CN118317029A - Three-dimensional scanning device and three-dimensional scanning system - Google Patents

Abstract

The present application provides a three-dimensional scanning device, comprising: a scanning assembly comprising a first projector for emitting first structured light having a first wavelength and a second projector for emitting second structured light having a second wavelength, the first wavelength being greater than the second wavelength; an illumination assembly for emitting illumination light; the light splitting sensing component is positioned on the light path of the target object and the mark point according to the first structural light, the second structural light and the detection light reflected by the illumination light and is used for separating light paths of the detection light with different wavelengths, so that the first sensor and the second sensor respectively generate image information based on the detection light with different wavelengths, and the image information is used for acquiring a three-dimensional image of the target object after three-dimensional reconstruction and/or tracking the mark point. The application also provides a three-dimensional scanning system.

Description

Three-dimensional scanning device and three-dimensional scanning system

Technical Field

The present application relates to the field of three-dimensional scanning technologies, and in particular, to a three-dimensional scanning device and a three-dimensional scanning system including the same.

Background

The scanner scans the object with the laser to obtain the characteristics of points on the object. The tracker is used to track the characteristics of the marker points on the scanner. Based on the features acquired by the scanner and the tracker, a three-dimensional image of the object may be generated.

The traditional three-dimensional scanning device has high cost, high design complexity and increased weight, and has low anti-interference capability on ambient light, and is particularly unfavorable for outdoor scanning scenes.

Disclosure of Invention

A first aspect of the present application provides a three-dimensional scanning apparatus comprising:

a scanning assembly comprising a first projector for emitting first structured light having a first wavelength and a second projector for emitting second structured light having a second wavelength, the first wavelength being greater than the second wavelength;

An illumination assembly for emitting illumination light; and

The light splitting sensing assembly comprises a first sensor and a second sensor, and is positioned on the light path of the target object and the mark point according to the first structural light, the second structural light and the detection light reflected by the illumination light and used for separating light paths of the detection light with different wavelengths, so that the first sensor and the second sensor respectively generate image information based on the detection light with different wavelengths, and the image information is used for acquiring a three-dimensional image of the target object after three-dimensional reconstruction and/or tracking the mark point.

A second aspect of the present application provides a three-dimensional scanning system comprising:

The three-dimensional scanning device; and

And the computing module is connected with the three-dimensional scanning device and is used for receiving the image information and carrying out three-dimensional reconstruction based on the image information so as to generate a three-dimensional image of the target object and/or track the mark points.

The three-dimensional scanning device and the three-dimensional scanning system comprise a scanning assembly, an illumination assembly and a light-splitting sensing 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 terminal distance; the scanning assembly further comprises a first projector and a second projector which can emit laser light with different wavelengths; when the three-dimensional scanning device emits first structural light with longer wavelength, a large-range target object can be scanned, and when the three-dimensional scanning device emits second structural light with shorter wavelength, a relatively small-range target object can be scanned; the light splitting sensing assembly comprises two sensors, is used for separating light paths of first detection light and second detection light with different wavelengths, and respectively generates image information based on the first detection light and the second detection light with different wavelengths, wherein the image information is used for acquiring a three-dimensional image of a target object after three-dimensional reconstruction or is used for tracking the mark point; therefore, the three-dimensional scanning device is beneficial to realizing the scanning and imaging of target objects in different size ranges and is also beneficial to tracking mark points; on the basis, the three-dimensional scanning device has a relatively simple light path structure, is beneficial to avoiding the increase of cost and weight, and is beneficial to simplifying the design complexity; in addition, the three-dimensional scanning device has improved anti-interference capability to ambient light, and is particularly friendly to outdoor scanning and tracking scenes.

Drawings

Fig. 1 is a schematic block diagram of a three-dimensional scanning device according to an embodiment of the application.

Fig. 2 is a perspective view of the three-dimensional scanning device of fig. 1.

Fig. 3 is a schematic view of an optical path structure of the three-dimensional scanning device in fig. 1.

Fig. 4 is a schematic view of an optical path of the three-dimensional scanning device in fig. 1 in a tracking mode.

Fig. 5 is a schematic view of an optical path of the three-dimensional scanning device in fig. 1 in a scanning mode.

