Three-dimensional scanning apparatus

Abstract

The present application provides a three-dimensional scanning apparatus, comprising: a scanning module, comprising at least one transmission end, at least one receiving end, and a circuit unit, wherein the transmission end is configured to emit scanning light, the receiving end is configured to receive light reflected by an object to be tested, and the circuit unit is electrically connected to the transmission end and the receiving end and is configured to, according to the reflected light received by the receiving end, construct three-dimensional point cloud data of said object; and a first mode assembly and a second mode assembly, wherein the first mode assembly and the second mode assembly are each detachably connected to the scanning module; when the first mode assembly is connected to the scanning module, the three-dimensional scanning apparatus is configured to scan the teeth of a user; when the second mode assembly is connected to the scanning module, the three-dimensional scanning apparatus is configured to scan the face of the user; the receiving end comprises a first diaphragm, and the clear aperture of the first diaphragm is adjustable. The three-dimensional scanning apparatus provided by the present application has a simple structure and wide application.

Description

Three-dimensional scanning device

[0001] The present application claims priority to the Chinese patent application No. 202411021981.8, filed on July 26, 2024, and entitled "Three-dimensional scanning device", the whole content of the aforementioned priority is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to a three-dimensional scanning device. BACKGROUND

[0003] In order to obtain the intraoral and facial data of a patient, according to the different intraoral scanning and facial scanning scenes, an intraoral scanner and a facial scanner are usually used respectively, resulting in high procurement and maintenance costs. Some products combine the intraoral scanner and the facial scanner together, but in fact they are still two independent working systems. SUMMARY

[0004] In one aspect, the present application provides a three-dimensional scanning device, comprising:

[0005] A scanning module, comprising at least one emitting end, at least one receiving end and a circuit unit, the emitting end is configured to emit scanning light, the receiving end is configured to receive reflected light reflected by a to-be-measured object, and the circuit unit is electrically connected with the emitting end and the receiving end and is configured to construct three-dimensional point cloud data of the to-be-measured object according to the reflected light received by the receiving end.

[0006] A first mode assembly and a second mode assembly, both of which are capable of being connected with the scanning module; when the first mode assembly is connected with the scanning module, the three-dimensional scanning device is configured to be in a first mode of scanning; when the second mode assembly is connected with the scanning module, the three-dimensional scanning device is configured to be in a second mode of scanning; the scanning working distance and / or the scanning working surface of the first mode and the second mode are different.

[0007] The receiving end comprises a first diaphragm, and the light transmission aperture of the first diaphragm is adjustable.

[0008] The three-dimensional scanning device provided by the embodiments of the present application is capable of being applied to different scenes by using one scanning module through the setting of the scanning module and the setting of the first mode assembly and the second mode assembly to be spliced with the scanning module to realize different application scenes, which is beneficial to improve the multiplicity of the device and thus reduce the cost. The light transmission aperture of the first diaphragm is adjustable, which can further assist the scanning assembly to cope with the required light transmission amount in different application scenes and improve the scanning quality when one scanning module is applied to different scenes.

[0009] In an embodiment, the first mode assembly comprises a first connecting housing and a first reflecting element, the first reflecting element is embedded in the first housing, and the first housing is configured to be connected with the scanning module.

[0010] In an embodiment, the first reflecting element comprises one of a mirror or a prism.

[0011] In an embodiment, the second mode assembly comprises a first zoom lens group and a second zoom lens group, when the second mode assembly is connected with the scanning module, the first zoom lens group is located on the light path of the light emitted from the emitting end, and the second zoom lens group is located on the light path of the light received by the receiving end.

[0012] In an embodiment, the second mode assembly further comprises a relay lens group, the relay lens group is arranged between the second zoom lens group and the receiving end, and the relay lens group comprises at least one second reflecting element to change the included angle between the reflected light received by the receiving end and the scanning light emitted from the emitting end.

[0013] In an embodiment, the second mode assembly further comprises a first focusing element and a second focusing element, the first focusing element is connected with the first zoom lens group and is configured to adjust the distance between the first zoom lens group and the emitting end, and the second focusing element is connected with the second zoom lens group and is configured to adjust the distance between the second zoom lens group and the receiving end.

