CN215810705U - Three-dimensional scanning system - Google Patents

Abstract

The present application relates to a three-dimensional scanning system, wherein the three-dimensional scanning system comprises: the device comprises a laser projection module, an image acquisition module and a control module, wherein the laser projection module can be used for emitting light sources of at least one waveband, and the light sources of at least one waveband comprise blue light waveband light sources; the image acquisition module comprises at least one sensor, and the at least one sensor is used for acquiring the surface image of the measured object; the control module is respectively connected with the laser projection module and the image acquisition module and is used for controlling the laser projection module and the image acquisition module to work in a matched mode. Through the method and the device, the problems of high scanning cost and low scanning efficiency caused by the fact that different laser three-dimensional scanners are needed when objects of different sizes are scanned in the related technology are solved, the multiple purposes of one machine are achieved, and the advantages of rapid scanning and high precision are considered.

Description

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 system.

Background

In recent years, three-dimensional scanning techniques have become popular in various industries. The principle of the existing optical three-dimensional scanning system is that a combination of a laser projector and an image collector is generally adopted, three-dimensional data of the surface of an object is obtained according to a triangulation method, and the optical three-dimensional scanning system is widely applied to industries such as machinery, automobiles, aviation, sculpture and medical treatment.

However, due to technical limitations, the existing optical three-dimensional scanning system is often only used for three-dimensionally scanning a specific object in detection, and cannot simultaneously scan objects with large size differences. When scanning objects with different sizes, different three-dimensional scanning systems need to be selected according to the sizes of the objects. For example, when scanning a large object, a three-dimensional scanner with a large single scanning area and meeting the requirement of accuracy is required; on the contrary, when scanning a precise object, a three-dimensional scanner with concentrated single scanning area and meeting the requirement of the precise object in precision is needed. Multiple devices are required to be purchased for scanning objects with various sizes, the cost is high, and the devices need to be replaced in the measurement process, so that the test efficiency is low.

At present, no effective solution is provided for the problems of high scanning cost and low scanning efficiency caused by the fact that different laser three-dimensional scanners are required to be used when objects with different sizes are scanned in the related art.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a three-dimensional scanning system, which is used for at least solving the problems of high scanning cost and low scanning efficiency caused by the fact that different laser three-dimensional scanners are required to be used when objects with different sizes are scanned in the related technology.

In a first aspect, an embodiment of the present application provides a three-dimensional scanning system, which includes a laser projection module, an image acquisition module, and a control module,

the laser projection module can be used for emitting light sources of at least one waveband, wherein the light sources of at least one waveband comprise blue light waveband light sources;

the image acquisition module comprises at least one sensor, and the at least one sensor is used for acquiring the surface image of the measured object;

the control module is respectively connected with the laser projection module and the image acquisition module and is used for controlling the laser projection module and the image acquisition module to work in a matched mode.

In some embodiments, the laser projection module emits light sources in two or more wavelength bands that are identical, partially identical, or completely different.

In some of these embodiments, the laser projection module comprises at least two lasers emitting light sources that are identical or partially identical or completely different.

In some of these embodiments, the laser projection module comprises at least two lasers, at least two of which have an operating depth of field that is identical or partially identical or different.

In some embodiments, the image acquisition module further comprises at least one fill-in lamp, wherein the at least one fill-in lamp comprises a blue-light band fill-in lamp; the light supplement lamp is used for supplementing light to the mark points on the surface of the measured object when the sensor collects the surface image of the measured object.

In some embodiments, at least two light supplement lamps are disposed on one sensor, and the at least two light supplement lamps surround the outside of the sensor to form at least two circles of light supplement lamp bands.

In some embodiments, three fill-in lamps are disposed on one sensor, and the three fill-in lamps include a red-light band fill-in lamp, a blue-light band fill-in lamp, and an infrared-light band fill-in lamp.

In some embodiments, the control module is further configured to control the corresponding light supplement lamp to supplement light according to a light source type emitted by the laser projection module.

