Three-dimensional scanner and three-dimensional scanning system

Abstract

The utility model relates to a three-dimensional scanner, and the scanner comprises a housing which is provided with a hand-held end and a scanning end, and the scanning end is provided with a light-transmitting part; the projection imaging mechanism is located in the shell and located at the scanning end, the projection imaging mechanism comprises a plurality of projection imaging units which are independently packaged, each projection imaging unit comprises a projection head and a camera, the projection head is used for projecting scanning light through the light transmitting part, and the camera is used for shooting the scanning light through the light transmitting part. The camera is used for receiving detection light reflected by a to-be-detected object according to the scanning light and generating image data of the to-be-detected object based on the detection light; and the scanner host is positioned in the shell, is electrically connected with the projection head and the camera respectively, and is used for controlling the triggering time sequence of the projection head and the camera. 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 scanner and a three-dimensional scanning system comprising the same. BACKGROUND

[0002] An intraoral three-dimensional scanning device can directly obtain three-dimensional topographic data of teeth or gums, bringing convenience for tooth restoration, implantation, orthodontics, etc.

[0003] Due to the limited intraoral space, a conventional intraoral three-dimensional scanning device can only collect three-dimensional data of about two teeth at a time, and needs to be moved for a long time to collect multiple frames of three-dimensional data at different positions and angles, and then spliced to obtain three-dimensional topographic and texture information of the full dentition. In this way, not only the scanning time is increased, but also the operator needs to have certain scanning skills and follow certain scanning paths to complete the operation, which has a large learning cost. UTILITARIAN CONTENT

[0004] Therefore, it is necessary to provide a three-dimensional scanner and a three-dimensional scanning system to improve the technical problems of long intraoral scanning time and large intraoral scanning learning cost.

[0005] The first aspect of the present application provides a three-dimensional scanner, comprising: a shell having a handheld end and a scanning end, the scanning end being formed with a light transmission part; a projection imaging mechanism located in the shell and at the scanning end, the projection imaging mechanism comprising a plurality of projection imaging units independently encapsulated with each other, each projection imaging unit comprising a projection head and a camera, the projection head being used to project scanning light through the light transmission part, the camera being used to receive detection light reflected by a to-be-measured object according to the scanning light, and generate image data of the to-be-measured object based on the detection light; and a scanner host located in the shell and electrically connected to the projection head and the camera, respectively, for controlling the triggering timing of the projection head and the camera.

[0006] In at least one embodiment of the present application, the three-dimensional scanner further comprises a mirror located in the shell and at the scanning end; the projection head is used to project the scanning light towards the mirror, and the mirror is used to reflect the scanning light to the light transmission part.

[0007] In at least one embodiment of the present application, the three-dimensional scanner further comprises an anti-fog mechanism located in the shell; the anti-fog mechanism comprises a motor connected to the scanner host and the mirror, respectively, and the motor is controlled by the scanner host to drive the mirror to vibrate.

[0008] In at least one embodiment of the present application, the motor is controlled by the scanner host to drive the mirror to reciprocate in at least a first direction and a second direction which are non-parallel, at a preset frequency and a preset swing amplitude.

[0009] In at least one embodiment of the present application, the three-dimensional scanner further comprises a defogging mechanism in the housing; the defogging mechanism at least comprises a heat conduction plate connected to the projection imaging mechanism and the mirror respectively, for conducting heat from the projection imaging mechanism to the mirror to heat the mirror.

[0010] In at least one embodiment of the present application, each of the projection imaging units comprises a projection head and two cameras symmetrically distributed on both sides of the projection head; and / or the projection imaging mechanism further comprises an illumination light source located at the periphery of the plurality of projection imaging units, for emitting illumination light.

[0011] The second aspect of the present application provides a three-dimensional scanning system, comprising the three-dimensional scanner described above; and a control device electrically connected to the cameras in the plurality of projection imaging units, for obtaining three-dimensional data of the object to be measured according to image data generated by each of the projection imaging units.

[0012] In at least one embodiment of the present application, when the three-dimensional scanner comprises a mirror, it further comprises a defogging mechanism in the housing, the defogging mechanism is connected to the control device and the mirror respectively, and the defogging mechanism is controlled by the control device to defog the mirror.

[0013] In at least one embodiment of the present application, the control device comprises a processing and calculation unit and a calibration unit connected to each other, the calibration unit is used to obtain and / or store the conversion relationship between the global coordinate system of the three-dimensional scanner and the coordinate system of the scanning head in each of the projection imaging units; the processing and calculation unit is used to splice the image data generated by each of the projection imaging units based on the conversion relationship, to obtain the three-dimensional data of the object to be measured.

