Three-dimensional scanner and three-dimensional scanning system

Abstract

The invention relates to a three-dimensional scanner and a three-dimensional scanning system, comprising an image projection component, an illumination component and an image acquisition component, wherein the image projection component is used to project a structured light pattern to a target object; the illumination component is used to project invisible light to the target object; and the image acquisition component is used to acquire the structured light pattern and invisible light reflected by the target object. The invention effectively controls the production cost of the scanner while ensuring the imaging function.

Description

Technical Field

[0001] The invention relates to the technical field of three-dimensional scanning, and in particular to a three-dimensional scanner and a three-dimensional scanning system. Background Art

[0002] The equipment for collecting 3D data of teeth and gums inside the oral cavity usually includes intraoral scanners, also known as oral digital impression devices. Intraoral scanners can directly obtain 3D topographic data of teeth or gums, which can be directly used for processing and repairing teeth to improve the efficiency of treatment and reduce the accumulated errors caused by data conversion during the traditional processing process.

[0003] However, due to the complexity and diversity of the intraoral environment, especially the temperature difference between the inside and outside of the mouth, oral bacteria and viruses easily enter the mouth, etc., the use requirements of intraoral scanners have added many restrictions. Saliva, debris, fog, etc. in the mouth often affect the imaging function of the scanner, and due to the cramped environment inside the mouth, the volume of the probe optical scanning head is inevitably limited, resulting in a high production cost of the intraoral scanner. Therefore, it is urgent to provide an intraoral scanner with low production cost and effective imaging function. Utility Model Content

[0004] In order to solve the above technical problems, the embodiments of the present disclosure provide a three-dimensional scanner and a three-dimensional scanning system, which effectively control the production cost while ensuring the imaging function.

[0005] In a first aspect, an embodiment of the present disclosure provides a three-dimensional scanner, the scanner comprising an image projection component, an illumination component and an image acquisition component, wherein:

[0006] The image projection component is used to project the structured light pattern onto the target object;

[0007] The lighting component is used to project invisible light to the target object;

[0008] The image acquisition component is used to acquire the structured light pattern and invisible light reflected by the target object.

[0009] Optionally, the lighting component includes a first light source, which is a light source that emits near-infrared light and / or ultraviolet light.

[0010] Optionally, the lighting component further includes a second light source, which is a light source emitting white light.

[0011] Optionally, the lighting component further includes a first color combining component, and the first color combining component is used to project the light emitted by the first light source and the second light source onto a target object along a common optical path.

[0012] Optionally, the first color combining component includes a first color combining mirror, the first color combining mirror includes a first incident end, a second incident end and a first output end, the first light source is arranged at the first incident end, the second light source is arranged at the second incident end, and the lighting component also includes a light converging component, and the light converging component is used to project the light emitted from the first output end to the target object.

[0013] Optionally, the image acquisition component includes a camera component and a color separation component, the camera component includes a first camera and a second camera, the color separation component is used to separate the first wavelength light and the second wavelength light in the structured light pattern modulated by the target object, the color separation component includes an incident end, a second output end and a third output end, the first camera is set at the first output end, and the second camera is set at the second output end.

[0014] Optionally, the image projection component includes a light source component, a second color combining component and a pattern modulation component, the light source component includes a third light source and a fourth light source, the third light source is used to project a third wavelength of light, the fourth light source is used to project a fourth wavelength of light, the third wavelength of light and the fourth wavelength of light are lights of different wavelengths, the second color combining component is used to make the light emitted by the third light source and the fourth light source be projected onto the pattern modulation component along a common optical path, and the pattern modulation component is used to make the light emitted by the third light source and the fourth light source be projected onto the target object in the form of a structured light pattern.

[0015] Optionally, the scanner includes a controller, which is communicatively connected with the image projection component, the lighting component and the image acquisition component, and is used to control the projection timing of the image projection component and the lighting component to project light toward the target object. The controller is also used to control the image acquisition component to capture the structured light pattern and invisible light reflected by the target object.

[0016] Optionally, the scanner includes a scanning body and a scanning head, the image projection component, the lighting component and the image acquisition component are arranged in the scanning body, the projection light paths of the image projection component and the lighting component are arranged along the direction extending from the scanning body to the scanning head, the scanner includes a reflector arranged at the front end of the scanning head, and the reflector is used to reflect the structured light pattern and invisible light modulated by the target object to the image acquisition component.