Fig. 6 is a schematic view of an optical path of the three-dimensional scanning device in fig. 1 in a second scanning mode.

Fig. 7 is a schematic view of an optical path of the three-dimensional scanning device in fig. 1 in a first scanning period of a third scanning mode.

Fig. 8 is a schematic light path diagram of the three-dimensional scanning device in fig. 1 in a second scanning period of the third scanning mode.

Fig. 9 is a schematic light path diagram of the three-dimensional scanning device in fig. 1 in a first scanning period of a fourth scanning mode.

Fig. 10 is a schematic light path diagram of the three-dimensional scanning device in fig. 1 in a second scanning period of the fourth scanning mode.

Fig. 11 is a schematic block diagram of a three-dimensional scanning system according to an embodiment of the application.

Description of the main reference signs

Three-dimensional scanning system: 100

Three-dimensional scanning device: 1

A shell: 10

Accommodation space: 11

Scanning window: 12

Detection window: 13. 14, 14

And (3) a scanning assembly: 20

A first projector: 21

A second projector: 22

An illumination assembly: 30. 40 (40)

First light filling lamp: 31. 41, 41

And a second light supplementing lamp: 32. 42 (42)

A spectroscopic sensing assembly: 50. 60 (60)

Light splitting piece: 51. 61

A first sensor: 52. 62, 62

A second sensor: 53. 63, 63

Lens: 54. 64 (64)

An optical filter: 55. 65 (65)

The computing device: 2

A 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: and L32.

The application will be further described in the following detailed description in conjunction with the above-described figures.

Detailed Description

The embodiment of the application provides a three-dimensional scanning device which 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 be used as a handheld scanner to scan a target object at a medium-low distance, so that one machine is multipurpose.

On the basis, the three-dimensional scanning device comprises at least two projectors which can emit laser beams with different wavelengths. When the three-dimensional scanning device emits laser with longer wavelength, the three-dimensional scanning device is used for scanning a target object in a large range; when the three-dimensional scanning device emits laser with shorter wavelength, the device is used for scanning target objects in a small range, so that one device can accurately scan the target objects in at least two different ranges at least two optimal focusing positions (the optimal focusing positions of the laser with different wavelengths are also different).

Referring to fig. 1, a three-dimensional scanning device 1 of the present application includes a housing 10, a scanning assembly 20, two illumination assemblies 30 and 40, and two spectroscopic sensing assemblies 50 and 60.

The scanning assembly 20 is configured to emit a first structured light L11 and a 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 first illumination light L21 and second illumination light L22, and the illumination assembly 40 is also configured to emit first illumination light L21 and second illumination light L22. The first illumination light L21 and the second illumination light L22 have different wavelengths. The first structured light L11 has the same wavelength as the first illumination light L21, and the second structured light L12 has the same wavelength as the second illumination light L22. In this embodiment, the first wavelength is greater than the second wavelength. In this embodiment, the first structured light L11 and the second structured light L12 are laser lights. In other embodiments of the present application, the first structured light L11 and the second structured light L12 may be the structured light generated after the speckle or the grating modulation.

The first and second structured lights L11 and L12 are used to project a specific spot pattern to the target object. The first illumination light L21 and the second illumination light L22 are used to illuminate the marker point. When the target object receives the first structured light L11, the first structured light L11 is reflected as the first detection light L31, and when the marker is irradiated with the first illumination light L21, the first illumination light L21 is reflected as the first detection light L31. When the target object receives the second structured light L12, the second structured light L12 is reflected as the second detection light L32, and when the marker is irradiated with the second illumination light L22, the marker is reflected as the second detection light L32 by the second illumination light L22. That is, the first detection light L31 has a first wavelength, and the second detection light L32 has a second wavelength.

The spectroscopic sensing assemblies 50 and 60 have substantially the same function and structure. The spectroscopic sensing units 50 and 60 are located on the optical paths of the first detection light L31 and the second detection light L32. Each of the split sensing units 50/60 includes two sensors, and the split sensing units 50 and 60 are configured to separate the optical paths of the first detection light L31 and the second detection light L32 according to the difference in wavelength between the first detection light L31 and the second detection light L32, so that the detection light with different wavelengths is received by the different sensors, respectively, to generate image information, where the image information includes a target object feature and a marker feature. The image information can obtain a three-dimensional image of the target object through subsequent three-dimensional reconstruction.