[0014] In an embodiment, the emitting end comprises a light source, a light adjusting element and a first lens group arranged in sequence, the light source is configured to emit light source light, the light adjusting element is configured to modulate the light source light into the scanning light, and the first lens group is configured to project the emitted scanning light.

[0015] In an embodiment, the emitting end further comprises a second diaphragm, the second diaphragm is arranged on the light path of the first lens group, and the light passing aperture of the second diaphragm is adjustable.

[0016] In an embodiment, the receiving end comprises a second lens group and a sensor arranged in sequence along the light path direction, the second lens group is configured to receive the reflected light reflected from the object to be measured and guide the reflected light to the sensor, the first diaphragm is arranged on the light path of the second lens group, and the sensor is configured to convert the reflected light into an image signal.

[0017] In an embodiment, the three-dimensional scanning device further comprises a connecting assembly connected with the scanning module, the first mode assembly and the second mode assembly respectively, and the connecting assembly is configured to connect the first mode assembly and the second mode assembly with the scanning module respectively and communicate the light path with the transmitting end and the receiving end. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 is a structural schematic diagram of a three-dimensional scanning device in an embodiment of the present application.

[0019] Fig. 2 is a structural schematic diagram of a scanning module combined with a first mode assembly in an embodiment of the present application.

[0020] Fig. 3 is a structural schematic diagram of a scanning module combined with a second mode assembly in an embodiment of the present application.

[0021] Fig. 4 is a light path structural schematic diagram of a scanning module in an embodiment of the present application.

[0022] Fig. 5 is a light path structural schematic diagram of a scanning module combined with a first mode assembly in an embodiment of the present application.

[0023] Fig. 6 is a light path structural schematic diagram of a scanning module combined with a second mode assembly in an embodiment of the present application.

[0024] Fig. 7 is a light path structural schematic diagram of a scanning module combined with a second mode assembly in another embodiment of the present application.

[0025] Fig. 8 is a structural schematic diagram of a scanning module in an embodiment of the present application.

[0026] Fig. 9 is a resolving power curve schematic diagram of a first lens group in Fig. 8.

[0027] Fig. 10 is a field curvature diagram of the first lens group in Fig. 8.

[0028] Fig. 11 is a distortion diagram of the first lens group in Fig. 8.

[0029] Fig. 12 is a resolving power curve schematic diagram of a second lens group in Fig. 8.

[0030] Fig. 13 is a field curvature diagram of the second lens group in Fig. 8.

[0031] Fig. 14 is a distortion diagram of the second lens group in Fig. 8.

[0032] Fig. 15 is a structural schematic diagram of a scanning module combined with a second mode assembly in an embodiment of the present application.

[0033] Fig. 16 is a resolving power curve schematic diagram of a first lens group combined with a second mode assembly in Fig. 15.

[0034] Fig. 17 is a field curvature graph of the first lens group combined with the second mode assembly in Fig. 15.

[0035] Fig. 18 is a distortion graph of the first lens group combined with the second mode assembly in Fig. 15.

[0036] Fig. 19 is a resolving power graph of the second lens group combined with the second mode assembly in Fig. 15.

[0037] Fig. 20 is a field curvature graph of the second lens group combined with the second mode assembly in Fig. 15.

[0038] Fig. 21 is a distortion graph of the second lens group combined with the second mode assembly in Fig. 15.

[0039] Fig. 22 is a structural schematic diagram of a three-dimensional scanning device in another embodiment of the present application.

[0040] Main element symbols of the three-dimensional scanning device: 100; scanning module: 10; transmitting end: 11; light source: 111; light adjusting element: 113; first lens group: 115; second light diaphragm: 117; receiving end: 13; sensor: 131; second lens group: 133; first light diaphragm: 135; circuit unit: 15; main machine shell: 17; first mode assembly: 30; first reflecting element: 31; first shell: 33; through hole: 332; second mode assembly: 50; first zoom lens group: 51; first focusing element: 52; second zoom lens group: 53; second focusing element: 54; image inverter lens group: 55; second reflecting element: 551; second shell: 57; connecting assembly: 70; optical surface: S101, S102, S103, S104, S105, S106, S107, S108, S109, S110, S111, S112, S113, S201, S202, S203, S204, S205, S206, S207, S208, S209, S210; scanning light: L; reflected light: R; object to be measured: P.

