WO2017024869A1 - Hand-held laser three-dimensional scanner performing projection using blinking method - Google Patents
Hand-held laser three-dimensional scanner performing projection using blinking method Download PDFInfo
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- WO2017024869A1 WO2017024869A1 PCT/CN2016/084376 CN2016084376W WO2017024869A1 WO 2017024869 A1 WO2017024869 A1 WO 2017024869A1 CN 2016084376 W CN2016084376 W CN 2016084376W WO 2017024869 A1 WO2017024869 A1 WO 2017024869A1
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- the invention relates to a handheld laser three-dimensional scanner.
- Handheld laser three-dimensional scanning technology is gradually used in various fields of industry, archaeology, medical treatment, teaching, etc. due to its strong anti-interference ability, high detection precision and easy to use.
- the laser three-dimensional scanner can extract the surface features of the object from each set of synchronized frame images to calculate a part of the surface point cloud of the scanned object, and allow the capture due to the greater light intensity of the laser projection.
- the camera of the image can be exposed with a shutter time that does not produce motion blur, so it is more suitable for scanning in a continuously moving state by hand.
- the effect of ambient light on the scanning process can be largely removed by adding a bandpass filter in front of the camera, making it suitable for three-dimensional contours of objects in an outdoor natural light environment. scanning.
- the pattern projected by the laser projector for handheld three-dimensional scanning is generally a plurality of parallel laser lines that do not intersect.
- the laser line group has a certain probability of being projected onto the marking points on the surface of the scanned object.
- the integrity of the marking pattern in the image obtained by the scanner is destroyed, resulting in the sharpness of the marking point recognition being sharply reduced or even unrecognizable.
- the laser line is projected through the laser line in this case.
- the points are usually discarded and not involved in the calculation. Such as If there are less than 3 valid points in the field of view of the instrument, the self-positioning of the instrument cannot be completed, and the contour point cloud of the scanned object at this time cannot be obtained. The user needs to repeatedly adjust the relative position of the scanner and the object to be scanned for supplementary scanning, resulting in a decrease in scanning efficiency.
- the present invention provides a hand-held laser three-dimensional scanner using a scintillation projection method, which effectively reduces the probability of errors and improves the scanning efficiency.
- a handheld laser three-dimensional scanner using a flicker projection method comprising two or more cameras for image acquisition, two or more lasers for laser pattern projection a projector and a controller for controlling operation of the camera and the laser projector, the controller including a camera control module for controlling the operation of the camera according to an exposure trigger period, the controller further comprising: when the camera is used twice consecutively During an exposure period, one of the laser projectors activated with respect to the previous exposure period, the next alternately blinking projection control module of another laser projector is activated, the alternately blinking projection control module being coupled to the switching circuit, the switch A circuit is coupled to the laser projector.
- the alternate blinking mode projection control module further includes a cyclic alternating subunit for controlling alternately starting of two or more laser projector cycles.
- the handheld laser three-dimensional scanner further includes a fill light source paired with the camera for illuminating a surface feature point of the target object, the controller including a fill light control for controlling the operation of the fill light source according to the blinking trigger period
- the module, the fill light control module is connected to a driving circuit, and the driving circuit is connected to the fill light source.
- the beneficial effects of the present invention are mainly manifested in: effectively reducing the probability of error and improving scanning efficiency.
- FIG. 1 is a schematic diagram showing the operation state of a hand-held laser three-dimensional scanner in a blinking manner for two consecutive cycles, wherein (a) is a t1 period and (b) is a t2 period.
- FIG. 2 is a schematic diagram of laser projection of a hand-held laser three-dimensional scanner in a blinking manner for two consecutive cycles, wherein (a) is the projection result of the t1 period, and (b) is the projection result of the t2 period.
- Figure 3 is a control schematic diagram of a handheld laser three-dimensional scanner.
- Figure 4 is a schematic diagram of the trigger timing.
- a hand-held laser 3D scanner using a flicker projection method comprising two or more cameras for image acquisition, two or more laser projectors for laser pattern projection, and for controlling a controller for operating the camera and the laser projector, the controller including a camera control module for controlling the operation of the camera according to an exposure trigger period, the controller further comprising: when the camera is continuously exposed twice, relative to One of the laser projectors activated by the previous exposure period, and the alternate blinking projection control module of the other laser projector is activated one after another, the alternately blinking projection control module is coupled to the switch circuit, the switch circuit and the laser projection Connected.
