Scanning method and apparatus, storage medium, and electronic device

Abstract

The present application is applicable to the technical field of oral cavity scanning, and provides a scanning method and apparatus, a storage medium, and an electronic device. The scanning method provided in the present application comprises: in a process of scanning an oral cavity equipped with scan bodies by means of a scanning apparatus, acquiring first scanning data, standard data of the scan bodies, and second scanning data, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; stitching the first scanning data with the second scanning data; and in a case where the stitching of the second scanning data with the first scanning data fails, stitching the second scanning data with third scanning data, wherein the third scanning data comprises the standard data and the first scanning data. The objective is to solve the technical problem of inaccurate scanning results for scan bodies inside the oral cavity in the prior art.

Description

Scanning method, device, storage medium and electronic device

[0001] The present application claims priority to the Chinese patent application No. 202411342029.8, filed on September 25, 2024 in the China Patent Office, and entitled "Scanning method, device, storage medium and electronic device", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the technical field of oral scanning, more specifically, relates to a scanning method, device, storage medium and electronic device. BACKGROUND

[0003] At present, in order to obtain the relative position relationship between the implants, a scanner is usually used to scan the oral cavity equipped with scanning rods, thereby assisting in positioning the implant position. However, in the case of multiple implant cases (especially full-mouth edentulous jaw implant cases), the distance between the scanning rods is greater than the scanning range of the scanner, and the middle region between the scanning rods is transitioned by the gums. If the gums in the middle region are deformed during scanning, the position relationship between the two scanning rods obtained by scanning will be inaccurate, thereby causing the restoration to be unable to be positioned.

[0004] In view of the above problems, in the prior art, when facing the condition of multiple implant cases, a scanning rod with wings is used, and the transition region between the two scanning rods is connected by an additional scanning wing, thereby forming a rigid body to prevent the problem of inaccurate relative position between the scanning rods caused by gum deformation.

[0005] However, in the process of scanning multiple scanning rods, multiple frame splicing may appear sliding and other conditions, which cannot realize continuous scanning, resulting in poor fluency of scanning, and thereby affecting the final scanning effect and diagnostic accuracy. SUMMARY

[0006] The purpose of the embodiments of the present application is to provide a scanning method, device, storage medium and electronic device, which aims to solve the technical problem of inaccurate scanning result of scanning the scanning rod in the oral cavity in the prior art.

[0007] To achieve the above-mentioned purpose, according to the first aspect of the present application, a scanning method is provided, which comprises:

[0008] In the process of scanning the oral cavity equipped with scanning rods by the scanning device, first scanning data, standard data of the scanning rod and second scanning data are obtained, wherein the second scanning data is the discontinuous frame scanning data of the first scanning data;

[0009] Splicing the first scanning data and the second scanning data;

[0010] In a case that the splicing of the second scan data and the first scan data fails, the second scan data is spliced with third scan data, wherein the third scan data comprises the standard data and the first scan data.

[0011] Optionally, in a possible implementation manner of the first aspect, before the second scan data is acquired by scanning, the method further comprises:

[0012] determining a number of scan rod features in the first scan data, wherein the scan rod features comprise at least one of the following: an identification point feature, a geometric feature, a pattern feature, and a mark feature;

[0013] in a case that the number of the scan rod features in the first scan data satisfies a pre-set number threshold, the first scan data is spliced with the standard data of the scan rod.

[0014] Optionally, in a possible implementation manner of the first aspect, before the second scan data is spliced with the third scan data, the method further comprises:

[0015] pre-splicing the first scan data with the standard data of the scan rod;

[0016] determining a feature error value between the scan rod features of the first scan data and the scan rod features of the standard data;

[0017] in a case that the feature error value satisfies a pre-set error threshold, the standard data is spliced with the first scan data to obtain the third scan data.

[0018] Optionally, in a possible implementation manner of the first aspect, the splicing of the second scan data and the third scan data comprises:

[0019] if the splicing of the second scan data and the third scan data succeeds, the splicing result of the second scan data and the third scan data is used as a basis;

[0020] if the splicing of the second scan data and the third scan data fails, the scanning device is adjusted to perform scanning.

[0021] Optionally, in a possible implementation manner of the first aspect, before the scanning device is adjusted to perform scanning, the method further comprises:

[0022] outputting a splicing failure prompt information; wherein the splicing failure prompt information is used to prompt a user to adjust a scanning position of the scanning device, so that the scanning device starts to scan again from the position where the splicing fails.