[0041] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0044] In order to make the technical means and effects taken by the present application to achieve the predetermined purpose further clear, the present application is described in detail as follows by combining the drawings and the preferred embodiments.

[0045] Please refer to FIG. 1, the three-dimensional scanning device 100 provided by the embodiment of the present application includes a scanning module 10, a first mode assembly 30 and a second mode assembly 50. The scanning module 10 is configured to emit scanning light and receive reflected light reflected by the scanning light after encountering an object to be measured, and construct three-dimensional point cloud data of the object to be measured according to the reflected light. The first mode assembly 30 and the second mode assembly 50 are respectively detachably connected with the scanning module 10. When the first mode assembly 30 is connected with the scanning module 10, the three-dimensional scanning device 100 is configured as a first mode scanning. When the second mode assembly 50 is connected with the scanning module 10, the three-dimensional scanning device 100 is configured as a second scanning mode.

[0046] The scanning working distance and / or the scanning working surface of the first mode and the second mode are different.

[0047] Specifically, the scanning module 10, the first mode assembly 30 and the second mode assembly 50 are three independent assemblies. The first mode assembly 30 can be movably connected with the scanning module 10, and the second mode assembly 50 can be movably connected with the scanning module 10. The first mode assembly 30 and the second mode assembly 50 are respectively configured to modulate the light path of the scanning light and the reflected light. The scanning module 10 includes a main housing 17, the first mode assembly 30 includes a first housing 33, and the second mode assembly 50 includes a second housing 57.

[0048] The movable connection includes detachable connection, rotating connection, sliding connection and the like.

[0049] Please refer to FIG. 2, when the first mode assembly 30 is connected with the scanning module 10, the first housing 33 is connected with the main housing 17. The first housing 33 and the main housing 17 can be detachably connected or rotatably connected through buckling, magnetic attraction or screwing, which is not limited in the present application. A through hole 332 is formed in the end of the first housing 33 away from the scanning module 10. The scanning light emitted by the scanning module 10 can be emitted through the through hole 332, so as to irradiate the user's teeth. The reflected light reflected by the teeth enters the first mode assembly 30 through the through hole 332 and is transmitted to the scanning module 10.

[0050] In the embodiment, the first mode is a mouth scanning mode, i.e. scanning the user's teeth, the working distance is small, and the working surface is small. The first mode assembly 30 is a mouth scanning dental probe assembly.

[0051] Please refer to FIG. 3, when the second mode assembly 50 is connected with the scanning module 10, the second housing 57 is connected with the main housing 17, and the second housing 57 and the main housing 17 can be detachably connected or rotationally connected through buckling, magnetic attraction or screwing, which is not limited in the present application.

[0052] In the present embodiment, the second mode is a face scanning mode, i.e. scanning the face of a user, and the working distance is large and the working range is large; the second mode assembly 50 is an assembly for face scanning, which is a variable magnification lens assembly in the present embodiment.

[0053] Please refer to FIG. 4, in the present embodiment, the scanning module 10 includes a transmitting end 11, a receiving end 13 and a circuit unit 15, the transmitting end 11 is configured to emit scanning light L, the receiving end 13 is configured to receive reflected light R reflected by the object P to be measured, and the circuit unit 15 is electrically connected with the transmitting end 11 and the receiving end 13 and is configured to construct three-dimensional point cloud data of the object P to be measured according to the reflected light R received by the receiving end 13. In other embodiments, the scanning module 10 can also include multiple transmitting ends 11 and / or multiple receiving ends 13, for example, one transmitting end 11 is matched with two receiving ends 13, two transmitting ends 11 are matched with one receiving end 13, or two transmitting ends 11 are matched with two receiving ends 13, etc., which is not limited in the present application.