In some of the embodiments, the sensor is internally provided with a filter, and the filter is a single band-pass filter or a multi-band-pass filter.

In some of these embodiments, the laser projection module includes a first laser, a second laser, a third laser, and a fourth laser, wherein,

the first laser and the second laser work in a standard distance working depth of field mode and are used for emitting crossed blue light;

the third laser works in a close-distance working depth-of-field mode and is used for emitting parallel blue light;

and the fourth laser works in a long-distance working depth-of-field mode and is used for emitting parallel infrared light.

Compared with the related art, the three-dimensional scanning system provided by the embodiment of the application provides a three-dimensional scanning system, and the system includes a laser projection module, an image acquisition module, and a control module, and the laser projection module can be used for emitting a light source of at least one wavelength band, where the light source of at least one wavelength band includes a blue light wavelength band light source. The laser projection module can emit light sources with at least one wave band and has a plurality of different working depth of field modes, so that when the detected objects with different sizes are scanned, the laser projection module can be adjusted to work in the corresponding working depth of field mode without using other scanners, thereby improving the scanning speed; meanwhile, at least one light source with a wave band comprises a light source with a blue light wave band, so that the condition of fine scanning can be at least met, and obviously, the precision requirement of scanning large objects can be met, and all scanning works can be completed at least under the condition of meeting the effect of fine scanning. The problems of high scanning cost and low scanning efficiency caused by the fact that different laser three-dimensional scanners are needed when objects with different sizes are scanned in the related technology are solved, the multiple purposes of one machine are achieved, and the advantages of rapid scanning and high precision are considered.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a block diagram of a system architecture of a three-dimensional scanning system according to a first embodiment of the present application;

fig. 2 is a block diagram of a system structure of a three-dimensional scanning system according to a second embodiment of the present application;

fig. 3 is a block diagram of a system structure of a three-dimensional scanning system according to a third embodiment of the present application;

fig. 4 is a block diagram of a system structure of a three-dimensional scanning system according to a fourth embodiment of the present application;

fig. 5 is a block diagram of a system structure of a three-dimensional scanning system according to a fifth embodiment of the present application;

fig. 6 is a block diagram of a system structure of a three-dimensional scanning system according to a sixth embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

When the three-dimensional scanning system in the prior art scans objects with different sizes, the scanning range of the three-dimensional scanning system is limited, so that the purpose of clearly scanning the objects with different sizes cannot be met. Therefore, in the prior art, in order to achieve the purpose of clearly scanning objects with different sizes, different three-dimensional scanning systems can be selected according to the sizes of the objects, multiple devices need to be purchased for realizing the scanning of the objects with various sizes, the cost is high, and the scanning efficiency is low due to the fact that the devices need to be replaced in the scanning process.

Based on this, referring to fig. 1, fig. 1 shows a system structure block diagram of a three-dimensional scanning system provided in a first embodiment of the present application, and an embodiment of the present application provides a three-dimensional scanning system, including: the system comprises a laser projection module 1, an image acquisition module 2 and a control module 3.

The laser projection module 1 may be used to emit light sources of at least one wavelength band, wherein the light sources of at least one wavelength band include blue light band light sources. The laser projection module 1 has a plurality of different working depth of field modes, and the laser projection module 1 is configured to activate a light source with a specific wavelength band in the different working depth of field modes, and the light source with the specific wavelength band is configured to emit a specific laser pattern onto a surface of an object to be measured. For example, the laser projection module 1 may operate in different depth of field modes when scanning different sizes of objects to be measured. The laser projection module 1 activates a light source with a specific wave band under different working depth of field modes, and the light source with the specific wave band is used for emitting a specific laser pattern to the surface of a measured object. The working depth of field is the acceptable object space range capable of imaging clearly under the condition that the relative distance between the laser projection module 1 and the measured object is not adjusted. In popular terms, the depth range of the object space in which a clear image can be obtained is the depth of field. The specific laser pattern may be a parallel line pattern, or may be other patterns, which is not limited in this application.

