Denture digital three-dimensional scanner, denture scanning method and storage medium

Abstract

The invention relates to the technical field of false tooth manufacturing, and provides a false tooth digital three-dimensional scanner, a false tooth scanning method and a storage medium, the scanner comprises a data processing module, a motion control module and a false tooth placing platform; the motion control module comprises at least one motor; the data processing module comprises a structured light device and at least one camera; the data processing module is used for being connected with external electronic equipment, and the data processing module controls the structured light device and the at least one camera to work according to a control instruction issued by the external electronic equipment; the data processing module is further used for sending a motor control instruction issued by external electronic equipment to the motion control module, and the motion control module controls at least one motor according to the motor control instruction so as to enable the false tooth placing platform to move. According to the invention, a data processing function and a motion control function which are originally integrated into a whole are divided into two independent modules, so that the interference of large current on the camera and the structured light device during the operation of the motor is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of denture scanning, and in particular to a denture digital three-dimensional scanner, a denture scanning method and a storage medium. Background Art

[0002] Denture digital 3D scanner is a precision instrument used in the field of stomatology, which can quickly and accurately obtain 3D data of tooth models.

[0003] This type of scanner is very important in modern restorative dentistry because it helps dentists and technicians create accurate digital models for making customized dentures, crowns, bridges and other oral restorations.

[0004] In the related art, when the denture digital 3D scanner is scanning, the images captured by the camera will have various problems such as frame loss, reduced acquisition rate, and reduced image clarity. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present application provides a denture digital three-dimensional scanner, a denture scanning method and a storage medium, which are conducive to improving the image clarity of the denture three-dimensional digital scanner.

[0006] To solve the above problems, the present invention provides the following technical solutions: In a first aspect, an embodiment of the present application provides a denture digital three-dimensional scanner, the scanner comprising: a data processing module, a motion control module, and a denture placement platform; the motion control module comprises at least one motor, and the data processing module comprises a structured light device and at least one camera; the data processing module is used to connect to an external electronic device, and the data processing module controls the structured light device and the at least one camera to operate according to the control instructions issued by the external electronic device; the data processing module is also used to send the motor control instructions issued by the external electronic device to the motion control module, and the motion control module controls the at least one motor according to the motor control instructions to move the denture placement platform.

[0007] In some embodiments, the data processing module also includes a first control chip, a hub chip and a first interface; the first interface is used to connect an external electronic device; the hub chip is connected to the first interface, each of the cameras and the first control chip; the hub chip is used to send data sent by the external electronic device to the first control chip; the hub chip is also used to transmit image data captured by each of the cameras to the external electronic device.

[0008] In some implementations, the first control chip is connected to each of the cameras; the first control chip may send a PWM signal to each of the cameras to control the operation of each of the cameras.

[0009] In some embodiments, the motion control module also includes: a second control chip, at least one motor driver chip and at least one field effect transistor; the second control chip is connected to each of the motor driver chips; each of the motor driver chips is connected to one of the field effect transistors, and each of the field effect transistors is connected to one of the motors; the motor driver chip is used to control the conduction state of the field effect transistor according to the control instructions issued by the second control chip to control the working state of the motor.

[0010] In some embodiments, the motion control module also includes: a power supply interface, a power management module and a second interface; the power supply interface is connected to an external power supply for obtaining electrical energy; the power management module is connected to the power supply interface for distributing the electrical energy to the second control chip and the second interface; the second interface is connected to the power management module and the second control chip, the second interface is used to transmit electrical energy to the data processing module, and is responsible for data transmission between the motion control module and the data processing module.

[0011] In some embodiments, the scanner also includes: a base, a supporting part and a scanning part; wherein the denture placement platform is arranged on the base; the bottom of the supporting part is connected to the base, and the scanning part is connected to the top of the supporting part; the data processing module is arranged in the scanning part, and the motion control module is arranged at the bottom of the supporting part.

[0012] In some embodiments, the support portion is provided with an external power supply interface and an external electronic device interface beside the motion control module; the external power supply interface is used to connect an external power supply; the external electronic device interface is used to connect an external electronic device.

