Three-dimensional scanning system and three-dimensional scanner

Abstract

The utility model relates to a three-dimensional scanner. The three-dimensional scanner comprises a shell; the scanning light path is located in the shell and used for emitting scanning light and receiving detection light reflected by a target object according to the scanning light to generate image data; the galvanometer is located in the shell, located on a light path of the scanning light and used for reflecting the scanning light from the scanning light path; the driving mechanism is located in the shell, connected with the galvanometer and used for driving the galvanometer to deflect in a reciprocating mode, so that the galvanometer projects the scanning light to different areas on the target object in a time-sharing mode. The image data corresponding to the detection light reflected by different areas on the target object is used for acquiring three-dimensional information of the target object. The utility model further provides a three-dimensional scanning system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-dimensional scanning, in particular to a three-dimensional scanning system and a three-dimensional scanner. BACKGROUND

[0002] With the improvement of living standards, people's attention to the function, aesthetics and other aspects of teeth has also gradually increased. Usually, a digital dental impression instrument (also known as an intraoral three-dimensional scanner) is used to perform three-dimensional scanning on teeth, gums and other parts to obtain three-dimensional topographic information and texture information of teeth, gums and other parts, thereby assisting in dental treatment or orthodontic treatment.

[0003] The digital dental impression instrument currently in use needs to be directly inserted into the patient's mouth when in use, and the user needs to hold the digital dental impression instrument and move it in the mouth, so that the scanning light emitted by the digital dental impression instrument scans each area to obtain the three-dimensional image of each area, and then the three-dimensional images of each area are spliced through subsequent splicing algorithms to finally obtain the overall three-dimensional topographic information and texture information of teeth, gums and other parts.

[0004] However, the above-mentioned digital dental impression instrument has the following defects:

[0005] (1) The high temperature and humidity in the mouth cause fog to accumulate on the surface of the digital dental impression instrument;

[0006] (2) The space in the mouth is limited, and the area that can be scanned by the digital dental impression instrument in a single angle state is small. In order to obtain the complete three-dimensional topographic information and texture information of teeth and gums, the user needs to move the digital dental impression instrument back and forth multiple times for scanning, which takes a long time;

[0007] (3) The scanning needs to follow a predetermined path, and the user needs to have skilled operation skills, so the learning cost for the user is high;

[0008] (4) The subsequent splicing algorithm for splicing the three-dimensional images of each area inevitably brings cumulative errors of the full dentition due to the advantages and disadvantages of the splicing algorithm. CONTENT OF THE INVENTION

[0009] The first aspect of the present application provides a three-dimensional scanner, comprising: a housing; a scanning light path located in the housing, configured to emit scanning light and receive 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, configured to reflect the scanning light from the scanning light path; and a driving mechanism located in the housing and connected to the galvanometer, configured to drive the galvanometer to reciprocally swing, so that the galvanometer projects the scanning light onto different regions of the target object at different times, and the image data corresponding to the detection light reflected by the different regions of the target object is used to obtain three-dimensional information of the target object.

[0010] In at least one embodiment of the present application, the scanning light path comprises a collection component and a projection component, the projection component is configured to emit scanning light to the oral cavity, and the collection component is configured to collect detection light reflected by the dentition and / or gingiva in the oral cavity according to the scanning light to generate image data; the galvanometer is configured to reflect the scanning light from the projection component to the oral cavity.

[0011] In at least one embodiment of the present application, the housing has a scanning end and a handheld end, the scanning end is provided with a scanning window, and the galvanometer is located at the scanning window to reflect the scanning light to the scanning window.

[0012] The second aspect of the present application provides a three-dimensional scanning system, comprising: a scanning light path configured to emit scanning light and receive detection light reflected by a target object according to the scanning light; a galvanometer located on the light path of the scanning light, configured to reflect the scanning light from the scanning light path; a driving mechanism connected to the galvanometer, configured to drive the galvanometer to reciprocally swing, so that the galvanometer projects the scanning light onto different regions of the target object at different times; and a host device connected to the scanning light path and the driving mechanism respectively, configured to control the swing mode of the galvanometer driven by the driving mechanism, and configured to obtain three-dimensional information of the target object based on the detection light.