[0017] In a second aspect, an embodiment of the present disclosure provides a three-dimensional scanning system, comprising the above-mentioned three-dimensional scanner and a processor, wherein:

[0018] The three-dimensional scanner is used to collect the structured light pattern and invisible light reflected by the target object;

[0019] The processor is used to perform three-dimensional reconstruction according to the acquired structured light pattern and the invisible light to generate a three-dimensional model of the target object.

[0020] Optionally, the light structure pattern reflected by the target object and collected by the three-dimensional scanner refers to a stripe image of light of different wavelengths, and the three-dimensional scanner obtains a texture image by photographing the target object when the target object reflects invisible light;

[0021] The processor is used to:

[0022] A three-dimensional reconstruction is performed based on the fringe image and the texture pattern to generate a three-dimensional model of the target object.

[0023] Optionally, the three-dimensional scanning system further comprises a display, the display is connected to the processor, and the display is used to display the three-dimensional model;

[0024] The processor is further configured to:

[0025] Acquire caries data detected from the three-dimensional model, and control the display to display the caries data, wherein the target object includes a plurality of teeth, the plurality of teeth include at least one caries, and the caries data includes at least one of the number of caries included in the target object, position data of each caries in the three-dimensional model, morphological data of each caries, and marking data of each caries.

[0026] The three-dimensional scanner provided in this embodiment includes an image projection component, an illumination component and an image acquisition component, wherein the image projection component is used to project a structured light pattern to a target object; the illumination component is used to project invisible light to a target object; and the image acquisition component is used to acquire the structured light pattern and invisible light reflected by the target object. The novel device obtains three-dimensional morphological data by arranging the image projection component to project structured light of different wavelengths to the target object so that the image acquisition component can acquire multiple stripe images of the target object, and at the same time arranging the illumination component to project invisible light for oral disease detection to the target object so that the image acquisition component can acquire the color texture image of the target object. The images acquired after multiple light beams with different wavelengths are modulated by the target object effectively ensure the imaging function of the scanner, facilitate subsequent oral disease detection, and also control the production and manufacturing cost of the scanner to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 A schematic diagram of the structure of a three-dimensional scanner provided in an embodiment of the present disclosure;

[0030] Figure 2 A schematic diagram of the structure of another three-dimensional scanner provided in an embodiment of the present disclosure;

[0031] Figure 3 A schematic structural diagram of a three-dimensional scanning system provided in an embodiment of the present disclosure.

[0032] The above drawings include the following reference numerals:

[0033] 1. Image projection component; 2. Illumination component; 3. Image acquisition component; 4. Reflector; 11. Light projection component; 101a. First light source component; 101b. Second light source component; 1011a. Third light source; 1012a. Second lens component; 1011b. Fourth light source; 1012b. Third lens component; 1013b. Second color combining mirror; 102. First lens component; 102a. Fly-eye lens; 102b. Fly-eye lens; 111. Pattern modulation component; 112. First imaging lens; 20. First light source; 21. First color combining mirror; 22. Converging lens; 23. Second light source; 31. Color separation prism; 32. Second imaging lens; 30a. First camera; 30b. Second camera; DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0036] At present, in the international dental diagnosis and treatment field, the means of obtaining dental model data has gradually shifted from impression 3D scanning to intraoral 3D scanning technology. Intraoral 3D scanning technology abandons the method of obtaining dental model data from impression, mold remake, and 3D scanning, and can directly obtain dental 3D data through oral scanning. In terms of process time, the two steps of impression and mold remake are omitted, and in terms of cost, the materials, labor costs and model express delivery fees required for the above process are saved. In terms of customer experience, it can avoid the discomfort when making impressions. From the above advantages, it can be seen that 3D scanning technology will inevitably be greatly developed. Obtain significant benefits in the market.

[0037] Nowadays, the equipment for collecting 3D data of teeth and gums inside the oral cavity usually includes an intraoral scanner, also known as an oral digital impression device, which is a device that uses an invasive optical scanning head to directly scan the patient's oral cavity to obtain 3D topography data and color texture information on the surface of soft and hard tissues such as teeth, gums, and mucosa in the oral cavity. One method of this device is to use the active structured light triangulation imaging principle, use a digital projection system to project active light patterns, and a camera acquisition system to acquire the patterns.