[0014] In at least one embodiment of the present application, the three-dimensional scanner is used to scan a coded scanning rod in the oral cavity to collect an image of the coded scanning rod, and the control device is used to obtain global data of the coded scanning rod based on the image, thereby obtaining the three-dimensional data of the object to be measured.

[0015] The three-dimensional scanner and the three-dimensional scanning system, thus, by positioning the projection imaging mechanism as a whole in front of the scanning end of the shell, combined with the collection of images of close and long shots, on the one hand, the fine high-precision data of the object to be measured can be obtained when the close shot image is collected, and on the other hand, the rapid scanning splicing can be realized when the long shot image is collected, reducing the case rework caused by operation errors or accidental splicing errors. Therefore, the three-dimensional scanner of the embodiment of the present application can quickly (usually can be scanned within 10s) and accurately obtain the three-dimensional appearance and texture information of the in-mouth full dentition and gingiva surface, and improve the scanning experience of the scanned person (or patient). At the same time, since the scanning light has a large field of view at a long distance, there is no need for strict scanning rules or path requirements during scanning operation, which increases the flexibility of the scanning mode and is beneficial to reduce the learning cost of the operation user (or medical staff), thereby improving the popularity of the three-dimensional scanner. Moreover, by independently packaging each projection imaging unit, it is beneficial to prevent the relative deviation of the position and angle of the projection head and the camera, thereby improving the three-dimensional scanning precision. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a structural schematic diagram of a three-dimensional scanner in a first embodiment of the present application.

[0017] Figure 2 FIG. 2 is a plan structural schematic diagram of a projection imaging mechanism in the first embodiment of the present application. Figure 1

[0018] Figure 3 FIG. 3 is a structural schematic diagram of a three-dimensional scanner in a second embodiment of the present application.

[0019] Figure 4 FIG. 4 is a structural schematic diagram of a three-dimensional scanner in a third embodiment of the present application.

[0020] Figure 5 FIG. 5 is a structural schematic diagram of an anti-fog mechanism and a mirror in the third embodiment of the present application. Figure 4

[0021] Figure 6 FIG. 6 is a structural schematic diagram of a three-dimensional scanner in a fourth embodiment of the present application.

[0022] Figure 7 FIG. 7 is a structural schematic diagram of a three-dimensional scanning system of the embodiment of the present application.

[0023] Figure 8 FIG. 8 is a module structural schematic diagram of a control device in the three-dimensional scanning system of the embodiment of the present application. Figure 7

[0024] MAIN ELEMENT SYMBOL EXPLANATION

[0025] THREE-DIMENSIONAL SCANNING SYSTEM: 100;

[0026] THREE-DIMENSIONAL SCANNER: 1; ​​​

[0027] Housing: 10;

[0028] Receiving space: 11;

[0029] Handheld end: 12;

[0030] Scanning end: 13;

[0031] Projection imaging mechanism: 20;

[0032] Substrate: 21;

[0033] Projection imaging unit: 22;

[0034] Projection head: 221;

[0035] Camera: 222;

[0036] Packaging structure: 223;

[0037] Illumination light source: 23;

[0038] Scanner host: 30;

[0039] Mirror: 40;

[0040] Reflection surface: 41;

[0041] Mounting surface: 42;

[0042] Anti-fog mechanism: 50;

[0043] Fixing seat: 51;

[0044] Piezoelectric body: 52;

[0045] Connecting rod: 53;

[0046] Rotating wheel: 54;

[0047] Heat-conducting member: 55;

[0048] Scanning light: L1;

[0049] Detection light: L2;

[0050] Illumination light: L3;

[0051] Control device: 2;

[0052] Object to be measured: 200.

[0053] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0054] The oral digital impression instrument, also known as an intraoral three-dimensional scanner, is a device that applies a probe optical scanning head to directly scan the patient's oral cavity to obtain three-dimensional topography and color texture information of the hard and soft tissue surfaces in the oral cavity, such as teeth, gums and mucosa, and is widely used in dental diagnosis and treatment and orthodontic scenarios.

[0055] Due to the limitations of the narrow environment in the oral cavity, the intraoral scanner for obtaining three-dimensional data of teeth and gums inside the oral cavity is often designed to obtain only about 2 teeth in a single window range at a time, and due to the straight propagation of light, the scanner can only obtain three-dimensional data at the current viewing angle. Therefore, a conventional intraoral three-dimensional scanner acquires multi-angle three-dimensional data of different regions of the oral cavity by moving the intraoral scanner to form the three-dimensional topography and texture information of the entire oral cavity by splicing multiple three-dimensional data.

