Optical scanning device and optical scanning system

Abstract

The application relates to an optical scanning device and an optical scanning system. The optical scanning device comprises a first light source, a light guide, a first imaging assembly, a positioning light source and a second imaging assembly. The first light source is used for emitting illumination light, the illumination light is incident on a scanning object after passing through the light guide, the illumination light scattered by the scanning object is incident on the first imaging assembly through the light guide, and a detection image is generated in the first imaging assembly; the positioning light source is used for emitting positioning light towards the scanning object, the positioning light forms a positioning pattern with position information on the scanning object; and the second imaging assembly is used for acquiring the positioning pattern. The optical scanning device is convenient to use and has high positioning accuracy, and can solve the problems of discomfort and the need for customization of a traditional head-mounted target.

Description

Technical Field

[0001] This application relates to the field of optical scanning and detection technology, and in particular to an optical scanning device and an optical scanning system. Background Technology

[0002] Optical scanning systems for scanning deep-hole objects represent a significant branch of current 3D scanning technology. They aim to quickly and accurately acquire 3D images of the inner walls of deep holes (such as small-diameter, deep-hole workpieces, and the human ear canal / trachea). Some optical scanning systems incorporate head-mounted targets for binocular camera positioning. However, this method requires the head-mounted target to be firmly fixed to the user's head, causing significant discomfort. Insecure fixation can also lead to failed 3D reconstruction, necessitating a restart. Furthermore, different customized head-mounted targets may be required for compatibility with different users. Utility Model Content

[0003] Therefore, it is necessary to provide an optical scanning device and optical scanning system to address the issues of discomfort when wearing head-mounted targets and the need for customization for different users in related technologies.

[0004] An optical scanning device, the optical scanning device comprising:

[0005] The system comprises a first light source, a light guide, and a first imaging component. The first light source emits illumination light, which passes through the light guide and is incident on the scanned object. The illumination light scattered by the scanned object passes through the light guide and is incident on the first imaging component, where a detection image is generated.

[0006] A positioning light source, wherein the positioning light source emits positioning light toward the scanned object, the positioning light forming a positioning pattern with positional information on the scanned object; and...

[0007] A second imaging component is used to acquire the positioning pattern.

[0008] In one embodiment, the positioning light source includes at least one speckle projector, and the positioning pattern is a speckle pattern.

[0009] In one embodiment, the second imaging component includes at least two cameras, each of which is disposed around the periphery of the light guide.

[0010] In one embodiment, the positioning light source includes two of the speckle projectors, and the second imaging component includes two of the cameras;

[0011] Along the first direction, the two speckle projectors are respectively disposed on opposite sides of the light guide;

[0012] The two cameras correspond one-to-one with the two speckle projectors, and the corresponding camera is located between the light guide and the corresponding speckle projector.

[0013] In one embodiment, the optical scanning device further includes a base on which both the speckle projector and the camera are mounted.

[0014] In one embodiment, the distance between the camera and the corresponding speckle projector along the first direction is in the range of 5mm-20mm.

[0015] In one embodiment, the field of view α of the second imaging component satisfies: 140°≤α≤180°.

[0016] In one embodiment, the optical scanning device further includes a second light source for projecting line laser light onto the object being scanned.

[0017] In one embodiment, the angle j between the emission direction of the line laser and the emission direction of the illumination light satisfies: j≤45°, and the focal length h of the second light source satisfies: 30mm≤h≤150mm.

[0018] In one embodiment, the first imaging component includes an image sensor and an imaging lens. The light guide defines a receiving cavity, and both the image sensor and the imaging lens are located within the receiving cavity. The image sensor is located between the first light source and the imaging lens. The illumination light scattered by the scanned object passes sequentially through the light guide and the imaging lens and is incident on the image sensor.

[0019] In one embodiment, the object being scanned is an ear.

[0020] In one embodiment, the optical scanning device further includes a main control unit, which is used to realize the spatial positioning of the optical scanning device according to the positioning pattern.

[0021] An optical scanning system includes a main processor, a display unit, and an optical scanning device as described in any of the above embodiments. The main processor is used for processing and calculating the detected image, and the display unit is used for displaying a reconstructed model of the scanned object.

[0022] The aforementioned optical scanning device integrates the second imaging component, positioning light source, and first imaging component into a single unit. This eliminates the need for an additional head-mounted target for positioning the object being scanned or the device itself, avoiding the discomfort and customization issues associated with head-mounted targets, and resolving the problem of unstable head-mounted targets affecting scanning accuracy. The optical scanning device uses a positioning light source to emit positioning light towards the object being scanned, forming a positioning pattern with location information on the object. The second imaging component acquires this positioning pattern, which is synchronized with the first. The depth information from the positioning pattern acquired by the second imaging component can be used to stitch the detection image acquired by the first imaging component into the same coordinate system, achieving spatial positioning of the object or the optical scanning device. This also facilitates the reconstruction of the object's three-dimensional morphology, enabling three-dimensional scanning of structures such as deep holes. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of an optical scanning device in some embodiments.

[0024] Figure 2 This is a schematic diagram of the structure of an optical scanning system in one embodiment of this application.

[0025] Figure 3 This is a schematic diagram showing that the emission direction of the linear laser is at an angle to the axis in some embodiments.

[0026] Figure 4 This is a schematic diagram of the structure in which the illumination light of the optical scanning device forms a ring light in some embodiments.

[0027] Figure 5 This is a schematic diagram of the speckle projector in some embodiments.

[0028] Figure 6 This is a schematic diagram of the structure in some embodiments where an optical scanning device extends into the channel of the object being scanned.

[0029] Figure 7 This is a schematic diagram of a structure in some embodiments where the reflective surface is located on the dust plug.

[0030] Figure 8 This is a schematic diagram of a structure in some embodiments where the reflective surface is located on the light guide.

[0031] Figure 9 This is a schematic diagram of a structure in some embodiments where multiple sub-reflective surfaces are disposed on the light-emitting surface.

[0032] Figure 10 for Figure 9 The illustrated embodiment is a schematic diagram of a structure that forms multiple concentric light rings.

[0033] Figure 11 This is a schematic diagram of a structure in some embodiments in which multiple sub-first light sources are disposed at one end of a light guide.

[0034] Figure 12 This is a schematic diagram of the structure of multiple sub-first light sources in some embodiments.

[0035] Figure 13 This is a schematic diagram of the structure of multiple first sub-lenses in some embodiments.

[0036] Figure 14 This is a schematic diagram of a structure in some embodiments in which multiple sub-spotlights are disposed around the light guide.

[0037] Figure 15 This is a schematic diagram of the structure of the detection component including a dichroic mirror in some embodiments.

[0038] Explanation of icon numbers:

[0039] 10. Optical scanning system;

[0040] 200, Positioning light source; 110, Fill light; 120, Light-emitting element; 130, Collimating lens; 140, Diffractive optical element; 150, Lens mount; 100, Second imaging assembly; 600, Second light source; 400, Handle; 500, Base;

[0041] 11. First light source; 12. First collimating lens; 2. Light guide; 3. Reflecting surface; 4. Image sensor; 5. Imaging lens; 61. First light shield; 62. Second light shield; 63. Third light shield; 64. Fourth light shield; 65. Blocking component; 7. Dust plug; 91. Main control unit; 92. Main processor; 94. Scanning object. Detailed Implementation

[0042] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0043] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0046] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0048] See Figure 1 and Figure 2 As shown, the optical scanning device provided in this application includes a first light source 11, a light guide 2, and a first imaging component. The first light source 11 emits illumination light, which passes through the light guide 2 and is incident on the scanning object 94. The illumination light scattered by the scanning object 94 passes through the light guide 2 and is incident on the first imaging component, where a detection image is generated. The optical scanning device also includes a positioning light source 200 and a second imaging component 100. The positioning light source 200 emits positioning light toward the scanning object 94, and the positioning light forms a positioning pattern with positional information on the scanning object 94. The second imaging component 100 is used to acquire the positioning pattern.

