Scanning method, scanning system, storage medium and electronic equipment

Abstract

The invention is suitable for the technical field of oral cavity scanning, and provides a scanning method, a scanning system, a storage medium and electronic device.According to the scanning method, in the process of scanning an oral cavity provided with a scanning rod through a scanning device, first scanning data, standard data of the scanning rod and second scanning data are obtained, the second scanning data is discontinuous frame scanning data of the first scanning data; and splicing the first scanning data and the second scanning data. The technical problem that in the prior art, the scanning result of a scanning rod in an oral cavity is inaccurate is solved.

Description

Technical Field

[0001] The present application belongs to the field of oral scanning technology, and more specifically, to a scanning method, a scanning system, a storage medium and an 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 scanned scanning rods will be inaccurate, which will cause the restoration to be unable 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, a scanning system, a storage medium and an electronic device, aiming to solve the technical problem of inaccurate scanning results of a scanning rod for scanning an 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] The first scan data and the second scan data are concatenated.

[0009] Optionally, in a possible implementation manner of the first aspect, when the second scanning data and the first scanning data fail to be spliced ​​together, third scanning data is acquired and the second scanning data and the third scanning data are spliced ​​together, wherein the third scanning data includes standard data of the scanning rod and the first scanning data.

[0010] Optionally, in a possible implementation of the first aspect, the method further includes: splicing the second scan data and the third scan data according to the corresponding relationship between the second scan data and the third scan data.

[0011] Optionally, in a possible implementation of the first aspect, the corresponding relationship between the second scan data and the third scan data includes the corresponding relationship between the second scan data and the standard data of the scanning rod.

[0012] Optionally, in a possible implementation of the first aspect, obtaining the third scan data includes:

[0013] Obtaining the third scan data based on the splicing of the first scan data and the standard data of the scanning rod.

[0014] Optionally, in a possible implementation of the first aspect, obtaining the third scan data based on the splicing of the first scan data and the standard data of the scanning rod includes:

[0015] Pre-splicing the first scan data and the standard data of the scanning rod;

[0016] Determining the feature error value between the scanning rod features of the first scan data and the scanning rod features of the standard data;

[0017] When the feature error value meets a preset error threshold, splicing the standard data and the first scan data to obtain the third scan data.

[0018] Optionally, in a possible implementation of the first aspect, obtaining the third scan data based on the splicing of the first scan data and the standard data of the scanning rod further includes:

[0019] Determining the number of scanning rod features in the first scan data, where the scanning rod features include at least one of the following: identification point features, geometric features, pattern features, and marking features;

[0020] When the number of scanning rod features in the first scan data meets a preset number threshold, splicing the first scan data and the standard data to obtain the third scan data.

[0021] Optionally, in a possible implementation of the first aspect, splicing the second scan data and the third scan data includes:

[0022] If the splicing of the second scan data and the third scan data is successful, obtaining the fourth scan data based on the splicing result of the second scan data and the third scan data;

[0023] If the splicing of the second scan data and the third scan data fails, adjust the scanning device to perform scanning.

[0024] Optionally, in a possible implementation manner of the first aspect, before adjusting the scanning device to perform scanning, the method further includes:

[0025] Output 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.

[0026] Optionally, in a possible implementation manner of the first aspect, the method further includes: displaying the first scan data and the third scan data in real time.

[0027] Optionally, in a possible implementation manner of the first aspect, the method further includes: displaying the first scan data, the third scan data, and the fourth scan data in real time.

[0028] According to the second aspect of the present application, a scanning system is provided, including:

[0029] An acquisition unit, configured to acquire first scan data, standard data of a scanning rod, and second scan data during the process of scanning an oral cavity equipped with a scanning rod by a scanning device, wherein the second scan data is discontinuous frame scan data of the first scan data, and there are corresponding scanning rod feature data between the first scan data and the second scan data and the standard data respectively;

[0030] A splicing unit, configured to splice the first scan data and the second scan data.