[0038] However, due to the cramped environment inside the oral cavity, the size of the probe optical scanning head is inevitably limited, which determines that the size of the scanning head inserted into the oral cavity will be controlled within 30 mm, that is, only about two teeth can be obtained at a time. In the process of designing and making teeth, the dental industry mostly needs to obtain the full mouth of teeth and gums data inside the oral cavity. Therefore, it is necessary to splice the tooth image data obtained at a time to form a complete three-dimensional spatial data consistent with the inside of the oral cavity. In addition, when the scanning head is inserted into the oral cavity, due to the difference in ambient temperature inside and outside the oral cavity, especially in the cold environment in winter, a layer of mist will form on the surface of the reflective lens of the scanning head, affecting the optical imaging function. Therefore, general intraoral scanners need to have an active anti-fog function, which can usually be achieved by heating the reflector or blowing gas. Especially in the narrow space of the scanning head, adding heating components will affect the utilization rate of the optical field of view and reduce the service life of the scanning head. At the same time, oral debris such as saliva and food may contaminate the scanner's optical devices. In addition, if the fog is not completely eliminated, more mixed data will be generated during 3D scanning, affecting the imaging effect. In addition, due to the cramped and complex environment inside the oral cavity, the production cost of the scanner is also relatively high.

[0039] In view of the above technical problems, the embodiments of the present disclosure provide a three-dimensional scanner, which includes an image projection component, an illumination component, and an image acquisition component. The image projection component is used to project light of different bands in the form of a preset stripe pattern to the target object to obtain the stripe information of the target object. The illumination component is used to project invisible light such as near-infrared light and / or ultraviolet light to the target object to obtain the texture information of the target object. The image acquisition component is used to acquire the texture image and stripe image of the preset light modulated by the target object, so as to perform three-dimensional reconstruction based on the images acquired by the scanner, accurately detect oral diseases, and play a role in preventing oral diseases. This is described in detail through one or more of the following embodiments.

[0040] Figure 1 A schematic diagram of the structure of a three-dimensional scanner provided in an embodiment of the present disclosure. The three-dimensional scanner includes an image projection component, an illumination component, and an image acquisition component. Figure 2 Symbols for the various components shown, where:

[0041] The image projection component 1 is used to project a structured light pattern onto a target object.

[0042] The lighting component 2 is used to project invisible light to the target object.

[0043] The image acquisition component 3 is used to acquire the structured light pattern and invisible light reflected by the target object.

[0044] It is understandable that the scanner can project light of different wavelengths (wavelength light) onto the target object in the form of different preset stripe patterns (structured light patterns) by projection, and the stripes of each preset stripe pattern generated are arranged according to the preset color-coded stripes, and each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes. For example, red, green and blue stripes, and multiple preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged in the same manner as the stripes of the same color in the preset color-coded stripes.

[0045] Optionally, the image projection component includes a light source component, a second color combining component and a pattern modulation component, the light source component includes a third light source and a fourth light source, the third light source is used to project a third wavelength of light, the fourth light source is used to project a fourth wavelength of light, the third wavelength of light and the fourth wavelength of light are lights of different wavelengths, the second color combining component is used to make the light emitted by the third light source and the fourth light source be projected onto the pattern modulation component along a common optical path, and the pattern modulation component is used to make the light emitted by the third light source and the fourth light source be projected onto the target object in the form of a structured light pattern.

[0046] It can be understood that the light source component is used to emit a plurality of different wavelengths of light, and the plurality of wavelengths of light correspond to a plurality of preset bands, and the plurality of preset bands are different. Specifically, the light source component includes a third light source and a fourth light source, and the third light source emits a first light of a first band, and the fourth light source emits a second light of a second band. The third light source and the fourth light source can be lasers. The second color combining mirror can be understood as a light aggregation component, which is arranged on the transmission path of the light emitted by the light source component, that is, arranged on the transmission path of the light emitted by a plurality of lasers, wherein the light emitted by the plurality of lasers is aggregated by the second color combining mirror and then projected to the pattern modulation component via the same transmission path (common path). The pattern modulation component can be a color grating sheet, and a structured light pattern is arranged on the pattern modulation component. All wavelengths of light aggregated by the second color combining mirror are generated by the pattern modulation component to form a preset stripe pattern and then projected to the target object.

[0047] Based on the above embodiments, the following embodiments are Figure 2 The image projection component 1 is described in detail with reference to FIG.

[0048] The image projection component 1 further includes a light projection component 11, and the light projection component 11 includes a pattern modulation component 111 and a first imaging lens 112. The image projection component 1 further includes a first lens component 102, and the first lens component 102 is arranged on the transmission path of the multiple wavelengths of light, and the pattern modulation component 111 is arranged on the transmission path in front of the first lens component 102.

[0049] Optionally, the multiple wavelengths of light are collimated and homogenized by the first lens component 102 and then projected to the light projection component 11, wherein the first lens component 102 includes a plurality of fly-eye lenses arranged front and back.

