Scanning method, device, storage medium and electronic device

Abstract

The present application is applicable to the field of oral scanning technology, and provides a scanning method, device, storage medium and electronic device. The scanning method provided by the present application, in the process of scanning an oral cavity equipped with a scanning rod by a scanning device, obtains first scanning data, standard data of the scanning rod and second scanning data, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; splices the first scanning data and the second scanning data; in the case where the splicing of the second scanning data and the first scanning data fails, splices the second scanning data and the third scanning data, wherein the third scanning data includes the standard data and the first scanning data. The technical problem of inaccurate scanning results of scanning rods in the oral cavity in the prior art is solved.

Description

Technical Field

[0001] The present application belongs to the field of oral scanning technology, and more specifically, to a scanning method, device, storage medium and electronic device. Background Art

[0002] At present, in cases with multiple implants, in order to obtain the relative position relationship between the implants, a scanner is usually used to scan the oral cavity equipped with a scanning rod to assist in locating the implant position. However, in cases with multiple implants (especially full-mouth edentulous implant cases), since the spacing between the scanning rods is larger than the scanning range of the scanner, the middle area between the scanning rods is transitioned by the gums. If the gums in the middle area are deformed during scanning, the position relationship between the two scanning rods will be inaccurate, which will cause the restoration to fail to be placed in place.

[0003] In response to the above problems, in the prior art, when facing multiple implant cases, a scanning rod with wings is used. The transition area between the two scanning rods is connected with additional scanning wings to form a rigid body, so as to prevent the problem of inaccurate relative position between the scanning rods due to gum deformation.

[0004] However, in the process of scanning multiple scanning rods, multiple frame stitching may slip and the like, making it impossible to achieve continuous scanning, resulting in poor scanning fluency, which in turn affects the final scanning effect and diagnostic accuracy. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a scanning method, device, storage medium and electronic device, aiming to solve the technical problem of inaccurate scanning results of scanning rods in the oral cavity in the prior art.

[0006] To achieve the above object, according to a first aspect of the present application, a scanning method is provided, the method comprising:

[0007] In a process of scanning an oral cavity equipped with a scanning rod by a scanning device, first scanning data, standard data of the scanning rod and second scanning data are acquired, wherein the second scanning data is discontinuous frame scanning data of the first scanning data;

[0008] splicing the first scan data and the second scan data;

[0009] In the case where the second scan data and the first scan data fail to be spliced ​​together, the second scan data and the third scan data are spliced ​​together, wherein the third scan data includes the standard data and the first scan data.

[0010] Optionally, in a possible implementation manner of the first aspect, before acquiring the second scan data obtained by scanning, the method further includes:

[0011] Determining the number of scanbar features in the first scan data, wherein the scanbar features include at least one of the following: a marker feature, a geometric feature, a pattern feature, and a marking feature;

[0012] When the number of scanbar features in the first scan data meets a preset number threshold, the first scan data is spliced ​​with the standard data of the scanbar.

[0013] Optionally, in a possible implementation manner of the first aspect, before splicing the second scan data with the third scan data, the method further includes:

[0014] pre-joining the first scanning data with the standard data of the scanning rod;

[0015] determining a characteristic error value between a scanning bar characteristic of the first scanning data and a scanning bar characteristic of the standard data;

[0016] When the characteristic error value satisfies a preset error threshold, the standard data and the first scan data are concatenated to obtain third scan data.

[0017] Optionally, in a possible implementation manner of the first aspect, the stitching the second scan data and the third scan data includes:

[0018] If the second scan data and the third scan data are successfully spliced, based on the splicing result of the second scan data and the third scan data;

[0019] If the second scanning data and the third scanning data fail to be spliced ​​together, the scanning device is adjusted to perform scanning.

[0020] Optionally, in a possible implementation manner of the first aspect, before adjusting the scanning device to perform scanning, the method further includes:

[0021] Outputting a splicing failure prompt message; wherein the splicing failure prompt message is used to prompt the user to adjust the scanning position of the scanning device so that the scanning device starts to rescan from the position where the splicing fails.

