CN114111634A - Structured light projection module and three-dimensional scanning device - Google Patents
Structured light projection module and three-dimensional scanning device Download PDFInfo
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- CN114111634A CN114111634A CN202111342505.2A CN202111342505A CN114111634A CN 114111634 A CN114111634 A CN 114111634A CN 202111342505 A CN202111342505 A CN 202111342505A CN 114111634 A CN114111634 A CN 114111634A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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Abstract
The utility model relates to a structured light projection module and a three-dimensional scanning device, which comprises an infrared light source, a light beam shaper, a mask structure and a projection lens, wherein the light beam shaper is positioned between the infrared light source and the mask structure; the beam shaper is used for shaping divergent light emitted by the infrared light source and irradiating the divergent light to the mask structure; the mask structure is provided with a preset pattern and is used for modulating the shaped light beam to generate structured light corresponding to the preset pattern; the projection lens is used for projecting the structured light to the surface of an object to be scanned so as to carry out three-dimensional scanning on the object to be scanned. Through this disclosed technical scheme, the structure light disappears and the uncomfortable problem of health easily appears when scanning the human body when having solved the scanning black object, has reduced the volume of structure light projection module, has improved the energy utilization of structure light projection module and has realized simple structure.
Description
Technical Field
The disclosure relates to the technical field of three-dimensional scanning, in particular to a structured light projection module and a three-dimensional scanning device.
Background
Three-dimensional scanners are scientific instruments that detect and analyze shape and appearance data of an object or environment in the real world, and the collected data is often used for performing three-dimensional reconstruction calculations to create a digital model of the actual object in the virtual world. These models have a very wide range of applications, which are found in the fields of industrial design, flaw detection, reverse engineering, robot guidance, geomorphologic measurements, medical information, etc.
In the prior art, a three-dimensional scanning technology generally adopts a pure-color light source or white light to generate structured light, but the generated structured light cannot scan a black object and is easy to cause discomfort due to overhigh light source intensity when a human body is scanned. Meanwhile, the structured light module adopted in the prior art is complex in overall structure, large in size and low in energy utilization rate.
Disclosure of Invention
In order to solve above-mentioned technical problem or solve above-mentioned technical problem partially at least, this disclosure provides a structured light projection module and three-dimensional scanning device, has solved when scanning black object structured light disappearance and the human uncomfortable problem that easily appears when scanning, has reduced the volume of structured light projection module, has improved the energy utilization of structured light projection module and has realized simple structure.
In a first aspect, the present disclosure provides a structured light projection module, the module comprising:
the device comprises an infrared light source, a beam shaper, a mask structure and a projection lens, wherein the beam shaper is positioned between the infrared light source and the mask structure, and the mask structure is positioned between the beam shaper and the projection lens;
the beam shaper is used for shaping and irradiating divergent light emitted by the infrared light source to the mask structure;
the mask structure is provided with a preset pattern and used for modulating the shaped light beam to generate structured light corresponding to the preset pattern;
the projection lens is used for projecting the structured light to the surface of an object to be scanned so as to carry out three-dimensional scanning on the object to be scanned.
Optionally, the infrared light source is a vertical cavity surface emitting laser.
Optionally, the beam shaper comprises a dodging lens group comprising a plurality of lenses arranged side by side for shaping the diverging light emitted by the infrared light source.
Optionally, the beam shaper further comprises a fly eye lens for splitting the single beam into a plurality of sub-beams and aliasing the plurality of sub-beams to eliminate interference fringes.
Optionally, the fly eye lens is positioned at one side of the dodging lens group or positioned between adjacent lenses.
Optionally, the structured light projection module further comprises:
the light beam shaper and the mask structure are positioned in an inner cavity of the illumination lens barrel, the projection lens and one end of the illumination lens barrel are relatively and fixedly arranged, and the infrared light source is fixedly arranged at one end, far away from the projection lens, of the illumination lens barrel.