[0050] Optionally, the image projection component 1 includes a first light source component 101a and a second light source component 101b, the first light source component 101a includes a third light source 1011a and a second lens component 1012a, the second lens component 1012a is arranged in front of the third light source 1011a, the second light source component 101b includes a fourth light source 1011b, a third lens component 1012b and a second color combining mirror 1013b, the third lens component 1012b is arranged between the fourth light source 1011b and the second color combining mirror 1013b, and the second color combining mirror 1013b is arranged on the transmission path of the light emitted by the third light source and the fourth light source.

[0051] Optionally, the second lens component 1012a refracts the first light of the first band emitted by the third light source 1011a to the second color combiner 1013b; the third lens component 1012b refracts the second light of the second band and the third light of the third band emitted by the fourth light source 1011b to the second color combiner 1013b, and the fourth light source 1011b may also only emit the second light of the second band or the third light of the third band; the second color combiner 1013b projects a preset light obtained by combining the first light, the second light and the third light to the first lens component 102.

[0052] For example, see Figure 2 , Figure 2 This is a schematic diagram of the structure of another three-dimensional scanner provided in an embodiment of the present disclosure, wherein the image projection component 1 includes two light source components, and the light bands emitted by each light source component are different, for example, the first light source component 101a and the second light source component 101b, the first light source component 101a emits light in the 435-480 band, that is, the 435-480 band is the first band, and the first light is blue light, the second light source component 101b emits light in two bands, the 605-700 band and the 500-560 band, that is, the 605-700 band is the second band, and the second light is red light, the 500-560 band is the third band, and the third light is green light. It should be noted that the number of light source components is not limited, and the band of light emitted by each light source and the number of light emitted are not limited, and can be determined by the user according to the needs. Figure 2 As shown, the first lens component 102 includes two fly-eye lenses arranged in front and behind, which are denoted as fly-eye lens 102a and fly-eye lens 102b.

[0053] It is understandable that the light source component may include at least one of the following: an LED light source and a laser emitter. The light source component may realize its function through a laser emitter or through an LED light source, wherein the laser has the advantages of directional light emission, extremely high brightness, extremely pure color and good performance.

[0054] Optionally, the image projection component 1 also includes a first imaging lens 112, and the three-dimensional scanner also includes a reflector 4. The first imaging lens 112 is arranged between the pattern modulation component 111 and the reflector 4. The reflector 4 is also arranged on the transmission path of the invisible light emitted by the lighting component 2. The reflector 4 is used to change the transmission path of the light, and the reflector 4 is used to reflect the modulated invisible light and structured light pattern of the target object to the image acquisition component 3.

[0055] Optionally, after the wavelength light projected by the first lens component 102 generates a preset stripe pattern through the pattern modulation component 111, the wavelength light is projected to the reflector 4 through the first imaging lens 112; the reflector 4 reflects the wavelength light to the target object in the form of the preset texture image (structured light pattern) and invisible light.

[0056] For example, see Figure 2 The pattern modulation component 111 is arranged in front of the first lens component 102, the first imaging lens 112 is arranged in front of the pattern modulation component 111, the reflector 4 is arranged in front of the first imaging lens 112, and the reflector 4 is arranged in front of the first imaging lens 112. Figure 2 As shown, it is tilted to a preset angle, which can be set according to user needs, so that the lighting component 2 projects invisible light to the reflector 4, and then reflects the invisible light and structured light pattern modulated by the target object to the image acquisition component 3.

[0057] Optionally, the lighting component 2 is disposed on a light transmission path behind the reflector 4, and is used to project invisible light toward the target object through the reflector 4, where the invisible light includes near-infrared light and / or ultraviolet light.

[0058] It can be understood that at the same time as the image projection component 1 emits the structured light pattern or after a preset time, the lighting component 2 emits invisible light to the target object. The structured light pattern and the invisible light have different wavelengths. The invisible light can be near-infrared light and / or ultraviolet light. The lighting component 2 can be arranged on the light transmission path behind the reflector 4, that is, the lighting component 2 and the image projection component 1 are both arranged behind the reflector 4.