[0013] In at least one embodiment of the present application, the driving mechanism is configured to drive the galvanometer to reciprocally swing in at least a first direction and a second direction which are non-parallel.

[0014] In at least one embodiment of the present application, the first direction is perpendicular to the second direction.

[0015] In at least one embodiment of the present application, the galvanometer comprises a mounting surface and a reflection surface opposite to the mounting surface, the reflection surface is configured to reflect the scanning light, and the driving mechanism is connected to the mounting surface.

[0016] In at least one embodiment of the present application, the driving mechanism is a micro motor.

[0017] In at least one embodiment of the present application, the driving mechanism is a piezoelectric ceramic motor, comprising: a fixed seat fixedly connected to the shell; a piezoelectric body fixedly connected to the fixed seat and electrically connected to the master control device; a connecting rod fixedly connected to the piezoelectric body; and a rotating wheel fixedly connected to the connecting rod and connected to the galvanometer; wherein the master control device drives the piezoelectric body to vibrate by outputting a driving voltage, and the connecting rod is used to transmit the vibration to the rotating wheel to make the rotating wheel rotate and drive the galvanometer to deflect.

[0018] The three-dimensional scanner and the three-dimensional scanning system described above, by setting the galvanometer, can continuously drive the galvanometer to reciprocally deflect during the scanning of the target object, so that even if the three-dimensional scanner is applied to the oral scanning environment with high temperature and high humidity, the mirror fogging and water droplet attachment / congelation can be effectively inhibited by the continuous reciprocating deflection of the galvanometer, achieving the effect of removing the fog in the oral scanning.

[0019] Moreover, the scanning speed can be effectively improved by continuously driving the galvanometer to deflect during the scanning of the target object, and the time length of one scanning cycle (the scanning cycle for obtaining the complete three-dimensional information of the target object) of the three-dimensional scanning system of the present application can be shortened from 10-15 minutes to a second-level time length (within 10s).

[0020] In addition, since the entire scanning process mainly relies on the master control device to drive the galvanometer to deflect at a high speed with a preset frequency to completely scan the target object, there are fewer situations that require user operation during the scanning process. In this way, it is beneficial to reduce the learning cost of the user operating the three-dimensional scanner, realize the quick acquisition of data by scanning operation, or the patient can also operate it by himself, which is beneficial to improve the popularity of the three-dimensional scanning system. On the other hand, it can also avoid the problem of rework caused by operation errors or accidental splicing errors caused by user manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 FIG. 1 is a structural schematic diagram of a three-dimensional scanning system according to an embodiment of the present application.

[0022] Figure 2 FIG. 2 is another structural schematic diagram of a three-dimensional scanning system according to an embodiment of the present application.

[0023] Figure 3 FIG. 3 is a schematic diagram of the deflection direction of a galvanometer according to an embodiment of the present application. Figure 2

[0024] FIG. 4 is a structural schematic diagram of a galvanometer and a driving mechanism according to an embodiment of the present application. Figure 4 Figure 2 FIG. 5 is a schematic diagram of the galvanometer scanning a target object in a first angle state according to an embodiment of the present application.

[0025] Figure 5 Figure 2 FIG. 6 is a schematic diagram of the galvanometer scanning a target object in a second angle state according to an embodiment of the present application.

[0026] ​​Figure 6 For Figure 2 Schematic diagram of the galvanometer scanning the object to be measured in the second angle state.

[0027] Figure 7 For Figure 2 Schematic diagram of the module structure of the main control device, light source, acquisition component and driving mechanism.