[0031] The second aspect and any implementation manner of the second aspect respectively correspond to the first aspect and any implementation manner of the first aspect. The technical effects corresponding to the second aspect and any implementation manner of the second aspect can be referred to the technical effects corresponding to the first aspect and any implementation manner of the first aspect above, and will not be elaborated here.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method as described in any one of the above when executing the computer program.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program implements the method as described in any one of the above when executed by a processor.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device is caused to execute the method described in any one of the above first aspects.

[0035] It can be understood that for the beneficial effects of the above second aspect to fifth aspect, reference can be made to the relevant descriptions in the above first aspect, which will not be elaborated herein.

[0036] The scanning method, scanning system, storage medium and electronic device provided by the embodiments of the present application, in the process of scanning the oral cavity equipped with a scanning rod through a scanning device, in addition to obtaining first scanning data and second scanning data that are not consecutive frames of the first scanning data, also synchronously obtain standard data of the scanning rod. It should be understood that this standard data can provide a common reference or intermediate bridge for the first scanning data and the second scanning data. Thus, the first scanning data and the second scanning data can be accurately spliced to ensure the successful splicing of the scanning data of non-consecutive frames, thereby realizing coherent scanning, overcoming problems such as scanning failure and freezing caused by scanning discontinuity, and improving the scanning coherence and fluency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 is a schematic flowchart of a scanning method provided by an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of a scanning state of an optional scanning method applicable to intraoral dental arch scanning provided by an embodiment of the present application;

[0040] Figure 3 is a schematic flowchart of an optional scanning method provided by an embodiment of the present application;

[0041] Figure 4 is a schematic flowchart of an optional scanning method provided by another embodiment of the present application;

[0042] Figure 5 is a schematic structural diagram of a scanning system provided by an embodiment of the present application;

[0043] Figure 6 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system architectures, technologies, etc. are presented to provide a thorough understanding of the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can 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 avoid unnecessary details from obscuring the description of the present application.

[0045] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the 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 their combinations.

[0046] It should also be understood that the term "and / or" as used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] As used in the specification and appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" depending on the context.

[0048] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0049] The reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0050] Currently, in the field of oral medicine, to obtain the relative positional relationship between implants, a scanner is usually used to scan the oral cavity equipped with scanning rods to assist in positioning the implantation positions of the implants. However, in cases of multiple implantations (especially in cases of full-arch edentulous implantations), since the distance between the scanning rods is greater than the scanning range of the scanner, the intermediate area between the scanning rods is transitioned by the gingiva. If the gingiva in the intermediate area deforms during scanning, the positional relationship between the two scanned scanning rods will be inaccurate, which will in turn cause the prosthesis to be unable to be seated properly.

[0051] To address the above problems, in the prior art, in the face of the situation of multiple implant cases, winged scanning rods are used. By connecting the transition area between the two scanning rods with additional scanning wings, a rigid body is formed to prevent the problem of inaccurate relative positions between the scanning rods caused by gingival deformation.

[0052] However, during the scanning of multiple scanning rods, situations such as sliding may occur in multi-frame stitching, and continuous scanning cannot be achieved, resulting in poor scanning smoothness, which in turn affects the final scanning effect and diagnostic accuracy.

[0053] To solve the above technical problems, an embodiment of a scanning method is provided in the present application. Please refer to Figure 1 as shown Figure 1 The following shows a schematic flowchart of a scanning method provided by the present application. By way of example and not limitation, the method includes:

[0054] S101, during the process of scanning the oral cavity equipped with scanning rods by a scanning device, obtain first scanning data, standard data of the scanning rods, and second scanning data.

[0055] It should be noted that the above second scanning data is discontinuous frame scanning data of the first scanning data.

[0056] S102, stitch the first scanning data and the second scanning data.