[0022] Optionally, in a possible implementation manner of the first aspect, the method further includes: displaying the first scanning data, the third scanning data, and the fourth scanning data in real time.

[0023] According to a second aspect of the present application, a scanning device is provided, comprising:

[0024] an acquisition unit, configured to acquire first scanning data, standard data of the scanning rod, and second scanning data during a process of scanning an oral cavity equipped with a scanning rod by a scanning device, wherein the second scanning data is discontinuous frame scanning data of the first scanning data, and there is corresponding scanning rod feature data between the first scanning data and the second scanning data and the standard data respectively;

[0025] A splicing unit is used to splice the first scan data with the second scan data; and in the case where the second scan data and the first scan data fail to be spliced, splice the second scan data with third scan data, wherein the third scan data includes the standard data and the first scan data.

[0026] The second aspect and any implementation of the second aspect correspond to the first aspect and any implementation of the first aspect, respectively. The technical effects corresponding to the second aspect and any implementation of the second aspect can refer to the technical effects corresponding to the first aspect and any implementation of the first aspect, which will not be repeated here.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the methods described above when executing the computer program.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the methods described above.

[0029] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes any one of the methods described in the first aspect.

[0030] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0031] The scanning method, device, storage medium and electronic device provided in the embodiments of the present application, in the process of scanning the oral cavity equipped with a scanning rod through the scanning device, in addition to acquiring the first scanning data and the second scanning data, the scanning method also synchronously acquires the standard data of the scanning rod. It should be understood that the standard data can provide a common reference or intermediate bridge for the first scanning data and the second scanning data. Therefore, in the case of failure in splicing the second scanning data and the first scanning data, the second scanning data and the third scanning data are spliced, and the third scanning data contains the standard data and the first scanning data, so as to accurately splice the first scanning data and the second scanning data, ensure that the scanning data of the discontinuous frames are successfully spliced, thereby achieving coherent scanning, overcoming the problems of scanning failure and jamming caused by scanning discontinuity, and improving the scanning coherence and fluency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 It is a flowchart of a scanning method provided in an embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of a scanning state of an optional scanning method provided in an embodiment of the present application, which is applicable to intra-oral tooth and jaw scanning;

[0035] Figure 3 It is a flowchart of an optional scanning method provided in an embodiment of the present application;

[0036] Figure 4 is a flowchart of an optional scanning method provided in another embodiment of the present application;

[0037] Figure 5 is a schematic structural diagram of a scanning device provided in an embodiment of the present application;

[0038] Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0040] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0041] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0042] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0043] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0044] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0045] At present, in the field of oral medicine, in order to obtain the relative position relationship between implants, a scanner is usually used to scan the oral cavity equipped with a scanning rod to assist in locating the implant position. However, in cases with multiple implants (especially full-mouth edentulous implant cases), since the spacing between the scanning rods is larger than the scanning range of the scanner, the middle area between the scanning rods is transitioned by the gums. If the gums in the middle area are deformed during scanning, the position relationship between the two scanning rods will be inaccurate, which will cause the restoration to fail to be placed in place.

[0046] In response to the above problems, in the prior art, when facing multiple implant cases, a scanning rod with wings is used. The transition area between the two scanning rods is connected with additional scanning wings to form a rigid body, so as to prevent the problem of inaccurate relative position between the scanning rods due to gum deformation.

[0047] However, in the process of scanning multiple scanning rods, multiple frame stitching may slip and the like, making it impossible to achieve continuous scanning, resulting in poor scanning fluency, which in turn affects the final scanning effect and diagnostic accuracy.

[0048] To solve the above technical problems, this application example provides an embodiment of a scanning method, please refer to Figure 1 As shown, Figure 1 A schematic flow chart of a scanning method provided by the present application is shown. As an example but not a limitation, the method includes:

[0049] S101, in the process of scanning an oral cavity equipped with a scanning rod by a scanning device, first scanning data, standard data of the scanning rod and second scanning data are obtained.