[0056] However, on the one hand: the splicing fluency during the scanning process often depends on the common size of the frame data between the moving speed control and the efficiency of the splicing algorithm. If the scanning is too fast, the splicing loss phenomenon generally can only be solved by back splicing through the common overlapping area, and there may also be a problem that the splicing error caused by the lack of three-dimensional features in the oral cavity cannot obtain the three-dimensional topography of the global framework. Generally, it takes 5-10 minutes to obtain the entire intraoral tooth and gum data.

[0057] On the other hand: the user must manually distinguish the upper and lower jaws, occlusion and other steps during the scanning process, which increases the learning cost of the user, and requires the operator to have certain scanning skills and follow a certain scanning path to complete the scanning. For related practitioners, the learning cost is large, and it is difficult to popularize and promote.

[0058] Therefore, the embodiments of the present application provide a three-dimensional scanner and a three-dimensional scanning system comprising the same, which can accurately collect full-mouth three-dimensional data without the user strictly following a specific scanning path by using a front projection imaging mechanism, thereby reducing the scanning time and difficulty.

[0059] Please refer to Figure 1 The three-dimensional scanner 1 of the embodiments of the present application comprises a shell 10, a projection imaging mechanism 20 and a scanner host 30. The shell 10 forms a receiving space 11, and the projection imaging mechanism 20 and the scanner host 30 are located in the receiving space 11.

[0060] The projection imaging mechanism 20 is configured to emit the scanning light L1. When the scanning light L1 is irradiated on the object 200 to be measured, the object 200 to be measured reflects the scanning light L1 as the detection light L2. The projection imaging mechanism 20 is also configured to collect the detection light L2 to generate the three-dimensional data of the object 200 to be measured. The scanner host 30 is electrically connected to the projection imaging mechanism 20, and is configured to control the timing of the projection imaging mechanism 20 to emit the scanning light L1 and to collect the detection light L2. Specifically, the scanner host 30 includes a timing control circuit which is electrically connected to the projection imaging mechanism 20, and is configured to control the timing of the projection imaging mechanism 20 to emit the scanning light L1 and to collect the detection light L2.

[0061] In at least one embodiment of the present application, the scanner host 30 can further include a heat dissipation system for dissipating heat during the operation of the three-dimensional scanner 1. The heat dissipation system can include, for example, a small fan or the like to cause air flow and reduce the accumulation of internal heat.

[0062] The shell 10 is entirely light-shielded. The shell 10 is in a bar shape. During the use of the three-dimensional scanner 1, a user can hold one end (hereinafter referred to as the hand-held end 12) of the shell 10, extend the other end (hereinafter referred to as the scanning end 13) of the shell 10 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 slightly change the angle and position in the oral cavity to achieve scanning of different regions in the oral cavity.

[0063] The scanning end 13 of the shell 10 is further formed with a light-transmitting portion 14 which serves as a transmission channel for the scanning light L1 and the detection light L2, so that the scanning light L1 in the shell 10 can be emitted from the shell 10 through the light-transmitting portion 14, and the detection light L2 can be incident into the shell 10 through the light-transmitting portion 14 to be collected by the projection imaging mechanism 20.

[0064] Please refer to Figure 1 and Figure 2 together, the projection imaging mechanism 20 includes a substrate 21 and a plurality of projection imaging units 22. Each imaging unit 22 is electrically connected to the scanner host 30. The substrate 21 is fixedly connected to the inner wall of the shell 10, and each projection imaging unit 22 is fixedly connected to the same surface of the substrate 21. Each projection imaging unit 22 is independently encapsulated, and each projection imaging unit 22 is arranged in a linear direction with equal intervals. In other embodiments of the present application, each projection imaging unit 22 can also be arranged with unequal intervals, or can also be arranged in a non-linear direction. For example, in at least one modified embodiment, each projection imaging unit 22 can be irregularly arranged with intervals.

[0065] Each of the projection imaging units 22 comprises a projection head 221, two cameras 222, and a packaging structure 223. The two cameras 222 are symmetrically distributed on both sides of the projection head 221, and the projection head 221 and the two cameras 222 are arranged in a straight line. The packaging structure 223 in each of the projection imaging units 22 is used to maintain and fix the relative positional relationship between the projection head 221 and the two cameras 222 in the projection imaging unit 22. In addition, the packaging structure 223 also covers the outer surfaces of the projection head 221 and the two cameras 222, and is used to protect the projection head 221 and the two cameras 222. By independently packaging each of the projection imaging units 22, it is beneficial to prevent the relative positional and angular deviation of the projection head 221 and the cameras 222, thereby improving the three-dimensional scanning accuracy.