Referring to fig. 1 and 2 together, in the present embodiment, the housing 10 has an overall elongated shape. The body of the housing 10 is of an opaque structure. The housing 10 has an accommodation space 11 formed therein. The scanning assembly 20, the illumination assemblies 30, 40 and the spectroscopic sensing assemblies 50, 60 are located in the accommodating space 11. In other embodiments of the present application, the scanning assembly 20 may be fixedly or movably disposed on the surface of the housing 10.

The housing 10 has a light transmissive scanning window 12 formed therein, and the scanning assembly 20 is positioned at the scanning window 12. The scanning assembly 20 emits laser light outwardly 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 spectroscopic sensing assembly 50 are located at the detection window 13, 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 spectroscopic 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 spectroscopic sensing assembly 60 are located at the detection window 14, the illumination assembly 40 emits illumination light outwardly through the detection window 14, and the spectroscopic sensing assembly 60 collects external detection light through the detection window 14.

The scanning window 12 and the detection windows 13 and 14 are spaced apart from each other, and the detection windows 13 and 14 are symmetrically distributed on two sides of the scanning window 12, and correspondingly, the two illumination assemblies 30 and 40 are respectively located on two sides of the scanning assembly 20. In other embodiments of the present application, the detection windows 13 and 14 may be asymmetrically distributed on both sides of the scanning window 12. In this embodiment, the scanning window 12 and the detection windows 13 and 14 are oriented identically to scan the 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.

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 for emitting the first structured light L11 and the second projector 22 is for emitting the second structured light L12. In embodiments of the present application, the first projector 21 and the second projector 22 may be digital light Processing (DIGITAL LIGHT Processing, DLP) projectors or lasers.

In the present embodiment, the lighting assembly 30 includes a plurality of first light supplement lamps 31 and a plurality of second light supplement lamps 32. Each first light-compensating lamp 31 is configured to emit first illumination light L21, and each second light-compensating lamp 32 is configured to emit second illumination light L22. The first illumination light L21 and the second illumination light L22 are used to illuminate the marker point. In this embodiment, each of the first Light-compensating lamps 31 and each of the second Light-compensating lamps 32 are Light-Emitting diodes (LEDs).

The first structured light L11 is reflected by the target object as first detection light L31 when scanning the target object surface, and the second structured light L12 is reflected by the target object as second detection light L32 when scanning the target object surface. The first illumination light L21 is reflected by the mark point as the first detection light L31 when the mark point is irradiated, and the second illumination light L22 is reflected by the mark point as the second detection light L32 when the mark point is irradiated.

In the present embodiment, the spectroscopic sensing assembly 50 includes a spectroscopic member 51, a first sensor 52, a second sensor 53, and a lens 54. The lens 54 is for collecting the first detection light L31 and the second detection light L32, and for focusing the first detection light L31 and the second detection light L32 to the spectroscopic member 51.

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

In this embodiment, the spectroscopic sensing assembly 50 further includes a filter 55 located in front of the lens 54, that is, the filter 55 is located between the lens 54 and the detection window 13 (see fig. 2). The filter 55 is a two-pass filter for allowing light having wavelengths in the first and second bands to pass therethrough and blocking light having the remaining wavelengths from entering the lens 54. The first band of wavelengths does not overlap the second band of wavelengths. The first wavelength is located in a first band, and the second wavelength is located in a second band.

The beam splitter 51 is located on the optical axis of the lens 54, and is located on a side of the lens 54 away from the optical filter 55. The spectroscopic member 51 is located on the optical paths of the first detection light L31 and the second detection light L32, and is configured to selectively guide the portion having the first wavelength of the detection light to the first sensor 52 and the portion having the second wavelength to the second sensor 53 according to the wavelength of the detection light. In the present embodiment, the light splitting member 51 is configured to reflect the first detection light L31 having the first wavelength to the first sensor 52 and to transmit the second detection light L32 having the second wavelength to the second sensor 53. The first sensor 52 and the second sensor 53 are thus used to generate image information including the target object feature and the marker feature based on the first detection light L31 and the second detection light L32 of different wavelengths, respectively. In the embodiment of the present application, the beam splitter 51 is a beam splitter, and the first sensor 51 and the second sensor 52 are charge coupled device (Charge Coupled Device, CCD) cameras.