- the alternate blinking mode projection control module further includes two channels for controlling The above-mentioned laser projector cycles alternately start the cyclic alternating subunits.
- the handheld laser three-dimensional scanner further includes a fill light source paired with the camera for illuminating a surface feature point of the target object, the controller including a fill light control for controlling the operation of the fill light source according to the blinking trigger period
- the module, the fill light control module is connected to a driving circuit, and the driving circuit is connected to the fill light source.
- the handheld laser three-dimensional scanner of the present invention provides a scheme for sequentially circulating a plurality of laser projectors in successive exposure cycles of the same number of cameras, that is, avoiding laser projection images of intersecting lines The efficiency of scanning is guaranteed.
- the 1# laser is triggered to turn on, the camera obtains the first laser projection image
- the 2# laser is triggered to turn on, the camera
- the second laser projection image is obtained.
- the 3# laser is triggered to turn on, and the camera obtains the third laser projection image.
- the 1# laser is re-triggered.
- the camera obtains a fourth laser projection image and circulates in this order.
- the handheld laser 3D scanner includes two laser projectors, each of which projects three lines of myopic parallel lasers, as shown in Figure 2, t1 and t2 are consecutive exposure trigger periods of the camera, 1#
- the laser projector triggers the start at t1 cycle
- the 2# laser projector triggers the start at t2 cycle
- the 1# laser projector starts again.
- the two laser projectors alternately trigger the start, in any frame image captured by the camera.
- the mark cannot be marked.
- the edge of the point is accurately extracted so that the center position of the point cannot be determined.
- the laser line in the image passes the marked point, the marked point is excluded and does not participate in the calculation.
- the spatial position of the instrument cannot be obtained, and the point cloud coordinates of the laser contour projected on the surface of the target object cannot be calculated.
- the three linear lasers pass through the four marker points in the field of view of the scanner, and only one marker point is valid, so the current spatial position of the instrument and the three-dimensional point cloud coordinates of the laser contour cannot be obtained.
- Figure 2(b) shows the situation when the linear lasers of different angles scan the same area. Only one marked point is passed by the laser line. The remaining 4 effective marking points can accurately calculate the position of the instrument and the laser contour. 3D point cloud coordinates. Since the marking points are irregularly distributed on the surface of the object, laser projection patterns with different angles, such as multiple sets of linear lasers in different directions, the laser lines in each group are approximately parallel, which can reduce the number of marking points in the field of view. The probability that a laser projection will pass through the three-dimensional point of the contour of the area on the surface of the target object.
- the fill light source corresponds to the camera one by one, there are two fill light sources, as shown in FIG.
- the controller is connected to the exposure trigger interface of the two cameras through the signal isolation circuit, and controls the two cameras to perform synchronous exposure; the two LED constant current driving circuits are connected with the high-bright LED fill light source to control the set frequency. And the on-time flashing; three laser projectors are respectively controlled by three MOS tubes to perform laser pattern projection at a set frequency and an on-time.
Abstract
A hand-held laser three-dimensional scanner performing projection using a blinking method, comprising: two or more cameras for image acquisition, two or more laser projectors for performing laser pattern projection and a controller for controlling operations of the cameras and the laser projectors. The controller comprises a camera control module for controlling the operations of the cameras according to an exposure trigger cycle. The controller also comprises an alternative blinking projection control module for starting, during two consecutive exposure cycles of the cameras, with respect to one laser projector started during a previous exposure cycle, another laser projector the next time. The alternative blinking projection control module is connected to a switching circuit. The switching circuit is connected to the laser projectors. The hand-held laser three-dimensional scanner performs projection using a blinking method, thereby effectively reducing the error probability and improving the scanning efficiency.
Description
本发明涉及一种手持激光三维扫描仪。The invention relates to a handheld laser three-dimensional scanner.
