Three-dimensional scanner, three-dimensional scanning system, three-dimensional scanning method and readable storage medium

Abstract

The application relates to a three-dimensional scanner, comprising: a housing; a scanning light path located in the housing and used for emitting scanning light and receiving detection light reflected by a target object according to the scanning light to generate image data; a galvanometer located in the housing and located on the light path of the scanning light path and used for reflecting the scanning light from the scanning light path; and a driving mechanism located in the housing and connected to the galvanometer and used for driving the galvanometer to reciprocally swing, so that the galvanometer projects the scanning light onto different regions of the target object in time division, and image data corresponding to detection light reflected by different regions of the target object is used for acquiring three-dimensional information of the target object. The application also provides a three-dimensional scanning system, a three-dimensional scanning method and a readable storage medium.

Description

Technical Field

[0001] This application relates to the field of three-dimensional scanning technology, and more particularly to a three-dimensional scanner, a three-dimensional scanning system, a three-dimensional scanning method applied to the three-dimensional scanning system, and a readable storage medium. Background Technology

[0002] As living standards improve, people are paying more attention to the function and aesthetics of their teeth. A digital impression instrument (also known as an intraoral 3D scanner) is typically used to perform 3D scanning of teeth, gums, and other areas to obtain their 3D shape and texture information, thereby assisting in the treatment of dental diseases or orthodontic treatment.

[0003] Currently used digital impression instruments require direct insertion into the patient's mouth. The user holds the instrument and moves it within the mouth, allowing the scanning light emitted by the instrument to scan various areas and acquire 3D images of each area. Subsequent stitching algorithms then stitch these 3D images together to obtain the overall 3D shape and texture information of the teeth, gums, and other parts of the mouth.

[0004] However, the aforementioned digital dental impression device has the following drawbacks: (1) High temperature and humidity in the oral cavity cause fogging on the surface of the digital impression instrument; (2) The oral cavity space is limited, and the area that the digital impression instrument can scan in a single angle state is small. In order to obtain complete three-dimensional morphological and texture information of teeth and gums, users need to move the digital impression instrument back and forth many times to scan, and the overall scanning time is long. (3) The scanning process requires following a preset path, and the user needs to be proficient in the operation, so the learning cost for the user is relatively high. (4) When stitching the three-dimensional images of each region using the stitching algorithm, there will inevitably be cumulative errors in the entire dental arch due to the quality of the stitching algorithm. Summary of the Invention

[0005] This application provides a 3D scanner, comprising: a housing; a scanning optical path located within the housing for emitting scanning light and receiving detection light reflected by a target object according to the scanning light to generate image data; a galvanometer located within the housing and on the optical path of the scanning light for reflecting the scanning light from the scanning optical path; and a driving mechanism located within the housing and connected to the galvanometer for driving the galvanometer to reciprocate, such that the galvanometer projects the scanning light onto different regions of the target object in a time-division manner, wherein the image data corresponding to the detection light reflected by different regions of the target object is used to acquire 3D information of the target object.

[0006] A second aspect of this application provides a three-dimensional scanning system, comprising: a scanning optical path for emitting scanning light and receiving detection light reflected by a target object according to the scanning light; a galvanometer located on the optical path of the scanning light for reflecting the scanning light from the scanning optical path; a driving mechanism connected to the galvanometer for driving the galvanometer to reciprocate, such that the galvanometer projects the scanning light onto different areas of the target object in a time-division manner; and a main control device connected to the scanning optical path and the driving mechanism respectively, for controlling the galvanometer's deflection mode and for acquiring three-dimensional information of the target object based on the detection light.

[0007] A third aspect of this application provides a three-dimensional scanning method applied to a three-dimensional scanning system, the three-dimensional scanning system including a projection component, a acquisition component, and a galvanometer; the three-dimensional scanning method includes: driving the projection component to emit scanning light; driving the galvanometer to reciprocate to project the scanning light onto different regions of a target object; controlling the acquisition component to sense the detection light reflected by the scanning light from different regions of the target object to obtain image data; and obtaining three-dimensional information of the target object based on the image data.

[0008] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, can implement all the steps of the three-dimensional scanning method described above.