In the embodiment of the present application, the lighting assembly 40 has substantially the same structure and function as the lighting assembly 30, and includes a plurality of first light supplement lamps 41 and a plurality of second light supplement lamps 42. The spectroscopic sensing assembly 60 has substantially the same structure and function as the spectroscopic sensing assembly 50, and includes a spectroscopic 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 compensating lamps 41 are arranged around the circumference of the lens 64, and the plurality of second light compensating lamps 42 are also arranged around the circumference of the lens 64 and are located at the periphery of the plurality of first light compensating lamps 41. The function of the spectroscopic sensing unit 60 is not described again.

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

In at least one alternative embodiment of the present application, the scanning assembly 20 may include a greater number of projectors, and each illumination assembly (30/40) may include a greater variety of supplemental light lamps, with each projector emitting light of a different wavelength and each supplemental light lamp emitting light of a different wavelength, while maintaining the same wavelength emitted by the corresponding projector and supplemental light lamp.

The number of illumination components is the same as that of the light-splitting sensing components and corresponds to one, and in the embodiment of the application, the three-dimensional scanning device 1 comprises two illumination components (30/40) and two light-splitting sensing components (50/60). In at least one alternative embodiment of the present application, the three-dimensional scanning device 1 may include a greater or lesser number of illumination components and spectroscopic sensing components, and the same number of illumination components and spectroscopic sensing components is maintained.

In at least one alternative embodiment of the present application, the beam splitter 51 may be other optical elements capable of splitting light beams with different wavelengths. And in at least one alternative embodiment of the present application, the spectroscopic sensing device 50 can include a greater number of optical elements to collectively achieve spectroscopic. In the embodiment of the present application, the beam splitter 51 is a beam splitter, which is beneficial to saving cost and space.

The operation of the three-dimensional scanning device 1 will be described below taking the example that the scanning device 20 includes two projectors (21/22), each illumination device (30/40) includes two light-compensating lamps (31/32), the three-dimensional scanning device 1 includes two illumination devices (30/40) and two light-splitting sensing devices (50/60), and the light-splitting element 51 is a beam splitter.

In this embodiment, the three-dimensional scanning apparatus 1 can operate in a tracking mode and a scanning mode.

When the three-dimensional scanning device 1 is operated in the tracking mode, it is used as a tracker and needs to work with an external scanner to acquire a three-dimensional image of a target object.

The external scanner is fixedly provided with a plurality of mark points. A user may scan a target object with an external scanner in his hand. During scanning of the target object by the external scanner, the three-dimensional scanning device 1 according to the embodiment of the present application is fixedly arranged (for example, fixedly arranged on a tripod), and the detection windows 13 and 14 (see fig. 2) face the external scanner and the orientation of the target object.

Referring to fig. 4, during 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 blink at a preset frequency, that is, emit the first illumination light L21 having the first wavelength at the preset frequency; the first illumination light L21 is irradiated on a plurality of marker points of the external scanner, the plurality of marker points reflect this as first detection light L31, and the first detection light L31 has the same wavelength (first wavelength) as the first illumination light L21; the filter 55 allows the first detection light L31 having the first wavelength to pass therethrough, and the lens 54 receives the first detection light L31 from the filter 55 and focuses it onto the spectroscopic member 51; the spectroscopic member 51 reflects the first detection light L31 to the first sensor 53; the first sensor 53 generates a marker feature based on the first detection light L31.

An external scanner emits a laser line toward a target object to scan the target object, during which the target object reflects the laser line. The wavelength of the laser line reflected by the target object is within the first wavelength band, the optical filter 55 allows the laser line to pass therethrough, and the lens 54 receives the laser line from the optical filter 55 and focuses it onto the spectroscopic member 51; the spectroscopic member 51 reflects the laser line to the first sensor 53; the first sensor 53 generates image information based on the laser lines. The image information is used to reconstruct a three-dimensional image of the target object.