[0049] The aforementioned optical scanning device integrates the second imaging component 100, the positioning light source 200, and the first imaging component into a single optical scanning device. This eliminates the need for an additional head-mounted target to position the scanned object or the optical scanning device, avoiding the discomfort and customization issues associated with head-mounted targets, and resolving the problem of unstable head-mounted targets affecting scanning accuracy. The optical scanning device uses the positioning light source 200 to emit positioning light towards the scanned object 94, forming a positioning pattern with location information on the scanned object 94. The second imaging component 100 acquires this positioning pattern of the scanned object 94. Synchronized with the first imaging component, the second imaging component 100 can utilize the depth information of the positioning pattern acquired by the second imaging component to stitch the detection image acquired by the first imaging component into the same coordinate system, achieving spatial positioning of the scanned object 94 or the optical scanning device. This also facilitates the reconstruction of the three-dimensional morphology of the scanned object 94, enabling three-dimensional scanning of structures such as deep holes.

[0050] In some embodiments, the positioning light source 200 includes a speckle projector, and the positioning pattern is a speckle pattern projected by the speckle projector. Compared with physical landmarks such as head-mounted targets, speckle can provide more feature points, has stronger anti-occlusion capabilities, and can acquire richer and more complete information. For example, the positioning light source 200 may include two speckle projectors, and the second imaging component 100 includes two cameras. Along the first direction, the two speckle projectors are respectively disposed on opposite sides of the light guide 2. The two cameras correspond one-to-one with the two speckle projectors, and the corresponding camera is disposed between the light guide 2 and the corresponding speckle projector.

[0051] The second imaging component 100 can be a binocular camera or a trinocular camera. For example, the second imaging component 100 includes at least two cameras, each disposed around the periphery of the light guide 2. A binocular camera can directly calculate scene depth through the parallax between the two cameras, achieving 3D perception and distance measurement without needing to identify object categories. A trinocular camera, on the other hand, has multiple baseline combinations, which can simultaneously optimize depth accuracy at both near and far distances, offering greater adaptability. Therefore, using either a binocular or trinocular camera facilitates accurate acquisition of the spatial position of the scanned object 94.

[0052] It should be noted that the positioning pattern in this embodiment can be multiple positioning markers or multiple speckles. The second imaging component 100 obtains the position of the scanning object 94 relative to multiple positioning markers or multiple speckles, thereby facilitating the accurate acquisition of the spatial position of the optical scanning device and realizing spatial positioning.

[0053] It is understood that the spatial positioning achieved in this application is mainly achieved by calculating the spatial pose of the current device relative to the marker points or speckles of the positioning pattern obtained or collected by the second imaging component 100. Specifically, the detection image generated by the first imaging component can be a ring pattern. The second imaging component 100 acquires or generates the corresponding image synchronously with the first imaging component. Thus, the depth information of the positioning pattern acquired by the second imaging component 100 can be used to stitch the ring pattern data synchronously generated by the first imaging component during the scanning process into the same coordinate system, thereby achieving the spatial positioning of the optical scanning device, which is beneficial for reconstructing the shape of the scanned object 94.

[0054] The field of view α of the second imaging component 100 can be 140°-180°, for example, 140°, 150°, 160°, 170°, or 180°. Setting two speckle projectors effectively covers the field of view of both cameras, improving the richness and accuracy of the positional information acquired by the second imaging component 100. Simultaneously, setting speckle projectors on both sides of the camera avoids the problem of severe speckle deformation where a single speckle projector has an excessively large tilt angle, allowing both cameras to capture speckles with minimal deformation, which is more conducive to the reconstruction of 3D image information. The second imaging component 100 can be a binocular camera, and the field of view α of a binocular camera can be 140°-180°.

[0055] In some embodiments, the optical scanning device further includes a base 500, on which the speckle projector of the positioning light source 200 and the camera of the second imaging component 100 are both mounted. By fixing and positioning the positioning light source 200 and the second imaging component 100 using the base 500, the integration of the optical scanning device can be improved, its size reduced, and the relative positioning accuracy between the positioning light source 200 and the second imaging component 100 can be improved, as well as their matching accuracy.

[0056] In some embodiments, the second imaging component 100 may be a binocular camera, and the number of speckle projectors is at least two. Along a first direction, the distance between the camera and the corresponding speckle projector is in the range of 5mm-20mm, for example, 5mm, 10mm, 15mm, or 20mm. Preferably, it is in the range of 12mm-20mm, and can be 12mm, 15mm, or 20mm, etc. The first direction can be a direction passing through the binocular camera and the speckle projector. This arrangement ensures that the distance between the speckle projector and the camera is not too close, allowing the speckle projector to effectively cover the camera's field of view, while also preventing the distance from being too far, which helps to reduce the size of the optical scanning device and avoids the situation where the speckle projector cannot cover the central area between the two cameras.

[0057] refer to Figure 1 and Figure 2 As shown, in some embodiments, the optical scanning device further includes a second light source 600, which projects line laser light onto the scanned object 94. The first light source 11 projects ring light into the aperture of the scanned object 94, and the second light source 600 projects line laser light onto the portion outside the aperture of the scanned object 94. The first imaging component is used to acquire an image of the ring light and line laser light projected onto the scanned object 94. The optical scanning device can convert the laser data in the image into spatial point cloud data to reconstruct the shape of the scanned object 94.

[0058] In some embodiments, when the scanned object 94 is an ear, the first light source 11 projects a ring light into the opening of the external auditory canal, and the second light source 600 projects a line laser onto the auricle. The first imaging component is used to acquire images of the ring light and the line laser projected onto the external auditory canal and the auricle. The optical scanning device converts the laser data in the image into spatial point cloud data to reconstruct the shape of the ear.

[0059] In some embodiments, the present application achieves spatial positioning mainly by calculating the spatial pose of the current device relative to the positioning pattern of the marker point or speckle pattern through the positioning pattern acquired or collected by the second imaging component 100. The second imaging component 100 and the first imaging component synchronously acquire the corresponding image. The optical scanning device then stitches the annular pattern and line laser pattern data acquired synchronously during the scanning process into the same coordinate system, thereby achieving spatial positioning of the optical scanning device and reconstructing the shape of the scanned object 94.

[0060] refer to Figure 3 As shown, in some embodiments, the angle j between the emission direction of the line laser and the axis satisfies: j ≤ 45°, and the angle j can be 0°, 5°, 10°, 20°, 30°, 37°, 38°, 40°, 43°, or 45°. Thus, when the main processor 92 or the main control unit 91 uses the algorithm to reconstruct the three-dimensional structure within the channel of the scanned object 94, the line width of the line laser is relatively fine, and it is convenient to image from positions in front of the optical scanning device.