[0057] Before explaining the scanning method provided by the present application, it should be noted that in the oral scanning scenario, the scanning rods are assembled in the oral cavity and connected to the implants to assist the scanning device (oral digital impression instrument) in obtaining more accurate and complete internal oral information, and can also be used to obtain the position information of the implants. Especially in complex situations involving multiple implantations, for example, in multiple implant surgeries, the scanning rods can be installed on the implants so that the scanning device can scan the scanning rods, thereby accurately obtaining the positions and related parameters of the implants.

[0058] Please refer to Figure 2 as shown Figure 2The figure shows a schematic diagram of the scanning state of an optional scanning method provided by the present application applicable to intraoral dental arch scanning. First, during the process of scanning the 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 should be noted that the second scanning data is discontinuous frame scanning data of the first scanning data, or it can be understood that the second scanning data and the first scanning data are discontinuous frame scanning data. This means that there is no overlapping area or a small overlapping area between the first scanning data and the second scanning data in space.

[0059] It should be noted that this appendix Figure 2 is only used to schematically illustrate the scanning process of intraoral dental arch scanning and is not used to represent the digital model diagram for real-time display. Figure 2 The second scanning data in the figure is used to schematically illustrate the second scanning data after splicing, the standard data is used to schematically illustrate the standard data after splicing, and the light gray scanning rod on the right is used to schematically illustrate the area to be scanned.

[0060] In the example of the present application, the standard data of the scanning rod, which can also be called the true value data (ref data) of the scanning rod, refers to the known and accurate data 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 after the scanning rod is processed and manufactured (generally obtained by a high-precision scanner or measuring instrument). The standard data of each scanning rod corresponds to the scanning rod and can be pre-stored in the scanning device and can be called. For example, a scanning rod library can be set in the scanning device in advance. The scanning rod library includes multiple independent true value data of the scanning rods, and each true value data of the scanning rod can be called separately.

[0061] It should be understood that since the first scanning data and the second scanning data are discontinuous frame scanning data, they cannot be directly spliced in the prior art. That is, during the scanning process, the scanning device needs to ensure that there are enough overlapping areas between the next scanning area and the scanned area, and the scanning device cannot be moved significantly or jumpily for scanning.

[0062] As an example but not a limitation, the scanning rod features may include at least one of the following: identification point features, geometric features, pattern features, and marking features. These features have corresponding feature true values. For example, the identification point features can determine the accurate identification points at specific positions; the geometric features can clarify the ideal shape and size of the scanning rod, such as length, diameter, angle, etc.; the pattern features help to identify specific textures or patterns on the surface of the scanning rod; the marking features can help with accurate identification and positioning. In the example of the present application, the scanning rod features are preferably circular or circular ring identification points, the feature true value includes the three-dimensional coordinates of the center of the circular identification point, and the standard data of the scanning rod includes the feature true value and / or the contour true value.

[0063] The true feature values of the scanning rod can be stored in the database in advance as standard data. Furthermore, during the actual scanning process, the first scanning data obtained from 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 instead of a full scan, and the complete data of the scanning rod can be obtained through the standard data of the scanning rod. Thus, 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 corresponding parts 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 corresponding relationship between the standard data, the first scanning data, and the second scanning data, the first scanning data, the standard data of the scanning rod, and the second scanning data can be spliced, ultimately realizing the splicing of the discontinuous first scanning data and the second scanning data, enabling the scanning device to achieve discontinuous scanning within a certain range.

[0064] During the process of scanning multiple scanning rods in the existing solution, the sliding of the multi-frame scanning data splicing is 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 further leads to the inability to achieve continuous scanning and poor scanning smoothness.

[0065] In the implementation manner of this application, first, try to directly splice the second scanning data with the first scanning data as much as possible. If the splicing of the first scanning data and the second scanning data is successful, it indicates that there are corresponding scanning rod feature data between the first scanning data and the second scanning data and the standard data respectively; when the splicing of the first scanning data and the second scanning data fails, it indicates that there is a problem with the corresponding relationship between the first scanning data, the second scanning data, and the standard data. For example, it may be that the second scanning data lacks corresponding scanning rod feature data with the standard data.