The three-dimensional scanning device 1 integrates tracking and scanning functions, a plurality of mark points are attached to the surface of a target object, a user holds the three-dimensional scanning device 1 to move, and the target object can be scanned without matching with another scanner, so that a three-dimensional image of the target object is obtained. When the three-dimensional scanning device 1 is operated in the scanning mode, at least the following various modes of operation can be adopted.

Mode one: and (3) single-range scanning, wherein the two sensors respectively acquire image information.

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 a first illumination light L21 with a first wavelength and a second illumination light L22 with a second wavelength at the preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously, at this time, the second projector 22 emits a second structure light L12 with the second wavelength.

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 the same as the first detection light L31 and the second detection light L32, respectively, the first detection light L31 having the same wavelength (first wavelength) as the first illumination light L21, and the second detection light L32 having the same wavelength (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, which is reflected as the second detection light L32 by the target object.

The filter 55/65 allows the first detection light L31 having the first wavelength and the second detection light L32 having the second wavelength to pass. The lens 54 receives the first detection light L31 and the second detection light L32 from the filter 55 and focuses them to the spectroscopic member 51, and the spectroscopic member 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 filter 65 and focuses them to the spectroscopic member 61, and the spectroscopic member 61 reflects the first detection light L31 to the first sensor 62 and transmits the second detection light L32 to the second sensor 63.

The first sensor 52/62 generates image information of a marker point, including a marker point feature, based on the first detection light L31, and the second sensor 53/63 generates image information of a target object, including a target object feature, based on the second detection light L32, the marker point feature being used for performing a splice reconstruction of the target object feature, whereby a three-dimensional image of the target object can be acquired.

Mode two: a single sensor acquires image information for a single range scan.

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, that is, emits the first illumination light L21 with the first wavelength at the preset frequency or emits the second illumination light L22 with the second wavelength at the preset frequency, and at this time, the corresponding projector is synchronously controlled to emit the 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 filling lamp 32/42 emits the second illumination light L22, the second projector 22 is synchronously controlled to emit the second structured light L12. The first light filling lamp 31/41 emits the first illumination light L21, and the first projector 21 is synchronously controlled to emit the first structured light L11 is exemplified below.

Referring to fig. 6, the first illumination light L21 irradiates a plurality of marker points on the target object, and the plurality of marker points reflect the same as the first detection light L31, the 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, and the target object reflects this as first detection light L31, the first detection light L31 having the same wavelength as the first structured light L11.

The filter 55/65 allows the first detection light L31 having the first wavelength to pass therethrough. The lens 54 receives the first detection light L31 from the filter 55 and focuses it onto the spectroscopic member 51, and the spectroscopic member 51 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 onto the spectroscopic member 61, and the spectroscopic member 61 reflects the first detection light L31 to the first sensor 62. The second sensors 53 and 63 do not receive the detection light.

The first sensor 52/62 generates image information of a marker point (including a marker point feature) for performing splice reconstruction on the target object feature based on the first detection light L31 and image information of the target object (including the target object feature), so that a three-dimensional image of the target object can be acquired.

In this embodiment, the first wavelength is greater than the second wavelength. The first illumination light L21 having the first wavelength is selected to be different from the second illumination light L22 having the second wavelength in focus position, and the first structured light L11 having the first wavelength is also selected to be different from the second structured light L12 having the second wavelength in focus position. The first illumination light L21 and the first structured light L11 with a larger wavelength are adapted to a large range of tracking, scanning, while the second illumination light L22 and the second structured light L12 with a smaller wavelength are adapted to a relatively small range of tracking, scanning. Therefore, the three-dimensional scanning device 1 can select to emit illumination light and laser with corresponding wavelengths according to the distance and the size of a target object which is tracked and scanned in actual needs, double-range (multiple ranges can be realized in other embodiments) scanning is realized, and the scanning precision can be higher in different ranges.

Mode three: the two sensors acquire image information respectively.

In the third scanning mode, the three-dimensional scanning device 1 can alternately operate in the first scanning period and the second scanning period during scanning a target object.