[0059] It is understandable that the principle of near-infrared imaging: Near-infrared imaging is an imaging technology used to observe and obtain tissue structure and functional information. It uses a specific wavelength range of near-infrared light (NIR) (usually between 700 and 1000 nanometers) for imaging. The principle of near-infrared imaging in caries detection is based on the absorption characteristics of near-infrared light by tooth tissue and the changes in tissue structure caused by caries lesions in teeth. Near-infrared light absorption characteristics: Near-infrared light has a large penetration depth in tooth tissue, while enamel and dentin have low absorption of near-infrared light. Lesions or caries lesions in the enamel can cause changes in tissue structure and optical properties, resulting in increased absorption of near-infrared light. Therefore, the use of near-infrared light in oral disease detection effectively improves the imaging effect of tooth scanning, thereby improving the accuracy of disease detection.

[0060] Optionally, the lighting component includes a first light source, which is a light source that emits near-infrared light and / or ultraviolet light.

[0061] It is understandable that the first light source can only emit near-infrared light or ultraviolet light, and a component that can emit near-infrared light and ultraviolet light can be set in the first light source, and the near-infrared light and ultraviolet light can be emitted together. Alternatively, the near-infrared light and ultraviolet light can be emitted alternately, and the specific emission method is not limited.

[0062] Optionally, the lighting component further includes a second light source, which is a light source emitting white light.

[0063] Optionally, the lighting component further includes a first color combining component, and the first color combining component is used to project the light emitted by the first light source and the second light source onto a target object along a common optical path.

[0064] Optionally, the first color combining component includes a first color combining mirror, the first color combining mirror includes a first incident end, a second incident end and a first output end, the first light source is arranged at the first incident end, the second light source is arranged at the second incident end, and the lighting component also includes a light converging component, and the light converging component is used to project the light emitted from the first output end to the target object.

[0065] Optionally, the lighting component 2 includes a first light source 20, a first color combining mirror 21 and a converging lens (light converging component) 22, the first color combining mirror 21 is arranged between the first light source 20 and the converging lens 22, the first light source 20 is a light source that emits near-infrared light and / or ultraviolet light, the near-infrared light emitted by the first light source is reflected to the converging lens 22 through the first color combining mirror 21, and the converging lens 22 projects near-infrared light and / or ultraviolet light toward the target object through the reflector 4 included in the light projection component 11.

[0066] Optionally, the lighting component 2 further includes a second light source 23 , which is a light source emitting white light. The first light source 20 and the second light source 23 are arranged on both sides of the first color combining mirror 21 .

[0067] Optionally, the near-infrared light and / or ultraviolet light emitted by the first light source 20 and the white light emitted by the second light source 23 are combined by the first color combiner 21 and reflected to the converging lens 22. The converging lens 22 projects the white light and near-infrared light and / or ultraviolet light to the reflector 4 in a common path manner. The light source emitted by the lighting component 2 includes at least one of near-infrared light, ultraviolet light and white light.

[0068] It can be understood that the image projection component 1 and the illumination component 2 alternately project the structured light pattern and the invisible light onto the target object. Specifically, the invisible light is sent 5s after the structured light pattern is emitted as an example. When the target object is projected with the structured light pattern, the image acquisition component 3 collects the light modulated by the target object to obtain the stripe image of the target object. Subsequently, when the target object is illuminated, the image acquisition component 3 collects the illumination light reflected by the target object to obtain the texture image of the target object. For example, see Figure 2 The first light source 20 and the second light source 23 are arranged on both sides of the first color combining mirror 21, and the first color combining mirror 21 is arranged behind the converging lens 22.

[0069] Optionally, the image acquisition component 3 is used to collect the invisible light and structured light pattern modulated by the target object reflected by the light projection component 11 and acquire an image when the target object is projected with the structured light pattern and invisible light.

[0070] The image acquisition component includes a camera component and a color separation component, the camera component includes a first camera and a second camera, the color separation component is used to separate the first wavelength light and the second wavelength light in the structured light pattern modulated by the target object, the color separation component includes an incident end, a second exit end and a third exit end, the first camera is arranged at the first exit end, and the second camera is arranged at the second exit end.

[0071] It can be understood that the image acquisition component 3 includes a camera component, specifically a first camera and a second camera, and the color separation component can be understood as a color separation prism.

[0072] Optionally, the camera component includes multiple cameras 30, and the image acquisition component 3 also includes a second imaging lens 32. The multiple cameras 30 are arranged on the side of the color separation prism 31, and the second imaging lens 32 is arranged in front of the color separation prism 31. The second imaging lens 32 is on the transmission path of the structured light pattern and the invisible light, and is arranged behind the reflector 4.

[0073] Optionally, the second imaging lens 32 directs the structured light pattern and invisible light reflected by the reflector 4 toward the color separation prism 31, and the color separation prism 31 adjusts the direction and / or separates the bands of the structured light pattern and invisible light incident therein, and the multiple cameras 30 form images based on light in the same incident direction to obtain the texture image and the stripe image.