[0066] In the scanning method provided by the example of this application, during the process of scanning the oral cavity equipped with a scanning rod by a scanning device, in addition to obtaining first scanning data and second scanning data that is not a continuous frame with the first scanning data, the standard data of the scanning rod is also obtained synchronously. It should be understood that this standard data can provide a common reference or intermediate bridge for the first scanning data and the second scanning data. Thus, the first scanning data and the second scanning data can be accurately spliced to ensure the successful splicing of the scanning data of discontinuous frames. As an example rather than a limitation, the positions of specific marks on the scanning rod are specified in the standard data, and these specific marks can be used to align the first scanning data and the second scanning data during splicing to ensure that the scanning data of discontinuous frames can be spliced more smoothly, thereby achieving continuous scanning and improving the final scanning effect and diagnostic accuracy.

[0067] In a possible implementation, in the case where the splicing of the second scanning data and the first scanning data fails, third scanning data is obtained and the second scanning data is spliced with the third scanning data, where the third scanning data includes the standard data of the scanning rod and the first scanning data.

[0068] In an optional example, obtaining the third scanning data includes: splicing the first scanning data with the standard data of the scanning rod to obtain the third scanning data.

[0069] In a possible implementation, according to the corresponding relationship between the second scanning data and the third scanning data, the second scanning data is spliced with the third scanning data.

[0070] Optionally, the corresponding relationship between the second scanning data and the third scanning data includes the corresponding relationship between the second scanning data and the standard data of the scanning rod.

[0071] If the splicing of the first scan data and the second scan data fails, for example, due to a large difference, discontinuity, or feature mismatch between the second scan data and the first scan data, direct splicing cannot be achieved. Then, splice the standard data of the scanning rod and the first scan data to obtain the third scan data. Therefore, the third scan data contains the standard data of the scanning rod and the first scan data. After that, according to the correspondence between the second scan data and the third scan data that contains the standard data and the first scan data, splice the second scan data and the third scan data. That is to say, when the current frame of scan data (the second scan data) is obtained, first splice it with the previous frame of scan data (the first scan data). If the splicing between the current frame of scan data and the previous frame of scan data is successful, directly obtain the splicing result. If the splicing fails, then splice the current frame of scan data with the already spliced data (the third scan data obtained by splicing the standard data and the previous frame of scan data). In this way, fast splicing can be achieved and the splicing efficiency can be optimized. Of course, when continuous frames of scan data are obtained, generally, they can be successfully spliced with the previous frame of scan data. When discontinuous frames of scan data are obtained, they can only be successfully spliced with the already spliced data.

[0072] It should be noted that the already spliced data can be the spliced data of multiple frames of scan data, or the spliced data of scan data and the standard data of the scanning rod. In an implementation manner 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 already spliced scan data is the spliced data of the first scan data and the standard data of the scanning rod. In another implementation manner of the present application, the already spliced scan data is the spliced data of the first scan data and the previous frame of scan data, or the spliced data of the first scan data, the standard data of the scanning rod, and the previous frame of scan data.

[0073] Since the second scan data and the first scan data are discontinuous frames of scan data, the second scan data and the first scan data cannot be directly and successfully spliced. For example, the first scan data is one end of the scanning rod, and the second scan data is the other end of the scanning rod. There is no overlapping area between them, or the common features of the overlapping area do not meet the predetermined splicing threshold, and direct splicing cannot succeed. At this time, splicing the second scan data and the third scan data that contains the standard data and the first scan data can succeed.

[0074] Another example is that if the first scan data is the front part of the scanning rod and the second scan data is the rear part, and the direct splicing of these two parts fails, the second scan data can be spliced with the third scan data that contains the standard data and the first scan data to obtain the complete scan data.