[0028] Main component symbol explanation

[0029] Three-dimensional scanning system: 100;

[0030] Three-dimensional scanner: 1;

[0031] Housing: 10;

[0032] Cavity: 11;

[0033] Scanning end: 12;

[0034] Handheld end: 13;

[0035] Scanning window: 14;

[0036] Galvanometer: 20;

[0037] Mounting surface: 21;

[0038] Reflective surface: 22;

[0039] First axis: X;

[0040] Second axis: Y;

[0041] Driving mechanism: 30;

[0042] Fixed seat: 31;

[0043] Piezoelectric body: 32;

[0044] Connecting rod: 33;

[0045] Rotating wheel: 34;

[0046] Scanning light path: 40;

[0047] Light source: 41;

[0048] Acquisition component: 42;

[0049] Scanning light: L1;

[0050] Detection light: L2;

[0051] Main control device: 2;

[0052] Driving control unit: 210;

[0053] Processing calculation unit: 220;

[0054] Calibration unit: 230;

[0055] Target object: 200;

[0056] Teeth: 201, 202, 203;

[0057] Gaps: G1, G2.

[0058] The following detailed description will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0059] The present application provides a three-dimensional scanning system. The three-dimensional scanning system includes a galvanometer. By driving the galvanometer to reciprocally swing during a three-dimensional scanning process, scanning light can be projected onto different regions on a target object, so that complete three-dimensional information of the target object can be conveniently obtained. In addition, by driving the galvanometer to reciprocally swing, accumulation of fog during the scanning process can be avoided.

[0060] Referring to Figure 1 The three-dimensional scanning system 100 of the present application includes a three-dimensional scanner 1 and a host device 2 connected to each other. The three-dimensional scanner 1 is used to emit scanning light L1 and collect detection light L2 reflected by a target object 200 to be scanned according to the scanning light L1. The host device 2 is used to control the process of emitting the scanning light L1 and the process of collecting the detection light L2 by the three-dimensional scanner 1, and is used to perform data processing and calculation based on the collected detection light L2, so as to obtain three-dimensional information of the target object 200.

[0061] In the present embodiment, the three-dimensional scanner 1 is a small scanner that can be held by a user, and the host device 2 is a smart terminal (for example, a computer). The three-dimensional scanner 1 and the host device 2 can be connected by a wired manner or a wireless manner, so as to realize signal and data transmission. The target object 200 to be measured includes tissues in the oral cavity of a human body, such as teeth and gums. The three-dimensional information obtained by the three-dimensional scanning system 100 includes three-dimensional topography and texture information of the teeth, gums and other parts.

[0062] In the present embodiment, the three-dimensional scanner 1 has a bar structure as a whole. During use of the three-dimensional scanning system 100, a user can hold one end of the three-dimensional scanner 1, extend the other end of the three-dimensional scanner 1 into the oral cavity of a patient, and slightly move the three-dimensional scanner 1, so that the end of the three-dimensional scanner 1 located in the oral cavity can be slightly moved in the oral cavity, so as to realize scanning of the teeth, gums and other parts by the scanning light L1.

[0063] Referring to Figure 2In the embodiment, the three-dimensional scanner 1 comprises a shell 10, a galvanometer 20, a driving mechanism 30 and a scanning light path 40. The shell 10 is a hollow strip-shaped structure as a whole, and is formed with a cavity 11, and the galvanometer 20, the driving mechanism 30 and the scanning light path 40 are located in the cavity 11. In the embodiment, the two ends of the shell 10 are defined as a scanning end 12 and a handheld end 13 respectively. The shell 10 comprises a scanning window 14, and the scanning window 14 is located at the scanning end 12. In the 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, and is used for respectively transmitting the scanning light L1 and the detection light L2.

[0064] The driving mechanism 30 and the scanning light path 40 are connected with the main control device 2 respectively, and the driving mechanism 30 is connected with the galvanometer 20. The main control device 2 is used for controlling the scanning light path 40 to emit the scanning light L1 and collect the detection light L2. The galvanometer 20 is located on the light path of the scanning light L1, and the main control device 2 is further used for controlling the driving mechanism 40 to drive the galvanometer 30 to reciprocally deflect, so as to change the emission direction of the scanning light L1 when the scanning light L1 is emitted from the three-dimensional scanner 1.