[0074] Optionally, the color separation prism 31 includes a light input portion (incident end) 31a and multiple light output portions (output ends) 31b, the light input portion 31a is arranged behind the second imaging lens 32, and the multiple cameras 30 are respectively arranged corresponding to different light output portions.

[0075] Optionally, the second imaging lens 32 directs the structured light pattern and invisible light reflected by the reflector 4 to the light input part 31a for direction adjustment and / or band separation, and then sends them to different light output parts 31b, and the multiple cameras 30 corresponding to the different light output parts 31b form images based on the light in the same incident direction to obtain texture images and stripe images.

[0076] Optionally, the multiple cameras 30 include at least a first camera 30a and a second camera 30b, the first camera 30a and the second camera 30b are arranged on the sides of different light output parts 31b, the multiple light output parts 31b include a first light output part (second output end) arranged corresponding to the first camera 30a and a second light output part (third output end) arranged corresponding to the second camera 30b, and the structured light pattern reflected by the reflector 4 includes a first light ray (first wavelength light) in a first band, a second light ray (second wavelength light) in a second band, and a third light ray (third wavelength light) in a third band.

[0077] It is understandable that the first camera 30a can be a black and white camera, and the second camera 30b can be a color camera, so the number of the first camera 30a is not limited, and the imaging resolution of the black camera is higher than that of the color camera, wherein the stripe images obtained by the black and white camera and the color camera are used as reconstruction images to facilitate three-dimensional reconstruction of the target object. Specifically, the camera 30 can be a CCD camera, and the specific form of the camera is not limited.

[0078] Optionally, the first light emitting portion projects the first light to the first camera 30a, and the first camera 30a is used to image based on the first light to obtain a first stripe image; the second light emitting portion projects the second light and the third light to the second camera 30b, and the second camera 30b is used to image based on the second light and the third light to obtain a second stripe image and a color texture image.

[0079] It can be understood that the image acquisition component 3 sets a color separation prism 31 so that multiple cameras 30 can perform imaging based on coaxial light injected from the same second imaging lens 32, so that the stripe patterns respectively acquired by the multiple cameras 30 have a consistent field of view and angle.

[0080] For example, see Figure 2, the preset light of the target object reflected by the reflector 4 is incident from the light entrance part of the dichroic prism 31 through the second imaging lens 32. The dichroic prism 31 can be a right-angle two-channel dichroic prism, specifically including two channels of red, green and blue. The dichroic prism 31 performs light separation processing on the image light of the target object, so that the image light is emitted from two light exiting parts respectively to be projected to the first camera 30a and the second camera 30b. At this time, the stripe patterns captured by the first camera 30a and the second camera 30b are both stripe patterns acquired from the same viewing angle. Based on the above example, the first stripe image captured by the first camera 30a is a blue stripe image, and the second stripe image captured by the second camera 30b is a red and green stripe image. The second camera 30b will also capture the color texture image of the target object after being irradiated by the illumination light.

[0081] Optionally, the scanner includes a controller, which is communicatively connected with the image projection component, the lighting component and the image acquisition component, and is used to control the projection timing of the image projection component and the lighting component to project light toward the target object. The controller is also used to control the image acquisition component to capture the structured light pattern and invisible light reflected by the target object.

[0082] It can be understood that the scanner also includes a controller, which is used to control the timing of the image projection component and the lighting component emitting structured light patterns and invisible light, and is also used to control the timing of the image acquisition component acquiring the stripe image obtained by the structured light pattern reflected by the target object, and the timing of the texture image obtained by the invisible light reflected by the target object.

[0083] It can be understood that the first light source component 101a and the second light source component 101b can periodically emit light of different bands (wavelength light), and can send wavelength light simultaneously in the same period, or, the first light source component 101a can emit the first light of the first band (first wavelength light) in the first period, and the second light source component 101b can emit the second light of the second band (second wavelength light) and the third light of the third band (third wavelength light) in the second period, and the two light source components send periodically in sequence.

[0084] It is understandable that the image projection component 1 and the lighting component 2 can emit light alternately and periodically. For example, in the same cycle, after the image projection component 1 emits the structured light pattern for a certain period of time, the lighting component 2 emits invisible light. The specific order and time of the image projection component 1 and the lighting component 2 emitting light are not limited.