[0054] The transmitting end 11 includes a light source 111, a light modulation element 113, a first lens group 115 and a second light diaphragm 117. The light source 111 is configured to emit light source light, the light modulation element 113 is arranged on the light emitting side of the light source 111 and is configured to modulate the light source light into scanning light L of structured light. The first lens group 115 is arranged on the side of the light modulation element 113 away from the light source 111 and is configured to receive and project the emitted scanning light L, and the second light diaphragm 117 is arranged on the light path of the scanning light L. Specifically, the light modulation element 113 can be a mask plate or other optical element and is configured to modulate the light source light emitted by the light source 111 into structured light capable of projecting a specific pattern, such as a plurality of parallel lines, alternating light and dark stripes, or a cross-arranged grid pattern, etc.

[0055] In the present embodiment, the first lens group 115 includes two lenses, and in other embodiments, the first lens group 115 can also include only one lens or three or more lenses, which is not limited in the present application. The second light diaphragm 117 is an adjustable light diaphragm, i.e. the aperture of the second light diaphragm 117 is adjustable. The second light diaphragm 117 is arranged at the position of the aperture diaphragm on the light path of the scanning light L, for example, at the position between the two lenses, and by adjusting the aperture of the second light diaphragm 117, the amount of light passing through the second light diaphragm 117 can be adjusted, and thus the transmitting end 11 can project scanning light L of different brightness to adapt to different use scenarios.

[0056] In other embodiments, the second diaphragm 117 can also not be provided in the emitting end 11, that is, the brightness of the scanning light L emitted by the emitting end 11 is constant, which is not limited in the present application.

[0057] The receiving end 13 includes a sensor 131, a second lens group 133, and a first diaphragm 135. The second lens group 133 is configured to receive the reflected light R and guide the reflected light R to the sensor 131, which is configured to convert the reflected light R from an optical signal to an image signal and transmit to the circuit unit 15. The first diaphragm 135 is provided on the light path of the reflected light R, and the light transmission aperture of the first diaphragm 135 is adjustable.

[0058] Specifically, in the present embodiment, the second lens group 133 includes two lenses, and in other embodiments, the second lens group 133 can also include only one lens or three or more lenses, which is not limited in the present application. The first diaphragm 135 is an adjustable diaphragm, that is, the light transmission aperture of the first diaphragm 135 is adjustable, and the first diaphragm 135 is provided at the position of the aperture diaphragm on the light path of the reflected light R, for example, between the two lenses of the second lens group 133. By adjusting the aperture of the first diaphragm 135, the amount of light transmission of the reflected light R passing through the first diaphragm 135 can be adjusted, and thus the sensor 131 can receive reflected light R of different brightness, thereby adapting to different use scenarios. Specifically, when the scanning module 10 is used in combination with the first mode assembly 30 to scan the user's teeth, since the scanning area of the teeth is small and the light is relatively concentrated, the light transmission aperture of the first diaphragm 135 can be reduced (for example, adjusted to f / 16), thereby reducing the brightness of the reflected light R received by the sensor 131. When the scanning module 10 is used in combination with the second mode assembly 50 to scan the user's face, since the scanning area of the face is larger and the light is relatively dispersed, the light transmission aperture of the first diaphragm 135 needs to be increased (for example, adjusted to f / 8), thereby increasing the brightness of the reflected light R received by the sensor 131.

[0059] In other embodiments, in addition to directly setting the first diaphragm 135 as an adjustable diaphragm, the first diaphragm 135 can also be set to include multiple diaphragm pieces with different light transmission apertures, and the adjustment of the light transmission aperture of the first diaphragm 135 can be realized by directly replacing different diaphragm pieces. The specific structure of the first diaphragm 135 is not limited in the present application, as long as it can be adjusted to different light transmission apertures according to the actual use scenario.

[0060] The circuit unit 15 is configured to control the emitting end 11 to emit the scanning light L, and is configured to calculate and construct the three-dimensional point cloud data of the object P to be measured according to the image signal transmitted by the receiving end 13. The circuit unit 15 can be a central processing unit, or an integrated circuit including multiple different function chips, which is not limited in the present application.

[0061] Referring to FIG. 5, the first mode assembly 30 further comprises a first reflecting element 31 embedded in the first housing 33. In the embodiment, the first reflecting element 31 is a mirror, and in other embodiments, the first reflecting element 31 can also be a prism or other reflecting element. The first reflecting element 31 reflects the scanning light L to the object P to be measured and reflects the reflected light R reflected by the object P to be measured to be received by the receiving end 13. By arranging the first reflecting element 31, the optical path of the scanning light L and the reflected light R can be adjusted, so that the direction of scanning of the scanning module 10 is adjusted, so that the scanning module 10 can be used to scan the user's teeth.