[0075] In the case where the splicing of the second scan data and the first scan data fails, obtain third scan data, where the third scan data includes the standard data of the scanning rod and the first scan data; according to the correspondence between the second scan data and the third scan data, splice the second scan data and the third scan data. Therefore, the relative position, orientation, and other splicing information of the first scan data and the second scan data can be accurately determined based on the standard data, the number of splicing times and the cumulative splicing error can be reduced, thereby avoiding the occurrence of sliding phenomena.

[0076] In a possible implementation, the first scan data and the third 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 integrity and accuracy of the scan data and take further measures in a timely manner if problems are found.

[0077] In a possible implementation, splicing the first scan data and the standard data to obtain third scan data further includes:

[0078] Determine the number of scanning rod features in the first scan data, where the scanning rod features include at least one of the following: identification point features, geometric features, pattern features, and marking features;

[0079] In the case where the number of scanning rod features in the first scan data meets a preset number threshold, splice the first scan data and the standard data of the scanning rod to obtain third scan data. For example, in the case where the number of scanning rod features in the first scan data is greater than the preset number threshold, splice the first scan data and the standard data of the scanning rod.

[0080] Determine the number of scanning rod features in the obtained first scan data. By way of example and not limitation, in the examples of the present application, the proposed scanning rod features include but are not limited to at least one of identification point features, geometric features, pattern features, and marking features.

[0081] 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.

[0082] Then, if the number of scanning rod features in the first scan data is greater than a preset number threshold, the first scan data is spliced with the standard data of the scanning rod. For example, if the preset number threshold is 10 identification point features, when it is determined that the number of identification point features in the first scan data reaches 11, the first scan data will be spliced with the standard data of the scanning rod. Another example, if the set geometric feature number threshold is 2, and 3 geometric features are determined in the first scan data, then the operation of obtaining the standard data of the scanning rod and splicing it with the first scan data will be performed.

[0083] This is because if the number of scanning rod features is small, it may mean that corresponding scanning rod features cannot be determined between the first scan data and the standard data of the scanning rod. At this time, splicing the first scan data and the standard data of the scanning rod for subsequent processing is of little significance. When the number of scanning rod features in the first scan data reaches or exceeds the number threshold, it indicates that corresponding scanning rod features can be determined between the first scan data and the standard data of the scanning rod. At this time, the standard data of the scanning rod is obtained to achieve splicing of the first scan data and the standard data of the scanning rod.

[0084] For example, during oral scanning, if the first scan data initially obtained is only a small part of the scanning rod and the number of scanning rod features in the first scan data is very small, obtaining the standard data may not be able to accurately perform the splicing. Only when there are enough scanning rod features in the first scan data, such as when most of the scanning rod area is scanned, that is, when the number of scanning rod features in the first scan data exceeds the preset number threshold, and then obtaining the standard data of the scanning rod in the database can subsequent accurate splicing be more effectively performed. Furthermore, it can avoid prematurely introducing standard data for complex calculations and processing when the number of features in the first scan data is insufficient, improving the efficiency and effect of the scanning process.

[0085] It should be noted that in the case of multiple scanning rods assembled in the oral cavity, 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. At this time, the standard data of other scanning rods that have not been scanned or have not obtained a sufficient number of scanning rod features do not participate 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. At this time, the standard data of other scanning rods that have not been scanned or have not obtained a sufficient number of scanning rod features do not participate in the splicing. After completing the oral cavity scanning, the standard data of multiple scanning rods corresponding to multiple scanning rods assembled in the oral cavity are unified in the same coordinate system based on the scan data.

[0086] Please refer to Figure 3 as shownFigure 3 FIG. 1 shows a schematic flowchart of an optional scanning method provided by the present application. In one possible implementation, based on the splicing of the first scanning data and the standard data of the scanning rod, the third scanning data is obtained, including:

[0087] S301, pre-splice the first scanning data and the standard data of the scanning rod.