The image acquisition module 2 comprises at least one sensor, and the at least one sensor is used for acquiring the surface image of the measured object. When the laser projection module 1 emits a specific laser pattern to the surface of the object to be measured, the sensor in the image acquisition module 2 captures an object surface laser profile image, i.e. an image of the surface of the object to be measured. The parallel line patterns are all included in the image of the surface of the object to be measured acquired by the sensor. The image acquisition module 2 is arranged corresponding to the laser projection module 1 and can be realized by a sensor. For example, multiple sensors may be used to capture images of the surface of the object being measured from multiple angles.

The control module 3 is respectively connected with the laser projection module 1 and the image acquisition module 2 and is used for controlling the laser projection module 1 and the image acquisition module 2 to work cooperatively. The control module 3 is respectively connected with the laser projection module 1 and the image acquisition module 2. The control module 3 is used for controlling the laser projection module 1 to work under a plurality of working depth of field modes according to a user instruction, and controlling the image acquisition module 2 to acquire images synchronously.

According to the three-dimensional scanning system provided by the embodiment of the application, the laser projection module can emit the light source with at least one waveband and has a plurality of different working depth of field modes, so that when the detected objects with different sizes are scanned, the laser projection module can be adjusted to work in the corresponding working depth of field mode without using other scanners, and the scanning speed is improved; meanwhile, at least one light source with a wave band comprises a light source with a blue light wave band, so that the condition of fine scanning can be at least met, and obviously, the precision requirement of scanning large objects can be met, and all scanning works can be completed at least under the condition of meeting the effect of fine scanning. The problem of when scanning different size objects among the correlation technique, need use different laser three-dimensional scanner, lead to scanning with high costs, scanning inefficiency is solved, realized a tractor serves several purposes, and different work depth of field of different regional switchable differences of same object acquire different precisions, and the place of this meticulous scanning is scanning closely, and ordinary regional long-distance scanning compromises quick scanning and high accuracy advantage.

In some embodiments, the laser projection module 1 emits light sources of two or more wavelength bands, which are partially the same or completely different. Preferably, the laser projection module 1 emits light sources of three wave bands, which are completely different and are a blue light band light source, a red light band light source and an infrared band light source. Light sources in the blue wavelength band are necessarily present, whether the light sources in more than two wavelength bands are partly identical or completely different.

In some of these embodiments, the laser projection module 1 comprises at least two lasers, the light sources emitted by the at least two lasers being partially identical or completely different. Preferably, the laser projection module 1 includes three lasers, and light sources emitted by the three lasers are completely different, and are a blue light band light source, a red light band light source and an infrared light band light source. A light source in the blue wavelength band is necessarily present, whether the light sources emitted by at least two lasers are partly identical or completely different. The purpose of setting up two at least lasers is in order to let different lasers work under the different depth of field modes of operation, through control module 3 control switching selection different lasers work to scan the object of different sizes. The emitted laser color of each laser may be different, and may include blue laser or infrared laser, so that the laser projection module 1 may select the projected light in different working depth of field modes.

In some of the embodiments, the laser projection module 1 comprises at least two lasers, and the working depth of field of at least two lasers is partially the same or completely different. Preferably, the laser projection module 1 includes three lasers, and the working depth of field of the three lasers is completely different, and is a standard distance working depth of field, a short distance working depth of field, and a long distance working depth of field. The difference in depth of field determines the difference in scanning accuracy. The control module 3 sends a first control signal to the laser projection module 1 to control the laser projection module 1 to adjust the working depth of field; the control module 3 sends a second control signal to the laser projection module 1, and controls the laser projection module 1 to project a specific optical graph onto the surface of the object to be measured; the control module 3 synchronously sends a third control signal to the image acquisition module 2 to control the image acquisition module 2 to acquire the image of the surface of the object to be detected; and finally, obtaining the three-dimensional scanning information of the object to be detected according to the image of the surface of the object to be detected.