[0062] Referring to FIG. 6, the second mode assembly 50 comprises a first zoom lens group 51 and a second zoom lens group 53. When the second mode assembly 50 is connected to the scanning module 10, the first zoom lens group 51 is arranged on the optical path on the light exit side of the emitting end 11 and is configured to modulate the scanning light L emitted by the emitting end 11. The second zoom lens group 53 is arranged on the optical path on the light entrance side of the receiving end 13 and is configured to modulate the reflected light R. Specifically, since the actual working distance and the working range of the scanning module 10 are different when scanning the user's teeth and face, the scanning light L needs to be adjusted in different application scenarios to achieve different working distances and working ranges. By arranging the first zoom lens group 51, the scanning light L can be focused, so that the scanning light L can cover a larger range, thereby achieving scanning of the face. At the same time, since the range of light that can be received by the receiving end 13 is fixed, the second zoom lens group 53 needs to be arranged to zoom the reflected light R, so that the receiving end 13 can obtain the reflected light R reflected in the range irradiated by the scanning light L, and then construct the three-dimensional point cloud data of the object P to be measured according to the reflected light R.

[0063] The second mode assembly 50 further comprises a first focusing member 52 and a second focusing member 54. The first focusing member 52 is connected to the first zoom lens group 51 and is configured to adjust the distance between the first zoom lens group 51 and the emitting end 11. The second focusing member 54 is connected to the second zoom lens group 53 and is configured to adjust the distance between the second zoom lens group 53 and the receiving end 13. Specifically, the first focusing member 52 and the second focusing member 54 can both be focusing rings or other focusing structures. By arranging the first focusing member 52 and the second focusing member 54 to focus, the scanning light L and the reflected light R can be further modulated, thereby expanding the use scenarios of the scanning module 10.

[0064] Please refer to FIG. 7, in another embodiment, the second mode assembly 50 further comprises a relay mirror group 55, which is arranged between the second variable magnification mirror group 53 and the receiving end 13, and the relay mirror group 55 comprises two second reflecting elements 551, which are configured to adjust the receiving position of the reflected light R to change the included angle between the reflected light R received by the receiving end 13 and the scanning light L emitted by the emitting end 11. That is, by arranging the relay mirror group 55, the working base line and the included angle of the scanning module 10 can be changed. The second reflecting elements 551 can be mirrors, prisms or other reflecting elements. In other embodiments, the relay mirror group 55 can also be provided with only one second reflecting element 551 or three or more second reflecting elements 551, which are not limited in the present application.

[0065] The three-dimensional scanning device 100 provided by the embodiment of the present application is detachably connected with the scanning module 10 and the first mode assembly 30 and the second mode assembly 50 respectively, so that the scanning of the object P to be measured in different scenes can be realized by using one scanning module 10, which is beneficial to optimize the structure of the three-dimensional scanning device. By arranging the first diaphragm 135, the brightness of the reflected light R received by the receiving end 13 can be adjusted, so as to further adapt to different application scenes and improve the reliability of the three-dimensional scanning device 100.

[0066] The reliability of the three-dimensional scanning device provided by the present application will be verified in combination with specific embodiments.

[0067] Embodiment one

[0068] Please refer to FIG. 8, the three-dimensional scanning device 200 provided by the present embodiment comprises a scanning module 10, which comprises one emitting end 11 and two receiving ends 13, and the two receiving ends 13 are arranged on the two sides of the emitting end 11 respectively. The parameters of the optical surfaces of the emitting end 11 and the receiving end 13 are shown in Table 1.