[0013] In a second aspect, an embodiment of the present application provides a denture scanning method, characterized in that it is applied to a denture digital three-dimensional scanner as in the first aspect and any one of the embodiments of the first aspect, and the method includes: a data processing module receives a scanning instruction issued by an external electronic device, and identifies a motor control instruction, a structured light device control instruction and a camera control instruction in the scanning instruction; the data processing module sends the motor control instruction to a motion control module; the motion control module controls the motor movement according to the motor control instruction, and the data processing module controls the structured light device and the camera to scan according to the structured light device control instruction and the camera control instruction.

[0014] In some embodiments, the motion control module controls the movement of the motor according to the motor control instruction, and the data processing module controls the structured light device and the camera to scan according to the structured light device control instruction and the camera control instruction, including: the motion control module controls the movement of the motor according to the motor control instruction and locks the motor position; after locking the motor position, the motion control module sends a completion instruction to the data processing module; the data processing module receives the completion instruction, controls the structured light device to project a grating according to the structured light device control instruction, and controls the camera to capture an image according to the camera control instruction; the data processing module receives the image captured by the camera, and transmits the image to the external electronic device.

[0015] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement a denture scanning method as in the second aspect and any one of the embodiments of the second aspect.

[0016] The present application provides a denture digital three-dimensional scanner, a denture scanning method and a storage medium, wherein the scanner comprises: a data processing module, a motion control module, a denture placement platform, at least one motor, a structured light device and at least one camera; the data processing module is used to connect to an external electronic device and is connected to the structured light device and the at least one camera; the motion control module is connected to the at least one motor used to control the movement of the denture placement platform. The present application splits the originally integrated data processing function and motion control function into two independent modules, reduces the interference of the large current when the motor is running on the camera and the structured light device, and improves the stability of image transmission data and scanning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the denture digital three-dimensional scanner provided in an embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the hidden scanning part shell of the denture digital three-dimensional scanner provided in an embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of the hidden support part shell of the denture digital three-dimensional scanner provided in an embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the circuit module of the denture digital three-dimensional scanner provided in an embodiment of the present application.

[0021] Figure 5 It is a flow chart of the denture scanning method provided in an embodiment of the present application.

[0022] Figure 6 It is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] Denture digital 3D scanner is a precision instrument used in the field of stomatology. It can quickly and accurately obtain 3D data of teeth and oral structures.

[0026] This type of scanner is very important in modern restorative dentistry because it helps dentists and technicians create accurate digital models for making customized dentures, crowns, bridges and other oral restorations.

[0027] In the related art, when the denture digital 3D scanner is scanning, the images captured by the camera will have various problems such as frame loss, reduced acquisition rate, and reduced image clarity.

[0028] After research, the inventors found that the reason is that the motor control, camera control and structured light device control of the existing denture digital 3D scanner are all integrated into one, for example, they are all integrated into the same circuit board. Therefore, when the motor is running, the motor will generate a large current. The large current will interfere with the camera and the structured light device, causing various problems such as frame loss, decreased acquisition rate, and decreased image clarity in the images captured by the camera.

[0029] In order to solve the above problems, the present application provides a denture digital three-dimensional scanner, the scanner comprising: a data processing module, a motion control module, a denture placement platform, at least one motor, a structured light device and at least one camera; The data processing module is used to connect to an external electronic device, and the data processing module controls the structured light device and the at least one camera to work according to a control instruction issued by the external electronic device; The data processing module is also used to send the motor control instructions issued by the external electronic device to the motion control module, and the motion control module controls the at least one motor according to the motor control instructions to move the denture placement platform.

[0030] In the present application, the control board that integrates data processing function and motion control function in the prior art is split into an independent data processing module and motion control module. The motor control port is set in the motion control module, and the structured light device and camera control port are set in the data processing module, which can avoid the large current generated when the motor is running from affecting the structured light device and the camera.

[0031] In addition, the scanner will generate a large amount of graphic data during use, which is mainly generated by the camera. Therefore, the camera is set on a data processing module that directly communicates with external electronic devices to meet the high speed and high stability required for data transmission.

[0032] Optionally, the structured light device comprises a projector.