[0065] Please refer to Figure 3 In the embodiment, the galvanometer 20 comprises a mounting surface 21 and a reflecting surface 22 which is away from the mounting surface 21. Please refer to Figure 2 and Figure 3 The mounting surface 21 is used for being connected with the driving mechanism 30, and the reflecting surface 22 is used for reflecting the scanning light L1. In the embodiment, the reflecting surface 21 is a plane and is substantially rectangular. When the placement angle of the galvanometer 20 is changed, the incidence angle of the scanning light L1 when the scanning light L1 is incident on the reflecting surface 22 is different, so that the reflection angle of the reflecting surface 22 when the reflecting surface 22 reflects the scanning light L1 is different. Therefore, by driving the galvanometer 20 to deflect, the placement angle of the galvanometer 20 can be changed, so as to change the emission direction of the scanning light L1.

[0066] The main control device 2 is used for controlling the driving mechanism 30 to drive the galvanometer 20 to deflect in a manner, and specifically comprises one or any combination of the direction, the angle and the frequency of the galvanometer 20 when the galvanometer 20 deflects.

[0067] For the direction of the deflection, the main control device 2 is used for controlling the driving mechanism 30 to drive the galvanometer 20 to reciprocally deflect in at least two directions at a preset frequency respectively. In the embodiment, the main control device 2 is used for controlling the driving mechanism 30 to drive the galvanometer 20 to reciprocally deflect in a first direction and a second direction respectively, and the first direction and the second direction are perpendicular to each other. For example, Figure 3The "reciprocating deflection of the galvanometer 20 in the first direction" in the present embodiment refers to the rotation of the galvanometer 20 around the first axis X alternately to the left and to the right, and the first axis X is parallel to the first side 221 of the reflecting surface 22. The "reciprocating deflection of the galvanometer 20 in the second direction" in the present embodiment refers to the rotation of the galvanometer 20 around the second axis Y alternately upward and downward, and the second axis Y is parallel to the second side 222 of the reflecting surface 22, i.e., the second side 222 is perpendicular to the first side 221.

[0068] In other embodiments of the present application, the first direction and the second direction can be non-perpendicular. In other embodiments of the present application, the galvanometer 20 can also reciprocate in a direction other than the first direction and the second direction, for example, the galvanometer 20 can also reciprocate around the diagonal of the reflecting surface 22.

[0069] For the angle of deflection, the main control device 2 is configured to control the driving mechanism 30 to drive the galvanometer 20 to have a deflection freedom of 360° in each direction, and is configured to control the driving mechanism 30 to drive the galvanometer 20 to rotate the same angle during reciprocating deflection. For example, in the present embodiment, the galvanometer 20 rotates 180° to the left and to the right around the first axis X, respectively; and the galvanometer 20 rotates 180° upward and downward around the second axis Y, respectively. In at least one embodiment of the present application, the deflection freedom of the galvanometer 20 can be set to ±60°, ±45°, ±30°, etc.

[0070] For the angle of deflection, the main control device 2 is also configured to control the driving mechanism 30 to drive the galvanometer 20 to reciprocate the same angle within one deflection period. In the present embodiment, the "one deflection period" is defined as: one continuous deflection to the left and to the right, respectively, or one continuous rotation upward and downward. For example, the galvanometer 20 rotates 45° to the left and to the right around the first axis X, respectively; and the galvanometer 20 rotates 45° upward and downward around the second axis Y, respectively.

[0071] For the angle of deflection, the main control device 2 is also configured to control the driving mechanism 30 to drive the galvanometer 20 to rotate the same angle for each single deflection. In the present embodiment, the "single deflection" is defined as: rotation to the left around the first axis X, rotation to the right around the first axis X, rotation upward around the second axis Y, or rotation downward around the second axis Y. For example, the galvanometer 20 rotates 45° to the left around the first axis X, rotates 45° to the right around the first axis X, rotates 45° upward around the second axis Y, and rotates 45° downward around the second axis Y, respectively.

[0072] In other embodiments of the present application, the deflection freedom of the galvanometer 20 in each direction can be different, the angle of reciprocating deflection of the galvanometer 20 during one reciprocating deflection can be different, and the angle of each single deflection of the galvanometer 20 can not all be the same.