[0069] Table 1: Optical surface parameters of the scanning module 10

[0070] As shown in FIG. 8 and Table 1, in the present embodiment, the first lens group 115 includes four lenses, i.e., the optical surface S101 and the optical surface S102 are two surfaces of one lens, the optical surface S103 and the optical surface S104 are two surfaces of one lens, the optical surface S105 and the optical surface S106 are two surfaces of one lens, and the optical surface S108 and the optical surface S109 are two surfaces of one lens. The second diaphragm 117 is arranged between the third lens and the fourth lens from the light adjusting element 113. The second lens group 133 includes three lenses, i.e., the optical surface S201 and the optical surface S202 are two surfaces of one lens, the optical surface S204 and the optical surface S205 are two surfaces of one lens, and the optical surface S206 and the optical surface S207 are two surfaces of one lens. The first diaphragm 135 is arranged between the first lens and the second lens from the sensor 131.

[0071] In the present embodiment, the system working distance of the scanning module 10 is 85 mm, the included angle is 8°, the working base line is 12 mm, and the scanning range is 16*12 mm. The working distance is the optimal scanning distance between the scanning module 10 and the object P to be measured in theory, the included angle is the included angle between the scanning light L and the reflected light R, the working base line is the distance between the optical centers of the two receiving ends 13, and the scanning range is the range of the scanning light L irradiated at the working distance.

[0072] FIG. 9 is a modulation transfer function (MTF) curve diagram of the transmitting end 11. As shown in the diagram, the optical transfer function (OTF) modulus of the light rays with different parameters is basically greater than 0.7, which can confirm that the scanning light L emitted by the transmitting end 11 of the present embodiment is relatively stable.

[0073] FIG. 10 is a field curvature image of the transmitting end 11. As shown in the diagram, the field curvature of the transmitting end 11 of the present embodiment is basically less than 0.03 mm, and the optical performance is relatively good.

[0074] FIG. 11 is a distortion image of the transmitting end 11. As shown in the diagram, the distortion of the transmitting end 11 of the present embodiment is basically less than 0.3%, and the optical performance is relatively good.

[0075] FIG. 12 is a MTF curve diagram of the receiving end 13. As shown in the diagram, the OTF modulus of the light rays with different parameters is basically greater than 0.4, which can confirm that the receiving end 13 of the present embodiment can relatively stably transmit the information of the reflected light R.

[0076] FIG. 13 is a field curvature image of the receiving end 13. As shown in the diagram, the field curvature of the receiving end 13 of the present embodiment is basically less than 0.15 mm, and the optical performance is relatively good.

[0077] Figure 14 is a distortion image of the receiving end 13, from which it can be seen that the distortion of the receiving end 13 of the present embodiment is basically less than 0.4%, and the optical performance is better.

[0078] Referring to Figure 15, in the present embodiment, when the scanning module 10 is combined with the second mode assembly 50, the optical parameters of each optical surface on the light path of the scanning light L and the optical parameters of each optical surface on the light path of the reflected light R are as shown in Table 2.

[0079] Table 2 Optical surface parameters of the three-dimensional scanning device 200

[0080] It can be seen from Figure 15 and Table 2 that, in the present embodiment, the first variable magnification lens group 51 includes two lenses, that is, the optical surface S110 and the optical surface S111 are two surfaces of one lens, and the optical surface S112 and the optical surface S113 are two surfaces of one lens. The second variable magnification lens group 53 includes one lens, that is, the optical surface S208 and the optical surface S209 are two surfaces of one lens.

[0081] In the present embodiment, after the scanning module 10 is combined with the second mode assembly 50, the working distance of the three-dimensional scanning device 200 as a whole is 250 mm, the included angle is 11.4°, the working base is 50 mm, and the scanning field is 100*75 mm.

[0082] Figure 16 is an MTF curve diagram of the transmitting end 11 combined with the first variable magnification lens group 51, from which it can be seen that the OTF modulus of light rays of different parameters is basically greater than 0.8, and thus it can be confirmed that the scanning light L emitted after the transmitting end 11 is combined with the first variable magnification lens group 51 is still relatively stable.

[0083] Figure 17 is a field curvature image of the transmitting end 11 combined with the first variable magnification lens group 51, from which it can be seen that the field curvature of the transmitting end 11 combined with the first variable magnification lens group 51 of the present embodiment is basically less than 0.02 mm, and the optical performance is better.

[0084] Figure 18 is a distortion image of the transmitting end 11 combined with the first variable magnification lens group 51, from which it can be seen that the distortion of the transmitting end 11 combined with the first variable magnification lens group 51 of the present embodiment is basically less than 0.3%, and the optical performance is better.