[0085] It is understandable that, within the emission cycle of the lighting component 2, the first light source 20 and the second light source 23 can emit at intervals of a certain time. For example, the first light source 20 emits near-infrared light 5s after the second light source 23 emits white light. After a certain period of time, the next cycle begins, and the image projection component 1 continues to emit structured light patterns at the same time. After 5s, the first light source 20 continues to emit near-infrared light, and after 5s, the second light source 23 emits white light. The light is emitted in a cycle in sequence, and the image acquisition component 3 collects the image of the target object in real time. For another example, after the first light source 20 emits near-infrared light 5s, the second light source 23 emits white light, and after 5s, the first light source 20 emits ultraviolet light again, and the emission is cyclical in this way. The specific emission sequence is not limited here.

[0086] Optionally, the scanner includes a scanning body and a scanning head, the image projection component, the lighting component and the image acquisition component are arranged in the scanning body, the projection light paths of the image projection component and the lighting component are arranged along the direction extending from the scanning body to the scanning head, the scanner includes a reflector arranged at the front end of the scanning head, and the reflector is used to reflect the structured light pattern and invisible light modulated by the target object to the image acquisition component.

[0087] It can be understood that the three-dimensional scanner includes a scanning body and a scanning head, the image projection component 1, the lighting component 2 and the image acquisition component 3 are arranged in the scanning body, and the reflector 4 is arranged at the front end of the scanner to set the structured light pattern and the invisible light head to the target object, and reflect the structured light pattern and the invisible light modulated by the target object to the image acquisition component 3. Among them, the scanning body can be understood as a holding part, and the scanning head can be understood as an entrance part at the front end of the holding part, that is, the three-dimensional scanner includes a holding part and an entrance part arranged at the front end of the holding part, the image projection component 1 and the image acquisition component 3 can be arranged at the holding part, the reflector 4 is arranged at the entrance part, and the lighting component 2 can be arranged at the entrance part or at the holding part.

[0088] Based on the above embodiments, Figure 3 A three-dimensional scanning system provided by the present disclosure includes the above-mentioned three-dimensional scanner and processor, wherein:

[0089] The three-dimensional scanner is used to collect the structured light pattern and invisible light reflected by the target object.

[0090] It can be understood that the three-dimensional scanner includes a dual-light source color combination system, a single light source system, a collimated light uniforming system, an image acquisition system, an illumination system, and a projection system. The dual-light source color combination system refers to the second light source component 101b, the single light source system refers to the first light source component 101a, the collimated light uniforming system refers to the first lens component 102, the illumination system refers to the illumination component 2, the projection system refers to a system composed of a reflector 4 and a light projection component 11, and the image acquisition system refers to the image acquisition component 3.

[0091] The processor is used to perform three-dimensional reconstruction according to the acquired structured light pattern and the invisible light to generate a three-dimensional model of the target object.

[0092] It is understandable that the method by which the processor performs three-dimensional reconstruction based on the images collected by the scanner under different lights to generate a three-dimensional model of the target object is not described in detail, and the user can select a method that can perform three-dimensional reconstruction according to the user's needs.

[0093] Optionally, the light structure pattern reflected by the target object and collected by the three-dimensional scanner refers to a stripe image of light of different wavelengths, and the three-dimensional scanner obtains a texture image by photographing the target object when the target object reflects invisible light.

[0094] It can be understood that the image acquisition component can acquire a first fringe image (blue fringe image) of the first wavelength light and a second fringe image (red and green fringe image) of the second wavelength light and the third wavelength light.

[0095] Optionally, the processor is used to: perform three-dimensional reconstruction based on the fringe image and the texture pattern to generate a three-dimensional model of the target object.

[0096] Understandably, the processor can use software processing algorithms to process the collected images to obtain three-dimensional data with colored textures of the target object, use different bands of light obtained by different cameras to distinguish between two stripe colors, use the preset two stripe color composition encoding to identify the red and green stripe image and the blue stripe image, and then use the stripe three-dimensional reconstruction algorithm to reconstruct the blue stripe image and the subsequent splicing and fusion algorithm to construct the three-dimensional shape of the object. Finally, determine the color based on the texture image and render the three-dimensional shape data to generate a three-dimensional model of the target object.

[0097] Optionally, the three-dimensional scanning system further includes a display, which is connected to the processor, and is used to display the image captured by the three-dimensional scanner and the three-dimensional model.

[0098] Optionally, the processor is also used to: obtain caries data detected from the three-dimensional model, and control the display to display the caries data, wherein the target object includes multiple teeth, the multiple teeth include at least one caries, and the caries data includes at least one of the number of caries included in the target object, position data of each caries in the three-dimensional model, morphological data of each caries, and marking data of each caries.