[0050] It should be noted that the second scanning data is discontinuous frame scanning data of the first scanning data.

[0051] S102, splicing the first scan data and the second scan data.

[0052] S103, when the second scan data and the first scan data fail to be spliced ​​together, splice the second scan data with the third scan data, wherein the third scan data includes the standard data and the first scan data.

[0053] Before explaining the scanning method provided by the example of this application, it should be noted that in the oral scanning scenario, the scanning rod is installed in the oral cavity and connected to the implant, which is used to assist the scanning device (oral digital impression device) to obtain more accurate and complete information inside the oral cavity, and can also be used to obtain the position information of the implant. Especially when it comes to complex situations such as multiple implants, for example, in multiple implant surgeries, the scanning rod can be installed on the implant so that the scanning device can scan the scanning rod and accurately obtain the position and related parameters of the implant.

[0054] Please refer to Figure 2 As shown, Figure 2 The present application shows a schematic diagram of a scanning state of an optional scanning method provided by the present application for intraoral dental and maxillary scanning. First, in the process of scanning an oral cavity equipped with a scanning rod by a scanning device, first scanning data, standard data of the scanning rod, and second scanning data are obtained. It is worth noting that the second scanning data is discontinuous frame scanning data of the first scanning data, which can also be understood as the second scanning data and the first scanning data are discontinuous frame scanning data. This means that there is no spatial overlap or a small overlap between the first scanning data and the second scanning data.

[0055] It should be noted that the Figure 2 It is only used to illustrate the scanning process of the dental scan in the oral cavity, and is not used to represent the real-time digital model. Figure 2 The second scan data in the figure is used to indicate the second scan data after stitching, the standard data is used to indicate the standard data after stitching, and the light gray scanning rod on the right is used to indicate the area to be scanned.

[0056] In the example of this application, the standard data of the scanning rod, which can also be called the true value data (refdata) of the scanning rod, refers to the accurate data that is already known before the actual use of the scanning rod. The standard data of the scanning rod can be the design data of the scanning rod, or the measurement data of the scanning rod after processing and manufacturing (generally obtained by a high-precision scanner or measuring instrument), which represents the consistency and correspondence between the standard data of the scanning rod and the scanning rod. It is generally stored and can be called through pre-stored settings. Generally, a scanning rod library is set up, and the scanning rod library includes multiple independent scanning rod true value data, and each scanning rod true value data can be called separately.

[0057] It should be understood that since the first scanning data and the second scanning data are scanning data of discontinuous frames, they cannot be directly spliced ​​in the prior art, that is, the scanning device must ensure that there is a sufficient overlapping area between the next scanning area and the scanned area during the scanning process, and the scanning device cannot be moved in a large range or in a jumpy manner for scanning.

[0058] As an example and not a limitation, the scanning rod feature may include at least one of the following: a marking point feature, a geometric feature, a pattern feature, and a marking feature. These features have corresponding feature true values. For example, the marking point feature can determine the exact marking point at a specific position; the geometric feature can clarify the ideal shape and size of the scanning rod, such as length, diameter, angle, etc.; the pattern feature helps to identify the specific texture or pattern on the surface of the scanning rod; and the marking feature can help accurately identify and locate. In the present application, the scanning rod feature is preferably a circular or annular marking point, the feature true value includes the three-dimensional coordinates of the center of the circular marking point, and the standard data of the scanning rod includes the feature true value and / or the contour true value.

[0059] The true value of the scanning rod feature can be stored in the database as standard data in advance. Then, during the actual scanning process, the first scanning data obtained by the actual scanning can be spliced ​​with the standard data in the database. In this way, on the one hand, the splicing error that occurs during the scanning process can be corrected by the standard data of the scanning rod to ensure that the final scanning result is accurate. On the other hand, the scanning rod only needs to scan a part without a full scan to obtain the complete data of the scanning rod through the standard data of the scanning rod. In this way, if there are corresponding scanning rod feature data between the first scanning data and the second scanning data and the standard data respectively, that is, some features in the scanning data of the scanning rod can find the corresponding place in the standard data, please refer to Figure 2 As shown, the standard data serves as an intermediate bridge between the first scanning data and the second scanning data. According to the correspondence between the standard data and the first scanning data and the second scanning data, the discontinuous first scanning data and the second scanning data can be spliced, so that the scanning device can achieve discontinuous scanning within a certain range.