[0061] In this embodiment, the focal length h of the second light source 600 satisfies: 30mm ≤ h ≤ 150mm. The focal length h can be 30mm, 40mm, or 50mm. Satisfying this relationship ensures that the focal length of the second light source 600 is within a suitable range. It is understood that if the focal length of the second light source 600 is too small, it will be too close to the light guide 2, causing interference and affecting the smooth transmission of the line laser. If the focal length of the second light source 600 is too large, it will result in an excessively large size for the optical scanning device, hindering its miniaturization design.

[0062] The light guide 2 is disposed at the light-emitting end of the first light source 11, and the light guide 2 defines a receiving cavity. It can be understood that, on the one hand, the illumination light emitted from the first light source 11 propagates through the light guide 2, and on the other hand, the interior of the light guide 2 is hollow, forming a receiving cavity to accommodate the first imaging component.

[0063] refer to Figure 2As shown, in some embodiments, the first imaging component includes an image sensor 4 and an imaging lens 5. The image sensor 4 and the imaging lens 5 are located within a receiving cavity, with the image sensor 4 positioned between the first light source 11 and the imaging lens 5. Illumination light scattered by the scanned object 94 passes sequentially through the light guide 2 and the imaging lens 5, and then enters the image sensor 4 to acquire the detection image. The imaging lens 5 helps to increase the range of light collection and the detection image range, thereby improving image acquisition efficiency. Simultaneously, since both the image sensor 4 and the imaging lens 5 are located within the receiving cavity of the light guide 2, the complexity of the first imaging component is reduced, and the difficulty of assembly and adjustment is lowered, significantly reducing the cost of the first imaging component, resulting in a compact structure that facilitates miniaturization design.

[0064] like Figure 2 As shown, in some embodiments, the optical scanning device further includes a main control unit 91, which is electrically connected to the first imaging component and is used to acquire the detection image acquired by the first imaging component. After acquiring the detection image, the main control unit 91 performs further processing.

[0065] Continue reading Figure 2 In some embodiments, the main control unit 91 is connected to the second imaging component 100, the first light source 11, the second light source 600, and the image sensor 4, respectively. The main control unit 91 controls the activation and deactivation of the first light source 11 and the second light source 600, as well as the imaging actions of the image sensor 4 and the second imaging component 100. Furthermore, the main control unit 91 can synchronize the image acquisition and transmission of the image sensor 4 and the second imaging component 100, thereby obtaining real-time positioning information of the scanned object 94 or the optical scanning device. In one example, the main control unit 91 controls the image acquisition and transmission of the image sensor 4 and the second imaging component 100 to be synchronized, enabling the second imaging component 100 and the first imaging component to simultaneously acquire corresponding images. This allows the synchronously acquired annular pattern data and line laser pattern data during the scanning process to be merged and stitched together under the same coordinate system, thereby achieving spatial positioning of the scanned object 94 or the optical scanning device.

[0066] In some embodiments, an optical scanning system 10 is provided. The optical scanning system 10 includes an optical scanning device and a main processor 92. The main processor 92 and the optical scanning device can be connected via wired or wireless means (e.g., Bluetooth or Wi-Fi). The main processor 92 is used for processing and calculating the detected image and generating a reconstructed model of the scanned object 94. The reconstructed model can be a three-dimensional structural model of the channel within the scanned object 94. Further, the optical scanning system 10 also includes a display unit for displaying the reconstructed model of the scanned object 94. In one example, the main processor 92 can be connected to a main control unit 91.

[0067] In some embodiments, the spatial position of the optical scanning device can be obtained based on the positioning pattern acquired by the second imaging component. This facilitates the main processor 92 in reconstructing the three-dimensional structure of the scanned object 94 using algorithms based on the spatial position of the scanned object 94 and in conjunction with the detected image. It should be noted that the main processor 92 can be integrated into the optical scanning device, for example, the main processor 92 can be integrated into the main control unit 91. Of course, the main processor 92 may also not be integrated into the main control unit 91; the main processor 92 can also be located on a computer, server, cloud device, or other device outside the optical scanning device. The location and setting method of the main processor are not limited in this application.

[0068] In some embodiments, the main processor 92 and the display unit may be located inside the computer host, and the computer host and the optical scanning device may be connected via wired, Bluetooth or Wi-Fi.

[0069] The first light source 11 of this application can be a laser or other collimable light source, which has a heat dissipation structure and can provide light radiation for the illumination system. Its light wavelength can be in the blue and violet light bands, thereby helping to reduce diffraction and scattering and improve detection accuracy.

[0070] In some embodiments, the optical scanning device further includes a reflective element having a reflective surface 3. The reflective surface 3 is arranged axially around the light guide 2 on the side away from the first light source 11. Illumination light is reflected by the reflective surface 3 in a direction away from the light guide 2 to the scanning object 94. Alternatively, illumination light is incident on the reflective surface 3 through the light guide 2 and reflected by the reflective surface 3 to the scanning object 94 around the probe. The axial direction is parallel to the direction from the first light source 11 to the light guide 2. (Reference) Figure 4 As shown, the illumination light is reflected by the reflective surface 3 and forms a ring-shaped structured illumination on the scanned object 94.

[0071] The first imaging component is housed within the receiving cavity. Illumination light scattered by the scanned object 94 passes through the light guide 2 and enters the first imaging component, generating a detection image within it. It can be understood that illumination light scattered back from the scanned object 94 can pass through the light guide 2 and enter the first imaging component. The first imaging component can receive the illumination light scattered back from the scanned object 94 and generate a ring-shaped detection image covering a 360° area around the light guide 2. The placement of the first imaging component within the receiving cavity also helps improve the structural compactness of the optical scanning device, facilitating its miniaturization design.

[0072] The optical scanning device of this application utilizes a light guide 2 and a reflective surface 3 to simultaneously illuminate a 360° area surrounding the light guide 2. Combined with a first imaging component located inside the receiving cavity, it can simultaneously acquire a detection image of the 360° area surrounding the light guide 2. This allows the probe to extend into the scanned object 94. Especially for deep-hole objects 94, the optical scanning device extends into the hole of the scanned object 94, simultaneously illuminating and detecting a 360° area surrounding the sidewall of the hole. The illuminated area of ​​the scanned object 94 scatters the illumination light, which passes through the light guide 2 and enters the first imaging component, forming a ring-shaped detection image on the first imaging component. This improves the convenience of illumination and detection in the optical scanning device of this application.

[0073] It should be noted that the actual ring-shaped detection image is related to the three-dimensional structure of the inner wall of the pore of the scanned object 94. The ring-shaped detection image carries the three-dimensional structural information of the inner wall of the deep-hole scanned object 94, and can be directly used as the original image for three-dimensional reconstruction, without the need for multiple image stitching as in related technologies.

[0074] In this embodiment, the material of the light guide 2 can be optical glass, or polymer materials such as polystyrene (PS), polycarbonate (PC), polymethyl methacrylate (PMMA), etc., without much limitation.

[0075] In this embodiment, the light guide 2 defines the inner wall of the receiving cavity as a cylindrical surface, the outer wall of the light guide 2 as a cylindrical surface concentric with the inner wall, and the light incident surface of the end of the light guide 2 facing the first light source 11 as a plane. Furthermore, the roughness of all surfaces of the light guide 2 can reach the optical surface level. Therefore, the light guide 2 of this application can provide better light transmission for illumination light; that is, the tube wall of the light guide 2 forms an optical waveguide, allowing light to propagate within the tube wall of the light guide 2.