[0009] The aforementioned 3D scanner, 3D scanning system, 3D scanning method, and readable storage medium, by setting a galvanometer, can continuously drive the galvanometer to reciprocate during the scanning of the target object. This allows the 3D scanner to effectively suppress fogging and water droplet adhesion / condensation on the mirror surface, even when applied to a high-temperature and high-humidity oral scanning environment, by continuously reciprocating the galvanometer, thus achieving the effect of defogging during intraoral scanning.

[0010] Furthermore, during the scanning of the target object, the scanning speed can be effectively improved by continuously driving the galvanometer to swing. The three-dimensional scanning system of this application embodiment can shorten the duration of one scanning cycle (the scanning cycle for obtaining complete three-dimensional information of the target object) from 10-15 minutes to the second level (within 10 seconds).

[0011] Furthermore, since the entire scanning process primarily relies on the pre-set driver program of the main control device to drive the galvanometer to swing at high speed to completely scan the target object, user operation is minimal during the scanning process. This reduces the learning curve for users operating 3D scanners, enabling rapid data acquisition during scanning, or allowing patients to operate the system themselves, thus increasing the adoption rate of 3D scanning systems. On the other hand, it also avoids the problems of rework caused by user manual operation errors or accidental stitching mistakes. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a three-dimensional scanning system according to an embodiment of this application.

[0013] Figure 2 This is another structural schematic diagram of the three-dimensional scanning system according to an embodiment of this application.

[0014] Figure 3 for Figure 2 A schematic diagram of the direction of the oscillation of the galvanometer.

[0015] Figure 4 for Figure 2 A schematic diagram of the intermediate galvanometer and the drive mechanism.

[0016] Figure 5 This is a flowchart of a three-dimensional scanning method according to an embodiment of this application.

[0017] Figure 6 for Figure 2 A schematic diagram of the galvanometer scanning the object under test in the first angle state.

[0018] Figure 7 for Figure 2 A schematic diagram of a mid-range galvanometer scanning the object under test in the second angle state.

[0019] Figure 8 for Figure 2 A schematic diagram of the modular structure of the main control device, light source, acquisition components and drive mechanism.

[0020] Explanation of main component symbols 3D scanning system: 100; 3D scanner: 1; Casing: 10; Cavity: 11; Scanning end: 12; Handheld device: 13; Scan window: 14; Galvanometer: 20; Mounting surface: 21; Reflective surface: 22; First axis: X; Second axis: Y; Drive mechanism: 30; Mounting bracket: 31; Piezoelectric element: 32; Linkage: 33; Rotor: 34; Scanning optical path: 40; Light source: 41; Data acquisition components: 42; Scanning beam: L1; Detection light: L2; Main control unit: 2; Drive control unit: 210; Processing and computing units: 220; Calibration unit: 230; Target object: 200; Teeth: 201, 202, 203; Gap: G1, G2.

[0021] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0022] This application provides a three-dimensional scanning system and a three-dimensional scanning method applied to the system. The three-dimensional scanning system includes a galvanometer. By driving the galvanometer to reciprocate during the three-dimensional scanning process, scanning light can be projected onto different areas of the target object, enabling convenient acquisition of complete three-dimensional information of the target object. Furthermore, driving the galvanometer to reciprocate can prevent fogging during the scanning process.

[0023] Please see Figure 1 The three-dimensional scanning system 100 of this application embodiment includes a three-dimensional scanner 1 and a main control device 2 connected to each other. The three-dimensional scanner 1 is used to emit scanning light L1 and acquire detection light L2 reflected by the target object 200 according to the scanning light L1. The main control device 2 is used to control the process of the three-dimensional scanner 1 emitting scanning light L1 and acquiring detection light L2, and to perform data processing and calculation based on the acquired detection light L2 to obtain the three-dimensional information of the target object 200.

[0024] In this embodiment, the 3D scanner 1 is a small, handheld scanner, and the main control device 2 is a smart terminal (e.g., a computer). The 3D scanner 1 and the main control device 2 can be connected via wired or wireless means to achieve signal and data transmission. The target object 200 to be measured includes tissues inside the human oral cavity such as teeth and gums. The 3D information acquired by the 3D scanning system 100 includes the 3D shape and texture information of the teeth, gums, and other parts.

[0025] In this embodiment, the 3D scanner 1 is a strip-shaped structure. When using the 3D scanning system 100, the user can hold one end of the 3D scanner 1 and insert the other end of the 3D scanner 1 into the patient's oral cavity, and move the 3D scanner 1 slightly so that the end of the 3D scanner 1 located in the oral cavity can move slightly within the oral cavity, so that the scanning light L1 can scan the teeth, gums and other parts.