手持激光三维扫描技术以其抗干扰能力强、检测精度高、使用简便等优点逐步被用在各种工业、考古、医疗、教学等领域。相比白光投影原理的三维扫描仪，激光三维扫描仪可以从每一组同步帧图像中提取物体表面特征计算得到被扫描物体的一部分表面点云，以及由于激光投影的光强更大因而允许捕捉其图像的摄像头可以以不产生运动模糊的快门时间进行曝光，因此更能适合用手持的方式在不断连续移动的状态下进行扫描。另外，由于激光的波段的单一性，通过在摄像头前加装带通滤光镜可以很大程度上去除环境光线对其扫描过程的影响，使其适用于室外自然光环境下的物体表面轮廓的三维扫描。Handheld laser three-dimensional scanning technology is gradually used in various fields of industry, archaeology, medical treatment, teaching, etc. due to its strong anti-interference ability, high detection precision and easy to use. Compared with the white light projection principle of the three-dimensional scanner, the laser three-dimensional scanner can extract the surface features of the object from each set of synchronized frame images to calculate a part of the surface point cloud of the scanned object, and allow the capture due to the greater light intensity of the laser projection. The camera of the image can be exposed with a shutter time that does not produce motion blur, so it is more suitable for scanning in a continuously moving state by hand. In addition, due to the singularity of the laser band, the effect of ambient light on the scanning process can be largely removed by adding a bandpass filter in front of the camera, making it suitable for three-dimensional contours of objects in an outdoor natural light environment. scanning.
由于一个激光投影器投射的图案中如果存在投射的激光线条交叉的情况，则在两幅同步图像进行匹配得到激光点的过程中会出现多义性而需要进行校验，增加出错的概率，导致无法得到被扫描物体表面精确的三维点云数据。因此用于手持三维扫描的激光投影器投射的图案一般是多条不交叉的近似于平行的激光线条，扫描时，这种激光线条组会有一定的概率投射到被扫描物体表面的标记点上，而标记点一旦有激光投影线条经过，则会破坏扫描仪获得图像中的标记点图案的完整性，从而导致标记点识别精度急剧降低，甚至无法识别，因此这种情况下被激光线投射经过的标记点通常被舍弃而不参与计算。如
果仪器视野内有效的标记点少于3个，则无法完成仪器的自定位，也就无法获取此时的被扫描物体的轮廓点云。用户需要反复调整扫描仪与被扫描物体的相对位置方向进行补充扫描，导致扫描效率的降低。Since there is a case where the projected laser lines intersect in the pattern projected by one laser projector, ambiguity occurs in the process of matching the two synchronized images to obtain the laser spot, and verification is required to increase the probability of error, resulting in an error. Unable to get accurate 3D point cloud data on the surface of the scanned object. Therefore, the pattern projected by the laser projector for handheld three-dimensional scanning is generally a plurality of parallel laser lines that do not intersect. When scanning, the laser line group has a certain probability of being projected onto the marking points on the surface of the scanned object. However, once the marking point passes through the laser, the integrity of the marking pattern in the image obtained by the scanner is destroyed, resulting in the sharpness of the marking point recognition being sharply reduced or even unrecognizable. Therefore, the laser line is projected through the laser line in this case. The points are usually discarded and not involved in the calculation. Such as
If there are less than 3 valid points in the field of view of the instrument, the self-positioning of the instrument cannot be completed, and the contour point cloud of the scanned object at this time cannot be obtained. The user needs to repeatedly adjust the relative position of the scanner and the object to be scanned for supplementary scanning, resulting in a decrease in scanning efficiency.
发明内容Summary of the invention
为了克服已有三维扫描仪的出错概率较大、扫描效率较低的不足,本发明提供了一种有效降低出错概率、提升扫描效率的采用闪烁方式投影的手持激光三维扫描仪。In order to overcome the shortcomings of the existing three-dimensional scanners with high error probability and low scanning efficiency, the present invention provides a hand-held laser three-dimensional scanner using a scintillation projection method, which effectively reduces the probability of errors and improves the scanning efficiency.
本发明解决其技术问题所采用的技术方案是：一种采用闪烁方式投影的手持激光三维扫描仪，包括两个及以上用于图像采集的摄像头、两个及以上用于进行激光图案投影的激光投影器以及用以控制所述摄像头和激光投影器工作的控制器，所述控制器包括用以按照曝光触发周期控制摄像头工作的摄像头控制模块，所述控制器还包括用于当摄像头连续两次曝光周期中，相对于前一次曝光周期启动的其中一个激光投影器，后一次启动另一个激光投影器的交替闪烁方式投影控制模块，所述交替闪烁方式投影控制模块与开关电路连接，所述开关电路与所述激光投影器连接。The technical solution adopted by the present invention to solve the technical problem thereof is: a handheld laser three-dimensional scanner using a flicker projection method, comprising two or more cameras for image acquisition, two or more lasers for laser pattern projection a projector and a controller for controlling operation of the camera and the laser projector, the controller including a camera control module for controlling the operation of the camera according to an exposure trigger period, the controller further comprising: when the camera is used twice consecutively During an exposure period, one of the laser projectors activated with respect to the previous exposure period, the next alternately blinking projection control module of another laser projector is activated, the alternately blinking projection control module being coupled to the switching circuit, the switch A circuit is coupled to the laser projector.