[0073] For the order of the swing, the main control device 2 is configured to control the driving mechanism 30 to drive the swing mirror 20 to swing in at least two directions alternately. For example, in the embodiment, the swing mirror 20 swings in the first direction (i.e. left and right) for one time, and then swings in the second direction (i.e. up and down) for one time. During the whole scanning period, the swing mirror 20 swings in the first direction and the second direction alternately in the above-mentioned swing process.

[0074] In other embodiments of the present application, the main control device 2 is also configured to control the driving mechanism 30 to drive the swing mirror 20 to swing in at least two directions sequentially. For example, the swing mirror 20 swings in the first direction (i.e. left and right) for one time in a first time period, and then swings in the second direction (i.e. up and down) for one time in a second time period.

[0075] For the frequency of the swing, the main control device 2 is configured to control the driving mechanism 30 to drive the swing mirror 20 to swing at a same preset frequency during the whole scanning period. The more times the swing mirror 20 swings in one second, the higher the frequency. For example, in an embodiment, the swing frequency of the swing mirror 20 is greater than or equal to 3 times per second (i.e. swings at a constant speed for 3 times in one second); in an embodiment, the swing frequency of the swing mirror 20 is greater than or equal to 10 times per second (i.e. swings at a constant speed for 10 times in one second); in an embodiment, the swing frequency of the swing mirror 20 is greater than or equal to 20 times per second (i.e. swings at a constant speed for 20 times in one second); in an embodiment, the swing frequency of the swing mirror 20 is greater than or equal to 50 times per second (i.e. swings at a constant speed for 50 times in one second); in an embodiment, the swing frequency of the swing mirror 20 is greater than or equal to 100 times per second (i.e. swings at a constant speed for 100 times in one second); in an embodiment, the swing frequency of the swing mirror 20 is greater than or equal to 200 times per second (i.e. swings at a constant speed for 200 times in one second).

[0076] In other embodiments of the present application, the main control device 2 is also configured to vary the frequency of the swing mirror 20 during the whole three-dimensional scanning period. For example, the swing frequency is increased when scanning to a region of interest.

[0077] The driving mechanism 30 is a micro motor, for example, an electric motor, a voice coil motor or a piezoelectric ceramic motor, configured to drive the swing mirror 20 to swing rapidly. Please refer to Figure 4 In the embodiment, the driving mechanism 30 is a piezoelectric ceramic motor, which includes a fixed seat 31, a piezoelectric body 32, a connecting rod 33 and a rotating wheel 34. The fixed seat 31 is fixedly connected to the shell 10, the piezoelectric body 32 is fixedly connected to the fixed seat 31 and the connecting rod 33 at two ends respectively, and the rotating wheel 34 is connected to the connecting rod 33 away from the piezoelectric body 32. The main control device 2 outputs a driving voltage to the piezoelectric body 32, so that the piezoelectric body 32 vibrates, the connecting rod 33 transmits the vibration to the rotating wheel 34, and the rotating wheel 34 rotates. The direction of the driving voltage can control the direction of the rotating wheel 34, and the amplitude of the driving voltage can control the angle of the rotating wheel 34. The swing mirror 20 is fixedly connected to the rotating wheel 34, configured to rotate synchronously under the driving of the rotating wheel 34.

[0078] The main control device 2 is connected to the driving mechanism 30 in wired or wireless manner.

[0079] Please refer to Figure 2 The scanning light path 40 includes a projection assembly and a collection assembly connected to the main control device 2 respectively. The projection assembly at least includes a light source 41, and the collection assembly at least includes a camera 42. The main control device 2 is configured to control the light source 41 to emit the scanning light L1. The camera 42 is configured to perform photoelectric conversion and output an electric signal when receiving the detection light L2 reflected by the target object 200. The main control device 2 is configured to perform data processing and calculation on the electric signal to obtain the three-dimensional information of the target object 200. The light source 41 can be a light-emitting diode, a laser, or the like.