[0026] Please see Figure 2In this embodiment, the 3D scanner 1 includes a housing 10, a galvanometer 20, a drive mechanism 30, and a scanning optical path 40. The housing 10 is a hollow strip structure forming a cavity 11, within which the galvanometer 20, drive mechanism 30, and scanning optical path 40 are located. In this embodiment, the two ends of the housing 10 are defined as a scanning end 12 and a handheld end 13, respectively. The housing 10 includes a scanning window 14 located at the scanning end 12. In this embodiment, the scanning window 14 is a high-transmittance structure such as glass or plastic. The scanning window 14 serves as a channel for the scanning light L1 and the detection light L2, respectively transmitting the scanning light L1 and the detection light L2.

[0027] The drive mechanism 30 and the scanning optical path 40 are respectively connected to the main control device 2, and the drive mechanism 30 is connected to the galvanometer 20. The main control device 2 is used to control the scanning optical path 40 to emit scanning light L1 and acquisition detection light L2. The galvanometer 20 is located on the optical path of scanning light L1. The main control device 2 is also used to control the drive mechanism 40 to drive the galvanometer 30 to reciprocate, thereby changing the emission direction of scanning light L1 when it exits from the 3D scanner 1.

[0028] Please see Figure 3 In this embodiment, the galvanometer 20 includes a mounting surface 21 and a reflecting surface 22 facing away from the mounting surface 21. Please refer to [the relevant documentation / reference]. Figure 2 and Figure 3 The mounting surface 21 is used to connect with the drive mechanism 30, and the reflecting surface 22 is used to reflect the scanning light L1. In this embodiment, the reflecting surface 21 is planar and approximately rectangular. When the placement angle of the galvanometer 20 changes, the incident angle of the scanning light L1 onto the reflecting surface 22 is different, resulting in different reflection angles when the reflecting surface 22 reflects the scanning light L1. Therefore, by driving the galvanometer 20 to tilt, the placement angle of the galvanometer 20 can be changed, thereby changing the emission direction of the scanning light L1.

[0029] The main control device 2 is used to control the oscillation mode of the drive mechanism 30 driving the galvanometer 20, specifically including controlling one or any combination of the direction, angle, and frequency of the galvanometer 20 oscillation.

[0030] Regarding the direction of the yaw, the main control device 2 controls the drive mechanism 30 to drive the galvanometer 20 to reciprocate in at least two directions. In this embodiment, the main control device 2 controls the drive mechanism 30 to drive the galvanometer 20 to reciprocate in a first direction and a second direction, wherein the first direction and the second direction are perpendicular to each other. Figure 3Based on orientation, in this embodiment, "the galvanometer 20 reciprocates in the first direction" is defined as: the galvanometer 20 rotates alternately to the left and right around the first axis X, which is parallel to the first side 221 of the reflecting surface 22. In this embodiment, "the galvanometer 20 reciprocates in the second direction" is defined as: the galvanometer 20 rotates alternately upward and downward around the second axis Y, which is parallel to the second side 222 of the reflecting surface 22, that is, the second side 222 is perpendicular to the first side 221.

[0031] In other embodiments of this application, the first direction and the second direction may not be perpendicular. In other embodiments of this application, the galvanometer 20 may also oscillate back and forth in directions other than the first and second directions. For example, the galvanometer 20 may also oscillate back and forth around the diagonal of the reflecting surface 22.

[0032] Regarding the yaw angle, the main control device 2 controls the drive mechanism 30 to drive the galvanometer 20 to have a yaw degree of freedom of 360° in each direction, and also controls the drive mechanism 30 to drive the galvanometer 20 to rotate by the same angle during reciprocating yaw. For example, in this embodiment, the galvanometer 20 has a yaw degree of freedom of 180° when rotating left and right around the first axis X; the galvanometer 20 also has a yaw degree of freedom of 180° when rotating up and down around the second axis Y. In at least one embodiment of this application, the yaw degree of freedom of the galvanometer 20 can be set, for example, to ±60°, ±45°, ±30°, etc.