[0099] It is understandable that the target object may be a user's oral cavity, which includes a plurality of teeth, and the processor may also obtain caries data detected for the three-dimensional model, and display the caries data on the three-dimensional model displayed on the display. The caries data includes at least the total number of caries included in the oral cavity, the position of each caries in the three-dimensional model, and the posture of the caries in the three-dimensional model.

[0100] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, scanner, article or gateway that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, scanner, article or gateway. In the absence of further restrictions, the elements defined by the sentence "comprises one..." do not exclude the presence of other identical elements in the process, scanner, article or gateway that includes the elements.

[0101] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional scanner, characterized in that: The scanner comprises an image projection component, an illumination component and an image acquisition component, wherein: The image projection component is used to project the structured light pattern onto the target object; The lighting component is used to project invisible light to the target object; The image acquisition component is used to acquire the structured light pattern and invisible light reflected by the target object.

2. The scanner according to claim 1, characterized in that The lighting component includes a first light source, which is a light source emitting near-infrared light and / or ultraviolet light.

3. The scanner according to claim 2, characterized in that: The lighting component further includes a second light source, which is a light source emitting white light.

4. The scanner according to claim 3, characterized in that: The lighting component further includes a first color combining component, which is used to project the light emitted by the first light source and the second light source onto the target object along a common optical path.

5. The scanner according to claim 4, characterized in that: The first color combining component includes a first color combining mirror, which includes a first incident end, a second incident end and a first output end. The first light source is arranged at the first incident end, and the second light source is arranged at the second incident end. The lighting component also includes a light converging component, which is used to project the light emitted from the first output end to the target object.

6. The scanner according to claim 5, characterized in that: The image acquisition component includes a camera component and a color separation component, the camera component includes a first camera and a second camera, the color separation component is used to separate the first wavelength light and the second wavelength light in the structured light pattern modulated by the target object, the color separation component includes an incident end, a second exit end and a third exit end, the first camera is arranged at the first exit end, and the second camera is arranged at the second exit end.

7. The scanner according to claim 1, characterized in that: The image projection component includes a light source component, a second color combining component and a pattern modulation component. The light source component includes a third light source and a fourth light source. The third light source is used to project a third wavelength of light. The fourth light source is used to project a fourth wavelength of light. The third wavelength of light and the fourth wavelength of light are lights of different wavelengths. The second color combining component is used to project the light emitted by the third light source and the fourth light source onto the pattern modulation component along a common optical path. The pattern modulation component is used to project the light emitted by the third light source and the fourth light source onto the target object in the form of a structured light pattern.

8. The scanner according to claim 1, characterized in that: The scanner includes a controller, which is communicatively connected with the image projection component, the lighting component and the image acquisition component. The controller is used to control the projection timing of the image projection component and the lighting component to project light onto the target object. The controller is also used to control the image acquisition component to capture the structured light pattern and invisible light reflected by the target object.

9. The scanner according to claim 1, characterized in that: The scanner includes a scanning body and a scanning head, the image projection component, the lighting component and the image acquisition component are arranged in the scanning body, the projection light paths of the image projection component and the lighting component are arranged along the scanning body extending toward the scanning head, the scanner includes a reflector arranged at the front end of the scanning head, and the reflector is used to reflect the structured light pattern and invisible light modulated by the target object to the image acquisition component.

10. A three-dimensional scanning system, comprising the three-dimensional scanner and the processor according to any one of claims 1 to 9, characterized in that: in: The three-dimensional scanner is used to collect the structured light pattern and invisible light reflected by the target object; The processor is used to perform three-dimensional reconstruction according to the acquired structured light pattern and the invisible light to generate a three-dimensional model of the target object.

11. The system according to claim 10, characterized in that The light structure pattern reflected by the target object and collected by the three-dimensional scanner refers to a stripe image of light of different wavelengths, and the three-dimensional scanner photographs the target object to obtain a texture image when the target object reflects invisible light; The processor is used to: A three-dimensional reconstruction is performed based on the fringe image and the texture image to generate a three-dimensional model of the target object.

12. The system according to claim 11, characterized in that The three-dimensional scanning system further includes a display, which is connected to the processor and is used to display the three-dimensional model; The processor is further configured to: Acquire caries data detected from the three-dimensional model, and control the display to display the caries data, wherein the target object includes a plurality of teeth, the plurality of teeth include at least one caries, and the caries data includes at least one of the number of caries included in the target object, position data of each caries in the three-dimensional model, morphological data of each caries, and marking data of each caries.

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