[0023] According to a second aspect of the present application, a scanning device is provided, comprising:

[0024] The acquisition unit is configured to acquire first scan data, standard data of the scanning rod, and second scan data in a process of scanning the oral cavity equipped with the scanning rod by the scanning device, wherein the second scan data is discontinuous frame scan data of the first scan data, and the first scan data and the second scan data each have corresponding scanning rod characteristic data with the standard data;

[0025] The splicing unit is configured to splice the first scan data and the second scan data, and in a case where splicing of the second scan data and the first scan data fails, splice the second scan data and third scan data, wherein the third scan data contains the standard data and the first scan data.

[0026] According to a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method of any one of the aspects when executing the computer program.

[0027] According to a fourth aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method of any one of the aspects.

[0028] According to a fifth aspect of the present application, a computer program product is provided, and when the computer program product is executed on an electronic device, the electronic device executes the method of any one of the first aspect.

[0029] The scanning method, device, storage medium, and electronic device provided in the embodiments of the present application acquire the first scan data and the second scan data in the process of scanning the oral cavity equipped with the scanning rod by the scanning device, and also synchronously acquire the standard data of the scanning rod. It should be understood that the standard data can provide a common reference or intermediate bridge for the first scan data and the second scan data. Thus, in a case where splicing of the second scan data and the first scan data fails, the second scan data is spliced with the third scan data, and the third scan data contains the standard data and the first scan data, so as to accurately splice the first scan data and the second scan data, ensure that the discontinuous frame scan data is spliced successfully, and thus realize continuous scanning, overcome scanning failure, lag, and other problems caused by discontinuous scanning, and improve scanning continuity and smoothness.

[0030] It can be understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative effort.

[0032] Fig. 1 is a flow diagram of a scanning method according to an embodiment of the present application;

[0033] Fig. 2 is a scanning state diagram of an optional scanning method according to an embodiment of the present application applied to intraoral dental arch scanning;

[0034] Fig. 3 is a flow diagram of an optional scanning method according to an embodiment of the present application;

[0035] Fig. 4 is a flow diagram of an optional scanning method according to another embodiment of the present application;

[0036] Fig. 5 is a structural diagram of a scanning device according to an embodiment of the present application;

[0037] Fig. 6 is a structural diagram of an electronic device according to an embodiment of the present application. Embodiments of the present application

[0038] In the following description, specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, persons skilled in the art will understand that the present application can be practiced without these specific details. In other instances, well-known structures, devices, circuits and methods have not been described in detail in order to avoid obscuring the present application.

[0039] It should be understood that, when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0040] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0041] As used in the specification and the appended claims, the term "if' can be interpreted as meaning "when," or "upon," or "in response to a determination," or "in response to a detection" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted as meaning "upon being determined" or "in response to a determination" or "upon [a described condition or event] being detected" or "in response to a detection of [a described condition or event]" depending on the context.

[0042] In addition, in the description of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0043] Reference in the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in additional embodiments", etc. in various places in the specification are not necessarily all referring to the same embodiment, although they can. The terms "comprising", "including", "having" and their variants mean "including but not limited to", unless otherwise expressly specified.

[0044] At present, in the field of oral medical treatment, in order to obtain the relative position relationship between implants, a scanner is usually used to scan the oral cavity equipped with scanning rods, thereby assisting in positioning the implant position. However, in the case of multiple implants (especially in the case of full-mouth edentulous jaw implantation), since the distance between the scanning rods is greater than the scanning range of the scanner, the middle region between the scanning rods is transitioned by the gums. If the gums in the middle region are deformed during scanning, the positional relationship between the two scanning rods scanned will be inaccurate, thereby causing the restoration to be unable to be positioned.

[0045] In view of the above problems, in the prior art, in the case of multiple implant cases, a scanning rod with wings is used, the transition region between the two scanning rods is connected by an additional scanning wing, thereby forming a rigid body to prevent the problem of inaccurate relative position between the scanning rods due to deformation of the gums.

[0046] However, in the process of scanning multiple scanning rods, multiple frame splicing may appear sliding and other conditions, which cannot realize continuous scanning, resulting in poor fluency of scanning, thereby affecting the final scanning effect and diagnostic accuracy.

[0047] To solve the above technical problems, the embodiment of the scanning method provided by the present application is provided. Please refer to the schematic flow chart of the scanning method provided by the present application shown in FIG. 1. As an example but not limitation, the method comprises:

[0048] S101, in the process of scanning the oral cavity equipped with the scanning rod by the scanning device, the first scanning data, the standard data of the scanning rod and the second scanning data are acquired.

[0049] It should be noted that the second scanning data is the discontinuous frame scanning data of the first scanning data.