[0033] Regarding the yaw angle, the main control device 2 is also used to control the drive mechanism 30 to drive the galvanometer 20 to yaw at the same angle within one yaw cycle. In this embodiment, the above-mentioned "one yaw cycle" is defined as: one continuous leftward and one continuous rightward yaw, or one continuous upward and one continuous downward rotation. For example, when the galvanometer 20 rotates left and right around the first axis X, the yaw angle is 45°; when the galvanometer 20 rotates upward and downward around the second axis Y, the yaw angle is 45°.

[0034] Regarding the yaw angle, the main control device 2 is also used to control the drive mechanism 30 to drive the galvanometer 20 to maintain the same angle for each single yaw. In this embodiment, the aforementioned "single yaw" is defined as: rotating to the left about the first axis X, rotating to the right about the first axis X, rotating upward about the second axis Y, or rotating downward about the second axis Y. For example, the galvanometer 20 rotates 45° each time it rotates to the left, to the right, upward about the second axis Y, and downward about the second axis Y.

[0035] In other embodiments of this application, the galvanometer 20 may have different degrees of freedom of oscillation in different directions, the angle of oscillation of the galvanometer 20 during one oscillation may be different, and the angle of each oscillation of the galvanometer 20 may not be the same.

[0036] Regarding the order of oscillation, the main control device 2 controls the drive mechanism 30 to drive the galvanometer 20 to oscillate alternately in at least two directions. For example, in this embodiment, the galvanometer 20 first oscillates left and right once around the first axis X, and then oscillates up and down once around the second axis Y. During the entire scanning period, the galvanometer 20 oscillates alternately in the first and second directions with the above-mentioned oscillation process as the period.

[0037] In other embodiments of this application, the main control device 2 can also be used to control the drive mechanism 30 to drive the galvanometer 20 to reciprocate in at least two directions in sequence. For example, the galvanometer 20 first reciprocates left and right around the first axis X in the first time period, and then reciprocates up and down around the second axis Y in the second time period.

[0038] Regarding the oscillation frequency, the main control device 2 controls the drive mechanism 30 to drive the galvanometer 20 to oscillate at the same frequency throughout the entire scanning cycle. The more times the galvanometer 20 oscillates in a single operation per second, the higher the frequency. For example, in one embodiment, the galvanometer 20 oscillates at a frequency greater than or equal to 3 times / second (i.e., 3 uniform oscillations per second); in another embodiment, the galvanometer 20 oscillates at a frequency greater than or equal to 10 times / second (i.e., 10 uniform oscillations per second); in yet another embodiment, the galvanometer 20 oscillates at a frequency greater than or equal to 20 times / second (i.e., 20 uniform oscillations per second); in yet another embodiment, the galvanometer 20 oscillates at a frequency greater than or equal to 50 times / second (i.e., 50 uniform oscillations per second); in yet another embodiment, the galvanometer 20 oscillates at a frequency greater than or equal to 100 times / second (i.e., 100 uniform oscillations per second); and in yet another embodiment, the galvanometer 20 oscillates at a frequency greater than or equal to 200 times / second (i.e., 200 uniform oscillations per second).

[0039] In other embodiments of this application, the main control device 2 can also adjust the frequency of the galvanometer 20 throughout the entire three-dimensional scanning cycle. For example, the yaw frequency can be increased when scanning a region of particular interest.

[0040] The drive mechanism 30 is a miniature motor, such as an electric motor, voice coil motor, or piezoelectric ceramic motor, used to drive the galvanometer 20 to deflect rapidly. (See also...) Figure 4 In this embodiment, the driving mechanism 30 is a piezoelectric ceramic motor, including a fixed base 31, a piezoelectric body 32, a connecting rod 33, and a rotating wheel 34. The fixed base 31 is fixedly connected to the housing 10. The two ends of the piezoelectric body 32 are respectively fixedly connected to the fixed base 31 and the connecting rod 33. The rotating wheel 34 is connected to the end of the connecting rod 33 away from the piezoelectric body 32. The main control device 2 outputs a driving voltage to the piezoelectric body 32, causing the piezoelectric body 32 to vibrate. The connecting rod 33 transmits the vibration to the rotating wheel 34, causing the rotating wheel 34 to rotate. The direction of the driving voltage controls the direction of rotation of the rotating wheel 34, and the amplitude of the driving voltage controls the angle of rotation of the rotating wheel 34. A galvanometer 20 is fixedly connected to the rotating wheel 34 and is used to rotate synchronously under the drive of the rotating wheel 34.

[0041] The main control device 2 and the drive mechanism 30 are connected by wire or wireless means.