Optionally, the mask structure is fixed in the inner cavity of the illumination lens barrel through a set mechanical structure, and the beam shaper is disposed in a cavity formed by the mask structure and the inner wall of the illumination lens barrel.
Optionally, the structured light projection module further comprises: and the heat dissipation structure is close to the infrared light source and used for performing heat dissipation treatment on the infrared light source.
Optionally, the infrared light source controls a switching state thereof by adopting a pulse width modulation technology;
and controlling the infrared light source to be alternately switched on and off in a pulse section corresponding to the starting of the infrared light source.
In a second aspect, an embodiment of the present disclosure further provides a three-dimensional scanning apparatus, which includes the structured light projection module set described in the first aspect.
The embodiment of the disclosure discloses a structured light projection module and a three-dimensional scanning device, which comprise an infrared light source, a beam shaper, a mask structure and a projection lens, wherein the beam shaper is positioned between the infrared light source and the mask structure; the beam shaper is used for shaping divergent light emitted by the infrared light source and irradiating the divergent light to the mask structure; the mask structure is provided with a preset pattern and is used for modulating the shaped light beam to generate structured light corresponding to the preset pattern; the projection lens is used for projecting the structured light to the surface of the object to be scanned so as to carry out three-dimensional scanning on the object to be scanned. From this, this embodiment of the disclosure utilizes infrared light source to solve when scanning black object structured light disappearance and when scanning the human body uncomfortable problem easily appears, has enlarged the application scene of structured light projection module, utilizes the mask structure to realize three-dimensional scanning simultaneously, has reduced the volume of structured light projection module, has improved the energy utilization of structured light projection module and has realized simple structure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a simplified structural schematic diagram of a structured light projection module according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an exploded mechanical structure of a structured light projection module according to an embodiment of the disclosure;
fig. 3 is a schematic diagram of a predetermined pattern of a mask structure according to an embodiment of the disclosure;
FIG. 4 is a schematic view of a combined mechanical structure of a structured light projection module according to an embodiment of the present disclosure;
FIG. 5 is a waveform diagram illustrating a pulse width modulation technique for an infrared light source according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a pulse width modulation technique for controlling the switching of an infrared light source according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a simplified structural schematic diagram of a structured light projection module according to an embodiment of the present disclosure, and fig. 2 is an exploded mechanical structural schematic diagram of the structured light projection module according to the embodiment of the present disclosure. With reference to fig. 1 and fig. 2, the structured light projection module includes an infrared light source 1, a beam shaper 2, a mask structure 3, and a projection lens 4, where the beam shaper 2 is located between the infrared light source 1 and the mask structure 3, the mask structure 3 is located between the beam shaper 2 and the projection lens 4, and the beam shaper 2 is configured to shape divergent light emitted from the infrared light source 1 and irradiate the divergent light to the mask structure 3; the mask structure 3 is provided with a preset pattern and is used for modulating the shaped light beam to generate structured light corresponding to the preset pattern; the projection lens 4 is used for projecting the structured light to the surface of the object to be scanned so as to perform three-dimensional scanning on the object to be scanned.
Specifically, with reference to fig. 1 and 2, a beam shaper 2 is disposed between the infrared light source 1 and the mask structure 3, the infrared light source 1 emits divergent infrared light, and the divergent infrared light is shaped by the beam shaper 2, and preferably, the divergent infrared light is shaped into parallel infrared light by the beam shaper 2 and irradiated to the mask structure 3, so as to optimize the illuminance uniformity of the mask structure 3. After the mask structure 3 is uniformly irradiated by the parallel infrared light, the parallel infrared light is modulated by the preset pattern to generate the structured light corresponding to the preset pattern. The projection lens 4 projects the structured light corresponding to the preset pattern to the surface of the object to be scanned, so as to perform three-dimensional scanning on the object and acquire three-dimensional data of the object.