[0076] In this embodiment, the object being scanned 94 is the ear. A portion of the optical scanning device extends into the ear canal to detect the ear canal.

[0077] In this embodiment, the detection image is a ring pattern to detect scanned objects 94 with pore structures, such as images inside the ear canal. It can simultaneously illuminate and detect a 360° area around the pore sidewalls, generating a detection image of the 360° area of ​​the pore sidewalls without requiring multi-angle probe movement and image stitching.

[0078] In this embodiment, the first imaging component is a monocular camera. It acquires the light scattered by the scanned object 94 and generates a detection image.

[0079] In some embodiments, such as Figure 1A supplementary light 110 can also be provided at the second imaging component 100 to improve the imaging effect of the positioning pattern. Multiple supplementary lights 110 can be provided, and these lights can be arranged at intervals along the circumference of the camera of the second imaging component 100. When the camera is an infrared camera, the supplementary lights 110 can be used to emit infrared light to illuminate the camera, thereby improving the shooting quality of the second imaging component 100.

[0080] In some embodiments, the optical scanning device further includes an Inertial Measurement Unit (IMU), which can be used to measure the motion state of an object. The IMU may include a gyroscope and an accelerometer. The gyroscope can be used to measure angular velocity to reflect the rotational state of the object, and the accelerometer can be used to measure linear acceleration to reflect the translational state of the object. In the optical scanning device, the IMU can be used to coarsely locate the scanned object 94, such as an ear. The position information acquired by the second imaging component 100 can be used to perform coarse positioning using the data acquired by the IMU, thereby achieving precise registration of the detection image generated by the first imaging component. This reduces the performance requirements of the optical scanning device for acquiring position information and also helps to improve the registration speed.

[0081] Combination Figure 5 As shown, Figure 5 This is a schematic diagram of the speckle projector structure in some embodiments of this application. In some embodiments, the speckle projector includes a light-emitting element 120, a collimating lens 130, a diffractive optical element 140, and a mirror base 150. The light-emitting element 120, the collimating lens 130, and the diffractive optical element 140 are all mounted in the mirror base 150. The collimating lens 130 and the diffractive optical element 140 are arranged sequentially in the light emission direction of the light-emitting element 120. The light-emitting element 120 may include a laser or LED light-emitting dot array. The light emitted by the light-emitting element 120 is collimated by the collimating lens and diffracted by the diffractive optical element 140 before being projected out of the mirror base 150 to form a positioning pattern.

[0082] The speckle pattern used as the positioning pattern can be an irregular pattern, such as irregularly arranged speckles (dots), which allows the surface of the scanned object 94 to form an irregular texture, thereby better acquiring depth data information. In this application, the position information acquired by the second imaging component 100 can provide coordinates for each frame of the detection image during the scanning process, thereby realizing the stitching of the ear canal image and the auricle image.

[0083] like Figure 2As shown, in some embodiments, the distance D between the first imaging component and any point on the reflecting surface 3 along the axial direction satisfies: 3mm ≤ D ≤ 5mm, where the distance D can be 3mm, 4mm, or 5mm. Satisfying this range ensures that the first imaging component receives the illumination light scattered by the scanned object 94 and transmitted through the light guide 2 to the first imaging component more comprehensively; in other words, it enables the first imaging component to acquire all the ring light, reducing the risk that the illumination light scattered by individual parts of the scanned object 94 cannot be acquired by the first imaging component, thus reducing the risk of incomplete detection images of the ring pattern formed by the first imaging component.

[0084] In this embodiment, the number of imaging lenses 5 can be one or more. When there is only one imaging lens 5, the light transmittance of the first imaging component is high, and it also has the advantages of low cost, simple structure, and easy installation and debugging. It should be noted that the number of imaging lenses 5 is not limited, and the specific settings can be designed according to actual needs, which will not be elaborated on here.

[0085] In this embodiment, other lenses may also be provided between the image sensor 4 and the imaging lens 5, or on the side of the imaging lens 5 away from the image sensor 4, to improve the quality of light received by the image sensor 4.

[0086] In some embodiments, the first imaging component further includes a housing, in which the image sensor 4 and the imaging lens 5 are both disposed. This is beneficial for improving the integration of the image sensor 4 and the imaging lens 5, and for mass production of the image sensor 4 and the imaging lens 5, thereby reducing the manufacturing difficulty of the image sensor 4 and the imaging lens 5.

[0087] In this embodiment, the outer diameter 'a' of the housing satisfies: 1mm ≤ a ≤ 3mm, a ≤ b, where b is the inner diameter of the light guide 2 along its radial direction, and the radial direction is perpendicular to the axial direction. For example, the outer diameter 'a' of the housing can be 1mm, 2mm, or 3mm. Satisfying the above range allows the outer diameter of the first imaging component, including the image sensor 4, imaging lens 5, and housing, to be within 1mm-3mm, thus enabling the first imaging component to be disposed within the light guide 2. Simultaneously, it allows the outer diameter of the light guide 2 to be within a suitable size range, thereby allowing one end of the optical scanning device to extend into the deep-hole-shaped scanning object 94 for detection. The first imaging component can be an endoscope module.

[0088] refer to Figure 6 As shown, in some embodiments, the outer diameter r1 of the light guide 2 satisfies: 2mm ≤ r1 ≤ 4mm, meaning that the maximum radial dimension of the optical scanning device at the end near the image sensor 4 and the imaging lens 5 can be controlled within the range of 2mm-4mm. For example, the outer diameter r1 of the light guide 2 can be 2mm, 3mm, or 4mm.

[0089] It is understood that the diameter of the scanning object 94, especially the ear canal, is usually around 8 mm. The outer diameter of the light guide 2 meets the above range, which helps to control the maximum radial dimension of the optical scanning device at the end near the image sensor 4 and the imaging lens 5 to within 4 mm. This helps to create a gap between the part of the optical scanning device that extends into the scanning object 94 and the scanning object 94, especially the ear canal. This allows the illumination light emitted from the first light source 11 to be smoothly reflected into the ear canal wall through the light guide 2 and the reflecting surface 3. The light scattered by the ear canal wall can be smoothly incident on the first imaging component and generate a relatively complete detection image with a ring pattern in the first imaging component, thereby obtaining the three-dimensional structural information of the ear canal.

[0090] In some embodiments, the light guide 2 can be conical, cylindrical, or other shapes, and this application is not limited thereto. Preferably, the light guide 2 is cylindrical, and the optical axis of the laser coincides with the central axis of the light guide 2, which is parallel to the axial direction. This helps to improve the stability of the illumination light propagating through the light guide 2, allowing the illumination light to be conducted from the sidewall of the light guide 2 to the reflecting surface 3, and then reflected by the reflecting surface 3 to the scanning object 94, ultimately forming a ring pattern on the scanning object 94. Furthermore, since the light guide 2 is cylindrical, the divergence angle of the illumination light propagating within the cylindrical waveguide (equivalent to a linear waveguide) is relatively small, resulting in high contrast of the ring pattern acquired by the first imaging element.