When the control module 3 sends an instruction of switching to the close-range scanning mode, the laser projection module 1 works in the close-range working depth of field mode to project a laser image to the surface of the object to be measured.

Similarly, when the control module 3 sends an instruction of switching to the remote scanning, the laser projection module 1 works in the remote working depth of field mode to project another laser image onto the surface of the object to be measured.

In some of these embodiments, the image acquisition module 2 comprises at least one sensor 21 and at least one fill-in light 22. The at least one fill light 22 includes a blue band fill light. The light supplement lamp 22 is used for supplementing light to the mark points on the surface of the object to be measured when the sensor 21 collects the surface image of the object to be measured. It is clear that no matter what the light of the operational environment that three-dimensional scanning system located is strong or weak, all need carry out the light filling to the mark point on testee surface, and the light of the operational environment that three-dimensional scanning system located can influence the light filling time strong or weak. The number of the sensors 21 and the fill lamps 22 is not limited in the present application. Referring to fig. 2, fig. 2 is a block diagram illustrating a system structure of a three-dimensional scanning system according to a second embodiment of the present application. In the three-dimensional scanning system provided in the second embodiment of the present application, the image capturing module 2 includes a sensor 21 and a fill-in light lamp 22, and the fill-in light lamp 22 is a blue light band fill-in light lamp.

In some embodiments, at least two light supplement lamps 22 are arranged on each sensor 21, and the at least two light supplement lamps 22 surround the outside of the sensor 21 to form at least two circles of light supplement lamp bands. The fill-in light 22 is disposed around the sensor 21 so that the sensor 21 can normally collect the image of the surface of the object to be measured in a dark environment. When laser projection module 1 sends the laser of different colours, the measured object surface image's that sensor 21 needs to gather colour also is different, need carry out the light filling to the mark point on the measured object surface of various colours, sets up a plurality of light filling lamps 22 that encircle in its outside on the sensor 21, is favorable to light filling lamps 22 to carry out corresponding light filling through opening and stopping the laser of the different colours that adaptation laser projection module 1 sent, measured object surface image to different colours. The light supplement lamp 22 can be arranged in other ways besides surrounding the sensor 21, so long as the light supplement can be performed on the mark points on the surface of the object to be measured, and the embodiment of the application is not limited thereto. The number of the sensors 21 and the fill lamps 22 is not limited in the present application. Based on this, fig. 3 shows a system structure block diagram of a three-dimensional scanning system provided in a third embodiment of the present application. Referring to fig. 3, in the three-dimensional scanning system provided in the third embodiment of the present application, the image capturing module 2 includes a sensor 21 and two fill-in lamps 22, one of the fill-in lamps 22 is a blue light band fill-in lamp, and the other fill-in lamp 22 may be a red light band fill-in lamp or an infrared band fill-in lamp.

In some embodiments, referring to fig. 4, fig. 4 is a system structural block diagram of a three-dimensional scanning system according to a fourth embodiment of the present disclosure, where each sensor 21 is provided with three fill-in lamps 22, and the three fill-in lamps 22 are a blue light band fill-in lamp, a red light band fill-in lamp, and an infrared band fill-in lamp, respectively.

In some embodiments, the control module 3 is further configured to control the corresponding fill-in light lamp 22 to fill in light according to the type of the light source emitted by the laser projection module.

In some of the embodiments, the sensor 21 is internally provided with a filter, which is a single band pass filter or a multi-band pass filter. The band-pass band of the filter coincides with the band of the particular laser pattern emitted by the laser. The filter can filter out stray light, and the wave band of the laser can be kept consistent with that of the filter. For example, a filter may be a single bandpass filter, and when the laser light emitted by the laser is blue, the filter may filter out light sources other than blue. If the wavelength bands projected by the lasers are not consistent, a multi-band pass filter needs to be used, for example, if an infrared laser and a blue laser exist at the same time, a multi-band pass filter needs to be selected, and if only a red single-band pass filter is selected, the blue laser cannot work (the sensor 21 cannot collect blue laser lines).