[0033] In some implementations, in order to reduce the impact of the large current generated by the motor on the camera, the spatial distance between the motion control module and the data processing module in the scanner is greater than 5 cm.

[0034] Optionally, the spatial distance between the motion control module and the data processing module in the scanner may be understood as the minimum spatial distance between the motion control module and the data processing module.

[0035] See also Figure 1 , Figure 1 1 is a first schematic diagram of a denture digital three-dimensional scanner provided in an embodiment of the present application. Figure 1 As shown, the denture digital scanner 1 includes a base 10 , a support portion 20 , a scanning portion 30 and a denture placement platform 40 .

[0036] The denture placement platform 40 is disposed on the base 10 .

[0037] The bottom of the supporting portion 20 is connected to the base 10 , and the scanning portion 30 is connected to the top of the supporting portion 20 .

[0038] The data processing module 31 is disposed on the scanning unit 30 , and the motion control module 21 is disposed on the bottom of the supporting unit 20 .

[0039] By setting the connection port of the motor at the motion control module far away from the data processing module, the data processing module is separated from the motion control module, the anti-interference ability is improved, the data transmission is more stable, and the scanning speed and scanning accuracy are improved.

[0040] See also Figure 2 and Figure 3 , Figure 2 It is a schematic diagram of the hidden scanning part shell of the denture digital three-dimensional scanner provided in an embodiment of the present application. Figure 3 It is a schematic diagram of the hidden support part shell of the denture digital three-dimensional scanner provided in an embodiment of the present application.

[0041] like Figure 2 and Figure 3 As shown, the scanning unit 30 includes a data processing module 31, a structured light device 32, a first camera 33 and a second camera 34. The supporting unit 20 includes a motion control module 21, a power switch 22, an external power supply interface 23 and an external electronic device interface 24.

[0042] The power switch 22 is used to control the conduction relationship between the external power supply and the motion control module.

[0043] The external power supply interface 23 is used to connect an external power supply. The external power supply may be a DC power supply. Optionally, the external power supply is a 24V 2.5A direct current.

[0044] The external electronic device interface 24 is used to connect an external electronic device, which may be a computer, a tablet, a mobile phone, etc., and this application does not limit this.

[0045] Optionally, the denture digital three-dimensional scanner 1 includes two motors, the first motor is arranged in the support part 20, and the second motor is arranged in the denture placement platform 40.

[0046] See also Figure 4 , Figure 4 Schematic diagram of the circuit module of the denture digital three-dimensional scanner provided in the embodiment of the present application. Figure 4 As shown, the denture digital three-dimensional scanner 1 includes: a data processing module 200 and a motion control module 100 .

[0047] In some embodiments, the data processing module 200 also includes a first operation module 210, a hub module 240 and a first interface 250, the first operation module 210 includes a first control chip and a 12MHz crystal oscillator, the hub module 240 includes a hub chip and a 25MHz crystal oscillator; the first interface 250 is used to connect an external electronic device 2; the hub chip is connected to the first interface 250, each of the cameras and the first control chip; the hub chip is used to send data sent by the external electronic device 2 to the first control chip; the hub chip is also used to transmit image data captured by each camera to the external electronic device 2.

[0048] It is understandable that the external electronic device 2 does not belong to the denture digital three-dimensional scanner 1.

[0049] Among them, the hub chip is responsible for receiving and sending program instructions, receiving and sending hardware status and transmitting image data.

[0050] The first control chip is further used to determine whether the data sent by the external electronic device includes an electrode control instruction. If the data includes a motor control instruction, the motor control instruction is sent to the motion control module through the second interface.

[0051] Optionally, the first interface is a USB interface, for example, a USB 3.0 interface.

[0052] Optionally, the first control chip is a single chip microcomputer.

[0053] In some embodiments, the first control chip is connected to the data acquisition module 270, the data acquisition module 270 includes at least one camera, and the first control chip is connected to each of the cameras; the first control chip can send a PWM signal to each of the cameras to control the operation of each of the cameras.