[0091] In some embodiments, the light guide 2 is a cylindrical structure, and the wall thickness h of the light guide 2 satisfies: 0 mm < h ≤ 1 mm. The wall thickness h of the light guide 2 can be 0.1 mm, 0.3 mm, 0.5 mm, 0.7 mm, or 1 mm. Preferably, the wall thickness of the light guide 2 is 0.5 mm. Satisfying the above range, the wall thickness of the light guide 2 is within a suitable range, which is beneficial for the ring light passing through the light guide 2 to have a finer linewidth, and for improving the accuracy of the main processor 92 in reconstructing the three-dimensional structure within the channel of the scanned object 94 based on the detected image. Preferably, the wall thickness h of the light guide 2 is 0.5 mm, which further improves the accuracy of the main processor 92 in reconstructing the three-dimensional structure within the channel of the scanned object 94.

[0092] In some embodiments, and along the axial direction, the distance l between the image sensor 4 and the imaging lens 5 satisfies: l < r2, where r2 is the radius of the scanned object 94 along the radial direction of the light guide 2, and the radial direction of the light guide 2 is perpendicular to the axial direction of the light guide 2. Satisfying the above range, the distance between the imaging lens 5 and the image sensor 4 is less than the radius of the scanned object 94, which is beneficial for keeping the field of view of the image sensor 4 within a suitable range, allowing the image sensor 4 to generate a more complete detection image after scanning the scanned object 94.

[0093] It should be noted that the scanning object 94 in this application can be a regular cylinder or an irregular channel. If the scanning object 94 is a regular cylinder, then the radius r2 of the scanning object 94 represents the radius of the circular cross-section of the cylindrical channel of the scanning object 94. If the scanning object 94 is an irregular channel, then the radius r2 of the scanning object 94 represents the radius of the smallest inscribed circle formed by any point in the irregular channel around a preset axis, and the preset axis is parallel to the extension direction of the channel of the scanning object 94.

[0094] In some embodiments, the field of view θ of the first imaging component satisfies: 120 ≤ θ ≤ 180. Wherein, the field of view θ of the first imaging component can be 120°, 150°, 160°, or 180°. Satisfying the above range further facilitates the first imaging component in obtaining a more complete ring light, thereby enabling the first imaging component to generate a complete ring-shaped detection image and resulting in better integrity of the detection image.

[0095] Continue reading Figure 1 and Figure 2 In some embodiments, the light-shielding assembly further includes a blocking member 65, which is disposed within the receiving cavity and spaced between the first light source 11 and the first imaging assembly. The blocking member 65 is used to block the illumination light from the first light source 11 that directly incident into the first imaging assembly along the axial direction. This effectively reduces the interference of the illumination light directly emitted from the first light source 11 and passing through the first collimating lens 12 on the first imaging assembly, thereby improving image quality.

[0096] like Figure 2 In some embodiments, the shielding member 65 is located on the side of the first imaging assembly facing the first light source 11, and the outer wall of the shielding member 65 abuts against the inner wall of the receiving cavity. This further reduces the risk of illumination light from the first light source 11 directly passing through the light guide 2 and interfering with the first imaging assembly, thereby improving the quality of the detected image. Furthermore, the shielding member 65 can also block and prevent dust from entering the receiving cavity facing the first light source 11.

[0097] In this embodiment, the first imaging component can be mounted on the shielding member 65, with a channel provided within the shielding member 65 for the cables electrically connected to the first imaging component to pass through. Alternatively, a fixing structure can be used to fix the first imaging component to the shielding member 65. The specific design can be selected according to actual needs and will not be elaborated here.

[0098] In some embodiments, the shielding member 65 is configured to include a first shielding portion and a second shielding portion. The first shielding portion is located on the side of the first imaging assembly facing the first light source 11, and the second shielding portion is connected to the first shielding portion and is located along the radial direction of the light guide 2. The second shielding portion is located between the first imaging assembly and the light guide 2, wherein the radial direction is perpendicular to the axial direction.

[0099] It can be understood that the first blocking part is used to block the illumination light from the first light source 11 that is directly incident into the first imaging assembly along the axial direction. This can effectively reduce the interference of the illumination light directly emitted from the first light source 11 and passing through the first collimating lens 12 on the first imaging assembly, thereby improving the imaging quality.

[0100] The second shielding part is disposed between the first imaging component and the light guide 2, which can reduce the risk of the illumination light 11 incident on the light guide 2 and propagating directly passing through the light guide 2 into the first imaging component and interfering with the first imaging component, thereby helping to further improve the quality of the detection image.

[0101] Continue reading Figure 2 As shown, in some embodiments, the optical scanning device further includes a light-shielding component, which is partially disposed on the light guide 2. The light-shielding component defines a first gap and a second gap. Illumination light passing through the light guide 2 exits through the first gap and is emitted to the scanning object 94. Illumination light scattered by the scanning object 94 enters the first imaging component through the second gap. In this way, corresponding independent transmission channels are defined, which helps to reduce stray light interference and allows the illumination light and scattered light to have independent transmission paths, thereby improving the imaging quality and detection accuracy of the optical scanning device.

[0102] In this embodiment, please continue to refer to Figure 2 The light-shielding assembly includes a first light-shielding member 61, a second light-shielding member 62, and a third light-shielding member 63. Along the axial direction, the first light-shielding member 61, the second light-shielding member 62, and the third light-shielding member 63 are sequentially and spaced apart on the outer periphery of the light guide member 2. A first gap is defined between the first light-shielding member 61 and the second light-shielding member 62, and a second gap is defined between the second light-shielding member 62 and the third light-shielding member 63. By setting up multiple light-shielding structures, the possibility of interference between adjacent light-shielding structures is reduced, which is beneficial for optimizing the light path, enhancing the anti-interference capability of the optical scanning equipment, and improving the clarity of the detected image.

[0103] It should be noted that the gap width for transmitting illumination light outward and receiving illumination light scattered by the scanned object 94 inward can be adjusted by adjusting the distance between adjacent light-shielding members among the first light-shielding member 61, the second light-shielding member 62 and the third light-shielding member 63.

[0104] In this embodiment, please continue to refer to Figure 2As shown, the light-shielding assembly also includes a fourth light-shielding member 64. Along the axial direction, the fourth light-shielding member 64 is located at the end of the third light-shielding member 63 away from the second light-shielding member 62, and radially, the fourth light-shielding member 64 protrudes from the third light-shielding member 63 towards the side opposite to the light guide member 2. It can be understood that the fourth light-shielding member 64 can block illumination light leaking from the periphery of the light guide member 2, allowing illumination light to enter only the area within the light guide member 2. This helps to further reduce stray light, thereby improving the sharpness and clarity of the detected image.

[0105] In some embodiments, the first light-shielding member 61, the second light-shielding member 62, the third light-shielding member 63, the fourth light-shielding member 64, and the blocking member 65 may all be made of black light-absorbing material, and the surfaces of the plurality of light-shielding members and the blocking member 65 may all be matte, so as to further improve their light-shielding effect.

[0106] It is understood that the optical scanning device of this application acquires a 360° image around the axis in a single scan. Since the aperture of the scanned object 94 has a certain depth, if the aperture is deep enough, an image needs to be captured at preset intervals as the optical scanning device extends into the aperture. Multiple images captured at different aperture depths are then stitched together to form an overall image of the aperture sidewall. If the aperture is shallow, it is possible to acquire an overall image of the aperture sidewall in a single scan.

[0107] It is understandable that whether the hole depth is deep enough, or whether multiple detection images need to be taken, is related to the field of view of the light received by the first imaging component and the field of view of the illumination light. Specifically, the slit width that transmits illumination light outward and receives illumination light scattered by the scanned object 94 inward can be adjusted by adjusting the distance between adjacent light-blocking members in the first light-blocking member 61, the second light-blocking member 62, and the third light-blocking member 63. This will not be elaborated further here.