[0080] In other embodiments of the present application, the scanning light path 40 can further include other optical elements, such as light modulation structures, mirrors, lenses, light combining / collection elements, filters, etc., to realize light modulation (e.g., modulating the scanning light into a stripe structured light), deflection, light collection, filtering, etc., so as to finally project the scanning light L1 onto the galvanometer 20, which will not be described herein. The “other optical elements” and the light source 41 described above are part of the projection assembly in the scanning light path 40, and the camera 42 is part of the image sensing assembly.

[0081] In the present embodiment, the galvanometer 20 is located at the scanning window 14. That is, the orthographic projection of the galvanometer 20 on the scanning window 14 at least partially overlaps the scanning window 14. During the scanning process, the galvanometer 20 is configured to reflect the scanning light L1 from the scanning light path 40 to the target object 200 through the scanning window 14, and is also configured to reflect the detection light L2 reflected by the target object 200 to the scanning light path 40. That is, the scanning light L1 and the detection light L2 share the same optical path in the present embodiment.

[0082] When the scanning action is not needed to be performed, the three-dimensional scanning system 100 is kept off. After the power of the three-dimensional scanning system 100 is turned on, the user can hold the three-dimensional scanner 1 and extend the scanning end 12 of the three-dimensional scanner 1 into the patient's oral cavity. After the power of the three-dimensional scanning system 100 is turned on, the three-dimensional scanning is started.

[0083] The master control device 2 sends a driving signal to drive the light source 41 in the projection assembly to emit the scanning light L1 at a certain power. The master control device 2 also sends a driving signal to drive the galvanometer 20 to reciprocally deflect in a preset manner (preset direction, preset angle, preset order, preset frequency) to project the scanning light L1 onto different regions of the target object. That is, the master control device 2 is configured to trigger the light source 41 and the galvanometer 20 to start working (output the driving signal) and stop working (stop outputting the driving signal). During the process of driving the galvanometer 20 to deflect, the user can synchronously slightly move and / or rotate the scanning end 12 of the three-dimensional scanner 1 to cooperate with the deflection of the galvanometer 20 to scan the positions including the teeth and the gums in the oral cavity of the patient.

[0084] When the scanning light L1 is irradiated to the surface of the target object, the target object can reflect the scanning light L1. In the embodiment, the scanning light reflected by the target object 200 is defined as the detection light L2. During the process of continuously scanning the target object 200, the target object 200 continuously reflects the detection light L2, and the galvanometer 20 continuously reflects the detection light L2 to the camera 42 in the collection assembly. The master control device 2 continuously receives the electrical signal generated by the camera 42 according to the detection light L2.

[0085] In the embodiment, the scanning light L1 reflected by the galvanometer 20 at each angle state covers a specific scanning region, and the two scanning regions covered by the scanning light L1 at two adjacent angle states in time have an overlapping area, so that the region of the target object 200 that needs to be scanned is not missed. For example Figure 5 As shown in FIG. 6, the region covered by the scanning light L1 reflected by the galvanometer 20 at the first angle state, Figure 6 As shown in FIG. 7, the region covered by the scanning light L1 reflected by the galvanometer 20 at the second angle state.

[0086] According to Figure 5 and Figure 6 As shown in FIG. 8, in the embodiment, the scanning light L1 can cover the regions of the adjacent two teeth (including the tooth 202, the partial tooth 202 and the partial tooth 203) and the tooth gaps G1 and G2. Figure 5 As shown in FIG. 9, the reflecting surface 22 of the galvanometer 20 is substantially parallel to the direction of the tooth row at this time, and the image of the surface of the tooth row can be clearly obtained. While Figure 6 As shown in FIG. 10, the galvanometer 20 is deflected to be non-parallel to the tooth row at this time, and the image of the gap between the teeth can be clearly obtained.

[0087] The galvanometer 20 has Figure 5 As shown in FIG. 11, the galvanometer 20 is deflected to Figure 6The process of the illustrated angle state can be regarded as the process of the deflection in the first direction, and thus the deflection of the galvanometer 20 in the first direction in this embodiment is mainly used to obtain a complete image of the arrangement direction of the teeth. When the galvanometer 20 is deflected in the second direction, the coverage area of the scanning light L1 moves in the tooth height direction, and thus the deflection of the galvanometer 20 in the second direction in this embodiment is mainly used to obtain a complete image of the teeth and gum parts in the tooth height direction.