Referring to fig. 7 again, in the first scanning period, the three-dimensional scanning device 1 performs a large-scale 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, the first illumination light L21 having the first wavelength and the second illumination light L22 having the second wavelength are emitted at the preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously, at which time the first projector 21 emits the first structured light L11 having the first wavelength.

The first illumination light L21 and the second illumination light L22 are irradiated on a plurality of marker points on the target object, the plurality of marker points reflect the same as the first detection light L31 and the second detection light L32, the first detection light L31 has the same wavelength (first wavelength) as the first illumination light L21, and the second detection light L32 has the same wavelength (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, which is reflected as first detection light L31 by the target object.

The filter 55/65 allows the first detection light L31 having the first wavelength and the second detection light L32 having the second wavelength to pass. The lens 54/41 receives the first detection light L31 and the second detection light L32 from the filter 55/65 and focuses them onto the spectroscopic member 51/61. The spectroscopic 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.

The first sensor 52/62 generates a marker feature based on the first detection light L31, and the second sensor 53/63 generates image information of the marker (including the marker feature) and image information of the target object (including the target object feature) based on the second detection light L32, the marker feature being used for splice reconstruction of the target object feature.

Referring to fig. 8 again, in the second scanning period, the first light supplementing lamp 31 and the second light supplementing lamp 32 in the three-dimensional scanning device 1 flash at a preset frequency, that is, the first illumination light L21 with the first wavelength and the second illumination light L22 with the second wavelength are emitted at the preset frequency, and the first illumination light L21 and the second illumination light L22 are emitted simultaneously, at this time, the second projector 22 emits the second structured light L12 with the second wavelength.

The first illumination light L21 and the second illumination light L22 are irradiated on a plurality of marker points on the target object, the plurality of marker points reflect the same as the first detection light L31 and the second detection light L32, the first detection light L31 has the same wavelength (first wavelength) as the first illumination light L21, and the second detection light L32 has the same wavelength (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, which is reflected as the second detection light L32 by the target object.

The filter 55/65 allows the first detection light L31 having the first wavelength and the second detection light L32 having the second wavelength to pass. The lens 54/41 receives the first detection light L31 and the second detection light L32 from the filter 55/44 and focuses them onto the spectroscopic member 51/61. The spectroscopic 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.

The first sensor 52/62 generates a marker feature based on the first detection light L31, and the second sensor 53/63 generates image information of the marker (including the marker feature) and image information of the target object (including the target object feature) based on the second detection light L32, the marker feature being used for splice reconstruction of the target object feature.

And performing splicing reconstruction on the data generated in the first scanning period and the second scanning period to obtain a three-dimensional image of the target object. In a third mode, large-scale data acquisition is performed on the surface type with low detail requirement on the target object, data acquisition is performed on the small range with high detail requirement, and the data model with multiple resolutions can be obtained by alternately working in the first scanning period and the second scanning period.

Mode four: a dual range scan, a single sensor acquires image information.

In the fourth scanning mode, the three-dimensional scanning device 1 may alternately operate in the first scanning period and the second scanning period during scanning a target object.

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 blinks at a preset frequency, that is, emits the first illumination light L21 having the first wavelength at the preset frequency, and at this time the first projector 21 emits the first structured light L11 having the first wavelength.

The first illumination light L21 irradiates a plurality of marker points on the target object, and the plurality of marker points are regarded as first detection light L31, and the first detection light L31 has the same wavelength (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, which is reflected as first detection light L31 by the target object.

The filter 55/65 allows the first detection light L31 having the first wavelength to pass therethrough. The lens 54/64 receives the first detection light L31 from the filter 55/65 and focuses it onto the spectroscopic member 51/61. The spectroscopic member 51/61 reflects the first detection light L31 to the first sensor 52/62.

The first sensor 52/62 generates image information of a marker point (including a marker point feature) for performing splice reconstruction of the target object feature and image information of the target object (including the target object feature) based on the first detection light L31.

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

The second illumination light L22 irradiates a plurality of marker points on the target object, and the plurality of marker points reflect this as second detection light L32, the second detection light L32 having the same wavelength (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, which is reflected as the second detection light L32 by the target object.

The filter 55/65 allows the second detection light L32 having the second wavelength to pass. The lens 54 receives the second detection light L32 from the filter 55 and focuses it onto the spectroscopic member 51/61. The spectroscopic member 51/61 transmits the second detection light L32 to the second sensor 53/63.