In some embodiments, referring to fig. 5, fig. 5 is a block diagram illustrating a system structure of a three-dimensional scanning system provided in a fifth embodiment of the present application. The three-dimensional scanning system further includes a calculation processing module 4 on the basis of the three-dimensional scanning system provided in the above embodiment, the calculation processing module 4 is connected to the image acquisition module 2, and the calculation processing module 4 is configured to extract two-dimensional feature points and two-dimensional laser line features from the image acquired by the image acquisition module 2, and perform three-dimensional reconstruction according to the two-dimensional feature points and the two-dimensional laser line features to obtain three-dimensional data of the surface of the detected object.

The calculation processing module 4 can perform three-dimensional modeling on the object to be measured according to the two-dimensional feature points obtained in different working depth-of-field modes by using a stereoscopic vision principle to obtain single-frame three-dimensional measurement data. Because the laser projection module 1 in the embodiment of the present application has multiple working depth of field modes, single-frame three-dimensional measurement data with different spatial resolutions and different measurement area sizes can be obtained, thereby achieving the purpose of performing fast scanning and high-precision scanning on objects with different sizes.

Furthermore, the calculation processing module 4 is also used for spatially positioning the object to be measured and splicing the surface images of the object to be measured. The calculation processing module 4 extracts two-dimensional feature points of the image on the surface of the object to be measured acquired by the image acquisition module 2 to obtain a two-dimensional feature point set, converts the two-dimensional feature point set into a three-dimensional feature point set by using a stereoscopic vision principle, performs data registration by using corresponding three-dimensional feature point sets in different coordinate systems at different moments to acquire a pose relationship among three-dimensional point cloud data at different moments, further acquires the distance of the three-dimensional scanner relative to the object to be measured, and splices the three-dimensional data acquired at different moments into the same coordinate system in a segmented manner.

In some embodiments, the laser projection module 1 includes at least one laser 11 emitting blue laser light and one laser 11 emitting infrared laser light, at least two sensors 21 are provided, and at least one circle of blue light supplement light strip and one circle of infrared supplement light strip are provided on one sensor 21. The control module 3 is further configured to control the fill-in light 22 with a corresponding color according to a difference in color of the laser light emitted by the laser 11. The purpose of arranging at least two sensors 21 is to obtain a plurality of parallax images of the same scene by using more than two sensors 21 at different positions, and then determine the position of one point on the object to be detected in a plurality of corresponding pictures by a certain method, so as to obtain the three-dimensional coordinate information of the point, and further obtain the three-dimensional point cloud model of the whole object.

When the laser 11 is controlled to be in the first working depth of field mode, the projector with the first working depth of field works, and a projection light source of the laser 11 projects light rays in a blue light wave band; when the laser 11 is controlled to be in the second working depth of field mode, the laser 11 with the second working depth of field works, and a projection light source of the laser 11 projects light rays in a blue light wave band; when the laser 11 is controlled to be in the third depth of field mode, the laser 11 with the third depth of field operates, and the projection light source of the laser 11 projects light in the infrared band. The laser 11 can be switched from one working depth of field working mode to another working depth of field working mode through control, and any working depth of field mode can be selected for working.

In some embodiments, as shown in fig. 6, fig. 6 is a block diagram of a system structure of a three-dimensional scanning system provided in a sixth embodiment of the present application, which includes, in addition to a control module 3 and a calculation processing module 4, a long-distance working depth laser 111 and a short-distance working depth laser 112, where the two lasers operate in different working depth modes. The purpose of setting up two lasers is in order to let different lasers work under the different depth of field modes of operation, control module 3 control switches over the different lasers of selection and carries out work to scan the object of different sizes. The laser emitted by each laser is different in color and can comprise blue laser or infrared laser, and the laser projection module can select projected light in different working depth-of-field modes. The three-dimensional scanning system further comprises a first sensor 211 and a second sensor 212, wherein at least two sensors are arranged to obtain a plurality of parallax images of the same scene by using more than two sensors at different positions, and then the position of a point on the object to be detected in a plurality of corresponding pictures is determined by a certain method, so that three-dimensional coordinate information of the point is obtained, and a three-dimensional point cloud model of the whole object is obtained.