For example, the projection lens 4 may be a CS interface lens, that is, a lens with a lens interface thread size of 25.4 mm × 0.8 mm and a distance between the image sensor and the lens of 12.526 mm, or a C interface lens, that is, a lens with a lens interface thread size of 25.4 mm × 0.8 mm and a distance between the image sensor and the lens of 17.526 mm, or an M12 interface lens, that is, a lens with a lens interface thread size of 12 mm × 0.5 mm, or an M16 interface lens, that is, a lens with a lens interface thread size of 16 mm × 0.5 mm. In addition, the projection lens 4 can also be a customized lens, and when the mask structure 3 is used, the projection lens 4 needs to be adjusted so that the surface of the mask structure 3 falls on the back focal plane position of the projection lens 4.
In the field of three-dimensional scanning passive measurement, a method for generating structured light based on a pure color light source or white light is generally used, but with the continuous popularization of a three-dimensional scanning technology, a structured light generation mode such as this type cannot meet new requirements, for example, when a black object is scanned, the structured light disappears on the surface of the object due to low visible spectrum reflectivity of the black object, so that the scanning function cannot be realized. For example, when a projection module generating a structured light by a pure light source or a white light is used for scanning a human body, the human body cannot endure strong visible light source irradiation, resulting in low human body acceptance.
In addition, the conventional structured light projection module usually adopts a micro-projection mode, such as an LCOS (Liquid Crystal on Silicon) micro-projection technology or a DMD (Digital micro mirror Device) micro-projection technology, and the micro-projection mode can generate arbitrary structured light by controlling a micro-display, but has low energy efficiency and large volume.
According to the structured light projection module provided by the embodiment of the disclosure, an infrared light source 1 is used for irradiating a beam shaper 2, the beam shaper 2 shapes and irradiates diffused infrared light to a mask structure 3, the shaped beam is modulated by a preset pattern of the mask structure 3 to generate structured light, and a projection lens 4 projects the structured light to the surface of an object to be scanned for three-dimensional scanning of the object. Therefore, the infrared light source 1 is used for replacing a pure-color light source and a visible light source, the problem that the human body is prone to having an uncomfortable state when the black object structured light is scanned and disappears and the human body is scanned is solved, and the application scene of the structured light projection module is enlarged. Meanwhile, the mask structure 3 is used for replacing micro-projection technologies such as LCOS micro-projection technology or DMD micro-projection technology and the like to realize three-dimensional scanning of the object, the size of the structured light projection module is reduced, the energy utilization rate of the structured light projection module is improved, and the structure is simple. In addition, the preset pattern on the mask structure 3 is uniformly irradiated by using the beam shaper 2, which is beneficial to optimizing the three-dimensional scanning effect.
Optionally, the infrared light source 1 is a vertical cavity surface emitting laser. Specifically, the infrared light source 1 may adopt a Vertical-Cavity Surface-Emitting Laser (VCSEL), the VCSEL is a semiconductor, Laser of the VCSEL is emitted perpendicularly to the top Surface or the bottom Surface, and generally, an open independent chip process is used to complete two steps of energy excitation and resonance amplification required for infrared light emission. The infrared light belongs to invisible light, and compared with a pure-color light source and a visible light source, the embodiment of the disclosure utilizes the infrared light source 1 to solve the problems of disappearance of structural light and human body discomfort during scanning of a black object.
An infrared laser or an infrared LED (Light Emitting Diode) device may also be used as a Light source of the structured Light projection module, but the shaping process of the infrared laser is complicated, which may cause a very large volume of a Light beam shaping portion in the infrared laser, and the infrared LED device has a problem of small volume and low power, and the infrared LED device has a low energy utilization ratio due to its large optical expansion. The embodiment of the disclosure sets the infrared light source 1 as a vertical cavity surface emitting laser, and the vertical cavity surface emitting laser is compared with an infrared laser or an infrared LED device emitting laser, and has the advantages of small volume, high photoelectric conversion efficiency, stable performance, small wavelength drift, easy integration of a large-area array, further optimized volume and photoelectric conversion efficiency of the structured light projection module, and optimized three-dimensional scanning effect of the structured light projection module. Therefore, the VCSEL light source and MASK, namely a structural light projection mode of a MASK, are adopted in the embodiment of the disclosure, have the advantages of simple structure, high energy efficiency and small size, and can be used for scanning pure black objects and realizing non-light scanning of human bodies.