[0050] S102, the first scanning data and the second scanning data are spliced.

[0051] S103, in the case of failure of splicing the second scanning data and the first scanning data, the second scanning data and the third scanning data are spliced, wherein the third scanning data contains the standard data and the first scanning data.

[0052] Before explaining the scanning method provided by the present application, it should be noted that in the oral cavity scanning scene, the scanning rod is equipped in the oral cavity and connected with the implant, which is used to assist the scanning device (oral digital impression instrument) to acquire more accurate and complete internal information of the oral cavity, and can also be used to acquire the position information of the implant. Especially in the complex situation involving multiple implants, for example, in the multiple implant surgery, the scanning rod can be installed on the implant so that the scanning device can scan the scanning rod and accurately acquire the position and related parameters of the implant.

[0053] Please refer to FIG. 2, which shows the scanning state diagram of the optional scanning method provided by the present application applied to the intraoral dental scanning. First, in the process of scanning the oral cavity equipped with the scanning rod by the scanning device, the first scanning data, the standard data of the scanning rod and the second scanning data are acquired. It should be noted that the second scanning data is the discontinuous frame scanning data of the first scanning data, which can also be understood as the second scanning data and the first scanning data are discontinuous frame scanning data. This means that there is no overlapping area or less overlapping area between the first scanning data and the second scanning data in space.

[0054] It should be noted that the above FIG. 2 is only used to illustrate the scanning process of the intraoral dental scanning, and is not used to represent the real-time display of the digital model diagram. The second scanning data in FIG. 2 is used to illustrate the spliced second scanning data, the standard data is used to illustrate the spliced standard data, and the right light gray scanning rod is used to illustrate the to-be-scanned area.

[0055] In the examples of the present application, the standard data of the scanning rod, which can also be referred to as the true value data of the scanning rod, refers to the data that is known and accurate before the scanning rod is actually used. The standard data of the scanning rod can be the design data of the scanning rod or the measurement data obtained after the scanning rod is manufactured (generally obtained by a high-precision scanner or a measuring instrument), which characterizes the consistency and correspondence between the standard data of the scanning rod and the scanning rod. The standard data is generally stored and can be called by pre-stored settings. Generally, a scanning rod library is set, and the scanning rod library includes a plurality of independent scanning rod true value data, and each scanning rod true value data can be called independently.

[0056] It should be understood that, since the first scanning data and the second scanning data are scanning data of discontinuous frames, they cannot be directly spliced in the prior art, that is, the scanning device needs to ensure that there is a sufficient overlap between the next scanning area and the scanned area during the scanning process, and the scanning device cannot be moved significantly or in a leapfrog manner for scanning.

[0057] By way of example and not limitation, the scanning rod features can include at least one of the following: a point feature, a geometric feature, a pattern feature, and a mark feature. These features have corresponding feature true values. For example, the point feature can determine the accurate identification point of a specific position; the geometric feature can clearly indicate the ideal shape and size of the scanning rod, such as length, diameter, angle, etc.; the pattern feature helps to identify the specific texture or pattern on the surface of the scanning rod; and the mark feature helps to accurately identify and locate. In the present application, the scanning rod feature is preferably a circular or circular ring identification point, the feature true value includes the three-dimensional coordinates of the center of the circular identification point, and the standard data of the scanning rod includes the feature true value and / or the contour true value.

[0058] The scanning rod feature true value can be pre-stored as standard data in a database. Further, in the actual scanning process, the first scanning data obtained by actual scanning can be spliced with the standard data in the database. In this way, on the one hand, the splicing error that occurs during scanning can be corrected by the standard data of the scanning rod to ensure that the final scanning result is accurate, and on the other hand, the scanning rod only needs to scan locally and does not need to be scanned in its entirety to obtain the complete data of the scanning rod through the standard data of the scanning rod. Thus, if the first scanning data and the second scanning data each have corresponding scanning rod feature data with the standard data, that is, some features in the scanning data of the scanning rod can be found in the standard data, please refer to FIG. 2, the standard data as an intermediate bridge between the first scanning data and the second scanning data can splice the discontinuous first scanning data and the second scanning data according to the correspondence between the standard data and the first scanning data and the second scanning data, so that the scanning device can realize discontinuous scanning within a certain range.

[0059] In the prior art, the sliding of the multi-frame scanning data splicing in the scanning process of multiple scanning rods is mainly caused by the lack of accurate reference and alignment basis and the accumulated error caused by splicing. For example, the more the spliced frames are, the greater the accumulated error is, which further causes the failure of realizing continuous scanning and results in poor fluency of scanning.