[0066] In other embodiments of the present application, each of the projection imaging units 22 can comprise other numbers of cameras 222, for example, one camera 222 or three or more cameras 222. When each of the projection imaging units 22 comprises one camera 222, the camera 222 is located on one side of the projection head 221. When each of the projection imaging units 22 comprises three or more cameras 222, the three or more cameras 222 can be distributed on both sides of the projection head 221 or surround the projection head 221. Regardless of the number of cameras 222 comprised in each of the projection imaging units 22, the packaging structure 223 in each of the projection imaging units 22 completely covers all the projection heads 221 and cameras 222 in the projection imaging unit 22.

[0067] The projection head 221 and the two cameras 222 in each of the projection imaging units 22 are respectively connected to the scanner host 30. In at least one embodiment, the projection head 221 and the two cameras 222 are electrically connected to the scanner host 30 through conductive pins (not shown) formed on the periphery of the packaging structure 223.

[0068] The projection head 221 is used to generate scanning light L1, and the cameras 222 are used to sense detection light L2 to generate three-dimensional data. The scanning light L1 is structured light, which can be, for example, a regular or random dot array form (i.e., a regular or random dot array light spot pattern is formed when the light beam is projected onto the surface of the object 200 to be measured), or a random small line segment form (i.e., a small line segment light spot pattern is formed when the light beam is projected onto the surface of the object 200 to be measured), or a small line segment form, or a straight line segment form. The length, width and height of the projection head 221 are each less than or equal to 5 mm, and the length, width and height of the camera 222 are each less than or equal to 5 mm. In at least one embodiment, the projection head 221 can be implemented by using a DOE package to reduce the volume. In at least one embodiment, the camera 222 can be implemented by using a micro camera.

[0069] The projection imaging mechanism 20 further comprises a plurality of illumination light sources 23 connected to the scanner host 30. In this way, the illumination light sources 23 are also arranged at the scanning end 13, and the projection imaging mechanism 20 has high integration, so that the scanner structure and the optical path are simpler. The plurality of illumination light sources 23 are fixedly arranged on the surface of the substrate 21 having the projection imaging units 22, and each illumination light source 23 is distributed around each projection imaging unit 22. Specifically, the number of illumination light sources 23 in the projection imaging mechanism 20 is twice the number of projection imaging units 22, and each projection imaging unit 22 corresponds to two illumination light sources 23. Each of the two illumination light sources 23 corresponding to each projection imaging unit 22 is distributed on both sides of the projection imaging unit 22. The illumination light source 23 can be a light-emitting diode for emitting illumination light L3, which is white light. In other embodiments of the present application, the number of illumination light sources 23 in the projection imaging mechanism 20 can be other numbers, for example, the same as the number of projection imaging units 22, or less than the number of projection imaging units 22.

[0070] During the operation of the projection imaging mechanism 20, the scanner host 30 is used to trigger the projection head 221 in each projection imaging unit 22 to emit the scanning light L1 based on the preset frame frequency, and to start or end the exposure of the two cameras 222 according to the preset trigger timing to collect the detection light L2 to generate image data. In the above process, the scanner host 30 is also used to turn on each illumination light source 23 to emit white light (illumination light L3) for illumination.

[0071] The projection head 221 emits a frame of scanning light L1, and the camera 222 collects a frame of detection light L2 and generates a frame of image data. In the entire scanning period, the projection head 221 emits a plurality of frames of scanning light L1 in turn under the trigger timing of the scanner host 30, and the camera 222 emits a plurality of frames of detection light L2 and generates a plurality of frames of image data. The plurality of frames of image data are used for subsequent three-dimensional reconstruction and splicing to obtain the overall three-dimensional information of the object to be measured 200 (including the three-dimensional topography and texture information of the tooth and gum surfaces). In at least one embodiment, in the entire scanning period, the illumination light source 23 is always on, and the scanner host 30 outputs two trigger signals to trigger the operation of the projection head 221 and the camera 222, respectively.

[0072] Each projection head 221 in each projection imaging unit 22 emits scanning light L1 to jointly irradiate the object to be measured 200, and each camera 222 in each projection imaging unit 22 collects detection light L2. That is, not every two cameras 222 in each projection imaging unit 22 only collect the detection light L2 corresponding to the scanning light L1 projected by the projection head 221 in the projection imaging unit 22. The image data generated by each camera 222 in each projection imaging unit 22 is used for subsequent three-dimensional reconstruction and splicing.

