scanning efficiency and data alignment accuracy.
[0052] Figure 3 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 3, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340. The processor 310, communication interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a three-dimensional detection method. This method includes: synchronously acquiring three-dimensional and two-dimensional scan data of a target object through an acquisition device under a target acquisition light source; wherein the target acquisition light source includes a first light source and a second light source, the wavelength of the first light source being different from the wavelength of the second light source; the three-dimensional scan data is used to construct a three-dimensional model, and the two-dimensional scan data is used to realize feature verification of the three-dimensional model; acquiring the three-dimensional and two-dimensional scan data through optical path separation technology or a channel separation method.
[0053] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0054] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the three-dimensional detection method provided by the above methods. The method includes: synchronously acquiring three-dimensional scanning data and two-dimensional scanning data of a target object through an acquisition device under a target acquisition light source; wherein the target acquisition light source includes a first light source and a second light source, and the wavelength of the first light source is different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize feature verification of the three-dimensional model; and the three-dimensional scanning data and two-dimensional scanning data are acquired through optical path separation technology or channel separation.
[0055] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the three-dimensional detection method provided by the above methods. The method includes: synchronously acquiring three-dimensional scanning data and two-dimensional scanning data of a target object through an acquisition device under a target acquisition light source; wherein the target acquisition light source includes a first light source and a second light source, the wavelength of the first light source being different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize feature verification of the three-dimensional model; and the three-dimensional scanning data and two-dimensional scanning data are acquired through optical path separation technology or a channel separation method.
[0056] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0057] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.
[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Industrial applicability
[0059] The 3D detection method, apparatus, equipment, storage medium, and program products provided in this application can simultaneously acquire 3D and 2D scan data of a target object under a target acquisition light source. The target acquisition light source includes a first light source and a second light source, with the wavelengths of the first and second light sources being different. The 3D scan data is used to construct a 3D model, and the 2D scan data is used to verify the features of the 3D model. The 3D and 2D scan data are acquired using optical path separation technology or a channel separation method. This scheme allows for the simultaneous acquisition of 3D and 2D scan data of a target object under a target acquisition light source. Since the target acquisition light source includes a first and a second light source with different wavelengths, the acquisition device uses different light source wavelengths when acquiring 3D and 2D scan data. Therefore, the synchronously acquired feature information can be dimensionally divided based on the wavelength of the acquisition light source, thereby achieving simultaneous acquisition of 3D and 2D scan data and improving scanning efficiency and data alignment accuracy.
Claims
1. A three-dimensional detection method, comprising: Under the target acquisition light source, the three-dimensional and two-dimensional scanning data of the target object are simultaneously acquired by the acquisition device; The target acquisition light source includes a first light source and a second light source, wherein the wavelength of the first light source is different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize the feature verification of the three-dimensional model; The three-dimensional scanning data and the two-dimensional scanning data are acquired using optical path separation technology or by separating channels.
2. The three-dimensional detection method according to claim 1, wherein, The process of simultaneously acquiring three-dimensional and two-dimensional scan data of the target object using an acquisition device under a target acquisition light source includes: When the acquisition device is a monochrome sensor, the first light source and the second light source are associated with different monochrome sensors by optical path separation technology, and the target object is scanned synchronously based on the different monochrome sensors to obtain the three-dimensional scan data and the two-dimensional scan data.
3. The three-dimensional detection method according to claim 1, wherein, The process of simultaneously acquiring three-dimensional and two-dimensional scan data of the target object using an acquisition device under a target acquisition light source includes: When the acquisition device is a color sensor, the feature information of the target object is scanned based on the color sensor, and the three-dimensional scan data and the two-dimensional scan data are obtained by separating the different channels of the color sensor. Different channels correspond to different light source wavelengths.
4. The three-dimensional detection method according to claim 1, wherein, The data acquisition equipment includes a first data acquisition device and a second data acquisition device; The process of simultaneously acquiring three-dimensional and two-dimensional scan data of the target object using an acquisition device under a target acquisition light source includes: At the same time, the first acquisition device scans the feature information of the target object to obtain the three-dimensional scan data, and the second acquisition device scans the feature information of the target object to obtain the two-dimensional scan data; Wherein, the first acquisition device corresponds to the first light source, and the second acquisition device corresponds to the second light source.
5. A three-dimensional detection device, comprising: Data acquisition module; The acquisition module is configured to simultaneously acquire three-dimensional and two-dimensional scan data of the target object through an acquisition device under the target acquisition light source. The target acquisition light source includes a first light source and a second light source, wherein the wavelength of the first light source is different from the wavelength of the second light source; the three-dimensional scanning data is used to construct a three-dimensional model, and the two-dimensional scanning data is used to realize the feature verification of the three-dimensional model; The acquisition module is configured to acquire the three-dimensional scan data and the two-dimensional scan data through optical path separation technology or a channel separation method.
6. The three-dimensional detection device according to claim 5, wherein, The acquisition module is configured to, when the acquisition device is a monochrome sensor, associate the first light source and the second light source with different monochrome sensors respectively through optical path separation technology, and simultaneously scan the target object based on the different monochrome sensors to obtain the three-dimensional scan data and the two-dimensional scan data.
7. The three-dimensional detection device according to claim 5, wherein, The acquisition module is configured to, when the acquisition device is a color sensor, scan the feature information of the target object based on the color sensor, and obtain the three-dimensional scan data and the two-dimensional scan data by separating different channels of the color sensor; wherein, different channels correspond to different light source wavelengths.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the three-dimensional detection method as described in any one of claims 1 to 4.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the three-dimensional detection method as described in any one of claims 1 to 4.
10. A computer program product comprising a computer program that, when executed by a processor, implements the three-dimensional detection method as described in any one of claims 1 to 4.