[0060] In the process of scanning multiple scanning rods with existing solutions, slippage occurs in the splicing of multiple frames of scanning data mainly due to the lack of accurate reference and alignment basis, as well as the cumulative error caused by splicing. For example, the more frames are spliced, the greater the cumulative error, which makes it impossible to achieve continuous scanning, resulting in poor scanning fluency.

[0061] In the implementation of the present application, the second scan data is directly spliced ​​with the first scan data as much as possible. If the first scan data and the second scan data are successfully spliced, it indicates that there are corresponding scanning rod feature data between the first scan data and the second scan data and the standard data respectively. When the first scan data and the second scan data fail to be spliced, it indicates that there is a problem with the correspondence between the first scan data, the second scan data and the standard data. For example, the second scan data and the standard data may lack corresponding scanning rod feature data.

[0062] If the first scan data and the second scan data fail to be spliced, for example, direct splicing cannot be achieved due to large differences, discontinuity or feature mismatch between the second scan data and the first scan data, the second scan data is spliced ​​with the third scan data containing the standard data and the first scan data. In other words, when the current frame scan data is obtained, it is first spliced ​​with the previous frame scan data. If the splicing is successful, the splicing result is directly obtained. If the splicing fails, it is spliced ​​with the spliced ​​data. In this way, fast splicing can be achieved and the splicing efficiency is optimized. Of course, when continuous frame scan data is obtained, it can generally be successfully spliced ​​with the previous frame scan data, and when discontinuous frame scan data is obtained, it can only be successfully spliced ​​with the spliced ​​data.

[0063] It should be noted that the stitched data may be stitched data of multiple frames of scan data, or stitched data of scan data and scan bar standard data. In one embodiment of the present application, the current frame of scan data is the second scan data, the previous frame of scan data is the first scan data, and the stitched scan data is the stitched data of the first scan data and the scan bar standard data. In another embodiment of the present application, the stitched scan data is the stitched data of the first scan data and the previous frame of scan data, or the stitched data of the first scan data, the scan bar standard data, and the previous frame of scan data.

[0064] Since the second scanning data and the first scanning data are discontinuous frame scanning data, the second scanning data and the first scanning data cannot be directly successfully spliced ​​together. For example, the first scanning data is one end of the scanning rod, and the second scanning data is the other end of the scanning rod. There is no overlapping area between the two or the common characteristics of the overlapping area do not meet the predetermined splicing threshold. The two cannot be directly spliced ​​together successfully. At this time, splicing with the third scanning data containing more accurate information may solve this problem.

[0065] For another example, if the first scan data is the front end portion of the scanning rod and the second scan data is the rear end portion, if directly splicing these two parts fails, the complete scan data can be obtained by splicing with the third scan data including the standard data and the first scan data.

[0066] The scanning method provided in the example of the present application, in the process of scanning the oral cavity equipped with the scanning rod by the scanning device, in addition to obtaining the first scanning data and the second scanning data, also synchronously obtains the standard data of the scanning rod. It should be understood that the standard data can provide a common reference or intermediate bridge for the first scanning data and the second scanning data. Therefore, in the case of failure to splice the second scanning data and the first scanning data, the second scanning data and the third scanning data are spliced, and the third scanning data contains the standard data and the first scanning data. Therefore, the splicing information such as the relative position and direction of the first scanning data and the second scanning data can be accurately determined, and the number of splicing times and the splicing cumulative error can be reduced, thereby avoiding the occurrence of sliding. As an example and not a limitation, the standard data specifies the position of specific marks on the scanning rod. When splicing, the first scanning data and the second scanning data can be aligned according to these specific marks to ensure that the scanning data of discontinuous frames can be spliced ​​more smoothly, thereby achieving coherent scanning and improving the final scanning effect and diagnostic accuracy.