[0073] The projection imaging mechanism 20 is arranged in front of the scanning end 13 of the housing 10 as a whole, and the scanner main body 20 is arranged in the middle region of the housing 10 in the length direction. The base plate 21 is arranged with the surface of the projection imaging unit 22 facing the light transmission part 14, so that the projection imaging mechanism 20 is used to directly project the scanning light L1 and the illumination light L3 towards the light transmission part 14, and the detection light L2 incident through the light transmission part 14 is directly collected by the projection imaging mechanism 20 without other optical periods.

[0074] By arranging the projection imaging mechanism 20 in front of the scanning end 13 of the housing 10 as a whole, when the scanning end 13 of the three-dimensional scanner 1 is close to the object to be measured 200 (such as teeth, gums, etc.), a frame of scanning light L1 has a field of view of about 2 teeth, which is beneficial to obtain local fine tooth and gum image data. When the scanning end 13 of the three-dimensional scanner 1 is away from the object to be measured 200, for example, the distance between the scanning end 13 of the three-dimensional scanner 1 and the object to be measured 200 is more than 40 mm, the field of view of a frame of scanning light L1 can be expanded to about 40 mm-50 mm full dentition range, which is beneficial to obtain the frame image data of the full dentition tooth and gum.

[0075] In this way, by arranging the projection imaging mechanism 20 in front of the scanning end 13 of the housing 10 as a whole, combined with the collection of images of far and near scenes, on the one hand, fine high-precision data of the object to be measured 200 can be obtained when the image of the near scene is collected, and on the other hand, fast scanning splicing can be realized when the image of the far scene is collected, which reduces the case rework caused by operation errors or accidental splicing errors. Therefore, the three-dimensional scanner 1 of the embodiment of the present application can quickly (usually can be scanned within 10 s) and accurately obtain the three-dimensional topography and texture information of the full dentition tooth and gum surface in the mouth, and improve the scanning experience of the scanned person (or patient). At the same time, since the scanning light L1 has a large field of view at a long distance, there is no need for strict scanning rules or path requirements during scanning operation, which increases the flexibility of the scanning mode, is beneficial to reduce the learning cost of the operation user (or medical staff), and thus improves the popularity of the three-dimensional scanner 1.

[0076] Please refer to Figure 3 In at least one embodiment of the present application, the three-dimensional scanner 1 further comprises a reflector 40. The reflector 40 is arranged at the scanning end 13 and is used to reflect the received scanning light L1, detection light L2 and illumination light L3. The reflecting surface 41 of the reflector 40 for reflecting the scanning light L1, detection light L2 and illumination light L3 has a 45° angle with the light transmission part 14. The reflector 40 can be directly fixed to the inner wall of the housing 10, or can be fixed to the housing 10 by other support fixing mechanisms (not shown in the figure).

[0077] Figure 3In the illustrated embodiment, the projection imaging mechanism 20 is also positioned at the front of the scanning end 13 of the housing 10, but the entire projection imaging mechanism 20 is placed vertically. That is, in the projection imaging mechanism 20, the surface of the substrate 21 on which the projection imaging unit 22 is provided faces the reflector 40 and is perpendicular to the light-transmitting portion 14. The scanning light L1 and illumination light L3 emitted from the projection imaging mechanism 20 first enter the reflector 40, and then are reflected by the reflector 40 to the light-transmitting portion 14 before being emitted. The detection light L2 entering from the light-transmitting portion 14 first enters the reflector 40, and then is reflected by the reflector 40 to the projection imaging mechanism 20.

[0078] Due to the size limitations of the internal camera and projection head of the 3D scanner 1, a large common field of view is required between each frame of image data to support subsequent image data stitching and reconstruction. However, when the scanning end 13 of the 3D scanner 1 is too close to the object 200, the field of view is small, making it difficult to acquire 3D data within the ideal range. Typically, the projection imaging mechanism 20 needs to be at least a certain distance from the object 200, such as at least 5, 10, or 15 mm, to ensure that each frame of image data has a common field of view. On the other hand, the external dimensions of the scanning end 13 extending into the inlet (especially in the height direction, i.e., the direction perpendicular to the light-transmitting part 14) need to be as small as possible to allow for flexible movement.

[0079] therefore, Figure 3 In the embodiment shown, the projection imaging mechanism 20 is relative to... Figure 1 The embodiment shown involves moving the scanner tip 10mm backward and setting a reflector 40 to deflect the light path. This ensures that the scanning end 13 can acquire a sufficiently large common area for 3D reconstruction and stitching when scanning close to the object 200, while also reducing the height of the front end of the scanning end 13, facilitating access to narrow intraoral spaces. The aforementioned "moving backward" is defined as a translation towards the direction of the scanner host 30. The aforementioned "10mm" is defined as... Figure 1 The geometric center of the projection imaging mechanism 20 in the illustrated embodiment is parallel to... Figure 3 The distance between the geometric centers of the projection imaging mechanism 20 in the illustrated embodiment.