Alternatively, referring to fig. 1 and 2, the beam shaper 2 may include a dodging lens group including a plurality of lenses arranged in parallel, and the dodging lens group is configured to shape the diverging light emitted from the infrared light source 1 uniformly.
Specifically, the beam shaper 2 includes a dodging lens group including a plurality of lenses arranged in parallel, only two lenses, namely a front lens 21 and a rear lens 22, are exemplarily shown in fig. 1, and the number of lenses included in the dodging lens group is not particularly limited by the embodiment of the present disclosure, so that the lenses arranged in parallel can shape the divergent light emitted from the infrared light source 1 uniformly.
The dodging lens group can be illuminated by means of Kohler illumination, the dodging lens group comprises a front lens 21, a rear lens 22, an aperture diaphragm and a field diaphragm, the aperture diaphragm is tightly attached to the front lens 21 and is an iris diaphragm, the aperture diaphragm is imaged on the object plane of the microscope system through the rear lens 22, and the field diaphragm of the microscope system is arranged on the middle real image plane, so that an incident window of the field diaphragm is positioned on the object plane of the microscope system. The infrared light source 1 is imaged at a field stop through the front lens 21, the field stop is located on an object focal plane of the rear lens 22, so that the infrared light source 1 is imaged at infinity under the action of the rear lens 22, and the field stop is imaged at infinity through the rear lens 22. Therefore, the dodging lens in the beam shaper 2 enables the light irradiated on the mask structure 3 to be uniformly illuminated, so that the mask structure 3 obtains uniform and sufficiently bright illumination, and meanwhile, dazzling glare is not generated, and the three-dimensional scanning effect of the structured light projection module is further optimized.
Optionally, the beam shaper 2 further comprises a fly eye lens for splitting the single beam into a plurality of sub-beams and eliminating interference fringes by a plurality of sub-beam aliasing.
Specifically, the fly-eye lens is generally formed by combining a series of small lenses, the fly-eye lens is used for dividing a single light beam emitted by the infrared light source 1 into a plurality of sub-light beams, independent light spots of each sub-light beam are superposed to obtain light spots irradiated on the mask structure 3 by the light beam shaper 2, all positions in each light spot can be irradiated by each sub-light beam, the interference ripples can be eliminated by aliasing of the plurality of sub-light beams, the effect of decoherence is achieved, and the fact that the light spots irradiated on the mask structure 3 are free of noise is guaranteed. Therefore, the beam shaper 2 in the embodiment of the present disclosure combines the dodging and decoherence techniques, and further optimizes the three-dimensional scanning effect of the light projection module. Alternatively, the fly-eye lens may be located at one side of the dodging lens group or between adjacent lenses. Specifically, the position of the fly-eye lens in the beam shaper 2 is not limited in the embodiments of the present disclosure, and the fly-eye lens may be placed at the foremost or rearmost of the dodging lens group, or may be placed between adjacent lenses in the dodging lens group, so as to perform an effect of eliminating interference ripples. In addition, the specific structure and the specific operation principle of the fly-eye lens are well known to those skilled in the art, and will not be discussed in detail here.
Fig. 3 is a schematic diagram of a mask structure preset pattern according to an embodiment of the disclosure. As shown in fig. 3, the predetermined pattern on the mask structure 3 may comprise, for example, a pattern of equally spaced stripes alternating between light and dark. It should be noted that the light and dark stripe pattern with equal intervals shown in fig. 3 is only an example of the preset pattern on the mask structure 3, and is not limited to the preset pattern on the mask structure 3, and the preset pattern on the mask structure 3 may also be a random scattered point pattern without regularity, and the preset pattern on the mask structure 3 is not specifically limited in the embodiment of the present disclosure.