[0060] In the implementation of the present application, the second scanning data is directly spliced with the first scanning data as much as possible. If the first scanning data and the second scanning data are spliced successfully, it indicates that the first scanning data and the second scanning data have corresponding scanning rod feature data with the standard data. When the first scanning data and the second scanning data fail to be spliced, it indicates that the corresponding relationship between the first scanning data and the second scanning data and the standard data has a problem, for example, the second scanning data and the standard data may lack corresponding scanning rod feature data.

[0061] If the first scanning data and the second scanning data fail to be spliced, for example, due to the large difference, discontinuity or feature mismatch between the second scanning data and the first scanning data, direct splicing cannot be realized. Then, the second scanning data is spliced with the third scanning data containing the standard data and the first scanning data. That is, when the current frame scanning data is obtained, it is spliced with the previous frame scanning data. If the splicing is successful, the splicing result is directly obtained. If the splicing fails, the splicing is performed with the spliced data. In this way, fast splicing can be realized, the splicing efficiency is optimal, and of course, when the continuous frame scanning data is obtained, it can be spliced with the previous frame scanning data successfully. When the discontinuous frame scanning data is obtained, it can only be spliced with the spliced data successfully.

[0062] It should be noted that the spliced data can be the splicing data of multiple scanning data or the splicing data of the scanning data and the standard data of the scanning rod. In one embodiment of the present application, the current frame scanning data is the second scanning data, the previous frame scanning data is the first scanning data, and the spliced scanning data is the splicing data of the first scanning data and the standard data of the scanning rod. In another embodiment of the present application, the spliced scanning data is the splicing data of the first scanning data and the previous frame scanning data, or the splicing data of the first scanning data, the standard data of the scanning rod and the previous frame scanning data.

[0063] Since the second scanning data and the first scanning data are discontinuous frame scanning data, the second scanning data and the first scanning data cannot be directly spliced successfully. For example, the first scanning data is one end of the scanning rod, and the second scanning data is the other end of the scanning rod. There is no overlapping area between them or the common features of the overlapping area do not meet the predetermined splicing threshold. Direct splicing of the two cannot be successful. Splicing with the third scanning data containing more accurate information can solve this problem.

[0064] For another example, if the first scan data is the front end portion of the scan rod and the second scan data is the rear end portion, if the direct splicing of the two portions fails, the complete scan data can be obtained by splicing with the third scan data containing the standard data and the first scan data.

[0065] The scan method provided in the examples of the present application, in the process of scanning the oral cavity equipped with the scan rod by the scanning device, obtains the first scan data and the second scan data, and synchronously obtains the standard data of the scan rod. It should be understood that the standard data can provide a common reference or intermediate bridge for the first scan data and the second scan data. Thus, in the case of splicing failure of the second scan data and the first scan data, the second scan data is spliced with the third scan data containing the standard data and the first scan data, so that the relative position, direction and other splicing information of the first scan data and the second scan data can be accurately determined, the splicing times and the splicing cumulative error can be reduced, and the occurrence of the sliding phenomenon can be avoided. As an example but not limitation, the positions of specific markers on the scan rod are specified in the standard data, and the first scan data and the second scan data can be aligned according to these specific markers during splicing, so that the discontinuous frame scan data can be more smoothly spliced, thereby realizing coherent scanning and improving the final scanning effect and diagnostic accuracy.

[0066] In a possible implementation manner, the method further includes:

[0067] S201, determining the number of scan rod features in the first scan data, wherein the scan rod features include at least one of the following: identification point features, geometric features, pattern features, and marker features;

[0068] S202, in the case that the number of scan rod features in the first scan data meets a pre-set number threshold, splicing the first scan data with the standard data of the scan rod. For example, in the case that the number of scan rod features in the first scan data is greater than the pre-set number threshold, splicing the first scan data with the standard data of the scan rod.

[0069] The number of scan rod features in the obtained first scan data is determined. As an example but not limitation, in the examples of the present application, the proposed scan rod features include but are not limited to at least one of the following: identification point features, geometric features, pattern features, and marker features.

[0070] For example, the identification point feature can be a point at a specific position on the surface of the scan rod (such as a white dot on a black scan rod); the geometric feature can be the length, diameter, angle, etc. of the scan rod; the pattern feature can be the texture, pattern on the scan rod; and the marker feature can be a specific symbol or code.