[0067] In a possible implementation, the method further includes:

[0068] S201, determining the number of scanbar features in the first scan data, wherein the scanbar features include at least one of the following: a marking point feature, a geometric feature, a pattern feature, and a marking feature;

[0069] S202: If the number of scanning rod features in the first scanning data meets a preset number threshold, the first scanning data is spliced ​​with the standard data of the scanning rod. For example, if the number of scanning rod features in the first scanning data is greater than a preset number threshold, the first scanning data is spliced ​​with the standard data of the scanning rod.

[0070] Determine the number of scanning rod features in the acquired first scanning data. As an example and not a limitation, in the example of the present application, the scanning rod features proposed include but are not limited to: at least one of identification point features, geometric features, pattern features, and marking features.

[0071] For example, the identification point feature may be a point at a specific position on the surface of the scanning rod (such as a white dot on a black scanning rod); the geometric feature may be the length, diameter, angle, etc. of the scanning rod; the pattern feature may be the texture or pattern on the scanning rod; the marking feature may be a specific symbol or code.

[0072] Then, if the number of scanbar features in the first scan data is greater than a preset number threshold, the first scan data and the scanbar standard data are spliced, for example, the preset number threshold is 10 identification point features, and when it is determined that the number of identification point features in the first scan data reaches 11, the first scan data and the scanbar standard data are spliced. For another example, if the set geometric feature number threshold is 2, and 3 geometric features are determined in the first scan data, the operation of obtaining the scanbar standard data and splicing it with the first scan data is performed.

[0073] This is because if the number of scan bar features is small, it may mean that the corresponding scan bar features cannot be determined between the first scan data and the standard data of the scan bar, and it is not meaningful to splice the first scan data and the standard data of the scan bar for subsequent processing. When the number of scan bar features in the first scan data reaches or exceeds the number threshold, it means that the corresponding scan bar features can be determined between the first scan data and the standard data of the scan bar, and the standard data of the scan bar is obtained to achieve splicing of the first scan data and the standard data of the scan bar.

[0074] For example, during the oral scanning process, if the first scan data acquired at the beginning is only a small part of the scan rod, the number of scan rod features in the first scan data is very small, and the standard data may not be accurately spliced ​​at this time. Only when enough scan rod features are acquired in the first scan data, such as scanning most of the area of ​​the scan rod, that is, the number of scan rod features scanned in the first scan data exceeds the preset number threshold, and then the standard data of the scan rod in the database is acquired, can the subsequent accurate splicing be more effectively performed. Furthermore, it can avoid the premature introduction of standard data for complex calculations and processing when the number of features in the first scan data is insufficient, thereby improving the efficiency and effect of the scanning process.

[0075] It should be noted that, when the oral cavity is equipped with multiple scanning rods, when the scanning device scans the first scanning rod and obtains a sufficient number of first scanning rod features, the standard data of the first scanning rod is obtained and spliced ​​with the scanned data, and the standard data of other scanning rods that have not been scanned or have not scanned a sufficient number of scanning rod features are not involved in the splicing. When the scanning device scans the second scanning rod and obtains a sufficient number of second scanning rod features, the standard data of the second scanning rod is obtained and spliced ​​with the scanned data, and the standard data of other scanning rods that have not been scanned or have not scanned a sufficient number of scanning rod features are not involved in the splicing. After the oral cavity scan is completed, the standard data of the multiple scanning rods corresponding to the multiple scanning rods installed in the oral cavity are unified in the same coordinate system based on the scanning data.

[0076] Please refer to Figure 3 As shown, Figure 3 A schematic flow chart of an optional scanning method provided by the present application is shown. In a possible implementation, before splicing the second scanning data and the third scanning data, the method further includes:

[0077] S301, pre-joining first scanning data and standard data of the scanning rod.

[0078] S302, determining a feature error value between a scanning rod feature of the first scanning data and a scanning rod feature of the standard data.