[0088] S302, determine the feature error value between the scanning rod features of the first scanning data and the scanning rod features of the standard data.

[0089] In the above method steps, specifically after pre-splicing the first scanning data and the standard data of the scanning rod, the difference degree between the feature distribution in the first scanning data and the feature distribution in the standard data can be quantified by comparing the feature error value between the scanning rod features of the first scanning data and the scanning rod features of the standard data.

[0090] S303, when the feature error value meets the pre-set error threshold, splice the standard data and the first scanning data to obtain the third scanning data. For example, when the feature error value is not greater than the pre-set error threshold, splice the standard data and the first scanning data to obtain the third scanning data.

[0091] It should be understood that in the above method steps, the setting of the error threshold can be reasonably adjusted according to specific circumstances to balance the splicing accuracy and data availability. The error threshold can control the splicing accuracy and reliability. When the feature error value is greater than this error threshold, it means that there are large deviations or abnormalities in the feature distribution in the first scanning data, and it is not suitable for direct splicing with the standard data.

[0092] When the feature error value meets the pre-set error threshold, that is, when the difference between the feature distribution in the first scanning data and the feature distribution in the standard data is within an acceptable range, still as Figure 2 shown, splice the standard data and the first scanning data, and the obtained is the third scanning data. Furthermore, the accuracy and integrity of the standard data can be used to supplement or correct the first scanning data, making the spliced data closer to the real situation.

[0093] In addition, after splicing the standard data and the first scanning data to obtain the third scanning data, the third scanning data can also be displayed. In this way, the user can intuitively see the third scanning data. Furthermore, the user can evaluate the integrity and accuracy of the third scanning data and take further measures in time if problems are found.

[0094] It should be noted that before pre - splicing the first scan data and the standard data of the scanning rod, the number of scanning rod features in the first scan data can be determined first. When the number of scanning rod features in the first scan data meets a preset quantity threshold, the first scan data and the standard data of the scanning rod are pre - spliced.

[0095] After splicing the standard data and the first scan data to obtain the third scan data, and then splicing the second scan data and the third scan data, the first scan data, the standard data, and the second scan data can be spliced to achieve discontinuous scanning of the scanning device, improving the scanning efficiency while ensuring the scanning quality.

[0096] For example, the standard data of the scanning rod includes information such as its precise shape, size, markings, etc. The first scan data is the scan data obtained by scanning a part of the scanning rod. If the error value between the corresponding features of the first scan data and the standard data meets a preset error threshold, it indicates that the matching degree between the first scan data and the standard data of the scanning rod is relatively high. Then the standard data and the first scan data are spliced to obtain the third scan data. Finally, the second scan data (such as the scan result of another part of the scanning rod) and the third scan data are spliced to achieve discontinuous scanning.

[0097] The scanning method provided by the example of this application can make full use of the standard data to splice discontinuous scan data, improving the accuracy and efficiency of the scan result.

[0098] Please refer to Figure 4 as shown Figure 4 which shows a schematic flowchart of an optional scanning method provided by this application. In one possible implementation, splicing the second scan data and the third scan data includes the following method steps:

[0099] S401, if the splicing of the second scan data and the third scan data is successful, then based on the splicing result of the second scan data and the third scan data, the fourth scan data is obtained.

[0100] S402, if the splicing of the second scan data and the third scan data fails, then adjust the scanning device to perform scanning.

[0101] In the above implementation, if the splicing of the second scan data and the third scan data is successful, then the fourth scan data is obtained based on this splicing result. As an example rather than a limitation, it can be understood that this is an ideal scenario, meaning that through reasonable adjustment and attempt, the integration of data 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.

[0102] 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 for scanning, so as to obtain data that can be successfully spliced.

[0103] Through the examples of this application, it can be ensured to the greatest extent that complete and accurate scan data can be obtained, improving the reliability and adaptability of scanning and data processing.

[0104] In a possible implementation, before adjusting the scanning device for scanning, the above method further includes:

[0105] 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.