[0088] The host device 2 performs data processing on the electrical signal generated based on the detection light L2 to obtain image data of the target object. In this embodiment, the image data obtained by the host device 2 at each angle state of the galvanometer 20 is defined as one frame of image data. Then, during the continuous scanning and sensing process, the host device 2 can obtain multiple frames of image data corresponding to different regions on the target object 200 in sequence.

[0089] The host device 2 is also used for splicing the multiple frames of image data to obtain complete three-dimensional information of the target object 200. The host device 2 reconstructs the three-dimensional data of the target object based on the aforementioned multiple frames of image data by using a preset algorithm, converts the three-dimensional data of the coordinate system at each angle of the galvanometer 20 to the global coordinate system of the three-dimensional scanner system, and splices to obtain the three-dimensional information of the whole target object. The host device 2 also performs real-time optimization according to all the spliced three-dimensional data to reduce the accumulated error caused by splicing or slight shaking of the gums.

[0090] In at least one embodiment of the present application, the continuous acquisition of multiple frames of image data further includes: when it is determined that there is fog or other foreign matter (such as saliva or debris in the oral cavity) on the surface of the galvanometer based on the image data, increasing the deflection frequency of the galvanometer.

[0091] In this embodiment, for example, when abnormal spots exist in several consecutive frames of image data obtained in real time, and when the depth value of the three-dimensional reconstruction point cloud obtained after three-dimensional reconstruction based on the image, the average depth value of each point cloud, the gray difference between two pixel points corresponding to the positions in the adjacent intraoral scanning images, and other parameters are abnormal, the host device 2 can determine that there is fog or foreign matter on the galvanometer 20.

[0092] The depth value refers to the vertical distance between the surface of the target object being scanned and the surface of the scanning window. If the depth value of at least one target point in the three-dimensional reconstruction point cloud is outside the preset depth value range, it is determined that the position corresponding to the target point on the lens is blocked by fog or foreign matter. If the average depth value of at least one target point in the three-dimensional reconstruction point cloud is less than the preset average depth value threshold, it is determined that the position corresponding to the target point on the lens is blocked by fog or foreign matter. If the gray difference is less than or equal to the preset gray difference threshold, it is determined that the position corresponding to one of the two target pixel points on the lens is blocked by fog or foreign matter.

[0093] When it is determined that there is fog or foreign matter on the galvanometer 20, the main control device 2 controls the driving mechanism 30 to increase the deflection frequency of the galvanometer 20, for example, from 45 Hz to 60 Hz, from 60 Hz to 90 Hz, from 90 Hz to 120 Hz, and the like, which is conducive to eliminating the fog or foreign matter.

[0094] In at least one embodiment of the present application, when it is determined that there is fog or foreign matter on the galvanometer 20, in addition to increasing the deflection frequency of the galvanometer 20, the main control device 2 also synchronously increases the frequency of the detection light sensed by the acquisition assembly, 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 trailing and delay.

[0095] In at least one embodiment of the present application, the main control device 2 calculates and outputs three-dimensional information in real time during scanning, and the complete three-dimensional information of the target object can be obtained at the end of scanning. In at least one embodiment of the present application, the main control device 2 can also store image data during the scanning process, and then perform data processing and calculation to directly output complete three-dimensional information after the scanning process is completed. In the present embodiment, the so-called "outputting three-dimensional information" is, for example, displaying the three-dimensional appearance of the target object in the form of an image on the display screen.