[0079] In the above method steps, specifically after pre-joining the first scan data and the standard data of the scan rod, the difference between the feature distribution in the first scan data and the feature distribution in the standard data can be quantified by comparing the feature error value between the scan rod features of the first scan data and the scan rod features of the standard data.

[0080] S303, when the characteristic error value satisfies a preset error threshold, the standard data and the first scan data are spliced ​​to obtain third scan data. For example, when the characteristic error value is not greater than the preset error threshold, the standard data and the first scan data are spliced ​​to obtain third scan data.

[0081] It should be understood that in the above method steps, the setting of the error threshold can be reasonably adjusted according to the specific situation to balance the accuracy of stitching and the availability of data. The error threshold can control the accuracy and reliability of stitching. When the feature error value is greater than the error threshold, it means that there is a large deviation or abnormality in the feature distribution in the first scan data, which is not suitable for direct stitching with the standard data.

[0082] When the feature error value satisfies the preset error threshold, that is, when the difference between the feature distribution in the first scan data and the feature distribution in the standard data is within an acceptable range, Figure 2 As shown, the standard data is spliced ​​with the first scan data to obtain the third scan data, and the accuracy and completeness of the standard data can be used to supplement or correct the first scan data, so that the spliced ​​data is closer to the actual situation.

[0083] In addition, after the standard data and the first scan data are spliced ​​to obtain the third scan data, the third scan data can also be displayed. In this way, the user can intuitively see the third scan data. Furthermore, the user can evaluate the integrity and accuracy of the third scan data, and if problems are found, further measures can be taken in time.

[0084] It should be noted that before pre-splicing the first scan data with the standard data of the scan rod, the number of scan rod features in the first scan data may be determined first. When the number of scan rod features in the first scan data meets a preset number threshold, the first scan data and the standard data of the scan rod may be pre-spliced.

[0085] By splicing the standard data and the first scan data to obtain the third scan data, the second scan data and the third scan data are then spliced ​​together. The first scan data, the standard data and the second scan data can be spliced ​​together to achieve discontinuous scanning by the scanning device, thereby improving scanning efficiency while ensuring scanning quality.

[0086] For example, the standard data of the scanning rod contains its precise shape, size, markings and other information. The first scanning data is the scanning data obtained by scanning a part of the scanning rod. If the error value of the corresponding feature of the first scanning data and the standard data meets the preset error threshold, it means that the first scanning data has a high degree of match with the standard data of the scanning rod. Then the standard data and the first scanning data are spliced ​​to obtain the third scanning data. Finally, the second scanning data (such as the scanning result of another part of the scanning rod) is spliced ​​with the third scanning data to achieve discontinuous scanning.

[0087] The scanning method provided in the example of this application can make full use of standard data, splice discontinuous scanning data, and improve the accuracy of scanning results and scanning efficiency.

[0088] Please refer to Figure 4 As shown, Figure 4 A schematic flow chart of an optional scanning method provided by the present application is shown. In a possible implementation, the second scanning data and the third scanning data are spliced, including the following method steps:

[0089] S401: If the second scan data and the third scan data are successfully spliced, obtain fourth scan data based on the splicing result of the second scan data and the third scan data.

[0090] S402: If the second scan data and the third scan data fail to be spliced ​​together, adjust the scanning device to perform scanning.

[0091] In the above implementation, if the second scan data and the third scan data are successfully spliced, the fourth scan data is obtained based on the splicing result. As an example and not a limitation, it can be understood that this is an ideal scenario, which means that through reasonable adjustments and attempts, data integration is successfully achieved. That is, after successfully splicing the second scan data and the third scan data, the complete data obtained is the required fourth scan data.

[0092] If the splicing of the second scan data and the third scan data also fails, the scanning position of the scanning device can be adjusted to perform scanning, so as to obtain data that can be successfully spliced.

[0093] Through this application example, it is possible to ensure to the greatest extent possible that complete and accurate scan data can be obtained, thereby improving the reliability and adaptability of scanning and data processing.

