The full color 2D3D joint detection module is a machine vision detection product independently developed by Hailei Optoelectronics. It mainly integrates 3D imaging and full color 2D scanning imaging. In terms of 2D imaging, combined with feedback technology, multi band filters, and white laser components, it can ensure the long-term stability of product use. Compared to traditional line scan LED schemes, it has a smaller volume, higher brightness, and lower power. In terms of 3D imaging, a total reflection and other optical path design is adopted, which reduces the overall volume while ensuring accuracy. In the joint part, during the debugging process, the height of the 2D and 3D detection areas is ensured to coincide, and the final joint detection error is less than 5 pixels. For the overall mechanical part, a highly integrated design is adopted, which ensures the functionality of the module and makes it have a smaller volume and an IP67 protection level.