[0080] During the operation of the 3D scanner 1, since the scanning end 13 needs to be inserted into the oral cavity, the warm and humid environment inside the oral cavity can easily cause fogging on the reflective surface 41 of the reflector 40, thus affecting the scanning accuracy.

[0081] Please see Figure 4In at least one embodiment of the present application, the three-dimensional scanner 1 further comprises a defogging mechanism 50. The defogging mechanism 50 is configured to defog the mirror 40 by driving the mirror 40 to oscillate (or to oscillate in two opposite directions, i.e., to rotate at a small angle and at a high speed in two opposite directions alternately) so as to improve the detection accuracy. The mirror 40 further comprises a mounting surface 42 opposite to the reflecting surface 41, and the defogging mechanism 50 is connected to the mounting surface 42 of the mirror 40 and is electrically connected to the scanner main body 30. The defogging mechanism 50 is configured to be controlled by the scanner main body 30 to drive the mirror 40 to oscillate at a preset direction, oscillation amplitude and frequency.

[0082] In addition, by driving the mirror 40 to oscillate, the angle of the light (the scanning light L1, the detection light L2 and the illumination light L3) reflected by the mirror 40 can also be changed.

[0083] For the direction of oscillation, the scanner main body 30 is configured to control the defogging mechanism 50 to drive the mirror 40 to oscillate in at least two directions respectively. For example, the scanner main body 30 is configured to control the defogging mechanism 50 to drive the mirror 40 to oscillate in a first direction and a second direction respectively, and the first direction is perpendicular to the second direction.

[0084] For the oscillation amplitude, the scanner main body 30 is configured to control the defogging mechanism 50 to drive the mirror 40 to have a 360° oscillation freedom in each direction, and is configured to control the defogging mechanism 50 to drive the mirror 40 to rotate the same angle when oscillating. For example, the mirror 40 rotates alternately to the left and to the right around the first axis, and has an oscillation freedom of 180° respectively. In at least one embodiment of the present application, the oscillation freedom of the mirror 40 can be set to ±60°, ±45°, ±30°, etc.

[0085] For the frequency of oscillation, the scanner main body 30 is configured to control the defogging mechanism 50 to drive the mirror 40 to oscillate at the same frequency within the entire scanning period. The more the mirror 40 oscillates in one second, the higher the frequency. For example, the oscillation frequency of the mirror 40 is greater than or equal to 100 times per second (i.e., oscillates at a constant speed for 100 times in one second).

[0086] The defogging mechanism 50 is a micro motor, such as a motor, a voice coil motor or a piezoelectric ceramic motor, configured to drive the mirror 40 to oscillate quickly. Please refer to Figure 5In at least one embodiment, the anti-fog mechanism 50 is a piezoelectric ceramic motor, which includes a fixed seat 51, a piezoelectric body 52, a connecting rod 53, and a rotating wheel 54. The fixed seat 51 is fixedly connected to the housing 10, the piezoelectric body 52 is fixedly connected to the fixed seat 51 and the connecting rod 53 at two ends respectively, and the rotating wheel 54 is connected to one end of the connecting rod 53 away from the piezoelectric body 52. The scanner host 50 outputs a driving voltage to the piezoelectric body 52, so that the piezoelectric body 52 vibrates, the connecting rod 53 transmits the vibration to the rotating wheel 54, and the rotating wheel 54 rotates. The direction of the driving voltage can control the direction of the rotating wheel 54, and the amplitude of the driving voltage can control the angle of the rotating wheel 54. The reflecting mirror 40 is fixedly connected to the rotating wheel 54, and is used to rotate synchronously under the driving of the rotating wheel 54.

[0087] In at least one embodiment of the present application, the anti-fog mechanism 50 can also remove the fog on the reflecting mirror 40 by heating the reflecting mirror 40, so as to improve the detection accuracy. Please refer to Figure 6 In this embodiment, the anti-fog mechanism 50 includes a heat-conducting plate 55, one end of which is connected to the projection imaging mechanism 20, and the other end extends to the mounting surface 42 of the reflecting mirror 40. The heat-conducting plate 55 is made of a material with high thermal conductivity, which is used to conduct the heat generated during the operation of the projection imaging mechanism 20 to the reflecting mirror 40, so that the temperature of the reflecting mirror 40 rises, thereby facilitating the elimination of the fog on the surface of the reflecting mirror 40, preventing the condensation of water droplets, and improving the scanning accuracy. By arranging the heat-conducting plate 55 to have as large a contact area with the projection imaging mechanism 20 and the reflecting mirror 40 as possible, the heating efficiency is improved.