[0071] Then, if the number of the scanning rod features in the first scanning data is greater than a preset number threshold, the first scanning data is spliced with the standard data of the scanning rod. For example, the preset number threshold is 10 identification point features, when it is determined that the number of the identification point features in the first scanning data reaches 11, the first scanning data is spliced with the standard data of the scanning rod. For another example, if the set number threshold of the geometric features is 2, and it is determined that there are 3 geometric features in the first scanning data, the operation of obtaining the standard data of the scanning rod and splicing the first scanning data with the standard data of the scanning rod is performed.

[0072] This is because if the number of the scanning rod features is small, it may mean that the corresponding scanning rod features cannot be determined between the first scanning data and the standard data of the scanning rod, and at this time, it is not meaningful to splice the first scanning data with the standard data of the scanning rod for subsequent processing. When the number of the scanning rod features in the first scanning data reaches or exceeds the number threshold, it means that the corresponding scanning rod features can be determined between the first scanning data and the standard data of the scanning rod, and at this time, the standard data of the scanning rod is obtained to splice the first scanning data with the standard data of the scanning rod.

[0073] For example, in the oral scanning process, if the first scanning data obtained at the beginning is only a small part of the scanning rod, the number of the scanning rod features in the first scanning data is small, and at this time, the standard data obtained may not be accurately spliced. Only when there are enough scanning rod features in the first scanning data, such as scanning most of the area of the scanning rod, that is, the number of the scanning rod features in the first scanning data exceeds the preset number threshold, the standard data of the scanning rod in the database is obtained, and the subsequent accurate splicing can be more effectively performed. Further, it can be avoided that the standard data is introduced too early for complex calculation and processing when the number of the features in the first scanning data is insufficient, and the efficiency and effect of the scanning processing are improved.

[0074] It should be noted that in the case that the oral cavity is equipped with multiple scanning rods, when the scanning device scans the first scanning rod and obtains a sufficient number of first scanning rod features, the standard data of the first scanning rod is obtained and spliced with the scanned data, and the standard data of the scanning rod which is not scanned or not scanned to a sufficient number of scanning rod features does not participate in the splicing at this time. When the scanning device scans the second scanning rod and obtains a sufficient number of second scanning rod features, the standard data of the second scanning rod is obtained and spliced with the scanned data, and the standard data of the scanning rod which is not scanned or not scanned to a sufficient number of scanning rod features does not participate in the splicing at this time. After the oral scanning is completed, the standard data of the multiple scanning rods corresponding to the multiple scanning rods equipped in the oral cavity is unified in the same coordinate system based on the scanning data.

[0075] Please refer to FIG. 3, which shows a schematic flowchart of an optional scanning method provided by the present application. In one possible implementation, before splicing the second scanning data and the third scanning data, the method further includes:

[0076] S301, pre-splicing the first scanning data and the standard data of the scanning rod.

[0077] S302, determining a feature error value between the scanning rod feature of the first scanning data and the scanning rod feature of the standard data.

[0078] In the above method steps, specifically after pre-splicing the first scanning data and the standard data of the scanning rod, the difference between the feature distribution in the first scanning data and the feature distribution in the standard data can be quantified by comparing the feature error value between the scanning rod feature of the first scanning data and the scanning rod feature of the standard data.

[0079] S303, in the case where the feature error value meets a pre-set error threshold, splicing the standard data and the first scanning data to obtain the third scanning data. For example, in the case where the feature error value is not greater than the pre-set error threshold, splicing the standard data and the first scanning data to obtain the third scanning data.

[0080] It should be understood that in the above method steps, the setting of the error threshold can be reasonably adjusted according to specific circumstances to balance the accuracy of splicing and the availability of data. The error threshold can control the accuracy and reliability of splicing. In the case where the feature error value is greater than the error threshold, it means that there is a large deviation or abnormality in the feature distribution in the first scanning data, which is not suitable for direct splicing with the standard data.

[0081] In the case where the feature error value meets the pre-set error threshold, i.e., when the difference between the feature distribution in the first scanning data and the feature distribution in the standard data is within an acceptable range, the standard data and the first scanning data are spliced as shown in FIG. 2 to obtain the third scanning data. Then, the accuracy and integrity of the standard data can be used to supplement or correct the first scanning data, so that the spliced data is closer to the real situation.

[0082] In addition, after splicing the standard data and the first scanning data to obtain the third scanning data, the third scanning data can also be displayed. In this way, the user can intuitively see the third scanning data. Furthermore, the user can evaluate the integrity and accuracy of the third scanning data, and take further measures in a timely manner if problems are found.

[0083] It should be noted that before the pre-splicing of the first scanning data and the standard data of the scanning rod, the number of scanning rod features in the first scanning data can be determined, and in a case where the number of scanning rod features in the first scanning data meets a pre-set number threshold, the first scanning data is pre-spliced with the standard data of the scanning rod.