[0108] Continue reading Figure 2 In some embodiments, the optical scanning device further includes a dust plug 7. Along the axial direction, the dust plug 7 is disposed at the end of the light guide 2 away from the first light source 11, and partially blocks the cavity. The first light-shielding member 61 is disposed on the dust plug 7. It can be understood that the end of the cavity near the first light source 11 can be isolated from the outside world by the shielding member 65, thus providing dust protection. The end away from the first light source 11 can be isolated from the outside world by the dust plug 7, thereby achieving a sealed cavity. This effectively reduces the risk of dust and other impurities entering the cavity, improves the cleanliness of the environment where the first imaging component is located, and thus helps to improve the stability of the imaging quality of the first imaging component.

[0109] like Figure 7 As shown, Figure 7This is a schematic diagram of the structure in one embodiment of the present application, showing the reflective surface 3 disposed on the dust plug 7. In some embodiments, the reflective surface 3 is disposed on the dust plug 7 and faces the light guide 2. In this way, the illumination light in the light guide 2 is emitted onto the reflective surface 3 and reflected by the reflective surface 3 to be emitted onto the scanning object 94. When the reflective surface 3 is damaged or about to reach the end of its service life, only the dust plug 7 needs to be replaced, without replacing the light guide 2 and other structures, which helps to save costs.

[0110] like Figure 8 As shown, Figure 8 This is a schematic diagram of the structure of the reflective surface 3 disposed on the light guide 2 in one embodiment of this application. In some embodiments, the reflective surface 3 is disposed at the end of the light guide 2 away from the first light source 11 along the axial direction. In this way, the reflective surface 3 and the light guide 2 are more tightly integrated, and the illumination light does not need to first exit from the light guide 2 and be reflected by the reflective surface 3 in the air, thereby improving the stability of the illumination light propagation after reflection by the reflective surface 3.

[0111] In this embodiment, if the reflective surface 3 is located at the end of the light guide 2 away from the first light source 11, the refractive index n1 of the light guide 2 and the refractive index n0 of air satisfy the following relationship: arcsin(n1 / n0) < (90° - φ), where φ is the angle between the reflective surface 3 and the axial direction, and φ is not limited. Taking an angle φ between the reflective surface 3 and the axial direction of 45° as an example, the refractive index n1 of the light guide 2 and the refractive index n0 of air satisfy the following relationship: arcsin(n1 / n0) < 45°, thus satisfying the above range, allowing the illumination light inside the light guide 2 to be smoothly emitted from the light guide 2.

[0112] Understandably, when the above conditions are met, the illumination light forms a nearly parallel beam after passing through the first collimating lens 12. This nearly parallel beam propagates within the light guide 2, with most of the light directly reaching the reflecting surface 3 and being reflected to the scanning object 94. Since the incident angle of the nearly parallel beam entering the light guide 2 is much greater than the critical angle of total internal reflection, most of the remaining light undergoes total internal reflection within the light guide 2, ultimately entering the reflecting surface 3 and being reflected to the scanning object 94. This significantly improves light utilization.

[0113] like Figure 9 and Figure 10 As shown, Figure 9 This is a schematic diagram of a structure in one embodiment of the present application in which multiple sub-reflective surfaces 31 are disposed on the light-emitting surface. Figure 10 for Figure 9 The illustrated embodiment shows a schematic diagram of a structure that forms multiple concentric light rings.

[0114] In some embodiments, the reflective surface 3 includes a plurality of sub-reflective surfaces 31. The sub-reflective surfaces 31 are arranged around an axis parallel to the axial direction at the end of the light guide 2 away from the first light source 11. Along the axial direction, the end of the light guide 2 away from the first light source 11 has a light-emitting surface, which is an arc surface. The plurality of sub-reflective surfaces 31 are arranged at intervals along the axial direction on the light-emitting surface. The design of multiple sub-reflective surfaces 31 enables the light that finally passes through the reflective surface 3 to form multiple light rings on the scanned object 94, and ultimately multiple light ring patterns can be formed on the image sensor 4. This is beneficial to improving the uniformity and coverage of the illumination light, thereby increasing the scanning speed several times over.

[0115] Continue reading Figure 9 and Figure 10 In this embodiment, a reference plane is defined, which is parallel to the axial direction and parallel to one of the multiple radial directions of the light guide 2. The intersection of the reference plane and the light-emitting surface is an arc convex outward toward the side away from the receiving cavity. Multiple sub-reflective surfaces 31 are spaced apart from each other along the axial direction on the light-emitting surface. Thus, the angle at which the multiple light beams reflected by the multiple sub-reflective surfaces 31 are separated from each other is proportional to the radius of curvature of the arc-shaped light-emitting surface. It can be understood that the arrangement of the arc-shaped light-emitting surface is beneficial for the multiple light beams to propagate outward in a diffused shape, thereby further improving the coverage of the illumination light and thus improving the scanning speed.

[0116] In some embodiments, regardless of whether the reflective surface 3 is disposed on the light guide 2 or the dust plug 7, a reflective film can be deposited on the light guide 2 or the dust plug 7 using a coating process to form the reflective surface 3, such as aluminum film, silver film, gold film, etc., which will not be elaborated here.

[0117] See Figure 6 As shown, Figure 6 This is a schematic diagram of an optical scanning device extending into the channel of the scanning object 94 in one embodiment of this application. In some embodiments, the optical scanning device satisfies:

[0118] ;

[0119] Where θ is the field of view of the first imaging component, r1 is the outer radius of the light guide 2, that is, the distance between the outer side wall of the light guide 2 and the center of the light guide 2 along the radial direction of the light guide 2, r2 is the radius of the scanning object 94 along the radial direction of the light guide 2, and φ is the angle between the reflecting surface 3 and the axis.

[0120] If the above conditions are met, the receiving field of view of the first imaging component can be opposite to the field of view of the illumination light, so that the first imaging component can receive a clearer and more complete light and generate a clearer and more complete detection image with a halo pattern.

[0121] It should be noted that, as Figure 6If the channel of the scanned object 94 is cylindrical and the outer wall of the light guide 2 is cylindrical, then r2 is the radius of the channel of the scanned object 94 along the radial direction of the light guide 2, and r1 is the radius of the outer wall of the light guide 2.

[0122] In this embodiment, φ can be 0°-180°, specifically 0°, 45°, 100°, or 180°. Taking φ=45° as an example, the nearly parallel illumination light will be reflected 90° after reaching the reflecting surface 3. When the optical scanning device is inserted into the scanning object 94 in the deep hole-like channel, a 360° annular structured illumination can be formed on the inner wall of the channel. The illuminated area of ​​the inner wall of the channel will scatter the illumination light. The scattered illumination light passes through the side wall of the light guide 2 and enters the imaging lens 5, reaching the image sensor 4, and forming a ring-shaped detection image on the image sensor 4.

[0123] Taking an angle φ of 45° between the reflecting surface 3 and the axis as an example, the field of view θ of the first imaging component satisfies: In this way, the light propagating inside the light guide 2 can be reflected radially from the reflective surface 3 onto the scanning object 94, and then scattered by the scanning object 94 to the first imaging component, thereby enabling the first imaging component to receive a clearer and more complete light and generate a clear and complete detection image with a halo pattern.