[0042] Please refer to the following: Figure 2 The scanning optical path 40 includes a projection component and a data acquisition component respectively connected to the main control device 2. The projection component includes at least a light source 41, and the data acquisition component includes at least a camera 42. The main control device 2 controls the light source 41 to emit scanning light L1. The camera 42 performs photoelectric conversion and outputs an electrical signal when it receives the detection light L2 reflected from the target object 200. The main control device 2 performs data processing and calculations on the electrical signal to obtain the three-dimensional information of the target object 200. The light source 41 can be, for example, a light-emitting diode or a laser.

[0043] In other embodiments of this application, the scanning optical path 40 may also include other optical elements, such as light modulation structures, mirrors, lenses, beam combining / splitting elements, filters, etc., to achieve light modulation (e.g., modulating the scanning light into striped structured light), deflection, beam splitting / collection, filtering, etc., so as to finally project the scanning light L1 onto the galvanometer 20, which will not be described in detail here. The "other optical elements" and the light source 41 mentioned above serve as the projection component in the scanning optical path 40, and the camera 42 serves as the image sensing component.

[0044] In this embodiment, the galvanometer 20 is located at the scanning window 14. That is, the orthographic projection of the galvanometer 20 onto the scanning window 14 at least partially coincides with the scanning window 14. During the scanning process, the galvanometer 20 is used, on the one hand, to reflect the scanning light L1 from the scanning optical path 40 through the scanning window 14 to the target object 200, and on the other hand, to reflect the detection light L2 reflected by the target object 200 into the scanning optical path 40. That is, in this embodiment, the scanning light L1 and the detection light L2 share the same optical path.

[0045] This application also provides a three-dimensional scanning method applied to the aforementioned three-dimensional scanning system 100. Please refer to... Figure 5 The above-mentioned three-dimensional scanning method includes: Step S1: Drive the projection component to emit scanning light; Step S2: Drive the galvanometer to reciprocate so as to project the scanning light onto different areas of the target object; Step S3: Control the acquisition component to sense the detection light reflected by the scanning light in different areas of the target object to obtain image data; and Step S4: Obtain the three-dimensional information of the target object based on the image data.

[0046] When no scanning action is required, the 3D scanning system 100 remains off. After powering on the 3D scanning system 100, the user can hold the 3D scanner 1 and insert the scanning end 12 of the 3D scanner 1 into the patient's oral cavity. Power on the 3D scanning system 100 to begin 3D scanning.

[0047] In step S1, the main control device 2 sends a drive signal to drive the light source 41 in the projection assembly to emit scanning light L1 at a certain power. In step S2, the main control device 2 sends a drive signal to drive the galvanometer 20 to reciprocate in a preset manner (direction, angle, sequence, frequency) to project the scanning light L1 onto different areas of the target object. During the galvanometer 20 oscillation process in step S2, the user can simultaneously move and / or rotate the scanning end 12 of the 3D scanner 1 slightly, coordinating with the galvanometer 20 oscillation, to scan the patient's oral cavity, including the teeth and gums.

[0048] When scanning light L1 illuminates the surface of the target object, the target object can reflect scanning light L1. In this embodiment, the scanning light reflected by the target object 200 is defined as detection light L2. During the continuous scanning of the target object 200 in step S2, the target object 200 synchronously and continuously reflects detection light L2. Therefore, in step S3, the galvanometer 20 continuously reflects detection light L2 to the camera 42 in the acquisition component. In step S3, the main control device 2 continuously receives the electrical signal generated by the camera 42 based on the detection light L2.

[0049] In this embodiment, the scanning light L1 reflected by the galvanometer 20 covers a specific scanning area at each angular state. The two scanning areas covered by the scanning light L1 at two temporally adjacent angular states overlap, thus ensuring that no area of ​​the target object 200 that needs to be scanned is missed. For example... Figure 6 The image shows the area covered by the scanning light L1 reflected by the galvanometer 20 in the first angular state. Figure 7 The image shows the area covered by the scanning light L1 when the galvanometer 20 is in the second angular state.