[0106] In the above implementation, before adjusting the scanning position of the scanning device for scanning, a splicing failure prompt message will also be output to prompt the user to adjust the scanning position of the scanning device, enabling the user to timely understand the problems occurring in the current scanning and splicing process, and avoiding the user from continuing to perform ineffective operations or processing the wrong scan results without knowing it.

[0107] For example, when the scan data of the scanning device at a certain specific position fails to be spliced with the previous data, the prompt message may display "Splicing failed at position X. Please move the scanning device slightly upward and rescan". The user can make targeted adjustments according to the prompt instead of blindly trying or being at a loss, so that the scanning device can start rescan from the position where the splicing failed, thereby increasing the probability of successful rescan and splicing.

[0108] 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 integrity and accuracy of the scan data and take further measures in time if problems are found. For example, in oral scanning, the doctor can view the specific situation of the patient's teeth through the finally displayed scan data to judge whether there are missing or incorrect parts.

[0109] During the real-time scanning process, when the first scan data is obtained, the first scan data is displayed in real time; when the standard data of the scanning rod is obtained, the standard data is displayed in real time; when the fourth scan data is obtained, the fourth scan data is displayed in real time. The fourth scan data includes the spliced first scan data, the standard data, and the second scan data.

[0110] By way of example and not limitation, in the examples of the present application, after scanning the oral cavity is completed, the positioning information of each scanning rod can be determined based on the digital three-dimensional data of the oral cavity, which may include the positioning information of a single scanning rod or the relative position information between multiple scanning rods.

[0111] It should be noted that the digital 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 digital three-dimensional data of the oral cavity may also include gum data.

[0112] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0113] Corresponding to the scanning method in the above embodiments, Figure 5 is a schematic structural diagram of a scanning system provided by an embodiment of the present application. The scanning system 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 the electronic device shown.

[0114] Referring to Figure 5 , the scanning system includes:

[0115] An acquisition unit 501, configured to acquire first scan data, standard data of the scanning rod, and second scan data during the process of scanning the oral cavity equipped with the scanning rod by the scanning device, where the second scan data is discontinuous frame scan data of the first scan data.

[0116] A splicing unit 502, configured to splice the first scan data and the second scan data.

[0117] It should be noted that: for the scanning system provided in the above embodiments, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.

[0118] Each functional unit and module in the above embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the embodiments of the present application.

[0119] It should be noted that the content such as information interaction and execution process between the above scanning systems, due to being based on the same concept as the method embodiments of this application, for its specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details will not be elaborated here.

[0120] An embodiment of this application also provides an electronic device, which includes one or more processors and a memory;

[0121] The memory is coupled to one or more processors, and the memory is used to store computer program code. The computer program code includes computer instructions, and one or more processors call the computer instructions to enable the electronic device to execute the scanning method shown above.

[0122] The electronic device can 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 memory, a base station, or an intelligent vehicle, etc. The embodiment of this application does not impose any restrictions on the specific type of the electronic device.

[0123] An embodiment of this application also provides a computer-readable storage medium, in which computer instructions are stored; when the computer-readable storage medium runs on an electronic device, it enables the electronic device to execute the scanning method shown above.

[0124] The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, a computer, a server, or a data center to another website, computer, server, or data center in a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or a data center that includes one or more integrated media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium, or a semiconductor medium (such as a solid-state disk (SSD)), etc.

[0125] The embodiment of the present application also provides a computer program product including computer instructions. When it runs on an electronic device, it enables the electronic device to execute the scanning method shown above.

[0126] The computer storage medium and computer program product provided in the embodiment of the present application above are both used to execute the method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects corresponding to the method provided above, and will not be elaborated here.

[0127] In the above embodiment, 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 the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a Digital Versatile Disc (DVD)), or a semiconductor medium (such as a Solid State Disk (SSD)), etc.