[0124] In some embodiments, the first light source 11 is a laser, and the laser spot emitted by the laser satisfies: r1 < c, where c is the outer diameter of the laser spot and r1 is the outer diameter of the light guide 2. Satisfying the above range is beneficial for the laser to fully cover the light guide 2, thereby increasing the coverage of the illumination emitted by the first light source 11, and allowing the laser to enter from one end of the light guide 2 and exit from the other end.

[0125] refer to Figure 2 As shown, in some embodiments, the optical scanning device further includes a first collimating lens 12, which is disposed between the first light source 11 and the light guide 2. The first collimating lens 12 is used to collimate the illumination light emitted from the first light source 11, so that the illumination light emitted from the first light source 11 tends to be a parallel beam, which facilitates the uniform propagation of the illumination light in the light guide 2 and provides uniform illumination.

[0126] In some embodiments, such as Figure 2 Along the radial direction, the size of the first light source 11 is not smaller than the size of the light guide 2, and the size of the first collimating lens 12 is not smaller than the size of the light guide 2. In this way, the illumination light emitted by the first light source 11 can form an approximately parallel beam and enter the light guide 2. The approximately parallel beam continues to propagate within the light guide 2 and finally exits through the reflecting surface 3 to the scanning object 94, such as exiting into the channel of the scanning object 94.

[0127] See Figure 2 Combined with reference Figure 11 , Figure 12 and Figure 13 As shown, Figure 11 This is a schematic diagram of the structure of multiple sub-first light sources 13 disposed at one end of the light guide 2 in one embodiment of this application. Figure 12 This is a schematic diagram of the structure of multiple sub-first light sources 13 in one embodiment of this application. Figure 13 This is a schematic diagram of the structure of a plurality of first sub-lenses 14 in one embodiment of this application.

[0128] In some embodiments, the first light source 11 includes a plurality of sub-first light sources 13, which are spaced apart from each other along the axial direction of the light guide 2. The first collimating lens 12 includes a plurality of first sub-lenses 14, which are also spaced apart from each other along the axial direction of the light guide 2. The plurality of first sub-lenses 14 are disposed one-to-one with the plurality of sub-first light sources 13 between the plurality of sub-first light sources 13 and the light guide 2. It can be understood that, firstly, the design of the plurality of first sub-lenses 14 and the plurality of sub-first light sources 13 further improves the uniformity of the illumination light, which is beneficial for improving the detection quality.

[0129] Secondly, the arrangement of multiple sub-first light sources 13 and multiple first sub-lenses 14 around each other facilitates the formation of a space around the center of each of the multiple sub-first light sources 13 and the center of each of the multiple first sub-lenses 14 for the cable of the first imaging component to pass through. For example... Figure 2 The first imaging component is connected to the main control unit 91 via a cable. When the cable extends outward toward the first light source 11 to connect to the main control unit 91, it can easily block the light path of the first light source 11, resulting in a gap in the halo of illumination light that ultimately reaches the scanned object 94. However, by using a structure in which multiple first light sources 13 are arranged around each other, space can be provided for the cable, the integrity of the ring-shaped illumination light can be improved, and thus the integrity of the 360° detection around the optical scanning device can be improved.

[0130] In this embodiment, the diameter of the cable should be as small as possible to reduce obstruction of the lighting light.

[0131] Continue reading Figure 12 In this embodiment, the first light source 11 can be an LED light source, which is beneficial for energy saving. Especially in embodiments using multiple sub-first light sources 13, the first light source 11 can be formed by arranging the multiple sub-first light sources 13 at equal intervals around a ring-shaped circuit board, such as a ring-shaped PCB board. The number of sub-first light sources 13 can be up to 12, without much limitation. The corresponding cables can pass through the middle of the ring-shaped circuit board, reducing the risk of ring-shaped detection image defects caused by cables blocking the illumination light.

[0132] Continue reading Figure 13Two adjacent first sub-lenses 14 among the multiple first sub-lenses 14 can be spliced ​​together using processes such as high-temperature melting, so that there is no gap between the two adjacent sub-lenses, thereby reducing the leakage of light from between the two adjacent sub-lenses and thus improving the light utilization rate.

[0133] In this embodiment, the multiple first sub-lenses 14 that are fused together can also be directly processed on the side of the light guide 2 facing the first light source 11, so as to simplify the structure of the optical scanning device and shorten the axial dimension of the optical scanning device.

[0134] See Figure 14 As shown, Figure 14 This is a schematic diagram of the structure of multiple light sources 81 disposed around the light guide 2 in one embodiment of this application.

[0135] In some embodiments, the optical scanning device further includes a detection component, which includes a detection light source 81 and a second collimating lens 82. Along the axial direction, the detection light source 81 and the second collimating lens 82 are disposed at intervals on the side of the light guide 2 near the first light source 11. The detection light emitted from the detection light source 81 passes through the second collimating lens 82 and is incident on the scanning object 94. The wavelength of the detection light is different from the wavelength of the illumination light.

[0136] It is understandable that when the optical scanning device is inserted into the object being scanned 94, the angle usually needs to be adjusted to observe whether the probe touches the inner wall of the sample to be inspected. The illumination component can provide illumination light, which provides intuitive visual assistance for the positioning and angle adjustment of the optical scanning device, improves the convenience of the scanning and inspection operation and the safety of the optical scanning device and the inner wall of the channel of the object being scanned 94, and reduces the risk of the optical scanning device hitting the inner wall of the channel of the object being scanned 94.

[0137] Continue reading Figure 14 In some embodiments, the searchlight source 81 includes a plurality of sub-searchlight sources, which are spaced apart from each other around an axis parallel to the axial direction of the light guide 2. The arrangement of multiple sub-searchlight sources not only provides visual assistance but also helps to improve the integration of the optical scanning device and reduce its size.

[0138] Continue reading Figure 14 As shown, in this embodiment, multiple sub-scanning light sources are disposed on the fourth light-shielding member 64, and the size of the fourth light-shielding member 64 is not smaller than the size of the sub-scanning light sources along the radial direction, so that the sub-scanning light sources do not exceed the range of the fourth light-shielding member 64, thereby facilitating the miniaturization design of the optical scanning device.

[0139] In this embodiment, the searchlight source 81 can be an LED light source, and the sub-searchlight sources can be LED beads. Multiple LED beads are arranged in a ring to form a circular LED light panel to form the searchlight source 81. Furthermore, LED beads with a large light divergence angle can be selected as sub-searchlight sources to provide uniform and wide-coverage searchlight, which will not be elaborated further here.

[0140] See Figure 15 As shown, Figure 15 This is a schematic diagram of the structure of an embodiment of the detection component including a dichroic mirror 83 in this application.

[0141] In some embodiments, the illumination assembly further includes a dichroic mirror 83, which is disposed at one end of the light guide 2 near the first light source 11. The first light source 11 is disposed on one side of the dichroic mirror 83. The illumination light emitted from the first light source 11 is reflected into the light guide 2 by the dichroic mirror 83. The illumination light source 81 is disposed on the side of the dichroic mirror 83 away from the light guide 2. The illumination light emitted from the illumination light source 81 passes through the dichroic mirror 83 and enters the light guide 2.

[0142] In this embodiment, the positions of the first light source 11 and the spotlight 81 can be interchanged, that is, the first light source 11 can be located at... Figure 15 The location of the searchlight source 81 in the image, the corresponding searchlight source 81 can be located at Figure 15 The position of the first light source 11 is specified. At this time, the illumination light emitted from the first light source 11 propagates through the dichroic mirror 83 into the light guide 2, and the search light emitted from the search light source 81 is reflected by the dichroic mirror 83 into the light guide 2. The positions of the first light source 11 and the search light source 81 can be set according to actual needs, and will not be elaborated further here.