[0094] In a possible implementation, before adjusting the scanning device to perform scanning, the method further includes:

[0095] Outputting a splicing failure prompt message; wherein the splicing failure prompt message is used to prompt the user to adjust the scanning position of the scanning device so that the scanning device scans from other scanning positions.

[0096] The above implementation method will also output a stitching failure prompt message before adjusting the scanning position of the scanning device for scanning, so as to prompt the user to adjust the scanning position of the scanning device, so that the user can promptly understand the problems that occur in the current scanning and stitching process, and avoid the user from continuing invalid operations without knowing it, or performing subsequent processing on erroneous scanning results.

[0097] For example, when the scanning device fails to stitch the scanned data at a certain position with the previous data, the prompt message may display "Stitching failed at position X, please move the scanning device slightly upward and rescan". Users can make targeted adjustments based on the prompts instead of blindly trying or being overwhelmed, so that the scanning device can rescan from the position where the stitching failed, thereby increasing the probability of successful rescanning and stitching.

[0098] In a possible implementation, the first scan data, the third scan data, and the fourth scan data can also be displayed in real time. In this way, the user can intuitively see the real-time scan results. Furthermore, the user can immediately evaluate the completeness and accuracy of the scan data, and if problems are found, further measures can be taken in time. For example, in an oral scan, the doctor can view the specific conditions of the patient's teeth through the scan data that is finally displayed, and determine whether there are any missing or erroneous parts.

[0099] During the real-time scanning process, if the first scanning data is acquired, the first scanning data is displayed in real time, if the scanning rod standard data is acquired, the standard data is displayed in real time, and if the fourth scanning data is acquired, the fourth scanning data is displayed in real time. The fourth scanning data includes the spliced ​​first scanning data, standard data and second scanning data.

[0100] As an example but not limitation, in the example of the present application, after the oral cavity is scanned, the positioning information of each scanning rod can be determined based on the digitized three-dimensional data of the oral cavity, which may include the positioning information of a single scanning rod and the relative position information between multiple scanning rods.

[0101] It should be noted that the digitized three-dimensional data of the oral cavity includes at least one of the following: three-dimensional data of identification points, three-dimensional contour data of the scanning rod, and the digitized three-dimensional data of the oral cavity may also include gum data.

[0102] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0103] Corresponding to the scanning method of the above embodiment, Figure 5 is a schematic diagram of the structure of a scanning device provided in an embodiment of the present application. The device can be implemented as part or all of a computer device by software, hardware, or a combination of both. The computer device can be Figure 6 Electronic equipment shown.

[0104] Reference Figure 5 , the scanning device comprises:

[0105] The acquisition unit 501 is used to acquire first scanning data, standard data of the scanning rod and second scanning data during the process of scanning an oral cavity equipped with a scanning rod by a scanning device, wherein the second scanning data is discontinuous frame scanning data of the first scanning data.

[0106] The splicing unit 502 is used to splice the first scan data with the second scan data; and when the second scan data and the first scan data fail to be spliced, splice the second scan data with the third scan data, wherein the third scan data includes the standard data and the first scan data.

[0107] It should be noted that the scanning device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0108] The functional units and modules in the above embodiments may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit, and the above integrated units may be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present application.

[0109] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0110] An embodiment of the present application further provides an electronic device, the electronic device comprising one or more processors and a memory;

[0111] The memory is coupled to one or more processors, and the memory is used to store computer program codes, the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the scanning method shown above.

[0112] The electronic device may be a mobile phone, a smart screen, a tablet computer, a wearable electronic device, an in-vehicle electronic device, an augmented reality (AR) device, a virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a projector, or a communication device such as a server, a storage device, a base station, or a smart car, etc. The embodiments of the present application do not impose any restrictions on the specific type of the electronic device.

[0113] An embodiment of the present application also provides a computer-readable storage medium, in which computer instructions are stored; when the computer-readable storage medium is executed on an electronic device, the electronic device executes the scanning method shown above.

[0114] The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media integrated therein. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium, or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0115] The embodiment of the present application also provides a computer program product including computer instructions, which, when executed on an electronic device, enables the electronic device to execute the scanning method shown above.