The second sensor 53/63 generates image information of a marker point (including a marker point feature) for performing splice reconstruction of the target object feature and image information of the target object (including the target object feature) based on the second detection light L32.

And performing splicing reconstruction on the data generated in the first scanning period and the second scanning period to obtain a three-dimensional image of the target object. In the fourth mode, large-scale data acquisition is performed on the surface type with low detail requirement on the target object, and data acquisition and replacement are performed on the small range with high detail requirement, so that a multi-resolution data model can be obtained.

In addition, the scanning mode in the fourth mode separates the detection light corresponding to the target object feature and the mark point feature, which is beneficial to avoiding interference between the detection light corresponding to the target object feature and the mark point feature. The third mode is that although the detection light corresponding to the target object feature and the mark point feature is not separated, the method is favorable for reducing the drop under different depth of field, and higher scanning precision can be obtained in a specific use scene.

Referring to fig. 11, the embodiment of the present application further provides a three-dimensional scanning system 100, which includes any one of the three-dimensional scanning devices 1, a computing device 2 and a display device 3, wherein the computing device 2 is respectively connected to the first sensor 52/62 and the second sensor 53/63 in the three-dimensional scanning device 1, 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 in a wired or wireless mode. In an embodiment of the present application, the computing device 2 may be a chip, a chipset, or an intelligent terminal. The display device 3 may be a display or a smart terminal.

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

In this embodiment, the three-dimensional scanning device 1 includes two illumination assemblies (30, 40), and the computing device 2 performs three-dimensional reconstruction computation based on the binocular matching principle to determine three-dimensional data corresponding to each of the target object and the marker point. The three-dimensional data includes three-dimensional coordinates of a plurality of laser points formed on the target object by the laser beams of the first structured light L11/the second structured light L12, the number of laser points, and three-dimensional coordinates of the marker points, the number of marker points. The three-dimensional coordinates of the plurality of laser points and the three-dimensional coordinates of the marker point are in the same coordinate system.

The computing device 2 is further configured to receive multiple frames of target three-dimensional data, perform stitching and fusion, render 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 this embodiment, the computing device 2 includes a graphics processor (graphics processing unit, GPU) to perform three-dimensional reconstruction calculations on the data to determine target three-dimensional data.

The three-dimensional scanning device 1 of the embodiment of the application comprises the scanning component 20, the illumination component 30/40 and the light splitting sensing component 50/60, 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 terminal distance. The scanning assembly 20 further comprises a first projector 21 and a second projector 22 which can emit laser light of different wavelengths. When the three-dimensional scanning device 1 emits the first structured light L11 having a longer wavelength, a wide range of target objects can be scanned, and when the three-dimensional scanning device 1 emits the second structured light L12 having a shorter wavelength, a relatively smaller range of target objects can be scanned. And the spectroscopic sensing units 50 and 60 respectively include two sensors for separating the optical paths of the first detection light L31 and the second detection light L32 of different wavelengths, and respectively generate image information based on the first detection light and the second detection light of different wavelengths, which is used for obtaining a three-dimensional image of the target object after three-dimensional reconstruction, or for tracking the marker point. The three-dimensional scanning device 1 of the application is thus advantageous for achieving scanning and imaging of target objects of different size ranges and for tracking marker points.

On the basis, the three-dimensional scanning device 1 has a relatively simple light path structure, is beneficial to avoiding the increase of cost and weight, and is beneficial to simplifying the design complexity. In addition, the three-dimensional scanning device 1 adopts the infrared light and the blue light as the first structural light and the second structural light respectively, and the first structural light or the second structural light can be selected to be emitted according to different conditions, so that the anti-interference capability of the three-dimensional scanning device 1 on the environment light is improved, and the three-dimensional scanning device is particularly friendly to outdoor scanning and tracking scenes.

It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration of the application and not for limitation thereof, and that suitable modifications and variations of the above embodiments are within the scope of the application as claimed.