[0085] Figure 19 is an MTF curve diagram of the receiving end 13 combined with the second variable magnification lens group 53, from which it can be seen that the OTF modulus of light rays of different parameters is basically greater than 0.4, and thus it can be confirmed that the receiving end 13 combined with the second variable magnification lens group 53 of the present embodiment can still stably transmit the information of the reflected light R.

[0086] Figure 20 is a field curvature image of the receiving end 13 combined with the second variable magnification lens group 53, as can be seen from the figure, the field curvature of the receiving end 13 combined with the second variable magnification lens group 53 in the embodiment is basically lower than 0.02mm, and the optical performance is better.

[0087] Figure 21 is a distortion image of the receiving end 13 combined with the second variable magnification lens group 53, as can be seen from the figure, the distortion of the receiving end 13 combined with the second variable magnification lens group 53 in the embodiment is basically less than 1%, and the optical performance is better.

[0088] The three-dimensional scanning device 200 provided in the embodiment of the present application is provided with the above optical parameters, so that the scanning module 10 can be better used for measuring the tooth data of the user when combined with the first mode assembly 30. After the scanning module 10 is combined with the second mode assembly 50, the working distance and the scanning range are expanded, and the optical parameters can still be maintained, so that the scanning module 10 can be better used for measuring the facial data of the user. Thus, the three-dimensional scanning device 200 can be applied to different use scenarios through one set of scanning module 10, which is beneficial to optimizing the equipment structure.

[0089] Please refer to Figure 22, in another embodiment, the three-dimensional scanning device 100 further comprises a connecting assembly 70, the connecting assembly 70 is connected with the scanning module 10, the first mode assembly 30 and the second mode assembly 50 respectively. The connecting assembly 70 can connect the first mode assembly 30 and the second mode assembly 50 with the scanning module 10 respectively and communicate the optical path with the emitting end 11 and the receiving end 13.

[0090] Specifically, the connecting assembly 70 can be fixedly or movably connected with the scanning module 10; the connecting assembly can be fixedly or movably connected with the first mode assembly 30 and the second mode assembly 50; when fixedly connected, the two parts or the housings of the two parts can be integrally formed;

[0091] The movable connection can be a moving or rotating connection, which can be realized through a rotating shaft or a sliding rail and the like;

[0092] Through the above connection mode, the first mode assembly 30 and the second mode assembly 50 can each contain at least two positions, and at least one of the two positions can make the optical path communicated with the emitting end 11 and the receiving end 13;

[0093] When the connecting assembly 70 is fixedly connected with the first mode assembly 30 and the second mode assembly 50; generally, the connecting assembly 70 is movably connected with the scanning module 10, which can be a sliding or rotating connection; by sliding or rotating the connecting assembly 70 (which can be referred to as the switching of multiple objectives of a microscope), the required mode assembly can be moved to a specified position to communicate the optical path with the emitting end 11 and the receiving end 13;

[0094] Another embodiment: when the connecting assembly 70 is connected with the first mode assembly 30 and the second mode assembly 50, it is generally preferred that the connecting assembly 70 is fixedly connected with the scanning module 10, and the connection can be sliding or rotating, by directly sliding or moving the required mode assembly to the designated position to communicate with the light path of the emitting end 11 and the receiving end 13;

[0095] More preferably, in order to ensure that the required mode assembly moves to the designated position and maintains stability, reduces shaking or displacement, a limiting structure can also be added to fix the first mode assembly 30 or the second mode assembly 50 after rotating to the required position.

[0096] The first mode assembly 30 and the second mode assembly 50 are arranged on one side of the connecting assembly 70 and located at opposite ends, and the scanning module 10 is arranged on the other side of the connecting assembly 70 and can be aligned with the first mode assembly 30 or the second mode assembly 50, respectively. When the scanning module 10 is aligned with the first mode assembly 30 or the second mode assembly 50, the connecting assembly 70 can fix the position of the scanning module 10, thereby completing the connection of the scanning module 10 with the first mode assembly 30 or the second mode assembly 50. The scanning module 10 can be arranged independently of the connecting assembly 70 or movably arranged on the connecting assembly 70, and the present application does not limit this.