[0084] By splicing the standard data and the first scanning data to obtain the third scanning data, and then splicing the second scanning data and the third scanning data, the first scanning data, the standard data and the second scanning data can be spliced, and the discontinuous scanning of the scanning device is realized, which improves the scanning efficiency while ensuring the scanning quality.

[0085] For example, the standard data of the scanning rod contains its accurate shape, size, mark and other information. The first scanning data is scanning data obtained by scanning a part of the scanning rod, and if the error value of the corresponding features of the first scanning data and the standard data meets a pre-set error threshold, it means that the first scanning data has a high matching degree with the standard data of the scanning rod. Then the standard data is spliced with the first scanning data to obtain the third scanning data. Finally, the second scanning data (such as the scanning result of another part of the scanning rod) is spliced with the third scanning data, thereby realizing discontinuous scanning.

[0086] The scanning method provided in the examples of the present application can fully utilize the standard data to splice discontinuous scanning data, and improve the accuracy and scanning efficiency of the scanning result.

[0087] Please refer to FIG. 4, which shows a schematic flowchart of an optional scanning method provided by the present application. In a possible implementation, splicing the second scanning data and the third scanning data includes the following method steps:

[0088] S401, if the second scanning data and the third scanning data are successfully spliced, then based on the splicing result of the second scanning data and the third scanning data, the fourth scanning data is obtained.

[0089] S402, if the second scanning data and the third scanning data fail to be spliced, then the scanning device is adjusted for scanning.

[0090] In the above implementation, if the second scanning data and the third scanning data are successfully spliced, then based on the splicing result, the fourth scanning data is obtained. As an example but not limitation, it can be understood that this is an ideal scenario, which means that through reasonable adjustment and attempt, the integration of data is successfully realized. That is, after successfully splicing the second scanning data and the third scanning data, the complete data obtained is the required fourth scanning data.

[0091] If the splicing of the second scanning data and the third scanning data also fails, the scanning position of the scanning device can be adjusted for scanning, so as to obtain data that can be spliced successfully.

[0092] Through the examples of the present application, it can be ensured to the greatest extent that complete and accurate scanning data can be obtained, and the reliability and adaptability of scanning and data processing are improved.

[0093] In a possible implementation, before the scanning device is adjusted for scanning, the method further includes:

[0094] outputting splicing failure prompt information; wherein the splicing failure prompt information is used to prompt the user to adjust the scanning position of the scanning device, so that the scanning device scans from other scanning positions.

[0095] The above implementation, before the scanning position of the scanning device is adjusted for scanning, also outputs splicing failure prompt information to prompt the user to adjust the scanning position of the scanning device, so that the user can learn about the problems in the current scanning and splicing process in time, and the user can avoid continuing invalid operations or subsequent processing of incorrect scanning results without knowing the situation.

[0096] For example, when the scanning data of the scanning device at a certain position fails to be spliced with the previous data, the prompt information can display "splicing fails at position X, please move the scanning device slightly upwards and rescan". The user can make targeted adjustments according to the prompt, instead of blindly trying or being at a loss, so that the scanning device can start to rescan from the position where the splicing fails, to improve the probability of successful rescan and splicing.

[0097] In a possible implementation, the first scanning data, the third scanning data and the fourth scanning data can also be displayed in real time. In this way, the user can intuitively see the real-time scanning results. Further, the user can immediately evaluate the completeness and accuracy of the scanning data, and take further measures in time if problems are found. For example, in oral cavity scanning, the doctor can view the specific conditions of the patient's teeth through the finally displayed scanning data, and determine whether there are missing or incorrect parts.

[0098] In the real-time scanning process, the first scanning data is obtained, the first scanning data is displayed in real time, the standard data of the scanning rod is obtained, the standard data is displayed in real time, and the fourth scanning data is obtained, the fourth scanning data is displayed in real time. The fourth scanning data includes the spliced first scanning data, the standard data and the second scanning data.

[0099] As an example but not limitation, in the present application example, after the oral cavity is scanned, the positioning information of each scanning rod can be determined based on the digitized three-dimensional data of the oral cavity, which can include the positioning information of a single scanning rod, or the relative position information between multiple scanning rods.

[0100] It should be noted that the digitized three-dimensional data of the oral cavity at least includes one of the following: three-dimensional data of the landmark points, three-dimensional contour data of the scanning rod, and the digitized three-dimensional data of the oral cavity can also include gingival data.