Claims (14)

1. A three-dimensional scanning device, comprising:

a scanning assembly comprising a first projector for emitting first structured light having a first wavelength and a second projector for emitting second structured light having a second wavelength, the first wavelength being greater than the second wavelength;

An illumination assembly for emitting illumination light; and

The light splitting sensing assembly comprises a first sensor and a second sensor, and is positioned on the light path of the target object and the mark point according to the first structural light, the second structural light and the detection light reflected by the illumination light and used for separating light paths of the detection light with different wavelengths, so that the first sensor and the second sensor respectively generate image information based on the detection light with different wavelengths, and the image information is used for acquiring a three-dimensional image of the target object after three-dimensional reconstruction and/or tracking the mark point.

2. The three-dimensional scanning device of claim 1, wherein the spectroscopic sensing assembly further comprises a spectroscopic element;

The light splitting component is located on the light path of the detection light and is used for selectively reflecting at least part of the detection light to the first sensor and/or selectively transmitting at least part of the detection light to the second sensor according to the wavelength of the detection light.

3. The three-dimensional scanning device of claim 1, wherein the illumination assembly comprises a first light supplement lamp for emitting a first illumination light having the first wavelength and a second light supplement lamp for emitting a second illumination light having the second wavelength.

4. The three-dimensional scanning device of claim 3, wherein the illumination assembly comprises a plurality of first light-supplementing lamps, a plurality of second light-supplementing lamps, and the spectroscopic sensing assembly further comprises a lens;

The first light supplementing lamps and the second light supplementing lamps respectively encircle the lens, and the second light supplementing lamps are positioned at the periphery of the first light supplementing lamps; or the first light supplementing lamps and the second light supplementing lamps are arranged at intervals in the circumferential direction so as to jointly encircle the lens.

5. The three-dimensional scanning device of claim 4, wherein the spectroscopic sensing assembly further comprises a filter disposed in front of the lens, the filter configured to allow the passage of detection light having wavelengths in the first and second wavelength bands;

The first wavelength is located in the first band, the second wavelength is located in the second band, and the first band and the second band are not overlapped.

6. The three-dimensional scanning device of claim 1, wherein the scanning assembly does not emit light when the three-dimensional scanning device is operating in a tracking mode, the illumination assembly emits the first illumination light and/or the second illumination light, and the first sensor and/or the second sensor receives the first detection light and/or the second detection light reflected back in accordance with the first illumination light and/or the second illumination light.

7. The three-dimensional scanning device of claim 6, wherein 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 the first detected light reflected back in accordance with the first illumination light, and the second sensor receives the second detected light reflected back in accordance with the second illumination light and the second structured light when the three-dimensional scanning device is operated in a scanning mode.

8. The three-dimensional scanning device of claim 6, wherein the illumination assembly emits the first illumination light, the first projector emits the first structured light, and the first sensor receives a first detection light reflected back in accordance with the first illumination light and the first structured light when the three-dimensional scanning device is operating in a scanning mode; or (b)

When the three-dimensional scanning device works in a scanning mode, the illumination assembly emits second illumination light, the second projector emits second structure light, and the second sensor receives second detection light reflected back according to the second illumination light and the second structure light.

9. The three-dimensional scanning device of claim 6, wherein the three-dimensional scanning device is alternately operated in a first scanning period and a second scanning period when operated in a scanning mode;

In the first scanning period, the illumination assembly emits the first illumination light and the second illumination light, the first projector emits the first structural light, the first sensor receives the first detection light reflected back according to the first illumination light and the first structural light, and the second sensor receives the 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 the first detection light reflected back according to the first illumination light, and the second sensor receives the 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 the three-dimensional scanning device is alternately operated in a first scanning period and a second scanning period when operated in a scanning mode;

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 of the illumination assemblies, two of the illumination assemblies being located on either side of the scanning assembly.

12. The three-dimensional scanning device of any one of claims 1-10, further comprising a housing, wherein the illumination assembly and the spectroscopic sensing assembly are located within the housing, and wherein the scanning assembly is located within or secured to the housing.

13. The three-dimensional scanning device of any 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, comprising:

The three-dimensional scanning device of any of claims 1-13; and

And the computing module is connected with the three-dimensional scanning device and is used for receiving the image information and carrying out three-dimensional reconstruction based on the image information so as to generate a three-dimensional image of the target object and/or track the mark points.