进一步，所述交替闪烁方式投影控制模块还包括用于控制两个及以上激光投影器循环交替启动的循环交替子单元。Further, the alternate blinking mode projection control module further includes a cyclic alternating subunit for controlling alternately starting of two or more laser projector cycles.
再进一步，所述手持激光三维扫描仪还包括与摄像头配对的用于照亮目标物体表面特征点的补光光源，所述控制器包括用以按照闪烁触发周期控制补光光源工作的补光控制模块，所述补光控制模块与驱动电路连接，所述驱动电路与所述补光光源连接。
Still further, the handheld laser three-dimensional scanner further includes a fill light source paired with the camera for illuminating a surface feature point of the target object, the controller including a fill light control for controlling the operation of the fill light source according to the blinking trigger period The module, the fill light control module is connected to a driving circuit, and the driving circuit is connected to the fill light source.
本发明的有益效果主要表现在：有效降低出错概率、提升扫描效率。The beneficial effects of the present invention are mainly manifested in: effectively reducing the probability of error and improving scanning efficiency.
图1是闪烁方式投影的手持激光三维扫描仪连续两个周期的工作状态示意图，其中，(a)为t1周期，(b)为t2周期。1 is a schematic diagram showing the operation state of a hand-held laser three-dimensional scanner in a blinking manner for two consecutive cycles, wherein (a) is a t1 period and (b) is a t2 period.
图2是闪烁方式投影的手持激光三维扫描仪连续两个周期的激光投影示意图，其中(a)是t1周期的投影结果，(b)是t2周期的投影结果。2 is a schematic diagram of laser projection of a hand-held laser three-dimensional scanner in a blinking manner for two consecutive cycles, wherein (a) is the projection result of the t1 period, and (b) is the projection result of the t2 period.
图3是手持激光三维扫描仪的控制原理图。Figure 3 is a control schematic diagram of a handheld laser three-dimensional scanner.
图4是触发时序的示意图。Figure 4 is a schematic diagram of the trigger timing.
下面结合附图对本发明作进一步描述。The invention is further described below in conjunction with the drawings.
参照图1～图4，一种采用闪烁方式投影的手持激光三维扫描仪，包括两个及以上用于图像采集的摄像头、两个及以上用于进行激光图案投影的激光投影器以及用以控制所述摄像头和激光投影器工作的控制器，所述控制器包括用以按照曝光触发周期控制摄像头工作的摄像头控制模块，所述控制器还包括用于当摄像头连续两次曝光周期中，相对于前一次曝光周期启动的其中一个激光投影器，后一次启动另一个激光投影器的交替闪烁方式投影控制模块，所述交替闪烁方式投影控制模块与开关电路连接，所述开关电路与所述激光投影器连接。1 to 4, a hand-held laser 3D scanner using a flicker projection method, comprising two or more cameras for image acquisition, two or more laser projectors for laser pattern projection, and for controlling a controller for operating the camera and the laser projector, the controller including a camera control module for controlling the operation of the camera according to an exposure trigger period, the controller further comprising: when the camera is continuously exposed twice, relative to One of the laser projectors activated by the previous exposure period, and the alternate blinking projection control module of the other laser projector is activated one after another, the alternately blinking projection control module is coupled to the switch circuit, the switch circuit and the laser projection Connected.
进一步，所述交替闪烁方式投影控制模块还包括用于控制两个及
以上激光投影器循环交替启动的循环交替子单元。Further, the alternate blinking mode projection control module further includes two channels for controlling
The above-mentioned laser projector cycles alternately start the cyclic alternating subunits.
再进一步，所述手持激光三维扫描仪还包括与摄像头配对的用于照亮目标物体表面特征点的补光光源，所述控制器包括用以按照闪烁触发周期控制补光光源工作的补光控制模块，所述补光控制模块与驱动电路连接，所述驱动电路与所述补光光源连接。Still further, the handheld laser three-dimensional scanner further includes a fill light source paired with the camera for illuminating a surface feature point of the target object, the controller including a fill light control for controlling the operation of the fill light source according to the blinking trigger period The module, the fill light control module is connected to a driving circuit, and the driving circuit is connected to the fill light source.