Illustratively, as shown in fig. 3, a predetermined pattern may be formed on the mask structure 3 by photolithography, for example, the predetermined pattern may be formed by combining 100 equally spaced light and dark stripes 101010101 … …, the stripe duty ratio, i.e. the ratio of the dark stripe width to the total width of the predetermined pattern, may be set to twenty percent, and the dark stripe line width is 15 micrometers. When infrared light emitted by the infrared light source 1 is irradiated onto the mask structure 3 through the beam shaper 2, light and dark stripe patterns preset on the mask structure 3 modulate the light, so that structural light having the same patterns as those of the light and dark stripes shown in fig. 3 is generated, and the projection lens 4 projects the structural light having specific patterns onto the surface of an object to be scanned to perform three-dimensional scanning on the object to be scanned, so as to acquire three-dimensional data of the object to be scanned.
It should be noted that the preset pattern and the stripe width on the mask structure 3 may be set according to factors such as the actual object to be scanned and the intensity of the light source, which are not limited in the embodiment of the present disclosure.
Fig. 4 is a schematic view of a combined mechanical structure of a structured light projection module according to an embodiment of the present disclosure. With reference to fig. 1 to 4, the structured light projection module includes a light source assembly and a projection lens 4, the light source assembly includes an infrared light source 1, a light beam shaper 2, a mask structure 3 and an illumination lens barrel 6, the light beam shaper 2 and the mask structure 3 are positioned in an inner cavity of the illumination lens barrel 6, the projection lens 4 is relatively fixedly disposed at one end of the illumination lens barrel 6, exemplarily, the projection lens 4 may be detachably connected to the illumination lens barrel 6 through a screw structure and relatively fixedly disposed, a partial structure of the projection lens 4 is positioned in the inner cavity of the illumination lens barrel 6, the partial structure of the projection lens 4 is positioned outside the illumination lens barrel 6, and the infrared light source 2 is fixedly disposed at one end of the illumination lens barrel 6 away from the projection lens 4. The lighting lens barrel 6 and the infrared light source 2 are matched to be installed on the opposite side of the light emitting side of the rear infrared light source 2 to form a closed structure.
With reference to fig. 1 to 4, the mask structure 3 may be fixed in the inner cavity of the illumination barrel 6 by a mechanical structure, and the beam shaper 2 is disposed in a cavity formed by the mask structure 3 and the inner wall of the illumination barrel 6. In this embodiment, the beam shaper 2 and the mask structure 3 are respectively positioned in the cavity of the illumination barrel 6 through a step structure, wherein the mask structure 3 is positioned in the cavity of the illumination barrel 6 through an auxiliary positioning member, the auxiliary positioning member is positioned in the cavity of the illumination barrel 6 through the step structure, the mask structure 3 is positioned in the auxiliary positioning member, and the auxiliary positioning member is a hollow structure for the light beam to pass through. It should be noted that, the embodiment of the present disclosure does not limit the specific implementation form of the setting mechanism, and it is only required to ensure that the mask structure 3 can be fixed in the inner cavity of the illumination lens barrel 6 by using the setting mechanism.
From this, through the setting to each part position and mechanical structure among the above-mentioned structured light projection module, be favorable to reducing the realization volume of structured light projection module, be convenient for install structured light projection module in the scanner and use.
Optionally, with reference to fig. 1 to 4, the structured light projection module may further include a heat dissipation structure 5, where the heat dissipation structure 5 is disposed near the infrared light source 1, and the heat dissipation structure 5 is used to perform heat dissipation processing on the infrared light source 1.