[0101] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0102] Corresponding to the scanning method of the above embodiment, FIG. 5 is a structural schematic diagram of a scanning device provided by an embodiment of the present application. The device can be realized by software, hardware, or a combination of the two to become part or all of a computer device, which can be an electronic device as shown in FIG. 6.

[0103] Referring to FIG. 5, the scanning device includes:

[0104] The acquisition unit 501 is configured to acquire first scanning data, standard data of the scanning rod, and second scanning data in the process of scanning the oral cavity equipped with the scanning rod by the scanning device, wherein the second scanning data is discontinuous frame scanning data of the first scanning data.

[0105] The splicing unit 502 is configured to splice the first scanning data and the second scanning data, and in the case that the splicing of the second scanning data and the first scanning data fails, splice the second scanning data and third scanning data, wherein the third scanning data contains the standard data and the first scanning data.

[0106] It should be noted that the scanning device provided by the above embodiment is only exemplified by the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0107] Each functional unit and module in the above embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application.

[0108] It should be noted that the information interaction, execution process and the like between the above apparatuses / units are based on the same concept as the method embodiments of the present application, and specific functions and brought technical effects can be referred to the method embodiments part, which will not be repeated here.

[0109] The embodiments of the present application also provide an electronic device, which comprises one or more processors and a memory;

[0110] The memory is coupled with the one or more processors, and is configured to store computer program codes, the computer program codes comprising computer instructions, the one or more processors invoking the computer instructions to cause the electronic device to perform the foregoing scanning method.

[0111] The electronic device can be a mobile phone, a smart screen, a tablet computer, a wearable electronic device, a vehicle-mounted electronic device, an augmented reality (AR) device, a virtual reality (VR) device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), a projector, or a server, a memory, a base station, or the like communication device, or a smart car. The embodiments of the present application do not make any limitation on the specific type of the electronic device.

[0112] The embodiments of the present application also provide a computer readable storage medium, which stores computer instructions; when the computer readable storage medium runs on an electronic device, the electronic device performs the foregoing scanning method.

[0113] The computer instructions can be stored in the computer readable storage medium, or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or data storage device such as one or more servers, data centers, etc. integrated with one or more media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), optical medium, or semiconductor medium (for example, solid state disk (SSD)) and the like.

[0114] The embodiment of the present application further provides a computer program product comprising computer instructions, which, when executed on an electronic device, enable the electronic device to perform the foregoing scanning method.

[0115] The computer storage medium and the computer program product provided by the embodiment of the present application are configured to execute the method provided above, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the method provided above, which will not be repeated here.

[0116] In the above embodiment, the method can be implemented by software, hardware, firmware or any combination thereof, in whole or in part. When implemented by software, the method can be implemented in the form of a computer program product, in whole or in part. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the computer instructions generate the processes or functions according to the embodiment of the present application, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, such as being transferred from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium accessible by a computer, or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital versatile disc (DVD)) or a semiconductor medium (such as a solid state disk (SSD)) etc.

[0117] FIG. 6 is a structural schematic diagram of an electronic device provided by the embodiment of the present application. The electronic device 600 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0118] The memory 601 can be configured to store a computer software program 602 and modules, and the processor 603 can execute various function applications and data processing of the electronic device by running the software program and modules stored in the memory 601. The memory 601 can include a program storage area and a data storage area, where the program storage area can store an operating system, at least one application program required by a function (such as a sound play function, an image play function, etc.), and the like; and the data storage area can store data created according to the use of the electronic device (such as audio data, a phone book, etc.), and the like. In addition, the memory 601 can include a high-speed random access memory, and can further include a nonvolatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0119] The processor 603 can include one or more of a central processor, an application processor (AP), a baseband processor, and the like. The processor can be the nerve center and command center of the wireless router. The processor 603 can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions. The memory 601 can be configured to store computer executable program codes, and the executable program codes include instructions. The processor 603 can execute various function applications and data processing of the network device by running the instructions stored in the memory. The memory 601 can include a program storage area and a data storage area, such as data of a sound signal to be played, and the like. For example, the memory can be a double data rate synchronous dynamic random access memory (DDR) or a flash memory (Flash), and the like.

[0120] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0121] Those of ordinary skill in the art can be aware that, units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to implement the described functions for each specific application, but the implementation should not be considered to be beyond the scope of the present application.