[0128] Figure 6 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. The electronic device 600 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0129] The memory 601 can be used to store computer software programs 602 and modules. 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 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function (such as the sound playback function, the image playback function, etc.); the data storage area can store data created according to the use of the electronic device (such as audio data, phone book, etc.). In addition, the memory 601 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

[0130] Among them, the processor 603 can include one or more of the central processor, application processor (AP), baseband processor, etc. The processor can be the nerve center and command center of the wireless router. The processor 603 can generate operation control signals according to the instruction operation code and timing signal to complete the control of fetching instructions and executing instructions. The memory 601 can 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 can include a program storage area and a data storage area, such as data storing the sound signal to be played. For example, the memory can be double data rate synchronous dynamic random access memory DDR or flash memory Flash, etc.

[0131] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0133] In the embodiments provided in the present application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. 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 and should all be included in the protection scope of the present application.

Claims

1. A scanning method, characterized in that, Including: During the process of scanning an oral cavity equipped with a scanning rod by a scanning device, first scan data, standard data of the scanning rod, and second scan data are obtained, where the second scan data is discontinuous frame scan data of the first scan data; Stitch the first scan data and the second scan data.

2. The method according to claim 1, characterized in that, The method further includes: In the case where the stitching of the second scan data and the first scan data fails, third scan data is obtained and the second scan data and the third scan data are stitched, where the third scan data includes the standard data of the scanning rod and the first scan data.

3. The method according to claim 2, wherein The method further includes: According to the corresponding relationship between the second scan data and the third scan data, stitch the second scan data and the third scan data.

4. The method according to claim 3, wherein The corresponding relationship between the second scan data and the third scan data includes the corresponding relationship between the second scan data and the standard data of the scanning rod.

5. The method according to claim 2, wherein Obtaining the third scan data includes: Based on the stitching of the first scan data and the standard data of the scanning rod, the third scan data is obtained.

6. The method according to claim 5, wherein The obtaining of the third scan data based on the stitching of the first scan data and the standard data of the scanning rod includes: Pre-stitch the first scan data and the standard data of the scanning rod; Determine the feature error value between the scanning rod feature of the first scan data and the scanning rod feature of the standard data; In the case where the feature error value meets a pre-set error threshold, stitch the standard data and the first scan data to obtain the third scan data.

7. The method according to any one of claims 5, characterized in that The obtaining of the third scan data based on the stitching of the first scan data and the standard data of the scanning rod further includes: Determine the number of scanning rod features in the first scan data, where the scanning rod features include at least one of the following: identification point feature, geometric feature, pattern feature, marking feature; In the case where the number of scanning rod features in the first scan data meets a pre-set number threshold, stitch the first scan data and the standard data to obtain the third scan data.

8. The method according to claim 2, wherein The stitching of the second scan data and the third scan data includes: If the stitching of the second scan data and the third scan data is successful, based on the stitching result of the second scan data and the third scan data, fourth scan data is obtained; If the stitching of the second scan data and the third scan data fails, adjust the scanning device to perform scanning.

9. The method according to claim 8, characterized in that, Before adjusting the scanning device to perform scanning, the method further includes: Output a stitching failure prompt message; where the stitching failure prompt message is used to prompt the user to adjust the scanning position of the scanning device to perform scanning.

10. The method according to claim 8 or 9, characterized in that, The method further includes: Real-time display of the first scan data, the third scan data, and the fourth scan data.

11. The method according to any one of claims 2 to 8, characterized in that The method further includes: Real-time display of the first scan data and the third scan data.

12. A scanning system, characterized in that, Including: An acquisition unit, configured to acquire first scan data, standard data of a scanning rod, and second scan data during the process of scanning an oral cavity equipped with the scanning rod by a scanning device, wherein the second scan data is discontinuous frame scan data of the first scan data; A splicing unit, configured to splice the first scan data and the second scan data.

13. 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 11 is implemented.

14. 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 11 is implemented.

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