Specifically, the infrared light source 1 generates a large amount of heat during operation, and if the heat is accumulated, the temperature of the infrared light source 1 increases, and the long-time high-temperature operation of the infrared light source 1 is likely to greatly reduce the service life thereof. In the embodiment of the disclosure, the heat dissipation structure 5 is arranged at a position close to the infrared light source 1, the heat dissipation structure 5 may be formed by metal heat dissipation fins of any shape and with high thermal conductivity, fig. 1, 2 and 4 exemplarily show that the heat dissipation structure 5 is formed by metal heat dissipation fins of comb-tooth shape and high thermal conductivity, and the heat dissipation structure 5 performs heat dissipation treatment on the infrared light source 1, so that the service life of the infrared light source 1 is prolonged. In addition, fig. 1, fig. 2 and fig. 4 only exemplarily set the heat dissipation structure 5 to be located at the right side of the infrared light source 1, and the heat dissipation structure 5 may also be set at other positions of the infrared light source 1, so as to ensure that the heat dissipation structure 5 is set close to the infrared light source 1 and can perform heat dissipation processing on the infrared light source 1. It should be noted that the heat dissipation structure 5 is not limited to be formed by a metal heat sink, and the heat dissipation structure 5 may be implemented by a small heat dissipation fan, and the embodiment of the present disclosure does not limit the specific implementation form of the heat dissipation structure 5.
Alternatively, the structured light projection module may further include a mount (not shown in the drawings), which is provided at the periphery of the illumination lens barrel 6, and the structured light projection module is mounted to the scanner through the mount. Preferably, the illumination barrel 6 is detachably connected with the mount.
Alternatively, the infrared light source 1 may employ a pulse width modulation technique to control its on-off state. In the prior art, the infrared light source 1 always emits infrared light during the three-dimensional scanning process, which affects the service life of the infrared light source 1. The infrared light source 1 of the embodiment of the present disclosure uses a Pulse Width Modulation (PWM) technique to control the on/off of the infrared light source 1, where the PWM is a medium that converts various control algorithm outputs of the power energy converter into a power device switching time, and can output a full high level signal, a full low level signal, or a Pulse signal composed of high and low levels.
Fig. 5 is a waveform schematic diagram of a pulse width modulation technique for an infrared light source according to an embodiment of the present disclosure. The pulse width modulation technique for the infrared light source 1 can utilize a square wave pulse signal as shown in fig. 5 to control the change of the on-off state of the infrared light source 1, where a high level signal represents controlling the infrared light source 1 to turn on and emit infrared light, and a low level signal represents controlling the infrared light source 1 to turn off and not emit infrared light. Therefore, the embodiment of the disclosure utilizes the pulse width modulation technology, that is, the level of the pulse signal controls the infrared light source 1 to be turned on and off, so that the infrared light source 1 is prevented from emitting infrared light all the time, and the service life of the infrared light source 1 is prolonged.
Optionally, the infrared light source 1 is controlled to be alternately switched on and off in a pulse segment corresponding to the turning-on of the infrared light source 1. Fig. 6 is a schematic diagram of a pulse width modulation technique for controlling the switching of an infrared light source according to an embodiment of the present disclosure. Specifically, the energization time of the infrared light source 1 is adjusted in a pulse period in which the infrared light source 1 is turned on, that is, a period corresponding to the high level signal in fig. 5, that is, an effective operation period of the infrared light source 1. As shown in fig. 6, the width of the black rectangular bar represents the time when the infrared light source 1 is turned off, and the current of the infrared light source 1 is adjusted to be small so that the brightness of the infrared light source 1 is decreased, and the width of the white rectangular bar represents the time when the infrared light source 1 is turned on, and the current of the infrared light source 1 is adjusted to be large so that the brightness of the infrared light source 1 is increased.