[0050] according to Figure 6 and Figure 7 As shown, in this embodiment, the scanning light L1 can roughly cover the area of ​​two adjacent teeth (including tooth 202, part of tooth 202 and part of tooth 203) and the interdental spaces G1 and G2. Figure 6 In the indicated state, the reflecting surface 22 of the galvanometer 20 is approximately parallel to the direction of the dental arch, which facilitates clear acquisition of images of the dental arch surfaces. Figure 7 In the indicated state, the galvanometer 20 is tilted to be non-parallel to the dental arch, which facilitates the clear acquisition of images of the interdental spaces.

[0051] Galvanometer 20 Figure 6 The angle shown indicates the oscillation. Figure 7The process of the angle state shown can be regarded as a process of deflection in the first direction. Therefore, in this embodiment, the deflection of the galvanometer 20 in the first direction is mainly used to obtain a complete image of the tooth alignment direction. When the galvanometer 20 deflects in the second direction, the coverage area of ​​the scanning light L1 moves in the tooth height direction. Therefore, in this embodiment, the deflection of the galvanometer 20 in the second direction is mainly used to obtain a complete image of the teeth and gingiva in the tooth height direction.

[0052] In step S4, the main control device 2 processes the electrical signal generated by the detection light L2 to obtain image data of the target object. In this embodiment, the image data obtained by the main control device 2 at each angle state of the galvanometer 20 is defined as one frame of image data. Therefore, during the continuous scanning and sensing process in steps S2 and S3, the main control device 2 can successively acquire multiple frames of image data corresponding to different regions on the target object 200.

[0053] In step S4, the main control device 2 is also used to stitch together the aforementioned multi-frame image data to obtain complete three-dimensional information of the target object 200. Based on the aforementioned multi-frame image data, the main control device 2 uses a preset algorithm to reconstruct the three-dimensional data of the target object, transforming the three-dimensional data of the galvanometer 20 at various angles into the global coordinate system of the 3D scanner system, so as to stitch together the overall three-dimensional information of the target object. The main control device 2 also performs real-time optimization based on all the stitched three-dimensional data to reduce the cumulative error caused by stitching or slight gingival vibration.

[0054] In at least one embodiment of this application, multiple frames of image data are continuously acquired in step S3, and after step S3, the method further includes: when it is determined from the image data that there is fog or other foreign matter (such as saliva or debris in the mouth) on the surface of the galvanometer, the oscillation frequency of the galvanometer is increased.

[0055] In this embodiment, for example, when abnormal spots are present in several consecutive frames of images acquired in real time, and the parameters such as the depth value of the three-dimensional reconstructed point cloud, the average depth of each point cloud, and the gray difference between two corresponding pixels in adjacent intraoral scan images are abnormal after three-dimensional reconstruction based on the images, the main control device 2 can determine that there is fog or foreign matter on the galvanometer 20.

[0056] The aforementioned depth value refers to the vertical distance between the surface of the scanned target object and the surface of the scanning window. If the depth value of at least one target point in the 3D reconstructed point cloud is outside the preset depth value range, it is determined that the corresponding position of that target point on the lens is obscured by fog or foreign objects. If the average depth of at least one target point in the 3D reconstructed point cloud is less than a preset average depth threshold, it is determined that the corresponding position of at least one target point on the lens is obscured by fog or foreign objects. If the grayscale difference is less than or equal to a preset grayscale difference threshold, it is determined that the corresponding position of one of the two target pixels on the lens is obscured by fog or foreign objects.

[0057] When it is determined that there is fog or foreign matter on the galvanometer 20, the main control device 2 controls the drive mechanism 30 to increase the oscillation frequency of the galvanometer 20, for example, increasing the oscillation frequency of the galvanometer 20 from 45Hz to 60Hz, from 60Hz to 90Hz, from 90Hz to 120Hz, etc., which helps to eliminate fog or foreign matter.

[0058] In at least one embodiment of this application, when it is determined that there is fog or foreign matter on the galvanometer 20, in addition to increasing the sway frequency of the galvanometer 20, the main control device 2 also simultaneously increases the frequency of the sensing and detection light of the acquisition component, so that the projection frequency of the scanning light and the acquisition frequency of the detection light tend to be consistent, which can effectively avoid image ghosting and delay.

[0059] In at least one embodiment of this application, the main control device 2 calculates and outputs three-dimensional information in real time during scanning, and can obtain complete three-dimensional information of the target object at the end of scanning. In at least one embodiment of this application, the main control device 2 may also store image data first during scanning, and then perform centralized data processing and calculation after the scanning process is completed to directly output complete three-dimensional information. In this embodiment, "outputting three-dimensional information" means, for example, displaying the three-dimensional shape of the target object as an image on a display screen.