[0054] Optionally, the data processing module further includes a trigger interface 260, the first control chip is connected to the trigger interface 260, the trigger interface 260 is connected to each of the cameras, and the trigger interface 260 is used to receive the PWM signal sent by the control chip and send it to each camera. Further, the trigger interface 260 can generate sub-PWM signals equal to the number of cameras based on the main PWM sent by the chip, and then send sub-PWM signals to each camera. The sub-PWM can be the same as the main PWM signal, or it can differ in phase difference, voltage value corresponding to high level, etc., so as to control different cameras.

[0055] Optionally, the data processing module 200 further includes an FPGA 220, the first control chip and the FPGA 220 communicate via a bus, and the FPGA 220 and the structured light device 230 communicate via a bus.

[0056] Therefore, the first control chip sends instructions to the structured light device 230 through the FPGA 220, so as to control the structured light device 230 to start / stop / pause projection, or change the projection image of the structured light device.

[0057] In some embodiments, the motion control module 100 further includes: a second operation module 110, a motor drive module 120 and a motion device 130. The second operation module 110 includes a second control chip and a 12MHz crystal oscillator, the motor drive module 120 includes at least one motor drive chip and at least one field effect transistor, and the motion device 130 includes at least one motor. The second control chip is connected to each of the motor drive chips; each of the motor drive chips is connected to one of the field effect transistors, and each of the field effect transistors is connected to one of the motors; the motor drive chip is used to control the conduction state of the field effect transistor according to the control instruction issued by the second control chip to control the working state of the motor.

[0058] Optionally, the second control chip is a single chip microcomputer.

[0059] Optionally, the field effect transistor may be an NMOS transistor or a PMOS transistor, which is not limited in the present application.

[0060] In some embodiments, the motion control module 100 also includes: a power supply interface 160, a power management module 150 and a second interface 170; the power supply interface 160 is connected to an external power supply for obtaining electrical energy; the power management module 150 is connected to the power supply interface 160 for distributing the electrical energy to the second control chip and the second interface 170; the second interface 170 is connected to the power management module 150 and the second control chip, and the second interface 170 is used to transmit electrical energy to the data processing module 200, and is responsible for data transmission between the motion control module 100 and the data processing module 200.

[0061] Optionally, the second interface is a USB interface.

[0062] Optionally, the power management module is a power management IC.

[0063] The data processing module 200 includes a third interface 280 , which is used to receive the power transmitted by the second interface 170 of the motion control module 100 and is responsible for data transmission between the motion control module 100 and the data processing module 200 .

[0064] By connecting the motion control module 100 to an external power supply, the motion control module 100 can be powered, and at the same time, the data processing module 200 can be powered through the motion control module 100, which can reduce the number of external power supplies and make the power supply system of the whole machine safe and stable.

[0065] Optionally, the motion control module 100 further includes an angle feedback module 140 , which includes an optical coupler having the same number as the motors, and the optical coupler is used to detect the position of the denture placement platform 40 , thereby playing a role in limiting and position detection.

[0066] In some embodiments, the data processing module 100 also includes a cooling fan interface of the structured light device 230, and the cooling fan interface of the structured light device 230 is used to control a cooling fan for cooling the structured light device 230. Control instructions can be issued to the cooling fan, and the cooling fan can continuously dissipate heat for the structured light device 230 to prevent the structured light device 230 from being damaged due to overheating.

[0067] In some embodiments, in order to ensure the heat dissipation effect of the heat dissipation fan, because the internal space of the structured light device 230 is relatively open, a low-noise, low-vibration axial flow fan is selected and installed on the side of the structured light device 230 so as to directly inhale cold air from the outside and exhaust the air after passing through the heat source.

[0068] Optionally, an air inlet with a detachable filter is designed on the fan housing to prevent dust from entering the structured light device 230 , and a silicone or rubber shock-absorbing pad is used to install the fan to reduce vibration transmitted to the structured light device 230 .

[0069] In some embodiments, a first camera connection line connecting the hub chip and the first camera and a second camera connection line connecting the hub chip and the second camera are twisted pair lines.

[0070] Specifically, when the two wires are twisted together, the distance between them changes constantly, so that the impact of any external electromagnetic field on the two wires will tend to balance, that is, the interference on one wire will be offset by the opposite interference on the other wire, thereby further reducing the current interference received by the camera.