[0097] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation of the present application. Any appropriate changes and variations to the above embodiments within the spirit and principles of the present application fall within the scope of the present application. Industrial applicability

[0098] The three-dimensional scanning device provided by the embodiments of the present application will be mainly applied to the population oral cavity three-dimensional structure (including teeth, gums, etc.) scanning scene and the face three-dimensional structure scanning scene, and can be reused as an intraoral scanner and a face scanner. The three-dimensional scanning device includes a first mode assembly and a second mode assembly to realize mode switching, improve the multiplicity of the three-dimensional scanning device, and reduce the cost. In addition, by adjusting the light transmission aperture of the first diaphragm, the light transmission amount can be adjusted for different modes to improve the scanning quality in each mode, respectively, and the three-dimensional scanning device has strong industrial applicability.

Claims

1. A three-dimensional scanning apparatus, wherein, The application relates to a three-dimensional scanning device. The three-dimensional scanning device comprises a scanning module, a first mode component and a second mode component. The scanning module comprises at least one emitting end, at least one receiving end and a circuit unit. The emitting end is configured to emit scanning light. The receiving end is configured to receive reflected light reflected by a to-be-measured object.

2. The three-dimensional scanning device of claim 1, wherein, The circuit unit is electrically connected with the emitting end and the receiving end and is configured to construct three-dimensional point cloud data of the to-be-measured object according to the reflected light received by the receiving end.

3. The three-dimensional scanning device of claim 2, wherein, The first mode component and the second mode component are both capable of being actively connected with the scanning module.

4. The three-dimensional scanning device of claim 1, wherein, When the first mode component is connected with the scanning module, the three-dimensional scanning device is configured to be in a first mode of scanning.

5. The three-dimensional scanning device of claim 4, wherein, When the second mode component is connected with the scanning module, the three-dimensional scanning device is in a second mode of scanning.

6. The three-dimensional scanning device of claim 4, wherein, The scanning working distance and / or the scanning working range of the first mode and the second mode are different.

7. The three-dimensional scanning device of claim 1, wherein, The receiving end comprises a first diaphragm, and the light passing aperture of the first diaphragm is adjustable.

8. The three-dimensional scanning device of claim 7, wherein, The first mode component comprises a first housing and a first reflecting element.

9. The three-dimensional scanning device of claim 1, wherein, The first reflecting element is embedded in the first housing. The first reflecting element comprises any combination of a mirror and a prism. The second mode component comprises a first variable magnification lens group and a second variable magnification lens group. When the second mode component is connected with the scanning module, the first variable magnification lens group is located on the light path on the light emitting side of the emitting end, and the second variable magnification lens group is located on the light path on the light receiving side of the receiving end. The second mode component further comprises a relay lens group. The relay lens group is arranged between the second variable magnification lens group and the receiving end. The relay lens group comprises at least one second reflecting element to change the included angle between the reflected light received by the receiving end and the scanning light emitted by the emitting end. The second mode component further comprises a first focusing element and a second focusing element. The first focusing element is connected with the first variable magnification lens group and is configured to adjust the distance between the first variable magnification lens group and the emitting end. The second focusing element is connected with the second variable magnification lens group and is configured to adjust the distance between the second variable magnification lens group and the receiving end. The emitting end comprises a light source, a light adjusting element and a first lens group arranged in sequence. The light source is configured to emit light source light. The light adjusting element is configured to modulate the light source light into the scanning light. The first lens group is configured to project the emitted scanning light. The emitting end further comprises a second diaphragm. The second diaphragm is arranged on the light path of the first lens group. The light passing aperture of the second diaphragm is adjustable. The receiving end comprises a second lens group and a sensor arranged in sequence along the light path direction. The second lens group is configured to receive the reflected light reflected by the to-be-measured object and guide the reflected light to the sensor. The first diaphragm is arranged on the light path of the second lens group. The sensor is configured to convert the reflected light into an image signal.

10. The three-dimensional scanning device of claim 1, wherein, The application further comprises a connecting component connected with the scanning module, the first mode component and the second mode component respectively, and the connecting component can connect the first mode component and the second mode component with the scanning module and communicate the light path with the transmitting end and the receiving end respectively.

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