[0122] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other manners. For example, the embodiments of the apparatus / network device described above are merely schematic, and the division of the modules or units can be different from the embodiments described above. For example, one or more units can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0123] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0124] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Industrial applicability

[0125] The scheme provided by the embodiments of the present application can be used in the field of oral medical technology. In the process of scanning the oral cavity equipped with a scanning rod by a scanning device, in addition to obtaining first scanning data and second scanning data, the standard data of the scanning rod is also obtained synchronously. It should be understood that the standard data can provide a common reference or intermediate bridge for the first scanning data and the second scanning data. Thus, in the case that splicing the second scanning data and the first scanning data fails, the second scanning data is spliced with third scanning data, and the third scanning data contains the standard data and the first scanning data, so as to accurately splice the first scanning data and the second scanning data, ensure that the splicing of the discontinuous frame scanning data is successful, reduce the splicing times and the cumulative error of splicing, and thus avoid the occurrence of the sliding phenomenon. Thus, by using the embodiments of the present application, the oral cavity can be scanned continuously in the field of oral medical technology, and the problems of scanning failure, lagging, etc. caused by discontinuity of scanning can be overcome, and the scanning continuity and smoothness can be improved.

Claims

1. A scanning method, wherein, The method comprises: acquiring first scanning data, standard data of a scanning rod, and second scanning data in the process of scanning an oral cavity equipped with the scanning rod by a scanning device, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; stitching the first scanning data and the second scanning data; in the case where the stitching of the second scanning data and the first scanning data fails, stitching the second scanning data and third scanning data, wherein the third scanning data comprises the standard data and the first scanning data.

2. The method of claim 1, wherein, The method further comprises: determining the number of scanning rod features in the first scanning data, wherein the scanning rod features comprise at least one of the following: identification point features, geometric features, pattern features, and marker features; in the case where the number of scanning rod features in the first scanning data meets a pre-set number threshold, stitching the first scanning data and the standard data of the scanning rod.

3. The method of claim 1, wherein, Before stitching the second scanning data and the third scanning data, the method further comprises: pre-stitching the first scanning data and the standard data of the scanning rod; determining a feature error value between the scanning rod features of the first scanning data and the scanning rod features of the standard data; in the case where the feature error value meets a pre-set error threshold, stitching the standard data and the first scanning data to obtain third scanning data.

4. The method of claim 1, wherein, The stitching of the second scanning data and the third scanning data comprises: if the stitching of the second scanning data and the third scanning data succeeds, obtaining fourth scanning data based on the stitching result of the second scanning data and the third scanning data; if the stitching of the second scanning data and the third scanning data fails, adjusting the scanning device to perform scanning.

5. The method of claim 4, wherein, Before adjusting the scanning device to perform scanning, the method further comprises: outputting a stitching failure prompt information; wherein the stitching failure prompt information is used to prompt a user to adjust the scanning position of the scanning device to perform scanning.

6. The method of claim 4 or 5, wherein, The method further comprises: real-time display of the first scanning data, the third scanning data, and the fourth scanning data.

7. The method of any one of claims 1 to 5, wherein, The method further comprises: real-time display of the first scanning data and the third scanning data.

8. The method of any one of claims 1 to 5, wherein, The stitching of the second scanning data and the third scanning data comprises: stitching the first scanning data and the second scanning data according to the correspondence relationship between the standard data and the first scanning data and the second scanning data.

9. The method of claim 8, wherein, The standard data comprises scanning rod standard data.

10. The method of any one of claims 1 to 5, wherein, The stitching of the second scanning data and the third scanning data comprises: stitching the second scanning data and the third scanning data according to the correspondence relationship between the second scanning data and the third scanning data.

11. The method of claim 10, wherein, The correspondence relationship between the second scanning data and the third scanning data comprises a correspondence relationship between the second scanning data and the standard data of the scanning rod.

12. The method of any one of claims 1 to 5, wherein, Acquiring third scanning data comprises: obtaining the third scanning data based on the stitching of the first scanning data and the standard data of the scanning rod.

13. A scanning method, wherein, The method comprises: In a process of scanning the mouth equipped with a scanning rod by a scanning device, first scanning data, standard data of the scanning rod and second scanning data are acquired, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; The first scanning data and the second scanning data are spliced.

14. A scanning device, wherein, Comprise: An acquisition unit configured to acquire, in a process of scanning the mouth equipped with a scanning rod by a scanning device, first scanning data, standard data of the scanning rod and second scanning data, wherein the second scanning data is discontinuous frame scanning data of the first scanning data; A splicing unit configured to splice the first scanning data and the second scanning data; In a case where the second scanning data and the first scanning data fail to be spliced, the second scanning data and third scanning data are spliced, wherein the third scanning data contains the standard data and the first scanning data.

15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to realize the method of any one of claims 1-12, 13.

16. A computer-readable storage medium storing a computer program, wherein, The computer program is executed by the processor to realize the method of any one of claims 1-12, 13.

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