[0088] In at least one embodiment of the present application, the anti-fog mechanism 50 can also remove the fog on the reflecting mirror 40 by blowing air to the reflecting mirror, so as to improve the detection accuracy. In this embodiment, the anti-fog mechanism 50 includes a heating structure and an air blower (not shown), the heating structure continuously generates heat, and the air blower blows the heat of the heating structure to the reflecting mirror 40 in the form of hot air to remove the fog on the surface of the reflecting mirror 40. In at least one embodiment of the present application, the anti-fog mechanism 50 can also only include the air blower, which directly blows the air to the reflecting mirror 40 to remove the fog.

[0089] Please refer to Figure 7 The three-dimensional scanning system 100 of the embodiment of the present application includes any one of the three-dimensional scanners 1 and the control device 2 described above. The control device 2 is connected to the scanner host 30 and the projection imaging mechanism 20, and is used to control the two-way trigger signals output by the scanner host 30, and is also used to receive the image data generated by each camera 222 in the projection imaging mechanism 20, process and calculate the image data, so as to obtain the three-dimensional information of the object 200 to be measured.

[0090] The control device 2 can be a smart terminal (e.g., a computer). The three-dimensional scanner 1 and the control device 2 can be connected by wire or wirelessly to realize signal and data transmission. The object to be measured 200 includes teeth, gums and other tissues in the human oral cavity. The three-dimensional information obtained by the three-dimensional scanning system 100 includes the three-dimensional topography and texture information of the teeth, gums and other parts.

[0091] Please refer to Figure 8 The 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 scanner host 30 and is used to control the two-way trigger signal output by the scanner host 30. The processing and calculation unit 220 is electrically connected to the projection imaging mechanism 20 and the calibration unit 230, respectively.

[0092] The calibration unit 230 stores the relative position relationship of the projection heads 221 in each projection imaging unit 22 that has been calibrated in advance, and stores the conversion relationship between the projection heads 221 and the world coordinate system of the three-dimensional scanner 1 that has been calibrated in advance. The processing and calculation unit 220 is used to directly convert the single-frame three-dimensional data to the world coordinate system of the three-dimensional scanner 1, that is, to splice and combine the single-frame three-dimensional data generated by the camera 222 at each position to obtain full-arch three-dimensional data. During calibration, the images of the calibration board or calibration block are collected by the projection heads 221 at multiple angles at the same time, and the conversion relationship between the two coordinate systems is calculated by using a calibration algorithm.

[0093] 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 systems.

[0094] In at least one embodiment of the present application, when the three-dimensional scanner 1 includes the anti-fog mechanism 50, the anti-fog mechanism 50 can also be electrically connected to the control device 2 to be controlled by the control device 2 to defog the mirror 40.

[0095] In at least one embodiment of the present application, the three-dimensional scanning system 100 can also be used in combination with a scanning rod (not shown) for three-dimensional scanning. The three-dimensional scanner is used to scan the scanning rod in the oral cavity to collect images of the scanning rod, and the control device is used to obtain global data of the scanning rod based on the images, so as to obtain three-dimensional data of the object to be measured.

[0096] In this embodiment, a scanning rod is installed in the mouth of the scanned patient. The scanning rod surface is provided with specific geometric patterns and / or optical coding marks, for example, the geometric patterns can be high-contrast patterns, regular geometric shapes (such as circles, squares), irregular geometric shapes (such as grooves, protrusions), and the marks can be non-coding marks or coding marks, such as non-coding markers or coding markers. The specific geometric patterns and / or marks can be uniformly distributed or non-uniformly distributed on the actual scanning rod. The three-dimensional scanner 1 can determine the spatial pose of the scanning rod by recognizing these marks, providing a stable coordinate system reference for subsequent scanning. In the embodiments of the present application, the three-dimensional scanner 1 has an array type projection imaging unit 22, which can use a large field of view to obtain the image of the scanning rod for full mouth implantation at one time. Multiple cameras can obtain multiple image frames of the mouth with the scanning rod installed at the same position, and the control device can perform three-dimensional reconstruction on the scanning rod based on the multiple image frames, thereby improving the overall accuracy of three-dimensional reconstruction, and improving the success rate of implantation, the matching degree of the repair product and the patient, and the patient's comfort based on the target three-dimensional data for subsequent repair design.