[0116] The computer storage medium and computer program product provided in the above-mentioned embodiments of the present application are used to execute the method provided above. Therefore, the beneficial effects that can be achieved can refer to the corresponding beneficial effects of the method provided above, and will not be repeated here.

[0117] In the above embodiments, it can also be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (such as: coaxial cable, optical fiber, data subscriber line (Digital Subscriber Line, DSL)) or wireless (such as: infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital versatile disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)).

[0118] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, the electronic device 600 may be a mobile phone, a computer, a digital broadcast terminal, a message transceiver device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0119] The memory 601 can be used to store computer software programs 602 and modules, and the processor 603 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 601. The memory 601 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the electronic device (such as audio data, a phone book, etc.), etc. In addition, the memory 601 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0120] Among them, the processor 603 may include one or more processors such as a central processing unit, an application processor (AP), a baseband processor, etc. The processor may be the nerve center and command center of the wireless router. The processor 603 may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions. The memory 601 may be used to store computer executable program codes, and the executable program codes include instructions. The processor 603 executes various functional applications and data processing of the network device by running the instructions stored in the memory. The memory 601 may include a program storage area and a data storage area, such as storing data of a sound signal to be played. For example, the memory may be a double rate synchronous dynamic random access memory DDR or a flash memory Flash.

[0121] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments applied for herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A scanning method, characterized in that: include: In a process of scanning an oral cavity equipped with a scanning rod by a scanning device, first scanning data, standard data of the scanning rod and second scanning data are acquired, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; splicing the first scan data and the second scan data; In the case where the second scan data and the first scan data fail to be spliced ​​together, splicing the second scan data with third scan data, wherein the third scan data includes the standard data and the first scan data; Wherein, stitching the second scan data and the third scan data comprises: The first scan data and the second scan data are spliced ​​according to the corresponding relationship between the standard data and the first scan data and the second scan data.

2. The method according to claim 1, characterized in that The method further comprises: Determining the number of scanbar features in the first scan data, wherein the scanbar features include at least one of the following: a marker feature, a geometric feature, a pattern feature, and a marking feature; When the number of scanbar features in the first scan data meets a preset number threshold, the first scan data is spliced ​​with the standard data of the scanbar.

3. The method according to claim 1, characterized in that Before splicing the second scan data and the third scan data, the method further includes: pre-joining the first scanning data with the standard data of the scanning rod; determining a characteristic error value between a scanning bar characteristic of the first scanning data and a scanning bar characteristic of the standard data; When the characteristic error value satisfies a preset error threshold, the standard data and the first scan data are concatenated to obtain third scan data.

4. The method according to claim 1, characterized in that: The stitching of the second scan data and the third scan data comprises: If the second scan data and the third scan data are successfully spliced, fourth scan data is obtained based on the splicing result of the second scan data and the third scan data; If the second scanning data and the third scanning data fail to be spliced ​​together, the scanning device is adjusted to perform scanning.

5. The method according to claim 4, characterized in that Before adjusting the scanning device to perform scanning, the method further includes: Outputting a splicing failure prompt message; wherein, the splicing failure prompt message is used to prompt the user to adjust the scanning position of the scanning device for scanning.

6. The method according to claim 4 or 5, characterized in that: The method further comprises: The first scanning data, the third scanning data and the fourth scanning data are displayed in real time.

7. The method according to any one of claims 1 to 5, characterized in that The method further comprises: The first scanning data and the third scanning data are displayed in real time.

8. A scanning device, characterized in that: include: An acquisition unit, used for acquiring first scanning data, standard data of the scanning rod, and second scanning data during a process of scanning an oral cavity equipped with a scanning rod by a scanning device, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; a splicing unit, configured to splice the first scan data with the second scan data; and in the case where the splicing of the second scan data with the first scan data fails, splice the second scan data with third scan data, wherein the third scan data includes the standard data and the first scan data; The splicing unit is specifically used for splicing the first scan data and the second scan data according to the corresponding relationship between the standard data and the first scan data and the second scan data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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