[0143] In this embodiment, the searchlight can use a longer wavelength light, which differs from the illumination light, making the wavelength of the illumination light shorter than that of the searchlight. First, both the searchlight and illumination light enter the light guide 2 through the action of the dichroic mirror 83, and are reflected to the scanning object 94 by the reflecting surface 3 of the dichroic mirror 83. The advantage is that most of the searchlight can accurately propagate to the vicinity of the illumination light, providing auxiliary illumination. Second, by using a longer wavelength searchlight, the shorter wavelength illumination light can be totally reflected within the light guide 2, while the longer wavelength searchlight cannot be totally reflected within the light guide 2, thus scattering forward during propagation and forming a relatively large-area auxiliary illumination.

[0144] In this embodiment, the second collimating lens 82 includes a plurality of second sub-lenses, each of which corresponds to a plurality of sub-spotlight sources. The arrangement of the plurality of second sub-lenses can adopt a structure similar to that of the plurality of first sub-lenses 14, which will not be described in detail here.

[0145] In some embodiments, the wavelength of the search light emitted by the search light source 81 can be green, red, or yellow. It should be noted that the wavelength of the search light is different from the wavelength of the illumination light emitted by the first light source 11, so that the images of the search light and the illumination light can be separated from the red, green, and blue channels of the image sensor 4, without interfering with each other, and can be imaged simultaneously.

[0146] In some embodiments, the distance between the second collimating lens 82 and the search light source 81 is adjustable. Thus, by adjusting the distance between the second collimating lens 82 and the search light source 81, the divergence angle of the search light emitted from the second collimating lens 82 is changed to suit scanning objects 94 with different apertures.

[0147] In some embodiments, when the distance between the line laser and the second light source 600 along the propagation direction of the line laser is 55 mm, the linewidth c1 of the line laser satisfies: c1 < 150 μm, where c1 can be 135 μm, 137 μm, or 140 μm. When the distance n between the line laser and the second light source 600 along the propagation direction of the line laser satisfies: 30 mm ≤ n ≤ 180 mm, the linewidth c2 of the line laser satisfies: c2 < 300 μm, where c1 can be 160 μm, 200 μm, 250 μm, or 280 μm. Satisfying the above ranges gives the line laser a better linewidth, which is beneficial for obtaining more accurate three-dimensional structural information of the scanned object 94, such as obtaining a more accurate ear contour.

[0148] Please see again. Figure 1 In some embodiments, the optical scanning device of this application further includes a handle 400 and a base 500. The base 500 serves as a support, and the light guide 2, the first light source 11, the reflector, the first imaging component, the second light source 600, the positioning light source 200, and the second imaging component 100 are all disposed on the base 500. The handle 400 is connected to one side of the base 500. When detecting the scanning object 94, the detection operation can be performed by holding the handle 400 to improve the ease of operation.

[0149] refer to Figure 1 and Figure 2 As shown, in some embodiments, the main processor 92 and the display unit may be located inside the computer host, and the host and the optical scanning device may be connected via wired, Bluetooth or Wi-Fi.

[0150] In some embodiments, the main processor 92 may also be located in an optical scanning device, a server, or the cloud, while the display unit may be located within a computer host. This application does not impose specific limitations in this regard.

[0151] The optical scanning device and system 10 provided in this application, through a first light source 11, a light guide 2, and a first imaging component, achieve 360° uniform illumination and one-time circumferential imaging of the inner wall of the channel of a deep-hole scanning object 94. This enables uniform illumination and one-time circumferential imaging of the channel of the scanning object 94, facilitating the acquisition of three-dimensional information of the hole in the deep-hole scanning object 94 using ring light. Furthermore, this application employs structures such as a light-shielding component and a dust plug 7, effectively reducing stray light interference and the risk of dust contamination of the first imaging component within the cavity, thus improving the utilization rate of the illumination light and the quality and clarity of the detected image. The probe component provides probe light, offering intuitive visual assistance for the positioning and angle adjustment of the optical scanning device, improving the convenience of the scanning operation and the safety of the optical scanning device and the inner wall of the channel of the scanning object 94, reducing the risk of the optical scanning device bumping into the inner wall of the channel of the scanning object 94. The second imaging component 100 is used to obtain the spatial position of the optical scanning device or the scanning object 94 based on a positioning pattern. Furthermore, the optical scanning device of this application has a compact overall structure and excellent miniaturization design.

[0152] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0153] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An optical scanning device, characterized in that, The optical scanning device includes: The system comprises a first light source, a light guide, and a first imaging component. The first light source emits illumination light, which passes through the light guide and is incident on the scanned object. The illumination light scattered by the scanned object passes through the light guide and is incident on the first imaging component, where a detection image is generated. A positioning light source, wherein the positioning light source emits positioning light toward the scanned object, the positioning light forming a positioning pattern with positional information on the scanned object; and... A second imaging component is used to acquire the positioning pattern.

2. The optical scanning device according to claim 1, characterized in that, The positioning light source includes at least one speckle projector, and the positioning pattern is a speckle pattern.

3. The optical scanning device according to claim 1, characterized in that, The second imaging component includes at least two cameras, which are respectively disposed on the periphery of the light guide.

4. The optical scanning device according to claim 1, characterized in that, The positioning light source includes two speckle projectors, and the second imaging component includes two cameras; Along the first direction, the two speckle projectors are respectively disposed on opposite sides of the light guide; The two cameras correspond one-to-one with the two speckle projectors, and the corresponding camera is located between the light guide and the corresponding speckle projector.

5. The optical scanning device according to claim 4, characterized in that, The optical scanning device also includes a base, on which both the speckle projector and the camera are mounted.

6. The optical scanning device according to claim 4, characterized in that, Along the first direction, the distance between the camera and the corresponding speckle projector is in the range of 5mm-20mm.

7. The optical scanning device according to claim 1, characterized in that, The field of view α of the second imaging component satisfies: 140°≤α≤180°.

8. The optical scanning device according to claim 1, characterized in that, The optical scanning device further includes a second light source, which is used to project line laser light onto the object being scanned.

9. The optical scanning device according to claim 8, characterized in that, The angle j between the emission direction of the line laser and the emission direction of the illumination light satisfies: j≤45°, and the focal length h of the second light source satisfies: 30mm≤h≤150mm.

10. The optical scanning device according to claim 1, characterized in that, The first imaging component includes an image sensor and an imaging lens. The light guide defines a receiving cavity, and both the image sensor and the imaging lens are located within the receiving cavity. The image sensor is located between the first light source and the imaging lens. The illumination light scattered by the scanned object passes sequentially through the light guide and the imaging lens and is incident on the image sensor.

11. The optical scanning device according to claim 1, characterized in that, The object being scanned is an ear.

12. The optical scanning device according to claim 1, characterized in that, The optical scanning device also includes a main control unit, which is used to realize the spatial positioning of the optical scanning device according to the positioning pattern.

13. An optical scanning system, characterized in that, The optical scanning system includes a main processor, a display unit, and an optical scanning device as described in any one of claims 1-12. The main processor is used for processing and calculating the detected image, and the display unit is used for displaying a reconstructed model of the scanned object.

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