[0060] Please see Figure 8In this embodiment, the main control device 2 includes a drive control unit 210, a processing and calculation unit 220, and a calibration unit 230. The drive control unit 210 is connected to the light source 41 in the projection assembly, the camera 42 in the acquisition assembly, and the drive mechanism 30, respectively, to drive the emitted scanning light L1, the sensing and detection light L2, and drive the galvanometer 20 to deflect. The processing and calculation unit 220 is electrically connected to the control unit 210 and the calibration unit 230. The calibration unit 230 stores the transformation relationship between the coordinate system of the galvanometer 20 and the global coordinate system of the 3D scanner 1 (for example, by pre-acquiring images of the calibration plate or calibration block from multiple angles using the scanner and the reflector, and calculating the transformation relationship between the two coordinate systems using a calibration algorithm). The processing and calculation unit 220 receives electrical signals from the camera 42, and based on the transformation relationship between the coordinate systems stored in the calibration unit 230, stitches together multiple frames of image data acquired during the scanning process, and finally outputs the 3D information of the target object 200.

[0061] In at least one embodiment of this application, the calibration unit 230 can also be used to perform calibration during the use of the 3D scanner 1 or the 3D scanning system 100, thereby updating, replacing or adding the transformation relationship between the coordinate system of the galvanometer 20 and the global coordinate system of the 3D scanner 1.

[0062] The three-dimensional scanning system 100, three-dimensional scanner 1, and three-dimensional scanning method of this application embodiment, by setting a galvanometer 20, continuously drives the galvanometer 20 to swing at high speed during the scanning of the target object 200, so that even if the three-dimensional scanner 1 is applied to the high temperature and high humidity oral scanning environment, the high speed swing of the galvanometer 20 can effectively suppress the fogging of the mirror surface and the adhesion / condensation of water droplets, thereby achieving the effect of defogging in intraoral scanning.

[0063] Furthermore, due to the physiological structure of teeth, there may be defects in the gaps between teeth or the pit and fissure areas (the gaps G1 and G2 mentioned above) that are difficult to be irradiated by the fixed scanning head. In this embodiment of the application, by driving the galvanometer 20 to swing rapidly in at least two directions, it is beneficial to collect image data of the gaps between teeth and the pit and fissure areas.

[0064] Furthermore, by continuously driving the galvanometer 20 to swing at high speed during the scanning of the target object 200, the scanning speed can be effectively improved. The three-dimensional scanning system 100 of this application embodiment can shorten the duration of one scanning cycle (the scanning cycle for acquiring complete three-dimensional information of the target object 200) from 10-15 minutes in the comparative example to a second-level duration (within 10 seconds).

[0065] Furthermore, since the entire scanning process primarily relies on the preset driver program of the main control device 2 to drive the galvanometer 20 to swing at high speed to completely scan the target object 200, user operation is required minimally during the scanning process. This helps reduce the learning curve for users operating the 3D scanner 1, enabling rapid data acquisition during scanning, or allowing patients to operate it themselves, thus increasing the adoption rate of 3D scanning systems. On the other hand, it also avoids the problems of rework caused by user manual operation leading to errors or accidental stitching mistakes.

[0066] This application also provides a non-volatile computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any of the above-described three-dimensional scanning methods.

[0067] When the aforementioned 3D scanning method is implemented and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0068] The main control device 2 in this embodiment includes a memory and a processor. The memory stores a computer program, and when the processor reads the computer program, it controls the three-dimensional scanning system 100 to execute the steps of the three-dimensional scanning method described above.

[0069] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the main control device 2, connecting various parts of the entire 3D scanning system 100 via various interfaces and lines.

[0070] The memory is used to store the computer programs and / or modules. The processor implements various functions of the 3D scanning system 100 by running or executing the computer programs and / or modules stored in the memory and by calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital card (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0071] Those skilled in the art should recognize that the above embodiments are only used to illustrate this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of protection claimed by this application.

Claims

1. A three-dimensional scanner, characterized in that, include: case; The scanning optical path, located inside the housing, is used to emit scanning light and receive detection light reflected by the target object according to the scanning light to generate image data; A galvanometer, located inside the housing and on the optical path of the scanning light, is used to reflect the scanning light from the scanning optical path; as well as A driving mechanism, located inside the housing and connected to the galvanometer, is used to drive the galvanometer to reciprocate, so that the galvanometer projects the scanning light onto different areas of the target object in a time-division manner. The image data corresponding to the detection light reflected from different areas of the target object is used to obtain the three-dimensional information of the target object.