[0097] The surface of the scanning rod has multiple coding markers, i.e., the scanning rod can be a coding scanning rod, and the coding markers can be accurately captured by the three-dimensional scanner 1 as reference points when scanning, helping the three-dimensional scanner 1 to recognize and locate the scanning rod at multiple angles or positions, and ensuring that when the three-dimensional scanner 1 captures the dentition data at different angles, the control device 2 can automatically align and splice the local scanning images through algorithms to form a complete three-dimensional model. In addition, in the embodiments of the present application, the three-dimensional scanner 1 has an array type projection imaging unit 22, which can use a large field of view to obtain the image of the coding scanning rod for full mouth implantation at one time, and the control device 2 can obtain the global data of the coding scanning rod based on the image, which is used to establish a three-dimensional model of the dentition, which is beneficial to improve the accuracy of full mouth implantation.

[0098] The above three-dimensional scanning system 100 of the present application can realize all the beneficial effects of the three-dimensional scanner 1 as described above.

[0099] Those skilled in the art should appreciate that the above embodiments are only used to illustrate the present application, but not used as a limitation to the present application, and any suitable changes and variations made 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 by, The three-dimensional scanner comprises: a housing having a handheld end and a scanning end, the scanning end being formed with a light-transmitting portion; a projection imaging mechanism located in the housing and at the scanning end, the projection imaging mechanism comprising a plurality of projection imaging units independently encapsulated from each other, each of the projection imaging units comprising a projection head and a camera head, the projection head being configured to project scanning light through the light-transmitting portion, and the camera head being configured to receive detection light reflected by an object to be measured according to the scanning light and generate image data of the object to be measured based on the detection light; a scanner host located in the housing and electrically connected to the projection head and the camera head respectively, the scanner host being configured to control triggering timing of the projection head and the camera head. The three-dimensional scanner further comprises a mirror located in the housing and at the scanning end; 2. The three-dimensional scanner of claim 1, wherein, the projection head is configured to project the scanning light towards the mirror, and the mirror is configured to reflect the scanning light to the light-transmitting portion. The three-dimensional scanner further comprises a defogging mechanism located in the housing; 3. The three-dimensional scanner of claim 2, wherein, the defogging mechanism comprises a motor connected to the scanner host and the mirror respectively, the motor being controlled by the scanner host to drive the mirror to vibrate. the motor is controlled by the scanner host to drive the mirror to reciprocally swing in at least first and second directions which are non-parallel to each other with a preset frequency and a preset swing amplitude.

4. The three-dimensional scanner of claim 3, wherein, The three-dimensional scanner further comprises a defogging mechanism located in the housing; 5. The three-dimensional scanner of claim 2, wherein, the defogging mechanism comprises a heat-conducting plate connected to the projection imaging mechanism and the mirror respectively, the heat-conducting plate being configured to conduct heat from the projection imaging mechanism to the mirror to heat the mirror. Each of the projection imaging units comprises a projection head and two camera heads symmetrically distributed on two sides of the projection head; and / or 6. The three-dimensional scanner of any one of claims 1-5, wherein, the projection imaging mechanism further comprises an illumination light source located at a periphery of the plurality of projection imaging units, the illumination light source being configured to emit illumination light. The three-dimensional scanner comprises:

7. A three-dimensional scanning system, characterized by the three-dimensional scanner according to any one of claims 1 to 6; and a control device electrically connected to the camera heads of the plurality of projection imaging units, the control device being configured to obtain three-dimensional data of the object to be measured based on the image data generated by each of the projection imaging units. When the three-dimensional scanner comprises a mirror, the three-dimensional scanner further comprises a defogging mechanism located in the housing, the defogging mechanism being connected to the control device and the mirror respectively, the defogging mechanism being controlled by the control device to defog the mirror. The control device comprises a processing and computing unit and a calibration unit connected to each other, the calibration unit being configured to obtain and / or store a conversion relationship between a global coordinate system of the three-dimensional scanner and a coordinate system of the scanning head in each of the projection imaging units; 8. The three-dimensional scanning system of claim 7, wherein, the processing and computing unit is configured to stitch the image data generated by each of the projection imaging units based on the conversion relationship to obtain the three-dimensional data of the object to be measured.

9. The three-dimensional scanning system of claim 8, wherein, The three-dimensional scanner is configured to scan a scanning rod in an oral cavity to collect images of the scanning rod, and the control device is configured to obtain global data of the scanning rod based on the images to obtain the three-dimensional data of the object to be measured. ​ 10. The three-dimensional scanning system of claim 7, wherein, ​

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