In some of these embodiments, the laser projection module 1 includes a first laser, a second laser, a third laser, and a fourth laser. The first laser and the second laser work in a standard distance working depth of field mode and are used for emitting crossed blue light, and the size of the standard distance working depth of field is 288mm and is used when a scanning scene is at a standard distance; a third laser operating in a close range depth of field mode for emitting parallel blue light, said close range depth of field being 175mm in size for use in close range fine scanning; and the fourth laser works in a remote working depth of field mode and is used for emitting parallel infrared light, and the remote working depth of field is 510mm and is used for remote scanning.

The four lasers work in different working depth of field modes, and when the detected objects with different sizes are scanned, different lasers are switched to work. For example, when a medium-sized workpiece needs to be scanned, the control module 3 switches the first laser and the second laser to work, when a precise workpiece needs to be scanned, the control module 3 switches the third laser to work, when a large-sized workpiece needs to be scanned, the control module 3 switches the fourth laser to work, detected objects with different sizes can be scanned only by starting and stopping different lasers of the three-dimensional scanning system, the problems that in the related technology, when objects with different sizes are scanned, different laser three-dimensional scanners need to be used, the scanning cost is high, and the scanning efficiency is low are solved, and the multiple purposes of one machine are achieved.

It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A three-dimensional scanning system comprises a laser projection module, an image acquisition module and a control module,

the laser projection module can be used for emitting light sources of at least one waveband, wherein the light sources of at least one waveband comprise blue light waveband light sources;

the image acquisition module comprises at least one sensor, and the at least one sensor is used for acquiring the surface image of the measured object;

the control module is respectively connected with the laser projection module and the image acquisition module and is used for controlling the laser projection module and the image acquisition module to work in a matched mode.

2. The three-dimensional scanning system of claim 1, wherein the laser projection module emits light sources of two or more wavelength bands that are partially the same or completely different.

3. The three-dimensional scanning system of claim 1, wherein the laser projection module comprises at least two lasers, at least two of the lasers emitting light sources that are partially identical or completely different.

4. The three-dimensional scanning system of claim 1, wherein the laser projection module comprises at least two lasers, at least two of which have partially or completely different operating depth of field.

5. The three-dimensional scanning system of claim 1, wherein the image acquisition module further comprises at least one fill-in light, wherein the at least one fill-in light comprises a blue-band fill-in light; the light supplement lamp is used for supplementing light to the mark points on the surface of the measured object when the sensor collects the surface image of the measured object.

6. The three-dimensional scanning system according to claim 5, wherein at least two light supplement lamps are disposed on each sensor, and the at least two light supplement lamps surround the outside of the sensor to form at least two circles of light supplement lamp bands.

7. The three-dimensional scanning system according to claim 6, wherein three fill-in lamps are disposed on each sensor, and the three fill-in lamps include a red-band fill-in lamp, a blue-band fill-in lamp, and an infrared-band fill-in lamp.

8. The three-dimensional scanning system according to claim 7, wherein the control module is further configured to control the light supplement lamp to supplement light according to a light source type emitted by the laser projection module.

9. The three-dimensional scanning system according to claim 1, wherein a filter is disposed inside the sensor, and the filter is a single band pass filter or a multi-band pass filter.

10. The three-dimensional scanning system according to any of claims 1 to 9, wherein the laser projection module comprises a first laser, a second laser, a third laser, and a fourth laser, wherein,

the first laser and the second laser work in a standard distance working depth of field mode and are used for emitting crossed blue light;

the third laser works in a close-distance working depth-of-field mode and is used for emitting parallel blue light;

and the fourth laser works in a long-distance working depth-of-field mode and is used for emitting parallel infrared light.

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