2. The three-dimensional scanner as described in claim 1, characterized in that, The scanning optical path includes a data acquisition component and a projection component. The projection component is used to emit scanning light into the oral cavity. The acquisition component is used to acquire the detection light reflected by the scanning light from the dental arch and / or gingiva in the oral cavity to generate image data; The galvanometer is used to reflect the scanning light from the projection assembly into the oral cavity.

3. A three-dimensional scanning system, characterized in that, include: A scanning optical path is used to emit scanning light and receive detection light reflected by the target object according to the scanning light; A galvanometer, located in the optical path of the scanning light, is used to reflect the scanning light from the scanning optical path; A drive mechanism, connected to the galvanometer, is used to drive the galvanometer to reciprocate and swing, so that the galvanometer projects the scanning light onto different areas of the target object in a time-division manner. as well as The main control device is connected to the scanning optical path and the driving mechanism respectively. It is used to control the driving mechanism to drive the galvanometer to tilt, and to acquire the three-dimensional information of the target object based on the detection light.

4. The three-dimensional scanning system as described in claim 3, characterized in that, The main control device is used to control the driving mechanism to drive the galvanometer to reciprocate in one or any combination of directions, angles, sequences, and frequencies.

5. The three-dimensional scanning system as described in claim 4, characterized in that, The main control device is used to control the drive mechanism to drive the galvanometer to reciprocate in at least a first direction and a second direction that are not parallel.

6. The three-dimensional scanning system as described in claim 5, characterized in that, The first direction is perpendicular to the second direction; and / or The driving mechanism is used to drive the galvanometer to oscillate 360° in a first direction and / or a second direction; and / or The driving mechanism is used to drive the galvanometer to deflect at a frequency of 3 times / second or greater.

7. The three-dimensional scanning system as described in any one of claims 3-6, characterized in that, The main control device is used to generate multiple frames of three-dimensional data based on the detection light reflected from different areas on the target object, and to stitch the multiple frames of three-dimensional data together based on a preset coordinate transformation relationship to generate the overall three-dimensional shape of the target object.

8. The three-dimensional scanning system as described in any one of claims 3-6, characterized in that, The galvanometer is also used to reflect the detection light to the scanning optical path.

9. The three-dimensional scanning system as described in any one of claims 3-6, characterized in that, It also includes a main control device electrically connected to the scanning optical path. The main control device includes a calibration unit, which is used to calibrate and / or store the transformation relationship between the coordinate system of the galvanometer and the 3D scanner, so that the main control device can obtain the 3D information of the target object based on the image data acquired by the scanning optical path.

10. A three-dimensional scanning method, characterized in that, Applied to a 3D scanning system, the 3D scanning system includes a projection component, a data acquisition component, and a galvanometer; The three-dimensional scanning method includes: Drive the projection component to emit scanning light; The galvanometer is driven to reciprocate and deflect so as to project the scanning light onto different areas of the target object; The acquisition component is controlled to acquire image data by collecting detection light reflected from different regions of the target object based on the scanning light; and The three-dimensional information of the target object is obtained based on the image data.

11. The three-dimensional scanning method as described in claim 10, characterized in that, Following the step of acquiring image data, the following is also included: When it is determined from the image data that there is fog / foreign matter on the surface of the galvanometer, the oscillation frequency of the galvanometer is increased.

12. The three-dimensional scanning method as described in claim 11, characterized in that, When there is fog or foreign matter on the surface of the galvanometer, the frequency of the detection light sensed by the acquisition component is also increased simultaneously.

13. The three-dimensional scanning method as described in claim 10, characterized in that, The step of obtaining the three-dimensional information of the target object based on the image data includes: Based on the image data, a preset algorithm is used to reconstruct the three-dimensional data, and the three-dimensional data of the coordinate system at each angle of the galvanometer is transformed into the global coordinate system of the three-dimensional scanning system to obtain the complete three-dimensional information of the target object.

14. A readable storage medium, characterized in that, The device contains a computer program that, when executed by a processor, implements all the steps of the three-dimensional scanning method as described in any one of claims 10-13.

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