本发明所述的手持激光三维扫描仪提供了一种可以将多个激光投影器在连续的相同个数的摄像头曝光周期中进行依次循环投影的方案，即避免了出现交叉线条的激光投影图像又保证了扫描的效率。如图4所示，在摄像头的第一个曝光周期时，1#激光器进行触发开启，摄像头得到第一幅激光投影图像，在摄像头的第二个曝光周期时，2#激光器进行触发开启，摄像头得到第二幅激光投影图像，在摄像头的第三个曝光周期时，3#激光器进行触发开启，摄像头得到第三幅激光投影图像，在摄像头的第四个曝光周期时，1#激光器重新触发开启，摄像头得到第四幅激光投影图像，以此次序循环。The handheld laser three-dimensional scanner of the present invention provides a scheme for sequentially circulating a plurality of laser projectors in successive exposure cycles of the same number of cameras, that is, avoiding laser projection images of intersecting lines The efficiency of scanning is guaranteed. As shown in Fig. 4, during the first exposure period of the camera, the 1# laser is triggered to turn on, the camera obtains the first laser projection image, and during the second exposure period of the camera, the 2# laser is triggered to turn on, the camera The second laser projection image is obtained. When the camera is in the third exposure period, the 3# laser is triggered to turn on, and the camera obtains the third laser projection image. When the camera is in the fourth exposure period, the 1# laser is re-triggered. The camera obtains a fourth laser projection image and circulates in this order.
以手持激光三维扫描仪包含两个激光投影器，每个激光投影器投射三条近视并行的线状激光为例，如图2所示，t1和t2为摄像头的连续两次曝光触发周期，1#激光投影器在t1周期触发启动，2#激光投影器在t2周期触发启动，然后1#激光投影器再次启动，如此循环，两个激光投影器交替触发启动，在摄像头采集的任意一帧图像中均只有一个激光投影器投射的三条同向的线状激光，而连续扫描的效果等同于两个激光投影器同时投射到目标物体表面。在摄像头获得的图像中，当激光线经过贴在目标物体表面的标记点时，会导致无法对标记
点的边缘进行精确提取，从而无法确定标记点的中心位置。一般在保证精度的手持激光三维扫描仪的扫描处理过程中，如果图像中的激光线经过标记点就将该标记点排除，不参与计算。但如果扫描视野中的有效标记点少于三个时，仪器的空间位置就无法被求出，也就无法计算投射在目标物体表面的激光轮廓线的点云坐标。如图2(a)所示，三条线状激光经过扫描仪视野范围内的4个标记点，只剩一个标记点有效，因此无法求出仪器的当前空间位置和激光轮廓线的三维点云坐标；图2(b)显示不同角度的线状激光扫描同一区域时的情况，只有一个标记点被激光线经过，通过剩余的4个有效标记点可以精确的计算出仪器的位置和激光轮廓线的三维点云坐标。由于标记点在物体表面呈非规则分布，因此用不同角度的激光投影图案，比如不同方向的多组线状激光，每组中的各条激光线近似平行，可以减少由于视野中多数标记点被激光投影经过而导致无法扫描出目标物体表面该区域的轮廓三维点的概率。The handheld laser 3D scanner includes two laser projectors, each of which projects three lines of myopic parallel lasers, as shown in Figure 2, t1 and t2 are consecutive exposure trigger periods of the camera, 1# The laser projector triggers the start at t1 cycle, the 2# laser projector triggers the start at t2 cycle, and then the 1# laser projector starts again. In this cycle, the two laser projectors alternately trigger the start, in any frame image captured by the camera. There are only three in-line linear lasers projected by one laser projector, and the effect of continuous scanning is equivalent to the simultaneous projection of two laser projectors onto the surface of the target object. In the image obtained by the camera, when the laser line passes through the mark attached to the surface of the target object, the mark cannot be marked.