[0096] Please refer to Figure 7 In the present embodiment, the main control device 2 includes a driving control unit 210, a processing and calculation unit 220, and a calibration unit 230. The driving control unit 210 is connected to the light source 41 in the projection assembly, the camera 42 in the acquisition assembly, and the driving mechanism 30, respectively, to drive the emission of the scanning light L1, the sensing of the detection light L2, and the deflection of the galvanometer 20. The processing and calculation unit 220 is electrically connected to the control unit 210 and the calibration unit 230, respectively. The calibration unit 230 stores the conversion relationship between the coordinate system of the galvanometer 20 and the global coordinate system of the three-dimensional scanner 1 (for example, the conversion relationship between the two coordinate systems is calculated by pre-acquiring images of a calibration board or a calibration block at multiple angles using the scanner and the mirror). The processing and calculation unit 220 is used to receive electrical signals from the camera 42, splice multiple frames of image data collected during the scanning process based on the conversion relationship between the coordinate systems stored in the calibration unit 230, and finally output the three-dimensional information of the target object 200 after obtaining the three-dimensional information.

[0097] In at least one embodiment of the present application, the calibration unit 230 can also be used for calibration during the use of the three-dimensional scanner 1 or the three-dimensional scanning system 100, so as to update, replace, or add the conversion relationship between the coordinate system of the galvanometer 20 and the global coordinate system of the three-dimensional scanner 1.

[0098] The three-dimensional scanning system 100 and the three-dimensional scanner 1 of the embodiments of the present application, by setting the galvanometer 20, continuously drive 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 a high-temperature and high-humidity oral scanning environment, the galvanometer 20 can effectively suppress the fogging of the mirror surface and the attachment / congelation of water droplets, thereby achieving the effect of defogging in oral scanning.

[0099] In addition, due to the physiological structure of teeth, there may be defects in the interdental space or the fossa area (the above-mentioned gaps G1 and G2) that are difficult to be irradiated by the fixed scanning head. In the embodiments of the present application, the galvanometer 20 is driven to swing quickly in at least two directions, which is beneficial to collect image data of the interdental space and the fossa area.

[0100] Further, 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 the embodiments of the present application can shorten the time length of one scanning cycle (the scanning cycle for obtaining complete three-dimensional information of the target object 200) from 10-15 minutes in the comparative example to a second-level time length (within 10s).

[0101] In addition, since the entire scanning process mainly relies on the preset frequency of the host device 2 to drive the galvanometer 20 to swing at high speed to completely scan the target object 200, there are fewer situations that require user operation during the scanning process. In this way, it is beneficial to reduce the learning cost of the user operating the three-dimensional scanner 1, to quickly obtain data through scanning operation, or the patient can also operate it by himself, which is beneficial to improve the popularity of the three-dimensional scanning system. On the other hand, it can also avoid the problem of rework caused by operation errors or accidental splicing errors caused by user manual operation.

[0102] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation of the present application. Any appropriate changes and variations to the above embodiments within the spirit and principles of the present application fall within the scope of the present 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. The three-dimensional scanner as described in claim 1 or 2, characterized in that, The housing has a scanning end and a handheld end. The scanning end has a scanning window, and the galvanometer is located at the scanning window to reflect the scanning light to the scanning window.

4. 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, and is used to control the driving mechanism to drive the galvanometer to deflect at a preset frequency, and to acquire the three-dimensional information of the target object based on the detection light.

5. The three-dimensional scanning system as described in claim 4, characterized in that, The driving mechanism is used 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.

7. The three-dimensional scanning system as described in claim 4, characterized in that, The galvanometer includes a mounting surface and a reflective surface facing away from the mounting surface. The reflective surface is used to reflect the scanning light, and the driving mechanism is connected to the mounting surface.

8. The three-dimensional scanning system as described in claim 4, characterized in that, The drive mechanism is a miniature motor.

9. The three-dimensional scanning system as described in claim 4, characterized in that, The driving mechanism is a piezoelectric ceramic motor, comprising: The mounting base is fixedly connected to the housing. A piezoelectric element is fixedly connected to the mounting base and electrically connected to the main control device; A connecting rod, fixedly connected to the piezoelectric element; and The rotating wheel is fixedly connected to the connecting rod and also connected to the galvanometer. The main control device drives the piezoelectric body to vibrate by outputting a driving voltage, and the connecting rod is used to transmit the vibration to the rotating wheel so that the rotating wheel rotates and drives the galvanometer to deflect.

10. The three-dimensional scanning system as described in claim 9, characterized in that, The main control device and the drive mechanism are wirelessly connected.

Images