[0071] In some embodiments, the circuit including the field effect transistor and the motor driver chip corresponding to the first motor is connected to the first motor through the first motor connecting line, and the circuit including the field effect transistor and the motor driver chip corresponding to the second motor is connected to the second motor through the second motor connecting line. A ring-shaped magnetic core made of ferrite material is arranged on the first motor connecting line and the second motor connecting line. The first connecting line and the second connecting line both pass through the ring-shaped magnetic core. The ring-shaped magnetic core constitutes a magnetic ring filter. When the noise current flows through the magnetic ring, a magnetic field will be generated inside the magnetic ring, and the magnetic field will generate a reverse magnetic field on the other side of the magnetic ring, thereby offsetting the original noise current and further reducing the noise interference caused by the large current.

[0072] See also Figure 5 , Figure 5 FIG. 1 is a flow chart of a denture scanning method provided in an embodiment of the present application. Figure 5 As shown, the denture scanning method is applied to the above-mentioned denture digital three-dimensional scanner, and the method 100 includes: steps 110 to 130.

[0073] Step 110: The data processing module receives a scanning instruction sent by an external electronic device, and identifies a motor control instruction, a structured light device control instruction, and a camera control instruction in the scanning instruction.

[0074] In some embodiments, the motor control instruction is used to control the rotation angle of the motor, that is, to control the position and shape of the denture placement platform.

[0075] In some implementations, the structured light device control instruction is used to control the projection brightness and projection image of the structured light device.

[0076] In some implementations, the camera control instruction is used to control the camera to start taking pictures, as well as some related shooting parameters.

[0077] Step 120: The data processing module sends the motor control instruction to the motion control module.

[0078] Step 130: the motion control module controls the motor movement according to the motor control instruction, and the data processing module controls the structured light device and the camera to scan according to the structured light device control instruction and the camera control instruction.

[0079] In some embodiments, step 130 includes the following steps.

[0080] (1) The motion control module controls the motor movement according to the motor control instruction and locks the motor position.

[0081] (2) After locking the motor position, the motion control module sends a completion instruction to the data processing module.

[0082] (3) The data processing module receives the completion instruction, controls the structured light device to project a grating according to the structured light device control instruction, and controls the camera to capture an image according to the camera control instruction.

[0083] (4) The data processing module receives the image captured by the camera and transmits the image to the external electronic device.

[0084] Through the above method, data transmission between the motion control module and the data processing module can be achieved, thereby ensuring the quality of the image captured by the camera.

[0085] In addition, the data processing module and the motion control module are set separately, and the two can be debugged separately. In the production test phase, it is convenient to test the data processing module and the motion control module separately, thereby improving the test efficiency.

[0086] In some embodiments, if the data processing module recognizes that the scanning instruction only includes motor control instructions, the data processing module will add a preset character at the beginning of the motor control instruction. The preset character is used to notify the motion control module that there is no need to feedback the completion instruction to the data processing module, so that when debugging the denture digital three-dimensional scanner, the data processing module and the motion control module can be debugged separately.

[0087] Please refer to Figure 6 , Figure 6 2 is a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 200 stores a program code 210, which can be called by a processor to execute the denture scanning method described in the above method embodiment.

[0088] The computer-readable storage medium 200 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium 200 has a storage space for program codes for executing any method steps in the above control method. These program codes may be read from or written to one or more computer program products. The program code may be compressed, for example, in an appropriate form.

[0089] In summary, the present invention provides a denture digital three-dimensional scanner, a denture scanning method and a storage medium. The scanner 1 includes: a data processing module 200, a motion control module 100, and a denture placement platform; the motion control module 100 includes: a second operation module 110, a power management module 150, a motor drive module 120, an angle feedback module 140, and a motion device 130; the data processing module 200 includes: a first operation module 210, a data acquisition module 270, a structured light device 230, and a hub module 240; The data processing module is used to connect to external electronic devices, and the data processing module controls the structured light device and the data acquisition module to work according to the control instructions issued by the external electronic devices; The data processing module is also used to send the motor control instructions issued by the external electronic device to the motion control module, and the motion control module controls at least one motor according to the motor control instructions to move the denture placement platform.