The edge of the point is accurately extracted so that the center position of the point cannot be determined. Generally, in the scanning process of the handheld laser 3D scanner with guaranteed accuracy, if the laser line in the image passes the marked point, the marked point is excluded and does not participate in the calculation. However, if there are less than three valid points in the scanning field of view, the spatial position of the instrument cannot be obtained, and the point cloud coordinates of the laser contour projected on the surface of the target object cannot be calculated. As shown in Fig. 2(a), the three linear lasers pass through the four marker points in the field of view of the scanner, and only one marker point is valid, so the current spatial position of the instrument and the three-dimensional point cloud coordinates of the laser contour cannot be obtained. Figure 2(b) shows the situation when the linear lasers of different angles scan the same area. Only one marked point is passed by the laser line. The remaining 4 effective marking points can accurately calculate the position of the instrument and the laser contour. 3D point cloud coordinates. Since the marking points are irregularly distributed on the surface of the object, laser projection patterns with different angles, such as multiple sets of linear lasers in different directions, the laser lines in each group are approximately parallel, which can reduce the number of marking points in the field of view. The probability that a laser projection will pass through the three-dimensional point of the contour of the area on the surface of the target object.
以两个摄像头及三个激光投影器组成的手持激光三维扫描仪为例，由于补光光源与摄像头一一对应，因此补光光源也为两个，如图3所示。控制器通过信号隔离电路与同时与两路摄像头的曝光触发接口连接，控制两路摄像头进行同步曝光；通过两个LED恒流驱动电路与高亮LED补光光源连接，控制其按设定的频率和开启时间进行闪烁；通过三个MOS管分别控制三个激光投影器以设定的频率和开启时间进行激光图案投影。
Taking a handheld laser 3D scanner consisting of two cameras and three laser projectors as an example, since the fill light source corresponds to the camera one by one, there are two fill light sources, as shown in FIG. The controller is connected to the exposure trigger interface of the two cameras through the signal isolation circuit, and controls the two cameras to perform synchronous exposure; the two LED constant current driving circuits are connected with the high-bright LED fill light source to control the set frequency. And the on-time flashing; three laser projectors are respectively controlled by three MOS tubes to perform laser pattern projection at a set frequency and an on-time.
Claims (3)
- 一种采用闪烁方式投影的手持激光三维扫描仪，包括两个及以上用于图像采集的摄像头、两个及以上用于进行激光图案投影的激光投影器以及用以控制所述摄像头和激光投影器工作的控制器，所述控制器包括用以按照曝光触发周期控制摄像头工作的摄像头控制模块，其特征在于：所述控制器还包括用于当摄像头连续两次曝光周期中，相对于前一次曝光周期启动的其中一个激光投影器，后一次启动另一个激光投影器的交替闪烁方式投影控制模块，所述交替闪烁方式投影控制模块与开关电路连接，所述开关电路与所述激光投影器连接。A hand-held laser three-dimensional scanner using a flicker projection, comprising two or more cameras for image acquisition, two or more laser projectors for laser pattern projection, and for controlling the camera and laser projector a controller for the operation, the controller comprising a camera control module for controlling the operation of the camera according to an exposure trigger period, wherein the controller further comprises: for the camera during two consecutive exposure periods, relative to the previous exposure One of the laser projectors that are periodically activated, the other alternately activates the alternate blinking projection control module of the other laser projector, the alternate blinking projection control module is coupled to the switching circuit, the switching circuit being coupled to the laser projector.
- 如权利要求1所述的采用闪烁方式投影的手持激光三维扫描仪，其特征在于：所述交替闪烁方式投影控制模块还包括用于控制两个及以上激光投影器循环交替启动的循环交替子单元。A hand-held laser three-dimensional scanner using a flicker projection method according to claim 1, wherein said alternate blinking mode projection control module further comprises a cyclic alternating subunit for controlling alternately starting of two or more laser projector cycles. .
- 如权利要求1或2所述的采用闪烁方式投影的手持激光三维扫描仪，其特征在于：所述手持激光三维扫描仪还包括与摄像头配对的用于照亮目标物体表面特征点的补光光源，所述控制器包括用以按照闪烁触发周期控制补光光源工作的补光控制模块，所述补光控制模块与驱动电路连接，所述驱动电路与所述补光光源连接。 The hand-held laser 3D scanner according to claim 1 or 2, wherein the hand-held laser three-dimensional scanner further comprises a fill light source paired with the camera for illuminating surface feature points of the target object. The controller includes a fill light control module for controlling the operation of the fill light source according to the blinking trigger period, the fill light control module is coupled to the driving circuit, and the driving circuit is coupled to the fill light source.
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