Illustratively, the duration of the high level signal in fig. 5 may be set to TonDuration of low level signal ToffIn fig. 6, the widths of the black rectangular bars are T1, T2, and tn in sequence, T1 is T2 is T … … is tn, and T1+ T2+ … … is T tn may be seton2, i.e. TonTime T and time T for turning off infrared light source 1 in time periodonIn contrast, its duty cycle is 50%. By controlling the infrared light source 1 to be alternately switched on and switched off, the service life of the infrared light source 1 is further prolonged. The embodiment of the present disclosure further provides a three-dimensional scanning device, where the three-dimensional scanning device includes the structured light projection module according to the above embodiment, and therefore the three-dimensional scanning device provided by the embodiment of the present disclosure has the beneficial effects according to the above embodiment. For example, the three-dimensional scanning device according to the embodiment of the disclosure may be a DSD (Digital smiley Design) scanner, a handheld three-dimensional scanning device, or a medical portrait three-dimensional scanner, and the embodiment of the disclosure is not limited in this respect.
The structured light projection module and the three-dimensional scanning device provided by the embodiment of the disclosure shape and irradiate divergent light emitted by an infrared source to a mask structure by using a beam shaper, the mask structure is provided with a preset pattern and used for modulating the shaped beam to generate structured light corresponding to the preset pattern, and a projection lens is used for projecting the structured light to the surface of an object to be scanned so as to perform three-dimensional scanning on the object to be scanned. From this, this embodiment of the disclosure utilizes infrared light source to solve when scanning black object structured light disappearance and when scanning the human body uncomfortable problem easily appears, has enlarged the application scene of structured light projection module, utilizes the mask structure to realize three-dimensional scanning simultaneously, has reduced the volume of structured light projection module, has improved the energy utilization of structured light projection module and has realized simple structure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A structured light projection module, comprising:
the device comprises an infrared light source, a beam shaper, a mask structure and a projection lens, wherein the beam shaper is positioned between the infrared light source and the mask structure, and the mask structure is positioned between the beam shaper and the projection lens;
the beam shaper is used for shaping and irradiating divergent light emitted by the infrared light source to the mask structure;
the mask structure is provided with a preset pattern and used for modulating the shaped light beam to generate structured light corresponding to the preset pattern;
the projection lens is used for projecting the structured light to the surface of an object to be scanned so as to carry out three-dimensional scanning on the object to be scanned.
2. The structured light projection module of claim 1, wherein the infrared light source is a vertical cavity surface emitting laser.
3. The structured light projection module of claim 1 wherein said beam shaper comprises a dodging lens group comprising a plurality of juxtaposed lenses, said dodging lens group for shaping divergent light from said infrared source.
4. The structured light projection module of claim 3, wherein the beam shaper further comprises a fly eye lens for splitting the single beam into a plurality of sub-beams and aliasing the plurality of sub-beams to eliminate interference fringes.
5. The structured light projection module of claim 4, wherein the fly eye lens is located at one side of the dodging lens group or between adjacent lenses.
6. The structured light projection module of claim 1, further comprising:
the light beam shaper and the mask structure are positioned in an inner cavity of the illumination lens barrel, the projection lens and one end of the illumination lens barrel are relatively and fixedly arranged, and the infrared light source is fixedly arranged at one end, far away from the projection lens, of the illumination lens barrel.
7. The structured light projection module of claim 6, wherein the mask structure is fixed in the inner cavity of the illumination column by a mechanical structure, and the beam shaper is disposed in a cavity formed by the mask structure and the inner wall of the illumination column.
8. The structured light projection module of claim 1, further comprising:
and the heat dissipation structure is close to the infrared light source and used for performing heat dissipation treatment on the infrared light source.
9. The structured light projection module of claim 1, wherein the infrared light source is pulsed on and off using pulse width modulation techniques;
and controlling the infrared light source to be alternately switched on and off in a pulse section corresponding to the starting of the infrared light source.
10. A three-dimensional scanning device comprising a structured light projection module according to any of claims 1 to 9.
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| CN202111342505.2A CN114111634A (en) | 2021-11-12 | 2021-11-12 | Structured light projection module and three-dimensional scanning device |
| PCT/CN2022/131560 WO2023083337A1 (en) | 2021-11-12 | 2022-11-11 | Structured light projection module and three-dimensional scanning device |
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