[0090] This application splits the hub module originally integrated in the motion control module and integrates it into the data processing module. After the hub module in the motion control module is split, it can effectively prevent the large current when the motor is running from interfering with data transmission and control instructions. After the split, it is also conducive to the modular design of the product, creating convenient conditions for subsequent upgrades and after-sales.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A denture digital 3D scanner, characterized in that: The scanner comprises: a data processing module, a motion control module, and a denture placement platform; the motion control module comprises at least one motor, and the data processing module comprises a structured light device and at least one camera; The data processing module is used to connect to an external electronic device, and the data processing module controls the structured light device and the at least one camera to work according to a control instruction issued by the external electronic device; The data processing module is also used to send the motor control instructions issued by the external electronic device to the motion control module, and the motion control module controls the at least one motor according to the motor control instructions to move the denture placement platform.

2. The scanner according to claim 1, characterized in that The data processing module also includes a first control chip, a hub chip and a first interface; The first interface is used to connect to an external electronic device; The hub chip is connected to the first interface, each of the cameras, and the first control chip; The hub chip is used to send data sent by the external electronic device to the first control chip; The hub chip is also used to transmit the image data captured by each of the cameras to the external electronic device.

3. The scanner according to claim 2, characterized in that: The first control chip is connected to each of the cameras; The first control chip may send a PWM signal to each of the cameras to control the operation of each of the cameras; The first control chip is connected to the structured light device; The first control chip can send a control instruction to the structured light device to control the operation of the structured light device.

4. The scanner according to claim 1, characterized in that The motion control module further includes: a second control chip, at least one motor drive chip and at least one field effect transistor; The second control chip is connected to each of the motor drive chips; Each of the motor driving chips is connected to one of the field effect transistors, and each of the field effect transistors is connected to one of the motors; The motor driving chip is used to control the conduction state of the field effect tube according to the control instruction sent by the second control chip, so as to control the working state of the motor.

5. The scanner according to claim 4, characterized in that: The motion control module also includes: a power supply interface, a power management module and a second interface; The power supply interface is connected to an external power supply for obtaining electrical energy; The power management module is connected to the power supply interface and is used to distribute the electric energy to the second control chip and the second interface; The second interface is connected to the power management module and the second control chip. The second interface is used to transmit electric energy to the data processing module and is responsible for data transmission between the motion control module and the data processing module.

6. The scanner according to claim 1, characterized in that: The scanner also includes: a base, a support portion and a scanning portion; wherein The denture placement platform is arranged on the base; The bottom of the support part is connected to the base, and the scanning part is connected to the top of the support part 20; The data processing module is arranged on the scanning part, and the motion control module is arranged on the bottom of the supporting part.

7. The scanner according to claim 6, characterized in that: The support part is provided with an external power supply interface and an external electronic device interface beside the motion control module; The external power supply interface is used to connect to an external power supply; The external electronic device interface is used to connect to an external electronic device.

8. A denture scanning method, characterized in that: Applied to the denture digital 3D scanner as claimed in any one of claims 1 to 7, the method comprising: The data processing module receives a scanning instruction sent by an external electronic device, and identifies a motor control instruction, a structured light device control instruction, and a camera control instruction in the scanning instruction; The data processing module sends the motor control instruction to the motion control module; The motion control module controls the motor movement according to the motor control instruction, and the data processing module controls the structured light device and the camera to scan according to the structured light device control instruction and the camera control instruction.

9. The method according to claim 8, characterized in that The motion control module controls the motor movement according to the motor control instruction, and the data processing module controls the structured light device and the camera to scan according to the structured light device control instruction and the camera control instruction, including: The motion control module controls the motor motion according to the motor control instruction and locks the motor position; After locking the motor position, the motion control module sends a completion instruction to the data processing module; The data processing module receives the completion instruction, controls the structured light device to project a grating according to the structured light device control instruction, and controls the camera to capture an image according to the camera control instruction; The data processing module receives the image captured by the camera and transmits the image to the external electronic device.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the denture scanning method according to any one of claims 8 to 9.

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